[openrtm-commit:02966] r3102 - in branches/RELENG_1_2/OpenRTM-aist: packages/deb packages/deb/debian packages/rpm src/lib/coil/posix/coil src/lib/rtm src/lib/rtm/idl
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 12月 10日 (日) 09:14:39 JST
Author: n-ando
Date: 2017-12-10 09:14:39 +0900 (Sun, 10 Dec 2017)
New Revision: 3102
Added:
branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.h
Modified:
branches/RELENG_1_2/OpenRTM-aist/packages/deb/control.1
branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control
branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control.not-multiarch
branches/RELENG_1_2/OpenRTM-aist/packages/rpm/OpenRTM-aist.spec.in
branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Makefile.am
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/DefaultConfiguration.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Makefile.am
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ModuleManager.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.h
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/idl/Manager.idl
Log:
merged chages from trunk/OpenRTM-aist r2978-2990 during 2017-04:
[incompat,newfunc,->RELENG_1_2] CPU affinity functionality in coil implemented.
[incompt,newfunc,->RELENG_1_2] getManagerServant() and getNamingManager() have been added. refs #3273
[incompat,newfunc,->RELENG_1_2] A new operation added to the ManagerServant interface. refs #3273
[incompat,newfunc,->RELENG_1_2] A new operation implemented to the ManagerServant. refs #3273
[compat,bugfix,->RELENG_1_2] A bug that INSManager created only in master manager has been fixed.
[incompat,newfunc,->RELENG_1_2] A new operation implemented to the ManagerServant. refs #3273
[incompat,newfunc,->RELENG_1_2] To extend the RTC numbering policy, base class has been introduced. refs #3273
[incompat,newfunc,->RELENG_1_2] To extend the RTC numbering policy, base class has been introduced. refs #3273
[compat,package,->RELENG_1_2] Description of deb package in control files have been updateded. refs #4022
[compat,package,->RELENG_1_2] Description of rpm package in control files have been updateded. refs #4022
[compat,bugfix,->RELENG_1_2] Unused header include has been removed.
[incompat,return,->RELENG_1_2] Now Manager::load() function returns error code. refs #4028
Modified: branches/RELENG_1_2/OpenRTM-aist/packages/deb/control.1
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/packages/deb/control.1 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/packages/deb/control.1 2017-12-10 00:14:39 UTC (rev 3102)
@@ -2,7 +2,7 @@
Section: main
Priority: extra
Maintainer: Noriaki Ando <n-ando at aist.go.jp>
-Build-Depends: debhelper, libomniorb4-dev, omniidl, omniorb-nameserver, python, uuid-dev
+Build-Depends: debhelper (>= 9), libomniorb4-dev, omniidl4 | omniidl, omniorb4-nameserver | omniorb-nameserver, python, uuid-dev
Standards-Version: 3.8.4
Homepage: http://www.openrtm.org
@@ -11,29 +11,29 @@
Depends: ${shlibs:Depends}, ${misc:Depends}
Description: OpenRTM-aist, RT-Middleware distributed by AIST
OpenRTM-aist is a reference implementation of RTC (Robotic Technology
- Component) specification which is OMG standard. OpenRTM-aist includes
+ Component Version 1.1, formal/12-09-01) specification which is OMG
+ standard (http://www.omg.org/spec/RTC/). OpenRTM-aist includes
RT-Middleware runtime environment and RTC framework. The OMG standard
defines a component model and certain important infrastructure
- services applicable to the domain of robotics software development.
- OpenRTM-aist is being developed and distributed by Intelligent
- Systems Research Institute, National Institute of Advanced Industrial
- Science and Technology (AIST), Japan.
- Please see http://www.openrtm.org/ for more detail.
+ services applicable to the domain of robotics software
+ development. OpenRTM-aist is being developed and distributed by
+ National Institute of Advanced Industrial Science and Technology
+ (AIST), Japan. Please see http://www.openrtm.org/ for more detail.
Package: openrtm-aist-dev
Architecture: any
Depends: openrtm-aist
Description: OpenRTM-aist headers for development
- The header files and libraries needed for developing programs using
- OpenRTM-aist.
+ The header files and libraries needed for developing RT-Components
+ using OpenRTM-aist.
Package: openrtm-aist-example
Architecture: any
Depends: openrtm-aist
Description: OpenRTM-aist examples
- Example components and sources
+ Example components and sources of OpenRTM-aist
Package: openrtm-aist-doc
Architecture: all
Description: Documentation for openrtm-aist
- Developer documentation.
+ Class reference manual of OpenRTM-aist.
Modified: branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control 2017-12-10 00:14:39 UTC (rev 3102)
@@ -2,7 +2,7 @@
Section: science
Priority: extra
Maintainer: Noriaki Ando <n-ando at aist.go.jp>
-Build-Depends: debhelper (>= 9), libomniorb4-dev, omniidl, omniorb-nameserver, python, uuid-dev
+Build-Depends: debhelper (>= 9), libomniorb4-dev, omniidl4 | omniidl, omniorb4-nameserver | omniorb-nameserver, python, uuid-dev
Standards-Version: 3.8.4
Homepage: http://www.openrtm.org
@@ -13,14 +13,14 @@
Depends: ${shlibs:Depends}, ${misc:Depends}, omniorb-nameserver
Description: OpenRTM-aist, RT-Middleware distributed by AIST
OpenRTM-aist is a reference implementation of RTC (Robotic Technology
- Component) specification which is OMG standard. OpenRTM-aist includes
+ Component Version 1.1, formal/12-09-01) specification which is OMG
+ standard (http://www.omg.org/spec/RTC/). OpenRTM-aist includes
RT-Middleware runtime environment and RTC framework. The OMG standard
defines a component model and certain important infrastructure
- services applicable to the domain of robotics software development.
- OpenRTM-aist is being developed and distributed by Intelligent
- Systems Research Institute, National Institute of Advanced Industrial
- Science and Technology (AIST), Japan.
- Please see http://www.openrtm.org/ for more detail.
+ services applicable to the domain of robotics software
+ development. OpenRTM-aist is being developed and distributed by
+ National Institute of Advanced Industrial Science and Technology
+ (AIST), Japan. Please see http://www.openrtm.org/ for more detail.
Package: openrtm-aist-dev
Architecture: any
@@ -27,8 +27,8 @@
Multi-Arch: same
Depends: openrtm-aist
Description: OpenRTM-aist headers for development
- The header files and libraries needed for developing programs using
- OpenRTM-aist.
+ The header files and libraries needed for developing RT-Components
+ using OpenRTM-aist.
Package: openrtm-aist-example
Architecture: any
@@ -35,9 +35,9 @@
Multi-Arch: same
Depends: openrtm-aist
Description: OpenRTM-aist examples
- Example components and sources
+ Example components and sources of OpenRTM-aist
Package: openrtm-aist-doc
Architecture: all
Description: Documentation for openrtm-aist
- Developer documentation.
+ Class reference manual of OpenRTM-aist.
Modified: branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control.not-multiarch
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control.not-multiarch 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/packages/deb/debian/control.not-multiarch 2017-12-10 00:14:39 UTC (rev 3102)
@@ -11,29 +11,29 @@
Depends: ${shlibs:Depends}, ${misc:Depends}, omniorb-nameserver
Description: OpenRTM-aist, RT-Middleware distributed by AIST
OpenRTM-aist is a reference implementation of RTC (Robotic Technology
- Component) specification which is OMG standard. OpenRTM-aist includes
+ Component Version 1.1, formal/12-09-01) specification which is OMG
+ standard (http://www.omg.org/spec/RTC/). OpenRTM-aist includes
RT-Middleware runtime environment and RTC framework. The OMG standard
defines a component model and certain important infrastructure
- services applicable to the domain of robotics software development.
- OpenRTM-aist is being developed and distributed by Intelligent
- Systems Research Institute, National Institute of Advanced Industrial
- Science and Technology (AIST), Japan.
- Please see http://www.openrtm.org/ for more detail.
+ services applicable to the domain of robotics software
+ development. OpenRTM-aist is being developed and distributed by
+ National Institute of Advanced Industrial Science and Technology
+ (AIST), Japan. Please see http://www.openrtm.org/ for more detail.
Package: openrtm-aist-dev
Architecture: any
Depends: openrtm-aist
Description: OpenRTM-aist headers for development
- The header files and libraries needed for developing programs using
- OpenRTM-aist.
+ The header files and libraries needed for developing RT-Components
+ using OpenRTM-aist.
Package: openrtm-aist-example
Architecture: any
Depends: openrtm-aist
Description: OpenRTM-aist examples
- Example components and sources
+ Example components and sources of OpenRTM-aist
Package: openrtm-aist-doc
Architecture: all
Description: Documentation for openrtm-aist
- Developer documentation.
+ Class reference manual of OpenRTM-aist.
Modified: branches/RELENG_1_2/OpenRTM-aist/packages/rpm/OpenRTM-aist.spec.in
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/packages/rpm/OpenRTM-aist.spec.in 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/packages/rpm/OpenRTM-aist.spec.in 2017-12-10 00:14:39 UTC (rev 3102)
@@ -35,15 +35,15 @@
BuildRequires: python
%description
-OpenRTM-aist is a reference implementation of RTC (Robotic Technology
-Component) specification which is OMG standard. OpenRTM-aist includes
+OpenRTM-aist is a reference implementation of RTC (Robotic Technology
+Component Version 1.1, formal/12-09-01) specification which is OMG
+standard (http://www.omg.org/spec/RTC/). OpenRTM-aist includes
RT-Middleware runtime environment and RTC framework. The OMG standard
-defines a component model and certain important infrastructure services
-applicable to the domain of robotics software development.
-OpenRTM-aist is being developed and distributed by
-Task Intelligence Research Group, Intelligent Systems Research Institute,
-National Institute of Advanced Industrial Science and Technology (AIST), Japan.
-Please see http://www.is.aist.go.jp/rt/OpenRTM-aist/html/ for more detail.
+defines a component model and certain important infrastructure
+services applicable to the domain of robotics software
+development. OpenRTM-aist is being developed and distributed by
+National Institute of Advanced Industrial Science and Technology
+(AIST), Japan. Please see http://www.openrtm.org/ for more detail.
#------------------------------------------------------------
# devel package
@@ -51,8 +51,8 @@
Summary: Header files
Group: Development/Libraries
%description devel
-The header files and libraries needed for developing programs using
-OpenRTM-aist.
+The header files and libraries needed for developing RT-Components
+using OpenRTM-aist.
#------------------------------------------------------------
# doc package
@@ -60,7 +60,7 @@
Summary: Documentation
Group: Development/Libraries
%description doc
-Developer documentation.
+Class reference manual of OpenRTM-aist.
#------------------------------------------------------------
# example package
@@ -68,7 +68,7 @@
Summary: Example
Group: Development/Libraries
%description example
-Example components and sources
+Example components and sources of OpenRTM-aist.
#------------------------------------------------------------
# prep section
Copied: branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.cpp (from rev 2990, trunk/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.cpp)
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.cpp (rev 0)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.cpp 2017-12-10 00:14:39 UTC (rev 3102)
@@ -0,0 +1,127 @@
+// -*- C++ -*-
+/*!
+ * @file Affinity.cpp
+ * @brief Processor affinity operation class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#include <unistd.h>
+#ifndef _GNU_SOURCE
+#define _GNU_SOURCE
+#include <pthread.h>
+#endif // _GNU_SOURCE
+#include <coil/stringutil.h>
+#include <coil/Affinity.h>
+
+namespace coil
+{
+ bool getProcCpuAffinity(CpuMask& cpu_mask)
+ {
+ pid_t pid(getpid());
+ cpu_set_t cpu_set;
+ CPU_ZERO(&cpu_set);
+
+ int result = sched_getaffinity(pid, sizeof(cpu_set_t), &cpu_set);
+ if (result != 0) { return false; }
+
+ for (size_t i(0); i < CPU_SETSIZE; ++i)
+ {
+ if (CPU_ISSET(i, &cpu_set))
+ {
+ cpu_mask.push_back((unsigned int)i);
+ }
+ }
+ return true;
+ }
+
+ bool setProcCpuAffinity(std::vector<unsigned int> mask)
+ {
+ pid_t pid(getpid());
+ cpu_set_t cpu_set;
+ CPU_ZERO(&cpu_set);
+
+ for (size_t i(0); i < mask.size(); ++i)
+ {
+ CPU_SET(i, &cpu_set);
+ }
+
+ int result = sched_setaffinity(pid, sizeof(cpu_set_t), &cpu_set);
+ if (result != 0) { return false; }
+ return true;
+ }
+
+ bool setProcCpuAffinity(std::string cpu_mask)
+ {
+ coil::vstring tmp = coil::split(cpu_mask, ",", true);
+ CpuMask mask;
+ for (size_t i(0); i < tmp.size(); ++i)
+ {
+ int num;
+ if (coil::stringTo(num, tmp[i].c_str()))
+ {
+ mask.push_back(num);
+ }
+ }
+ return setProcCpuAffinity(mask);
+ }
+
+ bool getThreadCpuAffinity(CpuMask& cpu_mask)
+ {
+ pthread_t tid(pthread_self());
+ cpu_set_t cpu_set;
+ CPU_ZERO(&cpu_set);
+
+ int result = pthread_getaffinity_np(tid, sizeof(cpu_set_t), &cpu_set);
+ if (result != 0) { return false; }
+
+ for (size_t i(0); i < CPU_SETSIZE; ++i)
+ {
+ if (CPU_ISSET(i, &cpu_set))
+ {
+ cpu_mask.push_back((unsigned int)i);
+ }
+ }
+ return true;
+ }
+
+ bool setThreadCpuAffinity(std::vector<unsigned int> mask)
+ {
+ pthread_t tid(pthread_self());
+ cpu_set_t cpu_set;
+ CPU_ZERO(&cpu_set);
+
+ for (size_t i(0); i < mask.size(); ++i)
+ {
+ CPU_SET(i, &cpu_set);
+ }
+
+ int result = pthread_setaffinity_np(tid, sizeof(cpu_set_t), &cpu_set);
+ if (result != 0) { return false; }
+ return true;
+ }
+
+ bool setThreadCpuAffinity(std::string cpu_mask)
+ {
+ coil::vstring tmp = coil::split(cpu_mask, ",", true);
+ CpuMask mask;
+ for (size_t i(0); i < tmp.size(); ++i)
+ {
+ int num;
+ if (coil::stringTo(num, tmp[i].c_str()))
+ {
+ mask.push_back(num);
+ }
+ }
+ return setThreadCpuAffinity(mask);
+ }
+}; // namespace coil
Copied: branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.h (from rev 2990, trunk/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.h)
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.h (rev 0)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Affinity.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -0,0 +1,121 @@
+// -*- C++ -*-
+/*!
+ * @file Affinity.h
+ * @brief Processor affinity operation class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2016
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef COIL_AFFINITY_H
+#define COIL_AFFINITY_H
+
+#include <string>
+#include <coil/Singleton.h>
+#include <coil/TimeValue.h>
+#include <coil/Mutex.h>
+#include <coil/Guard.h>
+
+namespace coil
+{
+ typedef std::vector<unsigned int> CpuMask;
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤ÎCPU affinity¤ò¼èÆÀ¤¹¤ë
+ * @prop cpu_mask ¸½ºßÀßÄꤵ¤ì¤Æ¤¤¤ë affinity ¤¬ CPU ID¤Î
+ * std::vector<unsigned int> ¤ÇÊÖ¤µ¤ì¤ë¡£
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Getting current process CPU affinity
+ * @prop cpu_mask Current CPU affinity mask is returned as CPU ID in
+ * std::vector<unsigned int>.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool getProcCpuAffinity(CpuMask& cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤ÎCPU affinity¤òÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î
+ * std::vector<unsigned int> ¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity
+ * @prop cpu_mask CPU affinity mask to be set is given with CPU ID in
+ * std::vector<unsigned int> list.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setProcCpuAffinity(const CpuMask cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤ÎCPU affinity¤òʸ»úÎó¤ÇÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î¥«¥ó¥Þ¶èÀÚ¤êʸ»ú
+ * Îó¤Î¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity with string
+ * @prop cpu_mask CPU affinity mask to be set is given with comma
+ * separated CPU ID string.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setProcCpuAffinity(std::string cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥¹¥ì¥Ã¥É¤ÎCPU affinity¤ò¼èÆÀ¤¹¤ë
+ * @prop cpu_mask ¸½ºßÀßÄꤵ¤ì¤Æ¤¤¤ë affinity ¤¬ CPU ID¤Î
+ * std::vector<unsigned int> ¤ÇÊÖ¤µ¤ì¤ë¡£
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Getting current process CPU affinity
+ * @prop cpu_mask Current CPU affinity mask is returned as CPU ID in
+ * std::vector<unsigned int>.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool getThreadCpuAffinity(CpuMask& cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥¹¥ì¥Ã¥É¤ÎCPU affinity¤òÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î
+ * std::vector<unsigned int> ¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity
+ * @prop cpu_mask CPU affinity mask to be set is given with CPU ID in
+ * std::vector<unsigned int> list.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setThreadCpuAffinity(const CpuMask cpu_mask);
+
+ /*!
+ * @if jp
+ * @brief ¥¹¥ì¥Ã¥É¤ÎCPU affinity¤òʸ»úÎó¤ÇÀßÄꤹ¤ë
+ * @prop cpu_mask ÀßÄꤹ¤ë CPU affinity ¤ò CPU ID ¤Î¥«¥ó¥Þ¶èÀÚ¤êʸ»ú
+ * Îó¤Î¥ê¥¹¥È¤ÇÍ¿¤¨¤ë
+ * @return True: À®¸ù¡¢False: ¼ºÇÔ
+ * @else
+ * @brief Setting process CPU affinity with string
+ * @prop cpu_mask CPU affinity mask to be set is given with comma
+ * separated CPU ID string.
+ * @return True: success, False: fail
+ * @endif
+ */
+ bool setThreadCpuAffinity(std::string mask);
+
+}; // namespace coil
+#endif // COIL_AFFINITY_H
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Makefile.am
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Makefile.am 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/coil/posix/coil/Makefile.am 2017-12-10 00:14:39 UTC (rev 3102)
@@ -10,6 +10,7 @@
# posix API dependent sources
COIL_PLATFORM_SRC = \
+ Affinity.cpp \
Condition.cpp \
DynamicLib.cpp \
Mutex.cpp \
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/DefaultConfiguration.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/DefaultConfiguration.h 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/DefaultConfiguration.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -84,6 +84,7 @@
"manager.shutdown_auto", "YES",
"manager.auto_shutdown_duration", "10.0",
"manager.name", "manager",
+ "manager.components.naming_policy", "process_unique",
"manager.command", "rtcd",
"manager.supported_languages", "C++, Python, Java",
"manager.modules.C++.manager_cmd", "rtcd",
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.cpp 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.cpp 2017-12-10 00:14:39 UTC (rev 3102)
@@ -79,7 +79,7 @@
FactoryCXX::FactoryCXX(const coil::Properties& profile,
RtcNewFunc new_func,
RtcDeleteFunc delete_func,
- NumberingPolicy* policy)
+ RTM::NumberingPolicyBase* policy)
: FactoryBase(profile),
m_New(new_func),
m_Delete(delete_func),
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.h 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Factory.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -21,7 +21,7 @@
#define RTC_FACTORY_H
#include <coil/Properties.h>
-//#include <rtm/RTObject.h>
+#include <rtm/NumberingPolicyBase.h>
#include <rtm/NumberingPolicy.h>
@@ -321,9 +321,9 @@
* @endif
*/
FactoryCXX(const coil::Properties& profile,
- RtcNewFunc new_func,
- RtcDeleteFunc delete_func,
- NumberingPolicy* policy = new DefaultNumberingPolicy());
+ RtcNewFunc new_func,
+ RtcDeleteFunc delete_func,
+ RTM::NumberingPolicyBase* policy = new RTM::ProcessUniquePolicy());
virtual ~FactoryCXX()
{
@@ -402,7 +402,7 @@
* @brief The naming policy on creating the components
* @endif
*/
- NumberingPolicy* m_policy;
+ RTM::NumberingPolicyBase* m_policy;
};
};
#endif // RTC_FACTORY_H
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp 2017-12-10 00:14:39 UTC (rev 3102)
@@ -38,6 +38,9 @@
#include <rtm/InPortDirectProvider.h>
#include <rtm/InPortDirectConsumer.h>
+// RTC name numbering policy
+#include <rtm/NumberingPolicy.h>
+
void FactoryInit()
{
// Logstream
@@ -61,4 +64,9 @@
OutPortCorbaCdrProviderInit();
InPortDirectProviderInit();
InPortDirectConsumerInit();
+
+ // Naming Policy
+ ProcessUniquePolicyInit();
+ // NodeUniquePolicyInit();
+ // NamingServiceUniquePolicyInit();
}
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Makefile.am
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Makefile.am 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Makefile.am 2017-12-10 00:14:39 UTC (rev 3102)
@@ -156,6 +156,7 @@
ExecutionContextBase.h \
InPort.h \
InPortConsumer.h \
+ NumberingPolicyBase.h \
ObjectManager.h \
OutPort.h \
OutPortConsumer.h \
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp 2017-12-10 00:14:39 UTC (rev 3102)
@@ -43,6 +43,7 @@
#include <rtm/LocalServiceAdmin.h>
#include <rtm/SystemLogger.h>
#include <rtm/LogstreamBase.h>
+#include <rtm/NumberingPolicyBase.h>
#ifdef RTM_OS_LINUX
#ifndef _GNU_SOURCE
@@ -542,10 +543,12 @@
* @brief Load module
* @endif
*/
- void Manager::load(const char* fname, const char* initfunc)
+ ReturnCode_t Manager::load(const std::string& fname,
+ const std::string& initfunc)
{
RTC_TRACE(("Manager::load(fname = %s, initfunc = %s)",
- fname, initfunc));
+ fname.c_str(), initfunc.c_str()));
+
std::string file_name(fname);
std::string init_func(initfunc);
m_listeners.module_.preLoad(file_name, init_func);
@@ -553,7 +556,7 @@
{
if (init_func.empty())
{
- coil::vstring mod(coil::split(fname, "."));
+ coil::vstring mod(coil::split(file_name, "."));
init_func = mod[0] + "Init";
}
std::string path(m_module->load(file_name, init_func));
@@ -560,11 +563,35 @@
RTC_DEBUG(("module path: %s", path.c_str()));
m_listeners.module_.postLoad(path, init_func);
}
+ catch(RTC::ModuleManager::NotAllowedOperation& e)
+ {
+ RTC_ERROR(("Operation not allowed: %s",
+ e.reason.c_str()));
+ return RTC::PRECONDITION_NOT_MET;
+ }
+ catch(RTC::ModuleManager::NotFound& e)
+ {
+ RTC_ERROR(("Not found: %s",
+ e.name.c_str()));
+ return RTC::RTC_ERROR;
+ }
+ catch(RTC::ModuleManager::InvalidArguments& e)
+ {
+ RTC_ERROR(("Invalid argument: %s",
+ e.reason.c_str()));
+ return RTC::BAD_PARAMETER;
+ }
+ catch(RTC::ModuleManager::Error& e)
+ {
+ RTC_ERROR(("Error: %s", e.reason.c_str()));
+ return RTC::RTC_ERROR;
+ }
catch (...)
{
- RTC_ERROR(("module load error."));
+ RTC_ERROR(("Unknown error."));
+ return RTC::RTC_ERROR;
}
- return;
+ return RTC::RTC_OK;
}
/*!
@@ -635,25 +662,37 @@
* @endif
*/
bool Manager::registerFactory(coil::Properties& profile,
- RtcNewFunc new_func,
- RtcDeleteFunc delete_func)
+ RtcNewFunc new_func,
+ RtcDeleteFunc delete_func)
{
RTC_TRACE(("Manager::registerFactory(%s)", profile["type_name"].c_str()));
+
+ std::string policy_name =
+ m_config.getProperty("manager.components.naming_policy", "default");
+ RTM::NumberingPolicyBase* policy =
+ RTM::NumberingPolicyFactory::instance().createObject(policy_name);
FactoryBase* factory;
- factory = new FactoryCXX(profile, new_func, delete_func);
+ if (policy == NULL)
+ {
+ factory = new FactoryCXX(profile, new_func, delete_func);
+ }
+ else
+ {
+ factory = new FactoryCXX(profile, new_func, delete_func, policy);
+ }
try
- {
- bool ret = m_factory.registerObject(factory);
- if (!ret) {
- delete factory;
- return false;
- }
- return true;
+ {
+ bool ret = m_factory.registerObject(factory);
+ if (!ret) {
+ delete factory;
+ return false;
+ }
+ return true;
}
catch (...)
{
- delete factory;
- return false;
+ delete factory;
+ return false;
}
}
@@ -1791,7 +1830,19 @@
m_namingManager->unbindAll();
delete m_namingManager;
}
-
+
+ /*!
+ * @if jp
+ * @brief NamingManager¤ò¼èÆÀ¤¹¤ë
+ * @else
+ * @brief Getting NamingManager
+ * @endif
+ */
+ NamingManager& Manager::getNamingManager()
+ {
+ return *m_namingManager;
+ }
+
//============================================================
// Naming initialization and finalization
//============================================================
@@ -1937,7 +1988,19 @@
return true;
}
-
+
+ /*!
+ * @if jp
+ * @brief ManagerServant¤ò¼èÆÀ¤¹¤ë
+ * @else
+ * @brief Getting ManagerServant
+ * @endif
+ */
+ RTM::ManagerServant& Manager::getManagerServant()
+ {
+ return *m_mgrservant;
+ }
+
bool Manager::initLocalService()
{
RTC_TRACE(("Manager::initLocalService()"));
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -396,7 +396,7 @@
* @endif
*/
void runManager(bool no_block = false);
-
+
//============================================================
// Module management
//============================================================
@@ -409,6 +409,11 @@
*
* @param fname ¥â¥¸¥å¡¼¥ë¥Õ¥¡¥¤¥ë̾
* @param initfunc ½é´ü²½´Ø¿ô̾
+ * @return ½ªÎ»¥³¡¼¥É
+ * RTC::RTC_OK Àµ¾ï½ªÎ»
+ * RTC::RTC_ERROR ¥í¡¼¥É¼ºÇÔ¡¦ÉÔÌÀ¤Ê¥¨¥é¡¼
+ * RTC::PRECONDITION_NOT_MET ÀßÄê¤Ë¤êµö²Ä¤µ¤ì¤Ê¤¤Áàºî
+ * RTC::BAD_PARAMETER ÉÔÀµ¤Ê¥Ñ¥é¥á¡¼¥¿
*
* @else
*
@@ -419,10 +424,15 @@
*
* @param fname The module file name
* @param initfunc The initialize function name
+ * @return Return code
+ * RTC::RTC_OK Normal return
+ * RTC::RTC_ERROR Load failed, or unknown error
+ * RTC::PRECONDITION_NOT_MET Not allowed operation by conf
+ * RTC::BAD_PARAMETER Invalid parameter
*
* @endif
*/
- void load(const char* fname, const char* initfunc);
+ ReturnCode_t load(const std::string& fname, const std::string& initfunc);
/*!
* @if jp
@@ -1381,6 +1391,18 @@
* @endif
*/
void shutdownNaming();
+
+ /*!
+ * @if jp
+ * @brief NamingManager¤ò¼èÆÀ¤¹¤ë
+ *
+ * @else
+ *
+ * @brief Getting NamingManager
+ *
+ * @endif
+ */
+ NamingManager& getNamingManager();
//============================================================
// Component management
@@ -1624,6 +1646,18 @@
/*!
* @if jp
+ * @brief ManagerServant¤ò¼èÆÀ¤¹¤ë
+ *
+ * @else
+ *
+ * @brief Getting ManagerServant
+ *
+ * @endif
+ */
+ RTM::ManagerServant& getManagerServant();
+
+ /*!
+ * @if jp
* @brief LocalService ¤Î½é´ü²½
*
* @return Timer ½é´ü²½½èÍý¼Â¹Ô·ë²Ì(½é´ü²½À®¸ù:true¡¢½é´ü²½¼ºÇÔ:false)
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp 2017-12-10 00:14:39 UTC (rev 3102)
@@ -17,6 +17,8 @@
*
*/
#include <coil/Process.h>
+#include <coil/Properties.h>
+#include <coil/stringutil.h>
#include <rtm/Manager.h>
#include <rtm/ManagerServant.h>
#include <rtm/NVUtil.h>
@@ -38,19 +40,19 @@
{
rtclog.setName("ManagerServant");
coil::Properties config(m_mgr.getConfig());
-
+
+ if (!createINSManager())
+ {
+ RTC_WARN(("Manager CORBA servant creation failed."));
+ return;
+ }
+ RTC_INFO(("Named manager reference (INS) was successfully created."));
+
if (coil::toBool(config["manager.is_master"], "YES", "NO", true))
{ // this is master manager
RTC_TRACE(("This manager is master."));
-
- if (!createINSManager())
- {
- RTC_WARN(("Manager CORBA servant creation failed."));
- return;
-
- }
m_isMaster = true;
- RTC_WARN(("Manager CORBA servant was successfully created."));
+ RTC_INFO(("Master manager servant was successfully created."));
return;
}
else
@@ -62,16 +64,16 @@
owner = findManager(config["corba.master_manager"].c_str());
if (CORBA::is_nil(owner))
{
- RTC_INFO(("Master manager not found"));
+ RTC_WARN(("Master manager not found"));
return;
}
- if (!createINSManager())
- {
- RTC_WARN(("Manager CORBA servant creation failed."));
- return;
- }
+ RTC_INFO(("Master manager found: %s",
+ config["corba.master_manager"].c_str()));
+ RTC_INFO(("Adding this manager to this manager."))
add_master_manager(owner);
+ RTC_INFO(("Register this manager to master manager."))
owner->add_slave_manager(m_objref.in());
+ RTC_INFO(("Slave manager servant was successfully created."));
return;
}
catch (...)
@@ -322,101 +324,56 @@
RTC::RTObject_ptr ManagerServant::create_component(const char* module_name)
{
RTC_TRACE(("create_component(%s)", module_name));
-
- std::string arg(module_name);
- std::string::size_type pos0(arg.find("&manager="));
- std::string::size_type pos1(arg.find("?manager="));
-
- if (pos0 == std::string::npos && pos1 == std::string::npos)
+ RTC_TRACE(("This manager is master: %s", m_isMaster ? "YES" : "NO"));
+ std::string create_arg(module_name);
+ if (create_arg.empty()) // invalid arg
{
- if (false) //is_master())
- {
- RTC_ERROR(("Master manager cannot create component: %s",
- module_name));
- return RTC::RTObject::_nil();
- }
- // create on this manager
- RTC::RTObject_impl* rtc = m_mgr.createComponent(module_name);
- if (rtc == NULL)
- {
- return RTC::RTObject::_nil();
- }
- return RTC::RTObject::_duplicate(rtc->getObjRef());
- }
- // create other manager
-
- // extract manager's location
- std::string::size_type pos;
- pos = (pos0 != std::string::npos) ? pos0 : pos1;
-
- std::string::size_type endpos;
- endpos = arg.find('&', pos + 1);
- std::string mgrstr(arg.substr(pos + 1, endpos - 1 - pos));
- RTC_VERBOSE(("Manager arg: %s", mgrstr.c_str()));
- coil::vstring mgrvstr(coil::split(mgrstr, ":"));
- if (mgrvstr.size() != 2)
- {
- RTC_WARN(("Invalid manager name: %s", mgrstr.c_str()));
return RTC::RTObject::_nil();
}
- std::string::size_type eqpos(mgrstr.find("="));
- if (eqpos == std::string::npos)
- {
- RTC_WARN(("Invalid argument: %s", module_name));
- return RTC::RTObject::_nil();
- }
- mgrstr.erase(0, eqpos + 1);
- RTC_DEBUG(("Manager is %s", mgrstr.c_str()))
- // find manager
- RTM::Manager_var mgrobj = findManager(mgrstr.c_str());
- if (CORBA::is_nil(mgrobj))
- {
- std::string cmd("rtcd -p ");
- cmd += mgrvstr[1]; // port number
+ RTC::RTObject_var rtobj;
+ // create component by address
+ rtobj = createComponentByAddress(create_arg);
+ if (!CORBA::is_nil(rtobj)) { return rtobj._retn(); }
- RTC_DEBUG(("Invoking command: %s.", cmd.c_str()));
- int ret(coil::launch_shell(cmd.c_str()));
- if (ret == -1)
- {
- RTC_DEBUG(("%s: failed", cmd.c_str()));
- return RTC::RTObject::_nil();
- }
+ // create component by manager's name
+ rtobj = createComponentByManagerName(create_arg);
+ if (!CORBA::is_nil(rtobj)) { return rtobj._retn(); }
- // find manager
- coil::usleep(10000);
- int count(0);
- while (CORBA::is_nil(mgrobj))
+ // === Master ===
+ // The aster manager never hosts RT-Components and it request to
+ // create to slave components.
+ if (m_isMaster)
+ {
+ Guard guard(m_slaveMutex);
+ for (size_t i(0); i < m_slaves.length(); ++i)
{
- mgrobj = findManager(mgrstr.c_str());
- ++count;
- if (count > 1000) { break; }
- coil::usleep(10000);
+ try
+ {
+ RTC::RTObject_var rtobj;
+ rtobj = m_slaves[i]->create_component(create_arg.c_str());
+ RTC_DEBUG(("Component created %s", create_arg.c_str()));
+ if (!CORBA::is_nil(rtobj)) { return rtobj._retn(); }
+ }
+ catch (CORBA::SystemException& e)
+ {
+ RTC_DEBUG(("Exception was caught while creating component."));
+ }
}
+ return RTC::RTObject::_nil();
}
- if (CORBA::is_nil(mgrobj))
- {
- RTC_WARN(("Manager cannot be found."));
- return RTC::RTObject::_nil();
- }
-
+ // === Slave ===
// create component on the manager
- arg.erase(pos + 1, endpos - pos);
- RTC_DEBUG(("Creating component on %s", mgrstr.c_str()));
- RTC_DEBUG(("arg: %s", arg.c_str()));
- try
+ RTC_DEBUG(("Creating component on this manager"));
+ RTC_DEBUG(("arg: %s", create_arg.c_str()));
+ RTC::RTObject_impl* rtc = m_mgr.createComponent(create_arg.c_str());
+ if (rtc != NULL)
{
- RTC::RTObject_var rtobj;
- rtobj = mgrobj->create_component(arg.c_str());
- RTC_DEBUG(("Component created %s", arg.c_str()));
- return rtobj._retn();
+ return RTC::RTObject::_duplicate(rtc->getObjRef());
}
- catch (CORBA::SystemException& e)
- {
- RTC_DEBUG(("Exception was caught while creating component."));
- return RTC::RTObject::_nil();
- }
+
+ // no RTObject created.
return RTC::RTObject::_nil();
}
@@ -471,6 +428,7 @@
}
// get slaves' component references
+ Guard guard(m_slaveMutex);
RTC_DEBUG(("%d slave managers exists.", m_slaves.length()));
for (int i(0), len(m_slaves.length()); i < len; ++i)
{
@@ -746,37 +704,134 @@
return RTC::RTC_OK;
}
-
-
+ /*!
+ * @if jp
+ * @brief ¥×¥í¥»¥¹¤Î¥³¥Ô¡¼¤òÀ¸À®¤¹¤ë
+ * @else
+ * @brief The copy of the process is generated.
+ * @endif
+ */
RTC::ReturnCode_t ManagerServant::fork()
{
// m_mgr.fork();
+
return ::RTC::RTC_OK;
}
-
+
+ /*!
+ * @if jp
+ * @brief shutdown¤¹¤ë
+ * @else
+ * @brief This method shutdowns RTC.
+ * @endif
+ */
RTC::ReturnCode_t ManagerServant::shutdown()
{
m_mgr.terminate();
return ::RTC::RTC_OK;
}
-
+
+ /*!
+ * @if jp
+ * @brief ºÆµ¯Æ°¤¹¤ë¡£
+ * @else
+ * @brief This method restarts RTC.
+ * @endif
+ */
RTC::ReturnCode_t ManagerServant::restart()
{
// m_mgr.restart();
return ::RTC::RTC_OK;
}
-
+
+ /*!
+ * @if jp
+ * @brief »ØÄê̾¤ÎRTC¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¼èÆÀ
+ * @else
+ * @brief Obtain specific RTObject reference by name
+ * @endig
+ */
+ RTC::RTCList* ManagerServant::get_components_by_name(const char* name)
+ {
+ RTC_TRACE(("get_components_by_name()"));
+ ::RTC::RTCList_var crtcs = new ::RTC::RTCList();
+
+ // check argument
+ std::string tmp(name);
+ coil::eraseHeadBlank(tmp);
+ if (tmp.empty()) { return crtcs._retn(); }
+
+ std::vector<RTC::RTObject_impl*> rtcs = m_mgr.getComponents();
+ coil::vstring rtc_name = coil::split(tmp, "/");
+ for (size_t i(0); i < rtcs.size(); ++i)
+ {
+ // name = ConsoleIn0, instancename = ConsoleIn0
+ if (rtc_name.size() == 1 &&
+ rtc_name[0] == rtcs[i]->getInstanceName())
+ {
+ RTC::RTObject_var rtcref =
+ RTC::RTObject::_duplicate(rtcs[i]->getObjRef());
+#ifndef ORB_IS_RTORB
+ CORBA_SeqUtil::push_back(crtcs.inout(), rtcref.in());
+#else // ORB_IS_RTORB
+ CORBA_SeqUtil::push_back(crtcs, rtcref);
+#endif // ORB_IS_RTORB
+ continue;
+ }
+ if (rtc_name.size() < 2) { continue; } // size != 0
+
+ // name = */ConsoleIn0 instancename = ConsoleIn0 OR
+ // naem = sample/ConsoleIn0 category = sample && instance == ConsoleIn0
+ if ((rtc_name[0] == "*" &&
+ rtc_name[1] == rtcs[i]->getInstanceName()) ||
+ (rtc_name[0] == rtcs[i]->getCategory() &&
+ rtc_name[1] == rtcs[i]->getInstanceName()))
+ {
+ RTC::RTObject_var rtcref =
+ RTC::RTObject::_duplicate(rtcs[i]->getObjRef());
+#ifndef ORB_IS_RTORB
+ CORBA_SeqUtil::push_back(crtcs.inout(), rtcref.in());
+#else // ORB_IS_RTORB
+ CORBA_SeqUtil::push_back(crtcs, rtcref);
+#endif // ORB_IS_RTORB
+ }
+ }
+ return crtcs._retn();
+ }
+
+ /*!
+ * @if jp
+ * @brief RTC¤Î¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¼èÆÀ¤¹¤ë¡£
+ * @else
+ * @brief Get the reference of RTC.
+ * @endif
+ */
CORBA::Object_ptr ManagerServant::get_service(const char* name)
{
return ::CORBA::Object::_nil();
}
-
+
+ //======================================================================
+ // Local functions
+ /*!
+ * @if jp
+ * @brief Manager¤Î¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¼èÆÀ¤¹¤ë¡£
+ * @else
+ * @brief Get the reference of Manager.
+ * @endif
+ */
RTM::Manager_ptr ManagerServant::getObjRef() const
{
return m_objref;
}
-
+ /*!
+ * @if jp
+ * @brief INSManager¤ÎÀ¸À®
+ * @else
+ * @brief Generate INSManager.
+ * @endif
+ */
bool ManagerServant::createINSManager()
{
try
@@ -793,7 +848,9 @@
// Create readable object ID
coil::Properties config(m_mgr.getConfig());
- PortableServer::ObjectId_var id;
+ PortableServer::ObjectId_var id;
+ RTC_DEBUG(("Creating named manager: %s",
+ config["manager.name"].c_str()));
#ifndef ORB_IS_RTORB
id = PortableServer::string_to_ObjectId(config["manager.name"].c_str());
#else // ORB_IS_RTORB
@@ -802,6 +859,7 @@
#endif // ORB_IS_RTORB
// Object activation
+ RTC_DEBUG(("Activating manager with id(%s)", config["manager.name"]));
poa->activate_object_with_id(id.in(), this);
CORBA::Object_var mgrobj = poa->id_to_reference(id);
@@ -822,11 +880,16 @@
return true;
}
-
-
- RTM::Manager_ptr ManagerServant::findManager(const char* host_port)
+ /*!
+ * @if jp
+ * @brief Manager¤Î¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¸¡º÷¤¹¤ë¡£
+ * @else
+ * @brief Find the reference of Manager.
+ * @endif
+ */
+ RTM::Manager_ptr ManagerServant::findManager(const std::string& host_port)
{
- RTC_TRACE(("findManager(host_port = %s)", host_port));
+ RTC_TRACE(("findManager(host_port = %s)", host_port.c_str()));
try
{
coil::Properties config(m_mgr.getConfig());
@@ -875,6 +938,272 @@
return RTM::Manager::_nil();
}
+ /*!
+ * @if jp
+ * @brief »ØÄê̾¤Î¥Þ¥Í¡¼¥¸¥ã¤ò¼èÆÀ
+ * @else
+ * @brief Obtain Manager's reference by name
+ * @endif
+ */
+ RTM::Manager_ptr ManagerServant::findManagerByName(const std::string mgr_name)
+ {
+ RTC_TRACE(("findManagerByName(%s)", mgr_name.c_str()));
+
+ coil::Properties prop = m_mgr.getConfig();
+ if (mgr_name == prop["manager.instance_name"])
+ {
+ return RTM::Manager::_duplicate(getObjRef());
+ }
+ if (m_isMaster)
+ {
+ Guard guard(m_slaveMutex);
+ return findManagerFromList(mgr_name, m_slaves);
+ }
+ Guard guard(m_masterMutex);
+ return findManagerFromList(mgr_name, m_masters);
+ }
+ /*!
+ * @if jp
+ * @brief ¥Þ¥Í¡¼¥¸¥ã¤Î¥ê¥¹¥È¤«¤é»ØÄê̾¤ò»ý¤Ä¥Þ¥Í¡¼¥¸¥ã¤ò¼èÆÀ
+ * @else
+ * @brief Obtain Manager's reference by name
+ * @endif
+ */
+ RTM::Manager_ptr ManagerServant::findManagerFromList(const std::string name,
+ RTM::ManagerList& mlist)
+ {
+ for (CORBA::ULong i(0); i < mlist.length(); ++i)
+ {
+ try
+ {
+ if (CORBA::is_nil(mlist[i])) { continue; }
+ RTM::NVList_var nvlist = mlist[i]->get_configuration();
+ if (NVUtil::isStringValue(nvlist.in(),
+ "manager.instance_name",
+ name.c_str()))
+ {
+ return RTM::Manager::_duplicate(mlist[i]); // end condition
+ }
+ RTM::ManagerList_var slist = mlist[i]->get_slave_managers();
+ if (slist->length() == 0) { continue; }
+ RTM::Manager_var mgr = findManagerFromList(name, slist.inout());
+ if (CORBA::is_nil(mgr)) { continue; }
+ return mgr._retn(); // backtrack
+ }
+ catch (...)
+ {
+ RTC_ERROR(("A slave manager thrown exception."));
+ mlist[i] = RTM::Manager::_nil();
+ CORBA_SeqUtil::erase(mlist, i);
+ --i; // list length is shortened
+ RTC_ERROR(("This slave manager is removed from slave list."));
+ }
+ }
+ return RTM::Manager::_nil();
+ }
+ /*!
+ * @if jp
+ * @brief »ØÄê¤Î¥Þ¥Í¡¼¥¸¥ã¤ÇRTC¤òµ¯Æ°¤¹¤ë
+ * @else
+ * @brief Launch RTC on specified manager
+ * @endif
+ */
+ RTC::RTObject_ptr
+ ManagerServant::createComponentByManagerName(const std::string create_arg)
+ {
+ RTC_TRACE(("createComponentByManagerName(%s)",create_arg.c_str()));
+ coil::mapstring param = coil::urlparam2map(create_arg);
+ for (coil::mapstring::iterator it(param.begin()); it != param.end(); ++it)
+ {
+ RTC_DEBUG(("create_arg[%s] = %s",
+ it->first.c_str(), it->second.c_str()));
+ }
+
+ std::string mgrstr = param["manager_name"];
+ if (mgrstr.empty())
+ {
+ RTC_WARN(("No manager_name found: %s", mgrstr.c_str()));
+ return RTC::RTObject::_nil();
+ }
+
+ // detect languange
+ std::string lang = param["language"];
+ if (lang.empty()) { lang = "C++"; }
+ RTC_INFO(("Specified manager's language: %s", lang));
+
+ RTM::Manager_var mgrobj = findManagerByName(mgrstr);
+ if (CORBA::is_nil(mgrobj))
+ {
+ RTC_INFO(("Manager: %s not found.", mgrstr.c_str()));
+ RTC_INFO(("Creating new manager named %s", mgrstr.c_str()));
+
+ std::string rtcd_cmd_key("manager.modules.");
+ rtcd_cmd_key += lang + "manager_cmd";
+ coil::Properties& prop = m_mgr.getConfig();
+ std::string rtcd_cmd = prop[rtcd_cmd_key];
+
+ if (rtcd_cmd.empty())
+ {
+ RTC_WARN(("rtcd command name not found. Default rtcd is used"));
+ rtcd_cmd = "rtcd";
+ }
+ rtcd_cmd += " -o manager.is_master:NO";
+ rtcd_cmd += " -o manager.corba_servant:YES";
+ rtcd_cmd += " -o corba.master_manager:" + prop["corba.master_manager"];
+ rtcd_cmd += " -o manager.name:" + prop["manger.name"];
+ rtcd_cmd += " -o manager.instance_name:" + mgrstr;
+
+ RTC_DEBUG(("Invoking command: %s.", rtcd_cmd.c_str()));
+ int ret(coil::launch_shell(rtcd_cmd.c_str()));
+ if (ret == -1)
+ {
+ RTC_DEBUG(("%s: failed", rtcd_cmd.c_str()));
+ return RTC::RTObject::_nil();
+ }
+ coil::sleep(0.01);
+ for (size_t i(0); i < 1000; ++i)
+ {
+ RTC_DEBUG(("Detecting new slave manager (%s).", mgrstr.c_str()))
+ mgrobj = findManagerByName(mgrstr);
+ if (!CORBA::is_nil(mgrobj))
+ {
+ RTC_INFO(("New slave manager (%s) launched.", mgrstr.c_str()));
+ break;
+ }
+ RTC_DEBUG(("Waiting for slave manager started."));
+ coil::sleep(0.01);
+ }
+
+ if (CORBA::is_nil(mgrobj))
+ {
+ RTC_ERROR(("Launch failed: manager (%s)", mgrstr.c_str()));
+ return RTC::RTObject::_nil();
+ }
+ RTC_DEBUG(("Creating component on %s", mgrstr.c_str()));
+ RTC_DEBUG(("arg: %s", create_arg.c_str()));
+ try
+ {
+ return mgrobj->create_component(create_arg.c_str());
+ }
+ catch (CORBA::SystemException& e)
+ {
+ RTC_ERROR(("Exception was caught while creating component."));
+ return RTC::RTObject::_nil();
+ }
+ catch (...)
+ {
+ RTC_ERROR(("Unknown non-CORBA exception cought."));
+ return RTC::RTObject::_nil();
+ }
+ }
+ return RTC::RTObject::_nil();
+ }
+
+ /*
+ * @if jp
+ * @brief »ØÄꥢ¥É¥ì¥¹¤Î¥Þ¥Í¡¼¥¸¥ã¤ÇRTC¤òµ¯Æ°¤¹¤ë
+ * @else
+ * @brief Launch a RTC on the specified IP/Port address manager
+ * @endif
+ */
+ RTC::RTObject_ptr
+ ManagerServant::createComponentByAddress(const std::string create_arg)
+ {
+ RTC_TRACE(("createComponentByAddress(%s)",create_arg.c_str()));
+ coil::mapstring param = coil::urlparam2map(create_arg);
+ for (coil::mapstring::iterator it(param.begin()); it != param.end(); ++it)
+ {
+ RTC_DEBUG(("create_arg[%s] = %s",
+ it->first.c_str(), it->second.c_str()));
+ }
+
+ std::string mgrstr = param["manager_name"];
+ if (mgrstr.empty())
+ {
+ RTC_WARN(("No manager_name found: %s", mgrstr.c_str()));
+ return RTC::RTObject::_nil();
+ }
+
+ coil::vstring mgrvstr = coil::split(mgrstr, ":", true);
+ if (mgrvstr.size() != 2)
+ {
+ RTC_WARN(("Invalid manager name: %s", mgrstr.c_str()));
+ return RTC::RTObject::_nil();
+ }
+
+ // detect languange
+ std::string lang = param["language"];
+ if (lang.empty()) { lang = "C++"; }
+ RTC_INFO(("Specified manager's language: %s", lang));
+
+ // find manager
+ RTM::Manager_var mgrobj = findManager(mgrstr);
+
+ if (CORBA::is_nil(mgrobj))
+ {
+ RTC_INFO(("Manager: %s not found.", mgrstr.c_str()));
+ RTC_INFO(("Creating new manager named %s", mgrstr.c_str()));
+
+ std::string rtcd_cmd_key("manager.modules.");
+ rtcd_cmd_key += lang + "manager_cmd";
+ coil::Properties& prop = m_mgr.getConfig();
+ std::string rtcd_cmd = prop[rtcd_cmd_key];
+
+ if (rtcd_cmd.empty())
+ {
+ RTC_WARN(("rtcd command name not found. Default rtcd is used."));
+ rtcd_cmd = "rtcd";
+ }
+ rtcd_cmd += " -o corba.master_manager:" + mgrstr;
+ rtcd_cmd += " -d ";
+
+ RTC_DEBUG(("Invoking command: %s.", rtcd_cmd.c_str()));
+ int ret(coil::launch_shell(rtcd_cmd.c_str()));
+ if (ret == -1)
+ {
+ RTC_DEBUG(("%s: failed", rtcd_cmd.c_str()));
+ return RTC::RTObject::_nil();
+ }
+
+ coil::sleep(0.01);
+ for (size_t i(0); i < 1000; ++i)
+ {
+ RTC_DEBUG(("Detecting new slave manager (%s).", mgrstr.c_str()))
+ mgrobj = findManagerByName(mgrstr);
+ if (!CORBA::is_nil(mgrobj))
+ {
+ RTC_INFO(("New slave manager (%s) launched.", mgrstr.c_str()));
+ break;
+ }
+ RTC_DEBUG(("Waiting for slave manager started."));
+ coil::sleep(0.01);
+ }
+
+ if (CORBA::is_nil(mgrobj))
+ {
+ RTC_ERROR(("Launch failed: manager (%s)", mgrstr.c_str()));
+ return RTC::RTObject::_nil();
+ }
+
+ RTC_DEBUG(("Creating component on %s", mgrstr.c_str()));
+ RTC_DEBUG(("arg: %s", create_arg.c_str()));
+ try
+ {
+ return mgrobj->create_component(create_arg.c_str());
+ }
+ catch (CORBA::SystemException& e)
+ {
+ RTC_ERROR(("Exception was caught while creating component."));
+ return RTC::RTObject::_nil();
+ }
+ catch (...)
+ {
+ RTC_ERROR(("Unknown non-CORBA exception cought."));
+ return RTC::RTObject::_nil();
+ }
+ }
+ return RTC::RTObject::_nil();
+ }
};
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.h 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ManagerServant.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -498,8 +498,6 @@
*/
RTC::ReturnCode_t remove_slave_manager(RTM::Manager_ptr mgr);
-
-
/*!
* @if jp
* @brief ¥×¥í¥»¥¹¤Î¥³¥Ô¡¼¤òÀ¸À®¤¹¤ë
@@ -531,6 +529,23 @@
*/
RTC::ReturnCode_t restart();
+ /*!
+ * @if jp
+ * @brief »ØÄê̾¤ÎRTC¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¼èÆÀ
+ *
+ * @param name RTC̾
+ * @return RTC¥ê¥¹¥È
+ *
+ * @else
+ * @brief
+ *
+ * @param name name
+ * @return list of RTC
+ *
+ * @endig
+ */
+ RTC::RTCList* get_components_by_name(const char* name);
+
/*!
* @if jp
* @brief RTC¤Î¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¼èÆÀ¤¹¤ë¡£
@@ -573,8 +588,108 @@
* @return Manager reference
* @endif
*/
- RTM::Manager_ptr findManager(const char* host_port);
+ RTM::Manager_ptr findManager(const std::string& host_port);
+ /*!
+ * @if jp
+ * @brief »ØÄê̾¤Î¥Þ¥Í¡¼¥¸¥ã¤ò¼èÆÀ
+ *
+ * ¥Þ¥Í¡¼¥¸¥ã¤¬¥Þ¥¹¥¿¡¼¤Î¾ì¹ç¤ÏÅÐÏ¿¤µ¤ì¤Æ¤¤¤ë¥¹¥ì¡¼¥Ö¥Þ¥Í¡¼¥¸¥ã¤«
+ * ¤é¸¡º÷¤¹¤ë¡£¥Þ¥Í¡¼¥¸¥ã¤¬¥¹¥ì¡¼¥Ö¤Î¾ì¹ç¤ÏÅÐÏ¿¤µ¤ì¤Æ¤¤¤ë¥Þ¥¹¥¿¡¼
+ * ¥Þ¥Í¡¼¥¸¥ã¤«¤é¥¹¥ì¡¼¥Ö¥Þ¥Í¡¼¥¸¥ã¤ò¸¡º÷¤¹¤ë
+ *
+ * @param manager_name ¥Þ¥Í¡¼¥¸¥ã̾
+ * @return ¥Þ¥Í¡¼¥¸¥ã¤Î»²¾È
+ *
+ * @else
+ * @brief Obtain Manager's reference by name
+ *
+ * If this is master manager, find it from the registered slave managers.
+ * If this is slave manager, request it to its master manager.
+ *
+ * @param manager_name Manager's name
+ * @return Manager's object reference
+ * @endif
+ */
+ RTM::Manager_ptr findManagerByName(const std::string mgr_name);
+
+ /*!
+ * @if jp
+ * @brief ¥Þ¥Í¡¼¥¸¥ã¤Î¥ê¥¹¥È¤«¤é»ØÄê̾¤ò»ý¤Ä¥Þ¥Í¡¼¥¸¥ã¤ò¼èÆÀ
+ *
+ * °ú¿ô¤ËÍ¿¤¨¤é¤ì¤¿¥Þ¥Í¡¼¥¸¥ã¤ËÂФ·¤Æ¡¢»ØÄꤵ¤ì¤¿¥Þ¥Í¡¼¥¸¥ã̾¤ò»ý
+ * ¤Ä¥Þ¥Í¡¼¥¸¥ã¤Î»²¾È¤òÊÖ¤¹¤È¤È¤â¤Ë¡¢¤â¤·¤Ê¤±¤ì¤Ð¡¢ºÆµ¢Åª¤Ë¥¹¥ì¡¼
+ * ¥Ö¥Þ¥Í¡¼¥¸¥ã¤òõº÷¤·¤Æ¡¢»ØÄꤵ¤ì¤¿Ì¾¾Î¤ò»ý¤Ä¥Þ¥Í¡¼¥¸¥ã¤Î»²¾È¤ò
+ * ÊÖ¤¹¡£¤³¤Î´Ø¿ô¤Ï¥¯¥é¥¹Æ⤫¤é¸Æ¤Ö¤¿¤á¤ÎÆâÉô´Ø¿ô¤Ç¤¢¤ë¡£°ú¿ô¤ËÍ¿
+ * ¤¨¤ë¥Þ¥Í¡¼¥¸¥ã¥ê¥¹¥È¤ÏɬÍפ˱þ¤¸¤ÆMutex¤ÇÊݸ¤ë¤³¤È¡£
+ *
+ * @param manager_name ¥Þ¥Í¡¼¥¸¥ã̾
+ * @param mlist ¥Þ¥Í¡¼¥¸¥ã¤Î¥ê¥¹¥È
+ * @return ¥Þ¥Í¡¼¥¸¥ã¤Î»²¾È
+ *
+ * @else
+ * @brief Obtain Manager's reference by name
+ *
+ * This function search a specified name manager from the given
+ * manager list. And if it is not found, this function also
+ * search from its slave managers recursively. This function is
+ * internal function. The given manager list must be guarded by
+ * mutex.
+ *
+ * @param manager_name Manager's name
+ * @param mlist Manager list
+ * @return Manager's object reference
+ * @endif
+ */
+ RTM::Manager_ptr findManagerFromList(const std::string name,
+ RTM::ManagerList& mlist);
+
+ /*!
+ * @if jp
+ * @brief »ØÄê¤Î¥Þ¥Í¡¼¥¸¥ã¤ÇRTC¤òµ¯Æ°¤¹¤ë
+ *
+ * comp&manager_name=mgr ¤Î¤è¤¦¤ËRTC̾&manager_name=¥Þ¥Í¡¼¥¸¥ã̾¤È
+ * »ØÄꤹ¤ë
+ *
+ * @param module_name µ¯Æ°¤¹¤ëRTC¡¢¥Þ¥Í¡¼¥¸¥ã̾
+ * @return À¸À®¤µ¤ì¤¿RTC¤Î¥ª¥Ö¥¸¥§¥¯¥È»²¾È
+ *
+ * @else
+ *
+ * @brief Launch RTC on specified manager
+ *
+ * Manager is specified with "manager_name" key such as
+ * "comp&manager_name=mgr" in the RTC launch parameter.
+ *
+ * @param module_name Given parameter to create RTC
+ * @return created RTObject object reference
+ *
+ * @endif
+ */
+ RTC::RTObject_ptr
+ createComponentByManagerName(const std::string module_name);
+
+ /*
+ * @if jp
+ * @brief »ØÄꥢ¥É¥ì¥¹¤Î¥Þ¥Í¡¼¥¸¥ã¤ÇRTC¤òµ¯Æ°¤¹¤ë
+ *
+ * comp&manager_address=localhost:2810 ¤Î¤è¤¦¤ËRTC̾
+ * &manager_address=¥Þ¥Í¡¼¥¸¥ã¤Î¥Û¥¹¥È̾¡¢¥Ý¡¼¥ÈÈÖ¹æ¤ò»ØÄꤹ¤ë
+ *
+ * @param module_name µ¯Æ°¤¹¤ëRTC¡¢¥Þ¥Í¡¼¥¸¥ã¤Î¥Û¥¹¥È¥¢¥É¥ì¥¹
+ * @return À¸À®¤µ¤ì¤¿RTC¤Î¥ª¥Ö¥¸¥§¥¯¥È»²¾È
+ *
+ * @else
+ * @brief Launch a RTC on the specified IP/Port address manager
+ *
+ * @param module_name Given parameter to create RTC
+ * @return created RTObject object reference
+ *
+ * @endif
+ */
+ RTC::RTObject_ptr
+ createComponentByAddress(const std::string module_name);
+
private:
typedef coil::Guard<coil::Mutex> Guard;
/*!
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ModuleManager.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ModuleManager.h 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/ModuleManager.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -5,7 +5,7 @@
* @date $Date: 2007-12-31 03:08:04 $
* @author Noriaki Ando <n-ando at aist.go.jp>
*
- * Copyright (C) 2006-2010
+ * Copyright (C) 2006-2017
* Noriaki Ando
* Task-intelligence Research Group,
* Intelligent Systems Research Institute,
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.cpp 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.cpp 2017-12-10 00:14:39 UTC (rev 3102)
@@ -20,70 +20,92 @@
#include <rtm/NumberingPolicy.h>
#include <coil/stringutil.h>
-//============================================================
-// DefaultNumberingPolicy
-//============================================================
-/*!
- * @if jp
- * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
- * @else
- * @brief Create the name when creating objects
- * @endif
- */
-std::string DefaultNumberingPolicy::onCreate(void* obj)
+namespace RTM
{
- std::vector<void*>::size_type pos;
+ //============================================================
+ // DefaultNumberingPolicy
+ //============================================================
+ /*!
+ * @if jp
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
+ * @else
+ * @brief Create the name when creating objects
+ * @endif
+ */
+ std::string ProcessUniquePolicy::onCreate(void* obj)
+ {
+ std::vector<void*>::size_type pos;
+
+ ++m_num;
+
+ try
+ {
+ pos = find(NULL);
+ m_objects[pos] = obj;
+ return coil::otos(pos);
+ }
+ catch (ObjectNotFound& e)
+ {
+ (void)(e);
+ m_objects.push_back(obj);
+ return coil::otos((int)(m_objects.size() - 1));
+ }
+ }
- ++m_num;
+ /*!
+ * @if jp
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
+ * @else
+ * @brief Delete the name when deleting objects
+ * @endif
+ */
+ void ProcessUniquePolicy::onDelete(void* obj)
+ {
+ std::vector<void*>::size_type pos;
+ pos = find(obj);
+ if (pos < m_objects.size())
+ {
+ m_objects[pos] = NULL;
+ }
+ --m_num;
+ }
- try
- {
- pos = find(NULL);
- m_objects[pos] = obj;
- return coil::otos(pos);
- }
- catch (ObjectNotFound& e)
- {
- (void)(e);
- m_objects.push_back(obj);
- return coil::otos((int)(m_objects.size() - 1));
- }
-}
+ /*!
+ * @if jp
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥È¤Î¸¡º÷
+ * @else
+ * @brief Find the object
+ * @endif
+ */
+ long int ProcessUniquePolicy::find(void* obj)
+ {
+ std::vector<void*>::size_type len(m_objects.size());
+ std::vector<void*>::size_type i(0);
+ for (i = 0; i < len; ++i)
+ {
+ if (m_objects[i] == obj) return i;
+ }
+ throw ObjectNotFound();
+ return i;
+ }
+}; //namespace RTM
-/*!
- * @if jp
- * @brief ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
- * @else
- * @brief Delete the name when deleting objects
- * @endif
- */
-void DefaultNumberingPolicy::onDelete(void* obj)
+extern "C"
{
- std::vector<void*>::size_type pos;
- pos = find(obj);
- if (pos < m_objects.size())
- {
- m_objects[pos] = NULL;
- }
- --m_num;
-}
+ void ProcessUniquePolicyInit()
+ {
+ ::RTM::NumberingPolicyFactory::
+ instance().addFactory("default",
+ ::coil::Creator< ::RTM::NumberingPolicyBase,
+ ::RTM::ProcessUniquePolicy>,
+ ::coil::Destructor< ::RTM::NumberingPolicyBase,
+ ::RTM::ProcessUniquePolicy>);
+ ::RTM::NumberingPolicyFactory::
+ instance().addFactory("process_unique",
+ ::coil::Creator< ::RTM::NumberingPolicyBase,
+ ::RTM::ProcessUniquePolicy>,
+ ::coil::Destructor< ::RTM::NumberingPolicyBase,
+ ::RTM::ProcessUniquePolicy>);
+ }
+};
-/*!
- * @if jp
- * @brief ¥ª¥Ö¥¸¥§¥¯¥È¤Î¸¡º÷
- * @else
- * @brief Find the object
- * @endif
- */
-long int DefaultNumberingPolicy::find(void* obj)
-{
- std::vector<void*>::size_type len(m_objects.size());
- std::vector<void*>::size_type i(0);
- for (i = 0; i < len; ++i)
- {
- if (m_objects[i] == obj) return i;
- }
- throw ObjectNotFound();
- return i;
-}
-
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.h 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicy.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -1,6 +1,6 @@
// -*- C++ -*-
/*!
- * @file NumberingPolicy.h
+ * @file ProcessUniquePolicy.h
* @brief Object numbering policy class
* @date $Date: 2007-12-31 03:08:04 $
* @author Noriaki Ando <n-ando at aist.go.jp>
@@ -22,244 +22,154 @@
#include <string>
#include <vector>
+#include <rtm/RTC.h>
+#include <rtm/NumberingPolicyBase.h>
-/*!
- * @if jp
- *
- * @class NumberingPolicy
- * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)´ÉÍýÍÑÃê¾Ý¥¯¥é¥¹
- *
- * ¥ª¥Ö¥¸¥§¥¯¥È¤òÀ¸À®¤¹¤ëºÝ¤Î¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)¤ò´ÉÍý¤¹¤ë¤¿¤á¤Î
- * Ãê¾Ý¥¤¥ó¥¿¡¼¥Õ¥§¡¼¥¹¥¯¥é¥¹¡£
- * ¶ñ¾Ý¥¯¥é¥¹¤Ï¡¢°Ê²¼¤Î½ã¿è²¾ÁÛ´Ø¿ô¤Î¼ÂÁõ¤òÄ󶡤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£
- * - onCreate() : ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
- * - onDelete() : ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
- *
- * @since 0.4.0
- *
- * @else
- * @class NumberingPolicy
- * @brief Abstruct class for naming policy management when creating objects
- *
- * This is the abstract interface class to manage the naming policy when
- * creating objects.
- * Concrete classes must implement the following pure virtual functions.
- * - onCreate() : Create the name when creating objects.
- * - onDelete() : Delete the name when deleting objects.
- *
- * @since 0.4.0
- *
- * @endif
- */
-class NumberingPolicy
+namespace RTM
{
-public:
/*!
* @if jp
- * @brief ¥ª¥Ö¥¸¥§¥¯¥È̤ȯ¸«Îã³°½èÍýÍѹ½Â¤ÂÎ
- * @else
- * @brief The structures for exception handling when object was not
- * found.
- * @endif
- */
- struct ObjectNotFound {};
-
- /*!
- * @if jp
*
- * @brief ²¾Áۥǥ¹¥È¥é¥¯¥¿
- *
- * @else
+ * @class DefaultNumberingPolicy
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)´ÉÍýÍÑ¥¯¥é¥¹
*
- * @brief Virtual destractor
+ * ¥ª¥Ö¥¸¥§¥¯¥È¤òÀ¸À®¤¹¤ëºÝ¤Î¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)¤ò´ÉÍý¤¹¤ë¤¿¤á¤Î
+ * ¥¯¥é¥¹¡£
*
- * @endif
- */
- virtual ~NumberingPolicy(void){};
-
- /*!
- * @if jp
+ * @since 0.4.0
*
- * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
- *
- * ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾Î¤òÀ¸À®¤¹¤ë¤¿¤á¤Î½ã¿è²¾ÁÛ´Ø¿ô
- *
- * @param obj ̾¾ÎÀ¸À®Âоݥª¥Ö¥¸¥§¥¯¥È
- *
- * @return À¸À®¤·¤¿¥ª¥Ö¥¸¥§¥¯¥È̾¾Î
- *
* @else
*
- * @brief Create the name when creating objects
+ * @class DefaultNumberingPolicy
+ * @brief Class for naming policy management when creating objects
*
- * Pure virtual function to create the name when creating objects.
- *
- * @param obj The target object for the creation
+ * This is a class to manage the naming policy when creating objects.
*
- * @return Name of the created object
+ * @since 0.4.0
*
* @endif
*/
- virtual std::string onCreate(void* obj) = 0;
-
- /*!
- * @if jp
- *
- * @brief ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
- *
- * ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Ë̾¾Î¤ò²òÊü¤¹¤ë¤¿¤á¤Î½ã¿è²¾ÁÛ´Ø¿ô
- *
- * @param obj ̾¾Î²òÊüÂоݥª¥Ö¥¸¥§¥¯¥È
- *
- * @else
- *
- * @brief Delete the name when deleting objects
- *
- * Pure virtual function to delete the name when deleting object.
- *
- * @param obj The target object of the delete
- *
- * @endif
- */
- virtual void onDelete(void* obj) = 0;
-};
+ class ProcessUniquePolicy
+ : public NumberingPolicyBase
+ {
+ public:
+ /*!
+ * @if jp
+ *
+ * @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ *
+ * ¥³¥ó¥¹¥È¥é¥¯¥¿
+ *
+ * @else
+ *
+ * @brief Constructor
+ *
+ * Constructor
+ *
+ * @endif
+ */
+ ProcessUniquePolicy() : m_num(0) {};
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ *
+ * @else
+ *
+ * @brief Destractor
+ *
+ * @endif
+ */
+ virtual ~ProcessUniquePolicy(void){};
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
+ *
+ * ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾Î¤òÀ¸À®¤¹¤ë¡£
+ * À¸À®ºÑ¤ß¥¤¥ó¥¹¥¿¥ó¥¹¤Î¿ô¤Ë±þ¤¸¤¿Ì¾¾Î¤òÀ¸À®¤¹¤ë¡£
+ *
+ * @param obj ̾¾ÎÀ¸À®Âоݥª¥Ö¥¸¥§¥¯¥È
+ *
+ * @return À¸À®¤·¤¿¥ª¥Ö¥¸¥§¥¯¥È̾¾Î
+ *
+ * @else
+ *
+ * @brief Create the name when creating object
+ *
+ * Create the name when creating object.
+ * Create the name corresponding to the number of generated instances.
+ *
+ * @param obj The target object for the name creation
+ *
+ * @return Names of the created object
+ *
+ * @endif
+ */
+ virtual std::string onCreate(void* obj);
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
+ *
+ * ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Ë̾¾Î¤ò²òÊü¤¹¤ë¡£
+ * ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤ËÀ¸À®ºÑ¤ß¥¤¥ó¥¹¥¿¥ó¥¹¿ô¤ò¸º»»¤¹¤ë¡£
+ *
+ * @param obj ̾¾Î²òÊüÂоݥª¥Ö¥¸¥§¥¯¥È
+ *
+ * @else
+ *
+ * @brief Delete the name when deleting object
+ *
+ * Delete the name when deleting object.
+ * Substract the generated number of instances when deleting the object.
+ *
+ * @param obj The target object for the name delete
+ *
+ * @endif
+ */
+ virtual void onDelete(void* obj);
+
+ protected:
+ /*!
+ * @if jp
+ *
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥È¤Î¸¡º÷
+ *
+ * ¥ª¥Ö¥¸¥§¥¯¥È¥ê¥¹¥È¤«¤é»ØÄꤵ¤ì¤¿¥ª¥Ö¥¸¥§¥¯¥È¤ò¸¡º÷¤·¡¢
+ * ³ºÅö¤¹¤ë¥ª¥Ö¥¸¥§¥¯¥È¤¬³ÊǼ¤µ¤ì¤Æ¤¤¤ë¾ì¹ç¤Ë¤Ï¥¤¥ó¥Ç¥Ã¥¯¥¹¤òÊÖ¤¹¡£
+ *
+ * @param obj ¸¡º÷Âоݥª¥Ö¥¸¥§¥¯¥È
+ *
+ * @return ¥ª¥Ö¥¸¥§¥¯¥È³ÊǼ¥¤¥ó¥Ç¥Ã¥¯¥¹
+ *
+ * @else
+ *
+ * @brief Find the object
+ *
+ * Find the specified object in the object list and return its index
+ * when it is stored.
+ *
+ * @param obj The target object for the find
+ *
+ * @return Object index for storage
+ *
+ * @endif
+ */
+ long int find(void* obj);
+
+ private:
+ int m_num;
+ std::vector<void*> m_objects;
+ };
+}; // namespace RTM
-/*!
- * @if jp
- *
- * @class DefaultNumberingPolicy
- * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)´ÉÍýÍÑ¥¯¥é¥¹
- *
- * ¥ª¥Ö¥¸¥§¥¯¥È¤òÀ¸À®¤¹¤ëºÝ¤Î¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)¤ò´ÉÍý¤¹¤ë¤¿¤á¤Î
- * ¥¯¥é¥¹¡£
- *
- * @since 0.4.0
- *
- * @else
- *
- * @class DefaultNumberingPolicy
- * @brief Class for naming policy management when creating objects
- *
- * This is a class to manage the naming policy when creating objects.
- *
- * @since 0.4.0
- *
- * @endif
- */
-class DefaultNumberingPolicy
- : public NumberingPolicy
+extern "C"
{
-public:
- /*!
- * @if jp
- *
- * @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
- *
- * ¥³¥ó¥¹¥È¥é¥¯¥¿
- *
- * @else
- *
- * @brief Constructor
- *
- * Constructor
- *
- * @endif
- */
- DefaultNumberingPolicy() : m_num(0) {};
-
- /*!
- * @if jp
- *
- * @brief ¥Ç¥¹¥È¥é¥¯¥¿
- *
- * @else
- *
- * @brief Destractor
- *
- * @endif
- */
- virtual ~DefaultNumberingPolicy(void){};
-
- /*!
- * @if jp
- *
- * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
- *
- * ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾Î¤òÀ¸À®¤¹¤ë¡£
- * À¸À®ºÑ¤ß¥¤¥ó¥¹¥¿¥ó¥¹¤Î¿ô¤Ë±þ¤¸¤¿Ì¾¾Î¤òÀ¸À®¤¹¤ë¡£
- *
- * @param obj ̾¾ÎÀ¸À®Âоݥª¥Ö¥¸¥§¥¯¥È
- *
- * @return À¸À®¤·¤¿¥ª¥Ö¥¸¥§¥¯¥È̾¾Î
- *
- * @else
- *
- * @brief Create the name when creating object
- *
- * Create the name when creating object.
- * Create the name corresponding to the number of generated instances.
- *
- * @param obj The target object for the name creation
- *
- * @return Names of the created object
- *
- * @endif
- */
- virtual std::string onCreate(void* obj);
-
- /*!
- * @if jp
- *
- * @brief ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
- *
- * ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Ë̾¾Î¤ò²òÊü¤¹¤ë¡£
- * ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤ËÀ¸À®ºÑ¤ß¥¤¥ó¥¹¥¿¥ó¥¹¿ô¤ò¸º»»¤¹¤ë¡£
- *
- * @param obj ̾¾Î²òÊüÂоݥª¥Ö¥¸¥§¥¯¥È
- *
- * @else
- *
- * @brief Delete the name when deleting object
- *
- * Delete the name when deleting object.
- * Substract the generated number of instances when deleting the object.
- *
- * @param obj The target object for the name delete
- *
- * @endif
- */
- virtual void onDelete(void* obj);
-
-protected:
- /*!
- * @if jp
- *
- * @brief ¥ª¥Ö¥¸¥§¥¯¥È¤Î¸¡º÷
- *
- * ¥ª¥Ö¥¸¥§¥¯¥È¥ê¥¹¥È¤«¤é»ØÄꤵ¤ì¤¿¥ª¥Ö¥¸¥§¥¯¥È¤ò¸¡º÷¤·¡¢
- * ³ºÅö¤¹¤ë¥ª¥Ö¥¸¥§¥¯¥È¤¬³ÊǼ¤µ¤ì¤Æ¤¤¤ë¾ì¹ç¤Ë¤Ï¥¤¥ó¥Ç¥Ã¥¯¥¹¤òÊÖ¤¹¡£
- *
- * @param obj ¸¡º÷Âоݥª¥Ö¥¸¥§¥¯¥È
- *
- * @return ¥ª¥Ö¥¸¥§¥¯¥È³ÊǼ¥¤¥ó¥Ç¥Ã¥¯¥¹
- *
- * @else
- *
- * @brief Find the object
- *
- * Find the specified object in the object list and return its index
- * when it is stored.
- *
- * @param obj The target object for the find
- *
- * @return Object index for storage
- *
- * @endif
- */
- long int find(void* obj);
-
-private:
- int m_num;
- std::vector<void*> m_objects;
+ void DLL_EXPORT ProcessUniquePolicyInit();
};
+
#endif // RTC_NUMBERINGPOLICY_H
Copied: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.cpp (from rev 2990, trunk/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.cpp)
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.cpp (rev 0)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.cpp 2017-12-10 00:14:39 UTC (rev 3102)
@@ -0,0 +1,89 @@
+// -*- C++ -*-
+/*!
+ * @file NumberingPolicy.cpp
+ * @brief Object numbering policy class
+ * @date $Date: 2007-12-31 03:08:04 $
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2006-2008
+ * Noriaki Ando
+ * Task-intelligence Research Group,
+ * Intelligent Systems Research Institute,
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id: NumberingPolicy.cpp 1370 2009-05-22 08:17:09Z n-ando $
+ *
+ */
+
+#include <rtm/NumberingPolicy.h>
+#include <coil/stringutil.h>
+
+//============================================================
+// DefaultNumberingPolicy
+//============================================================
+/*!
+ * @if jp
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
+ * @else
+ * @brief Create the name when creating objects
+ * @endif
+ */
+std::string DefaultNumberingPolicy::onCreate(void* obj)
+{
+ std::vector<void*>::size_type pos;
+
+ ++m_num;
+
+ try
+ {
+ pos = find(NULL);
+ m_objects[pos] = obj;
+ return coil::otos(pos);
+ }
+ catch (ObjectNotFound& e)
+ {
+ (void)(e);
+ m_objects.push_back(obj);
+ return coil::otos((int)(m_objects.size() - 1));
+ }
+}
+
+/*!
+ * @if jp
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
+ * @else
+ * @brief Delete the name when deleting objects
+ * @endif
+ */
+void DefaultNumberingPolicy::onDelete(void* obj)
+{
+ std::vector<void*>::size_type pos;
+ pos = find(obj);
+ if (pos < m_objects.size())
+ {
+ m_objects[pos] = NULL;
+ }
+ --m_num;
+}
+
+/*!
+ * @if jp
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥È¤Î¸¡º÷
+ * @else
+ * @brief Find the object
+ * @endif
+ */
+long int DefaultNumberingPolicy::find(void* obj)
+{
+ std::vector<void*>::size_type len(m_objects.size());
+ std::vector<void*>::size_type i(0);
+ for (i = 0; i < len; ++i)
+ {
+ if (m_objects[i] == obj) return i;
+ }
+ throw ObjectNotFound();
+ return i;
+}
+
Copied: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.h (from rev 2990, trunk/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.h)
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.h (rev 0)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/NumberingPolicyBase.h 2017-12-10 00:14:39 UTC (rev 3102)
@@ -0,0 +1,135 @@
+// -*- C++ -*-
+/*!
+ * @file NumberingPolicyBase.h
+ * @brief Object numbering policy base class
+ * @date $Date$
+ * @author Noriaki Ando <n-ando at aist.go.jp>
+ *
+ * Copyright (C) 2017
+ * Noriaki Ando
+ * National Institute of
+ * Advanced Industrial Science and Technology (AIST), Japan
+ * All rights reserved.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef RTC_NUMBERINGPOLICYBASE_H
+#define RTC_NUMBERINGPOLICYBASE_H
+
+#include <string>
+#include <vector>
+#include <coil/Factory.h>
+
+namespace RTM
+{
+ /*!
+ * @if jp
+ *
+ * @class NumberingPolicyBase
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)´ÉÍýÍÑÃê¾Ý¥¯¥é¥¹
+ *
+ * ¥ª¥Ö¥¸¥§¥¯¥È¤òÀ¸À®¤¹¤ëºÝ¤Î¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)¤ò´ÉÍý¤¹¤ë¤¿¤á¤Î
+ * Ãê¾Ý¥¤¥ó¥¿¡¼¥Õ¥§¡¼¥¹¥¯¥é¥¹¡£
+ * ¶ñ¾Ý¥¯¥é¥¹¤Ï¡¢°Ê²¼¤Î½ã¿è²¾ÁÛ´Ø¿ô¤Î¼ÂÁõ¤òÄ󶡤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£
+ * - onCreate() : ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
+ * - onDelete() : ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
+ *
+ * @since 1.2
+ *
+ * @else
+ * @class NumberingPolicy
+ * @brief Abstruct class for naming policy management when creating objects
+ *
+ * This is the abstract interface class to manage the naming policy when
+ * creating objects.
+ * Concrete classes must implement the following pure virtual functions.
+ * - onCreate() : Create the name when creating objects.
+ * - onDelete() : Delete the name when deleting objects.
+ *
+ * @since 0.4.0
+ *
+ * @endif
+ */
+ class NumberingPolicyBase
+ {
+ public:
+ /*!
+ * @if jp
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥È̤ȯ¸«Îã³°½èÍýÍѹ½Â¤ÂÎ
+ * @else
+ * @brief The structures for exception handling when object was not
+ * found.
+ * @endif
+ */
+ struct ObjectNotFound {};
+
+ /*!
+ * @if jp
+ *
+ * @brief ²¾Áۥǥ¹¥È¥é¥¯¥¿
+ *
+ * @else
+ *
+ * @brief Virtual destractor
+ *
+ * @endif
+ */
+ virtual ~NumberingPolicyBase(void) {};
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾ÎºîÀ®
+ *
+ * ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¤Î̾¾Î¤òÀ¸À®¤¹¤ë¤¿¤á¤Î½ã¿è²¾ÁÛ´Ø¿ô
+ *
+ * @param obj ̾¾ÎÀ¸À®Âоݥª¥Ö¥¸¥§¥¯¥È
+ *
+ * @return À¸À®¤·¤¿¥ª¥Ö¥¸¥§¥¯¥È̾¾Î
+ *
+ * @else
+ *
+ * @brief Create the name when creating objects
+ *
+ * Pure virtual function to create the name when creating objects.
+ *
+ * @param obj The target object for the creation
+ *
+ * @return Name of the created object
+ *
+ * @endif
+ */
+ virtual std::string onCreate(void* obj) = 0;
+
+ /*!
+ * @if jp
+ *
+ * @brief ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Î̾¾Î²òÊü
+ *
+ * ¥ª¥Ö¥¸¥§¥¯¥Èºï½ü»þ¤Ë̾¾Î¤ò²òÊü¤¹¤ë¤¿¤á¤Î½ã¿è²¾ÁÛ´Ø¿ô
+ *
+ * @param obj ̾¾Î²òÊüÂоݥª¥Ö¥¸¥§¥¯¥È
+ *
+ * @else
+ *
+ * @brief Delete the name when deleting objects
+ *
+ * Pure virtual function to delete the name when deleting object.
+ *
+ * @param obj The target object of the delete
+ *
+ * @endif
+ */
+ virtual void onDelete(void* obj) = 0;
+ };
+
+ typedef coil::GlobalFactory<NumberingPolicyBase> NumberingPolicyFactory;
+
+#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+ EXTERN template class DLL_PLUGIN coil::GlobalFactory<NumberingPolicyBase>;
+#endif
+
+};
+#endif // RTC_NUMBERINGPOLICYBASE_H
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/idl/Manager.idl
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/idl/Manager.idl 2017-12-10 00:12:42 UTC (rev 3101)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/idl/Manager.idl 2017-12-10 00:14:39 UTC (rev 3102)
@@ -450,6 +450,28 @@
RTC::ReturnCode_t shutdown();
RTC::ReturnCode_t restart();
+
+ /*!
+ * @if jp
+ * @brief »ØÄê̾¤ÎRTC¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¼èÆÀ
+ *
+ *
+ *
+ * @param name RTC̾
+ * @return RTC¥ê¥¹¥È
+ *
+ * @else
+ * @brief
+ *
+ *
+ *
+ * @param name name
+ * @return list of RTC
+ *
+ * @endig
+ */
+ RTC::RTCList get_components_by_name(in string name);
+
Object get_service(in string name);
// ServiceProfileList get_service_profiles();
};
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