[openrtm-commit:02378] r927 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC: . util
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 2月 3日 (金) 18:54:57 JST
Author: win-ei
Date: 2017-02-03 18:54:57 +0900 (Fri, 03 Feb 2017)
New Revision: 927
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/StringUtil.java
Log:
[FSM4RTC,incompat]setEndpointProperty() function has been added, and corba.endpoint_property option as been added.
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2017-01-30 09:51:49 UTC (rev 926)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2017-02-03 09:54:57 UTC (rev 927)
@@ -7,6 +7,8 @@
import java.io.FileWriter;
import java.io.IOException;
+import java.lang.Boolean;
+
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Iterator;
@@ -27,6 +29,7 @@
import jp.go.aist.rtm.RTC.util.CallbackFunction;
import jp.go.aist.rtm.RTC.util.CORBA_SeqUtil;
import jp.go.aist.rtm.RTC.util.CORBA_RTCUtil;
+import jp.go.aist.rtm.RTC.util.DataRef;
import jp.go.aist.rtm.RTC.util.IiopAddressComp;
import jp.go.aist.rtm.RTC.util.NVUtil;
import jp.go.aist.rtm.RTC.util.ORBUtil;
@@ -35,12 +38,22 @@
import jp.go.aist.rtm.RTC.util.TimeValue;
import jp.go.aist.rtm.RTC.util.Timer;
import jp.go.aist.rtm.RTC.util.equalFunctor;
+import java.io.ByteArrayOutputStream;
import org.omg.CORBA.ORB;
+import org.omg.CORBA.OctetSeqHelper;
import org.omg.CORBA.Object;
+import org.omg.CORBA.portable.InputStream;
+import org.omg.CORBA.portable.OutputStream;
import org.omg.CORBA.SystemException;
import org.omg.CosNaming.BindingListHolder;
import org.omg.CosNaming.BindingType;
+import org.omg.IOP.IOR;
+import org.omg.IOP.IORHelper;
+import org.omg.IOP.TaggedProfile;
+import org.omg.IOP.TaggedProfileHelper;
+import org.omg.IOP.TAG_MULTIPLE_COMPONENTS;
+import org.omg.IOP.TAG_INTERNET_IOP;
import org.omg.PortableServer.POA;
import org.omg.PortableServer.POAHelper;
import org.omg.PortableServer.POAManager;
@@ -1845,7 +1858,9 @@
"os.version",
"os.arch",
"os.hostname",
- "corba.endpoint",
+ "corba.endpoints",
+ "corba.endpoints_ipv4",
+ "corba.endpoints_ipv6",
"corba.id",
"exec_cxt.periodic.type",
"exec_cxt.periodic.rate",
@@ -1866,13 +1881,6 @@
""
};
- for (int ic=0; inherit_prop[ic].length() != 0; ++ic) {
-
- String key = inherit_prop[ic];
- if (m_config.findNode(key) != null) {
- prop.setProperty(key,m_config.getProperty(key));
- }
- }
comp = factory.create(this);
if (comp == null) {
@@ -1882,7 +1890,20 @@
return null;
}
+System.out.println("--20170203 00110 :"+" :"+m_config.getProperty("corba.endpoints_ipv4"));
+ if (m_config.getProperty("corba.endpoints_ipv4").equals("")) {
+ setEndpointProperty(comp.getObjRef());
+ }
+ for (int ic=0; inherit_prop[ic].length() != 0; ++ic) {
+
+ String key = inherit_prop[ic];
+ if (m_config.findNode(key) != null) {
+ prop.setProperty(key,m_config.getProperty(key));
+ }
+ }
+
+
rtcout.println(Logbuf.TRACE,
"RTC Created: " + comp_id.getProperty("implementaion_id"));
@@ -3832,6 +3853,9 @@
return true;
}
m_mgrservant = new ManagerServant();
+ if (m_config.getProperty("corba.endpoints_ipv4").equals("")) {
+ setEndpointProperty(m_mgrservant.getObjRef());
+ }
return true;
}
@@ -4589,7 +4613,260 @@
}
return true;
}
+
+
/**
+ * {@.ja corba.endpoints にエンドポイント情報を設定する}
+ * {@.en Setting endpoint info from corba.endpoints}
+ */
+ protected void setEndpointProperty(Object objref) {
+ rtcout.println(Logbuf.TRACE,"sedEndpointProperty()");
+System.out.println("--20170203 00200 :"+" :"+objref);
+ if(objref==null){
+ rtcout.println(Logbuf.WARN,"Object reference is nil.");
+ return;
+ }
+
+
+ DataRef<Boolean> ipv4 = new DataRef<Boolean>(Boolean.FALSE);
+ DataRef<Boolean> ipv6 = new DataRef<Boolean>(Boolean.FALSE);
+
+ ArrayList<Integer> ipv4_list = new ArrayList<Integer>();
+ ArrayList<Integer> ipv6_list = new ArrayList<Integer>();
+
+ endpointPropertySwitch("ipv4", ipv4, ipv4_list);
+ endpointPropertySwitch("ipv6", ipv6, ipv6_list);
+
+ String iorstr = m_pORB.object_to_string(objref);
+System.out.println("--20170203 00210 :"+" :"+iorstr);
+ IOR ior = new IOR();
+ DataRef<IOR> iorholder = new DataRef<IOR>(ior);
+ toIOR(iorstr, iorholder);
+ ArrayList<Address> endpoints = getEndpoints(iorholder.v);
+
+ ArrayList<String> epstr = new ArrayList<String>();
+ ArrayList<String> epstr_ipv4 = new ArrayList<String>();
+ ArrayList<String> epstr_ipv6 = new ArrayList<String>();
+ int ipv4_count=0;
+ int ipv6_count=0;
+ for (int ic=0; ic < endpoints.size(); ++ic) {
+ String addr = endpoints.get(ic).host;
+ if (ipv4.v.booleanValue() && StringUtil.isIPv4(addr)) {
+ String tmp_port = String.valueOf(endpoints.get(ic).port);
+System.out.println("--20170203 00220 :"+" :"+tmp_port);
+ String tmp = addr + ":" + tmp_port;
+System.out.println("--20170203 00230 :"+" :"+tmp);
+ if (ipv4_list.size() == 0 || ipv4_list.contains(ipv4_count)){
+ epstr.add(tmp);
+ epstr_ipv4.add(tmp);
+ }
+ ipv4_count += 1;
+ }
+ if (ipv6.v.booleanValue() && StringUtil.isIPv6(addr)) {
+ String tmp_port = String.valueOf(endpoints.get(ic).port);
+System.out.println("--20170203 00240 :"+" :"+tmp_port);
+ String tmp = "[" + addr + "]:" + tmp_port;
+System.out.println("--20170203 00250 :"+" :"+tmp);
+ if (ipv6_list.size() == 0 ||ipv6_list.contains(ipv6_count)){
+ epstr.add(tmp);
+ epstr_ipv6.add(tmp);
+ }
+ ipv6_count += 1;
+ }
+ }
+ String str = new String();
+ str = StringUtil.flatten(epstr);
+System.out.println("--20170203 00260 :"+" :"+str);
+ m_config.setProperty("corba.endpoints", str);
+ str = StringUtil.flatten(epstr_ipv4);
+System.out.println("--20170203 00270 :"+" :"+str);
+ m_config.setProperty("corba.endpoints_ipv4", str);
+ str = StringUtil.flatten(epstr_ipv6);
+System.out.println("--20170203 00280 :"+" :"+str);
+ m_config.setProperty("corba.endpoints_ipv6", str);
+ }
+ /**
+ * {@.ja corba.endpoint_property からオプション情報を取得する}
+ * {@.en Getting option info from corba.endpoint_property}
+ */
+ protected void endpointPropertySwitch(final String ipver,
+ DataRef<Boolean> ip, ArrayList<Integer> ip_list) {
+ ip.v = Boolean.FALSE;
+ ip_list.clear();
+
+ String ep_prop = m_config.getProperty("corba.endpoint_property", "ipv4");
+ ep_prop = ep_prop.toLowerCase();
+
+ int pos = ep_prop.indexOf(ipver);
+ if (pos < 0) {
+ return;
+ }
+
+ ip.v = Boolean.TRUE;
+ pos += ipver.length();
+
+ if (pos >= ep_prop.length() || ep_prop.charAt(pos) != '(') {
+ return;
+ }
+
+ int par_begin, par_end;
+ par_begin = pos;
+ ++pos;
+ par_begin = pos;
+ int num = ep_prop.indexOf(")",pos);
+ if(num < 0){
+ num = ep_prop.length()-1;
+ }
+ par_end = num;
+
+ String list_num = ep_prop.substring(par_begin, par_end);
+ String[] nums = list_num.split(",");
+ for (int ic=0; ic < nums.length; ++ic) {
+ try {
+ int ival = Integer.parseInt(nums[ic],10);
+ ip_list.add(ival);
+ }
+ catch(Exception ex){
+
+ }
+ }
+ }
+
+ /**
+ * {@.ja }
+ * {@.en }
+ *
+ * <p>
+ * {@.ja }
+ * {@.en }
+ *
+ */
+ public boolean toIOR(final String iorstr, DataRef<IOR> iorholder) {
+ if (iorstr.isEmpty()) {
+ return false;
+ }
+ int size = iorstr.length();
+
+ if (size < 4) {
+ return false;
+ }
+
+ String ior = iorstr;
+ if(!ior.startsWith("IOR:")) {
+ return false;
+ }
+
+
+ // IOR:xxyyzz......
+ // "IOR:" occupies 4 digits.
+ // two digits express one byte, and all byte sequence express IOR profile
+ ior = ior.substring(4);
+
+ ByteArrayOutputStream bastream = new ByteArrayOutputStream();
+ org.omg.CORBA.Any any = ORBUtil.getOrb().create_any();
+ OutputStream buf = any.create_output_stream();
+
+ int step = 0;
+ for (int ic=0; ic < ior.length(); ic += 2) {
+ String temp = ior.substring(ic,ic+2);
+ try {
+ int ival = Integer.parseInt(temp,16);
+ bastream.write(ival);
+ }
+ catch(Exception ex){
+ return false;
+ }
+ }
+ byte value[] = bastream.toByteArray();
+ buf.write_long (value.length);
+ buf.write_octet_array (value, 0, value.length);
+ InputStream inp = buf.create_input_stream();
+ boolean swap = inp.read_boolean(); //Byte Order (0) Big Endian
+ byte[] padding = new byte[4];
+ inp.read_octet_array(padding,0,3); //padding
+ int typeIdLength;
+ typeIdLength = inp.read_long(); //TypeId length
+ iorholder.v = IORHelper.read(inp);
+
+ return true;
+ }
+ /**
+ * {@.ja }
+ * {@.en }
+ *
+ * <p>
+ * {@.ja }
+ * {@.en }
+ *
+ */
+ public ArrayList<Address> getEndpoints(IOR ior) {
+ ArrayList<Address> addr = new ArrayList<Address>();
+ if (ior.profiles.length == 0 && ior.type_id.length() == 0) {
+ System.err.println("IOR is a nil object reference.");
+ return addr;
+ }
+
+ for (int ic=0; ic < ior.profiles.length; ++ic) {
+ if (ior.profiles[ic].tag == TAG_INTERNET_IOP.value) {
+ org.omg.CORBA.Any any = ORBUtil.getOrb().create_any();
+ OutputStream buf = any.create_output_stream();
+ TaggedProfileHelper.write(buf,ior.profiles[ic]);
+ InputStream inp = buf.create_input_stream();
+ //Profile Tag
+ int tag = inp.read_long();
+ //Profile length
+ int profileLength = inp.read_long();
+ //Byte Order
+ byte byteOrder = inp.read_octet();
+ //Version
+ byte[] version = new byte[2];
+ inp.read_octet_array(version,0,2);
+ //Host string
+ String host = inp.read_string();
+ //Port
+ int port = inp.read_short() & 0x0000ffff;
+ addr.add(new Address(host,port));
+ //extractAddrs(pBody.components, addr);
+ }
+ else if (ior.profiles[ic].tag == TAG_MULTIPLE_COMPONENTS.value) {
+ org.omg.CORBA.Any any = ORBUtil.getOrb().create_any();
+ OutputStream buf = any.create_output_stream();
+ TaggedProfileHelper.write(buf,ior.profiles[ic]);
+ InputStream inp = buf.create_input_stream();
+ int tag = inp.read_long();
+ //Profile length
+ int profileLength = inp.read_long();
+ //Byte Order
+ byte byteOrder = inp.read_octet();
+ //Number of tagged components
+ int componentsLength = inp.read_long();
+ for(int icc=0;icc<componentsLength;++icc){
+ int comptag = inp.read_long();
+ int compLength = inp.read_long();
+ byte cByteOrder = inp.read_octet();
+ int vender = inp.read_long();
+ }
+// extractAddrs(pBody.components, addr);
+ }
+ else {
+ System.err.printf("Unrecognised profile tag: 0x%x",ior.profiles[ic].tag);
+ }
+ }
+ return addr;
+ }
+
+
+ class Address {
+ public Address(String host, int port ){
+ this.host = host;
+ this. port= port;
+ }
+ public String host;
+ public int port;
+ }
+
+
+ /**
* {@.ja コンポーネント削除用クラス}
* {@.en Class}
*
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/StringUtil.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/StringUtil.java 2017-01-30 09:51:49 UTC (rev 926)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/util/StringUtil.java 2017-02-03 09:54:57 UTC (rev 927)
@@ -467,6 +467,9 @@
}
return true;
}
+ public static boolean isIPv4(final String str) {
+ return isIPv4(str,true);
+ }
private static final Pattern V6_FORMAT = Pattern.compile("(([0-9a-f]{1,4})(:([0-9a-f]{1,4})){7}((\\.|#|p| port )\\d{1,4})?)|\\[([0-9a-f]{1,4})(:([0-9a-f]{1,4})){7}\\]:\\d{1,4}");
public static boolean isIPv6(final String str, boolean strict) {
@@ -515,4 +518,7 @@
}
return true;
}
+ public static boolean isIPv6(final String str) {
+ return isIPv6(str,true);
+ }
}
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