[openrtm-commit:02239] r2849 - branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 1月 17日 (火) 19:02:02 JST
Author: sec_fukai
Date: 2017-01-17 19:02:02 +0900 (Tue, 17 Jan 2017)
New Revision: 2849
Modified:
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ConnectorListener.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/CorbaNaming.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/DataFlowComponentBase.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ECFactory.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrConsumer.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrProvider.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortDirectConsumer.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortProvider.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/LocalServiceAdmin.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortCorbaCdrConsumer.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortAdmin.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortBase.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp
branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp
Log:
[compat,->DEV_IQ_2016]Modify coding style. refs #3816
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ConnectorListener.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ConnectorListener.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ConnectorListener.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -49,8 +49,8 @@
ConnectorDataListenerHolder::ConnectorDataListenerHolder()
{
}
-
+
ConnectorDataListenerHolder::~ConnectorDataListenerHolder()
{
Guard guard(m_mutex);
@@ -63,7 +63,7 @@
}
}
-
+
void ConnectorDataListenerHolder::
addListener(ConnectorDataListener* listener, bool autoclean)
{
@@ -71,7 +71,7 @@
m_listeners.push_back(Entry(listener, autoclean));
}
-
+
void ConnectorDataListenerHolder::
removeListener(ConnectorDataListener* listener)
{
@@ -89,7 +89,7 @@
return;
}
}
-
+
}
size_t ConnectorDataListenerHolder::size()
@@ -97,7 +97,7 @@
Guard guard(m_mutex);
return m_listeners.size();
}
-
+
void ConnectorDataListenerHolder::notify(const ConnectorInfo& info,
const cdrMemoryStream& cdrdata)
{
@@ -119,8 +119,8 @@
ConnectorListenerHolder::ConnectorListenerHolder()
{
}
-
-
+
+
ConnectorListenerHolder::~ConnectorListenerHolder()
{
Guard guard(m_mutex);
@@ -133,20 +133,20 @@
}
}
-
+
void ConnectorListenerHolder::addListener(ConnectorListener* listener,
bool autoclean)
{
Guard guard(m_mutex);
m_listeners.push_back(Entry(listener, autoclean));
}
-
+
void ConnectorListenerHolder::removeListener(ConnectorListener* listener)
{
Guard guard(m_mutex);
std::vector<Entry>::iterator it(m_listeners.begin());
-
+
for (; it != m_listeners.end(); ++it)
{
if ((*it).first == listener)
@@ -159,15 +159,15 @@
return;
}
}
-
+
}
-
+
size_t ConnectorListenerHolder::size()
{
Guard guard(m_mutex);
return m_listeners.size();
}
-
+
void ConnectorListenerHolder::notify(const ConnectorInfo& info)
{
Guard guard(m_mutex);
@@ -176,6 +176,6 @@
m_listeners[i].first->operator()(info);
}
}
-};
+}; //namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/CorbaNaming.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/CorbaNaming.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/CorbaNaming.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -19,7 +19,7 @@
#ifdef WIN32
#define ACE_HAS_WINSOCK2 0
-#endif //WIN32
+#endif // WIN32
#include <assert.h>
#include <rtm/CorbaNaming.h>
@@ -40,7 +40,7 @@
m_blLength(100)
{
}
-
+
/*!
* @if jp
* @brief コンストラクタ
@@ -66,7 +66,7 @@
throw std::bad_alloc();
}
}
-
+
/*!
* @if jp
* @brief ネーミングサービスの初期化
@@ -97,7 +97,7 @@
}
return false;
}
-
+
/*!
* @if jp
* @brief Object を bind する
@@ -121,12 +121,12 @@
{
#ifndef ORB_IS_RTORB
force ? bindRecursive(e.cxt, e.rest_of_name, obj) : throw;
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
force ? bindRecursive(e.cxt(), e.rest_of_name(), obj) : throw;
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
}
}
-
+
/*!
* @if jp
* @brief Object を bind する
@@ -140,7 +140,7 @@
{
this->bind(toName(string_name), obj, force);
}
-
+
/*!
* @if jp
* @brief 途中のコンテキストを再帰的に bind しながら Object を bind する
@@ -156,11 +156,11 @@
CORBA::ULong len(name.length());
CosNaming::NamingContext_var cxt;
cxt = CosNaming::NamingContext::_duplicate(context);
-
+
for (CORBA::ULong i = 0; i < len; ++i)
{
if (i == (len - 1))
- { // this operation may throw AlreadyBound,
+ { // this operation may throw AlreadyBound,
cxt->bind(subName(name, i, i), obj);
return;
}
@@ -174,7 +174,7 @@
}
return;
}
-
+
/*!
* @if jp
* @brief Object を rebind する
@@ -199,12 +199,12 @@
{
#ifndef ORB_IS_RTORB
force ? rebindRecursive(e.cxt, e.rest_of_name, obj) : throw;
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
force ? rebindRecursive(e.cxt(), e.rest_of_name(), obj) : throw;
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
}
}
-
+
/*!
* @if jp
* @brief Object を rebind する
@@ -219,7 +219,7 @@
{
rebind(toName(string_name), obj, force);
}
-
+
/*!
* @if jp
* @brief 途中のコンテキストを bind しながら Object を rebind する
@@ -235,7 +235,7 @@
CORBA::ULong len(name.length());
CosNaming::NamingContext_var cxt;
cxt = CosNaming::NamingContext::_duplicate(context);
-
+
for (CORBA::ULong i = 0; i < len; ++i)
{
if (i == (len - 1))
@@ -265,7 +265,7 @@
}
return;
}
-
+
/*!
* @if jp
* @brief NamingContext を bind する
@@ -280,7 +280,7 @@
{
bind(name, name_cxt, force);
}
-
+
/*!
* @if jp
* @brief NamingContext を bind する
@@ -295,7 +295,7 @@
{
bindContext(toName(string_name), name_cxt, force);
}
-
+
/*!
* @if jp
* @brief 途中のコンテキストを再帰的に bind し NamingContext を bind する
@@ -311,7 +311,7 @@
bindRecursive(context, name, name_cxt);
return;
}
-
+
/*!
* @if jp
* @brief NamingContext を rebind する
@@ -327,7 +327,7 @@
rebind(name, name_cxt, force);
return;
}
-
+
/*!
* @if jp
* @brief NamingContext を rebind する
@@ -342,12 +342,12 @@
{
rebindContext(toName(string_name), name_cxt, force);
}
-
+
/*!
* @if jp
* @brief 途中のコンテキストを再帰的に rebind し NamingContext を rebind する
* @else
- * @brief Rebind intermediate context recursively and rebind NamingContext
+ * @brief Rebind intermediate context recursively and rebind NamingContext
* @endif
*/
void
@@ -358,7 +358,7 @@
rebindRecursive(context, name, name_cxt);
return;
}
-
+
/*!
* @if jp
* @brief 与えられた NameComponent にバインドされている Object を返す
@@ -368,10 +368,10 @@
*/
CORBA::Object_ptr CorbaNaming::resolve(const CosNaming::Name& name)
throw (SystemException, NotFound, CannotProceed, InvalidName)
- {
+ {
return m_rootContext->resolve(name);
}
-
+
/*!
* @if jp
* @brief 与えられた NameComponent にバインドされている Object を返す
@@ -381,23 +381,23 @@
*/
CORBA::Object_ptr CorbaNaming::resolve(const char* string_name)
throw (SystemException, NotFound, CannotProceed, InvalidName)
- {
+ {
return resolve(toName(string_name));
}
-
+
/*!
* @if jp
* @brief 与えられた NameComponent のバインディングを削除する
* @else
* @brief Unbind a binding specified by NameComponent
* @endif
- */
+ */
void CorbaNaming::unbind(const CosNaming::Name& name)
throw (SystemException, NotFound, CannotProceed, InvalidName)
{
m_rootContext->unbind(name);
}
-
+
/*!
* @if jp
* @brief 与えられた NameComponent のバインディングを削除する
@@ -410,7 +410,7 @@
{
unbind(toName(string_name));
}
-
+
/*!
* @if jp
* @brief 新しいコンテキストを生成する
@@ -422,7 +422,7 @@
{
return m_rootContext->new_context();
}
-
+
/*!
* @if jp
* @brief 新しいコンテキストを bind する
@@ -446,14 +446,14 @@
{
#ifndef ORB_IS_RTORB
force ? bindRecursive(e.cxt, e.rest_of_name, newContext()) : throw;
-#else // ORB_IS_RTORB
- force ?
+#else // ORB_IS_RTORB
+ force ?
bindRecursive(e.cxt(), e.rest_of_name(), newContext()) : throw;
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
}
return CosNaming::NamingContext::_nil();
}
-
+
/*!
* @if jp
* @brief 新しいコンテキストを bind する
@@ -467,7 +467,7 @@
{
return bindNewContext(toName(string_name));
}
-
+
/*!
* @if jp
* @brief NamingContext を非アクティブ化する
@@ -480,7 +480,7 @@
{
context->destroy();
}
-
+
/*!
* @if jp
* @brief NamingContext を再帰的に下って非アクティブ化する
@@ -494,48 +494,54 @@
CosNaming::BindingList_var bl;
CosNaming::BindingIterator_var bi;
CORBA::Boolean cont(true);
-
+
#ifndef ORB_IS_RTORB
context->list(m_blLength, bl.out(), bi.out());
-#else // ORB_IS_RTORB
- // context->list(m_blLength, bl, bi);
+#else // ORB_IS_RTORB
+ // context->list(m_blLength, bl, bi);
context->list(m_blLength, (CosNaming::BindingList_out)bl,
(CosNaming::BindingIterator_ptr)bi);
-#endif // ORB_IS_RTORB
-
+#endif // ORB_IS_RTORB
+
while (cont)
{
CORBA::ULong len(bl->length());
-
+
for (CORBA::ULong i = 0; i < len; ++i)
{
if (bl[i].binding_type == CosNaming::ncontext)
- { // If Object is context, destroy recursive.
+ { // If Object is context, destroy recursive.
CosNaming::NamingContext_var next_context;
next_context = CosNaming::NamingContext::
_narrow(context->resolve(bl[i].binding_name));
-
+
// Recursive function call
- destroyRecursive(next_context); // +++ Recursive call +++
+ destroyRecursive(next_context); // +++ Recursive call +++
context->unbind(bl[i].binding_name);
next_context->destroy();
}
else if (bl[i].binding_type == CosNaming::nobject)
- { // If Object is object, unbind it.
+ { // If Object is object, unbind it.
context->unbind(bl[i].binding_name);
}
- else assert(0); // never comes here
+ else assert(0); // never comes here
}
-
+
// no more binding -> do-while loop will be finished
- if (CORBA::is_nil(bi)) cont = false;
- else bi->next_n(m_blLength, bl);
- }
-
+ if (CORBA::is_nil(bi))
+ {
+ cont = false;
+ }
+ else
+ {
+ bi->next_n(m_blLength, bl);
+ }
+ }
+
if (!CORBA::is_nil(bi)) bi->destroy();
return;
}
-
+
/*!
* @if jp
* @brief すべての Binding を削除する
@@ -547,7 +553,7 @@
{
destroyRecursive(m_rootContext);
}
-
+
/*!
* @if jp
* @brief 与えられた NamingContext の Binding を取得する
@@ -562,13 +568,13 @@
{
#ifndef ORB_IS_RTORB
name_cxt->list(how_many, bl.out(), bi.out());
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
name_cxt->list(how_many, (CosNaming::BindingList_out)bl,
(CosNaming::BindingIterator_ptr)bi);
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
}
-
+
/*!
* @if jp
* @brief 与えられた Naming パス以下のすべてのバインディングを取得する
@@ -592,20 +598,20 @@
CosNaming::BindingIterator_var bi;
#ifndef ORB_IS_RTORB
nc->list(max_list_size, bl.out(), bi.out());
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
nc->list(max_list_size, (CosNaming::BindingList_out)bl,
(CosNaming::BindingIterator_ptr)bi);
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
CORBA::Long max_remaining = max_list_size - bl->length();
CORBA::Boolean more_bindings = !CORBA::is_nil(bi);
-
+
if (more_bindings)
{
while (more_bindings && (max_remaining > 0))
{
CosNaming::BindingList_var tmp_bl;
more_bindings = bi->next_n(max_remaining, tmp_bl.out());
- //Append 'tmp_bl' to 'bl'
+ // Append 'tmp_bl' to 'bl'
CORBA::ULong bl_len = bl->length();
bl->length(bl_len + tmp_bl->length());
for (CORBA::ULong i(0); i < tmp_bl->length(); ++i)
@@ -618,7 +624,7 @@
}
return;
}
-
+
/*!
* @if jp
* @brief 与えられたパス以下の指定されたkindのバインディングを取得する
@@ -634,7 +640,7 @@
if (string_kind == 0) { bl->length(0); return; }
std::string kind(string_kind);
- CosNaming::BindingList_var tmp_bl; // = new CosNaming::BindingList();
+ CosNaming::BindingList_var tmp_bl; // = new CosNaming::BindingList();
list(string_name, tmp_bl);
CORBA::ULong tmp_len(tmp_bl->length());
@@ -668,16 +674,16 @@
{
if (name.length() == 0)
throw InvalidName();
-
+
CORBA::ULong slen = 0;
slen = getNameLength(name);
-
+
CORBA::String_var string_name = CORBA::string_alloc(slen);
- nameToString(name, (char*)string_name, slen);
-
+ nameToString(name, <char*>string_name, slen);
+
return string_name._retn();
}
-
+
/*!
* @if jp
* @brief 与えられた文字列表現を NameComponent に分解する
@@ -690,19 +696,19 @@
{
if (!sname) throw InvalidName();
if (*sname == '\0') throw InvalidName();
-
+
std::string string_name(sname);
std::vector<std::string> name_comps;
-
+
// String name should include 1 or more names
CORBA::ULong nc_length = 0;
nc_length = split(string_name, std::string("/"), name_comps);
if (!(nc_length > 0)) throw InvalidName();
-
+
// Name components are allocated
CosNaming::Name_var name = new CosNaming::Name();
name->length(nc_length);
-
+
// Insert id and kind to name components
for (CORBA::ULong i = 0; i < nc_length; ++i)
{
@@ -710,9 +716,9 @@
pos = name_comps[i].find_last_of(".");
if (pos != name_comps[i].npos)
{
- name[i].id =
+ name[i].id =
CORBA::string_dup(name_comps[i].substr(0, pos).c_str());
- name[i].kind =
+ name[i].kind =
CORBA::string_dup(name_comps[i].substr(pos + 1).c_str());
}
else
@@ -720,14 +726,14 @@
name[i].id = CORBA::string_dup(name_comps[i].c_str());
#ifndef ORB_IS_RTORB
name[i].kind = "";
-#else // ORB_IS_RTORB
- name[i].kind = (char*)"";
-#endif // ORB_IS_RTORB
+#else // ORB_IS_RTORB
+ name[i].kind = <char*>"";
+#endif // ORB_IS_RTORB
}
}
return name;
}
-
+
/*!
* @if jp
* @brief 与えられた addre と string_name から URL表現を取得する
@@ -740,7 +746,7 @@
{
return m_rootContext->to_url(addr, string_name);
}
-
+
/*!
* @if jp
* @brief 与えられた文字列表現を resolve しオブジェクトを返す
@@ -753,7 +759,7 @@
{
return resolve(string_name);
}
-
+
//======================================================================
// Util functions
//======================================================================
@@ -781,7 +787,7 @@
}
return CORBA::Object::_nil();
}
-
+
/*!
* @if jp
* @brief 名前をバインドまたは解決する
@@ -797,7 +803,7 @@
return CosNaming::NamingContext
::_narrow(bindOrResolve(context, name, new_context));
}
-
+
/*!
* @if jp
* @brief 名前をバインドまたは解決する
@@ -811,7 +817,7 @@
{
return bindOrResolveContext(context, name, newContext());
}
-
+
/*!
* @if jp
* @brief ネームサーバの名前を取得する
@@ -823,7 +829,7 @@
{
return m_nameServer.c_str();
}
-
+
/*!
* @if jp
* @brief ルートコンテキストを取得する
@@ -835,7 +841,7 @@
{
return m_rootContext;
}
-
+
/*!
* @if jp
* @brief オブジェクトがネーミングコンテキストか判別する
@@ -849,7 +855,7 @@
nc = CosNaming::NamingContext::_narrow(obj);
return CORBA::is_nil(nc) ? false : true;
}
-
+
/*!
* @if jp
* @brief 与えられた名前がネーミングコンテキストかどうか
@@ -861,7 +867,7 @@
{
return isNamingContext(resolve(name));
}
-
+
/*!
* @if jp
* @brief 与えられた名前がネーミングコンテキストかどうか
@@ -873,7 +879,7 @@
{
return isNamingContext(resolve(string_name));
}
-
+
/*!
* @if jp
* @brief ネームコンポーネントの部分を返す
@@ -886,7 +892,7 @@
CORBA::Long end)
{
if (end < 0) end = name.length() - 1;
-
+
CosNaming::Name sub_name;
CORBA::ULong sub_len(end - (begin - 1));
if (sub_len > 0)
@@ -898,14 +904,14 @@
sub_name.length(0);
return sub_name;
}
-
+
for (CORBA::ULong i = 0; i < sub_len; ++i)
{
sub_name[i] = name[begin + i];
}
return sub_name;
}
-
+
//------------------------------------------------------------
// Protected member functions
//------------------------------------------------------------
@@ -930,7 +936,7 @@
*s++ = *id;
}
// '.' if there is a kind, or no id
- if (((const char*)(name[i].id ))[0] == '\0' ||
+ if (((const char*)(name[i].id ))[0] == '\0' ||
((const char*)(name[i].kind))[0] != '\0')
*s++ = '.';
// Copy kind to string_name
@@ -945,7 +951,7 @@
}
string_name[slen-1] = '\0';
}
-
+
/*!
* @if jp
* @brief ネームコンポーネントの文字列表現時の文字長を取得する
@@ -956,7 +962,7 @@
CORBA::ULong CorbaNaming::getNameLength(const CosNaming::Name& name)
{
CORBA::ULong slen = 0;
-
+
for (CORBA::ULong i = 0; i < name.length(); ++i)
{
// Count string length of id(s)
@@ -967,7 +973,7 @@
slen++;
}
// If kind exists, space for '.' is counted
- if (((const char*)(name[i].id ))[0] == '\0' ||
+ if (((const char*)(name[i].id ))[0] == '\0' ||
((const char*)(name[i].kind))[0] != '\0')
{
slen++;
@@ -983,7 +989,7 @@
}
return slen;
}
-
+
/*!
* @if jp
* @brief 文字列の分割
@@ -998,15 +1004,15 @@
typedef std::string::size_type size;
size delim_size = delimiter.size();
size found_pos(0), begin_pos(0), pre_pos(0), substr_size(0);
-
+
if (input.substr(0, delim_size) == delimiter)
begin_pos = pre_pos = delim_size;
-
+
while (1)
{
REFIND:
found_pos = input.find(delimiter, begin_pos);
- if (found_pos == std::string::npos)
+ if (found_pos == std::string::npos)
{
results.push_back(input.substr(pre_pos));
break;
@@ -1016,9 +1022,9 @@
begin_pos = found_pos + delim_size;
goto REFIND;
}
-
+
substr_size = found_pos - pre_pos;
-
+
if (substr_size > 0)
{
results.push_back(input.substr(pre_pos, substr_size));
@@ -1028,4 +1034,4 @@
}
return results.size();
}
-}; // namespace RTC
+}; // namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/DataFlowComponentBase.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/DataFlowComponentBase.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/DataFlowComponentBase.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -62,4 +62,4 @@
}
-}; // namespace RTC
+}; // namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ECFactory.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ECFactory.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ECFactory.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -19,9 +19,9 @@
#include <rtm/RTC.h>
#include <rtm/ECFactory.h>
-namespace RTC
+namespace RTC
{
-
+
/*!
* @if jp
* @brief コンストラクタ
@@ -37,7 +37,7 @@
m_Delete(delete_func)
{
}
-
+
/*!
* @if jp
* @brief 仮想デストラクタ
@@ -48,7 +48,7 @@
ECFactoryCXX::~ECFactoryCXX()
{
}
-
+
/*!
* @if jp
* @brief 生成対象ExecutionContext名称を取得
@@ -60,7 +60,7 @@
{
return m_name.c_str();
}
-
+
/*!
* @if jp
* @brief 生成対象ExecutionContextインスタンスを生成
@@ -72,7 +72,7 @@
{
return m_New();
}
-
+
/*!
* @if jp
* @brief 対象ExecutionContextインスタンスを破棄
@@ -84,5 +84,5 @@
{
m_Delete(ec);
}
-
-};
+
+}; // namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -39,7 +39,7 @@
ExecutionContextBase::~ExecutionContextBase(void)
{
}
-
+
/*!
* @if jp
* @brief ExecutionContextの処理を進める
@@ -51,10 +51,10 @@
{
RTC_TRACE(("init()"));
RTC_DEBUG_STR((props));
-
+
// getting rate
setExecutionRate(props);
-
+
// getting sync/async mode flag
bool transitionMode;
if (setTransitionMode(props, "sync_transition", transitionMode))
@@ -66,7 +66,7 @@
setTransitionMode(props, "sync_activation", m_syncActivation);
setTransitionMode(props, "sync_deactivation", m_syncDeactivation);
setTransitionMode(props, "sync_reset", m_syncReset);
-
+
// getting transition timeout
coil::TimeValue timeout;
if (setTimeout(props, "transition_timeout", timeout))
@@ -83,17 +83,17 @@
RTC_DEBUG(("Exec rate : %f [Hz]", getRate()));
RTC_DEBUG(("Activation : Sync = %s, Timeout = %f",
m_syncActivation ? "YES" : "NO",
- (double)m_activationTimeout));
+ <double>m_activationTimeout));
RTC_DEBUG(("Deactivation: Sync = %s, Timeout = %f",
m_syncDeactivation ? "YES" : "NO",
- (double)m_deactivationTimeout));
+ <double>m_deactivationTimeout));
RTC_DEBUG(("Reset : Sync = %s, Timeout = %f",
m_syncReset ? "YES" : "NO",
- (double)m_resetTimeout));
+ <double>m_resetTimeout));
// Setting given Properties to EC's profile::properties
setProperties(props);
}
-
+
/*!
* @if jp
* @brief コンポーネントをバインドする。
@@ -112,7 +112,7 @@
{
return m_worker.bindComponent(rtc);
}
-
+
//============================================================
// Functions to be delegated by EC's CORBA operations
/*!
@@ -127,7 +127,7 @@
RTC_TRACE(("isRunning()"));
return m_worker.isRunning();
}
-
+
/*!
* @if jp
* @brief ExecutionContext の実行を開始
@@ -138,19 +138,19 @@
RTC::ReturnCode_t ExecutionContextBase::start()
{
RTC_TRACE(("start()"));
- RTC::ReturnCode_t ret = onStarting(); // Template
+ RTC::ReturnCode_t ret = onStarting(); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onStarting() failed. Starting EC aborted."));
return ret;
}
- ret = m_worker.start(); // Actual start()
+ ret = m_worker.start(); // Actual start()
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Invoking on_startup() for each RTC failed."));
return ret;
}
- ret = onStarted(); // Template
+ ret = onStarted(); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Invoking on_startup() for each RTC failed."));
@@ -160,7 +160,7 @@
}
return ret;
}
-
+
/*!
* @if jp
* @brief ExecutionContext の実行を停止
@@ -171,19 +171,19 @@
RTC::ReturnCode_t ExecutionContextBase::stop()
{
RTC_TRACE(("stop()"));
- RTC::ReturnCode_t ret = onStopping(); // Template
+ RTC::ReturnCode_t ret = onStopping(); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onStopping() failed. Stopping EC aborted."));
return ret;
}
- ret = m_worker.stop(); // Actual stop()
+ ret = m_worker.stop(); // Actual stop()
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Invoking on_shutdown() for each RTC failed."));
return ret;
}
- ret = onStopped(); // Template
+ ret = onStopped(); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Invoking on_shutdown() for each RTC failed."));
@@ -191,7 +191,7 @@
}
return ret;
}
-
+
/*!
* @if jp
* @brief ExecutionContext の実行周期(Hz)を取得する
@@ -202,16 +202,16 @@
*/
double ExecutionContextBase::getRate(void) const
{
- double rate = m_profile.getRate(); // Actual getRate()
- return onGetRate(rate); // Template
+ double rate = m_profile.getRate(); // Actual getRate()
+ return onGetRate(rate); // Template
}
-
+
coil::TimeValue ExecutionContextBase::getPeriod(void) const
{
coil::TimeValue period = m_profile.getPeriod();
return period;
}
-
+
/*!
* @if jp
* @brief ExecutionContext の実行周期(Hz)を設定する
@@ -243,7 +243,7 @@
RTC_INFO(("setRate(%f) done", rate));
return ret;
}
-
+
/*!
* @if jp
* @brief RTコンポーネントを追加する
@@ -255,25 +255,25 @@
addComponent(RTC::LightweightRTObject_ptr comp)
{
RTC_TRACE(("addComponent()"));
- RTC::ReturnCode_t ret = onAddingComponent(comp); // Template
+ RTC::ReturnCode_t ret = onAddingComponent(comp); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: onAddingComponent(). RTC is not attached."));
return ret;
}
- ret = m_worker.addComponent(comp); // Actual addComponent()
+ ret = m_worker.addComponent(comp); // Actual addComponent()
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: ECWorker addComponent() faild."));
return ret;
}
- ret = m_profile.addComponent(comp); // Actual addComponent()
+ ret = m_profile.addComponent(comp); // Actual addComponent()
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: ECProfile addComponent() faild."));
return ret;
}
- ret = onAddedComponent(comp); // Template
+ ret = onAddedComponent(comp); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: onAddedComponent() faild."));
@@ -285,7 +285,7 @@
RTC_INFO(("Component has been added to this EC."));
return RTC::RTC_OK;
}
-
+
/*!
* @if jp
* @brief RTコンポーネントを参加者リストから削除する
@@ -297,26 +297,26 @@
removeComponent(RTC::LightweightRTObject_ptr comp)
{
RTC_TRACE(("removeComponent()"));
- RTC::ReturnCode_t ret = onRemovingComponent(comp); // Template
+ RTC::ReturnCode_t ret = onRemovingComponent(comp); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: onRemovingComponent(). "
"RTC will not not attached."));
return ret;
}
- ret = m_worker.removeComponent(comp); // Actual removeComponent()
+ ret = m_worker.removeComponent(comp); // Actual removeComponent()
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: ECWorker removeComponent() faild."));
return ret;
}
- ret = m_profile.removeComponent(comp); // Actual removeComponent()
+ ret = m_profile.removeComponent(comp); // Actual removeComponent()
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: ECProfile removeComponent() faild."));
return ret;
}
- ret = onRemovedComponent(comp); // Template
+ ret = onRemovedComponent(comp); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("Error: onRemovedComponent() faild."));
@@ -328,7 +328,7 @@
RTC_INFO(("Component has been removeed to this EC."));
return RTC::RTC_OK;
}
-
+
/*!
* @if jp
* @brief RTコンポーネントをアクティブ化する
@@ -340,16 +340,16 @@
activateComponent(RTC::LightweightRTObject_ptr comp)
{
RTC_TRACE(("activateComponent()"));
- RTC::ReturnCode_t ret = onActivating(comp); // Template
+ RTC::ReturnCode_t ret = onActivating(comp); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onActivating() failed."));
return ret;
}
RTC_impl::RTObjectStateMachine* rtobj;
- ret = m_worker.activateComponent(comp, rtobj); // Actual activateComponent()
+ ret = m_worker.activateComponent(comp, rtobj); // Actual activateComponent()
if (ret != RTC::RTC_OK) { return ret; }
- if (!m_syncActivation) // Asynchronous activation mode
+ if (!m_syncActivation) // Asynchronous activation mode
{
ret = onActivated(rtobj, -1);
if (ret != RTC::RTC_OK)
@@ -376,14 +376,14 @@
return ret;
}
long int cycle =
- (long int)((double)m_activationTimeout / (double)getPeriod());
+ (long int)(<double>m_activationTimeout / <double>getPeriod());
RTC_DEBUG(("Timeout is %f [s] (%f [s] in %d times)",
- (double)m_activationTimeout, getRate(), cycle));
+ <double>m_activationTimeout, getRate(), cycle));
// Wating INACTIVE -> ACTIVE
coil::TimeValue starttime(coil::gettimeofday());
while (rtobj->isCurrentState(RTC::INACTIVE_STATE))
{
- ret = onWaitingActivated(rtobj, count); // Template method
+ ret = onWaitingActivated(rtobj, count); // Template method
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onWaitingActivated failed."));
@@ -392,7 +392,7 @@
coil::sleep(getPeriod());
coil::TimeValue delta(coil::gettimeofday() - starttime);
RTC_DEBUG(("Waiting to be ACTIVE state. %f [s] slept (%d/%d)",
- (double)delta, count, cycle));
+ <double>delta, count, cycle));
++count;
if (delta > m_activationTimeout || count > cycle)
{
@@ -407,7 +407,7 @@
return RTC::RTC_ERROR;
}
RTC_DEBUG(("Current state is %s", getStateString(rtobj->getState())));
- ret = onActivated(rtobj, count); // Template method
+ ret = onActivated(rtobj, count); // Template method
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onActivated() failed."));
@@ -427,7 +427,7 @@
deactivateComponent(RTC::LightweightRTObject_ptr comp)
{
RTC_TRACE(("deactivateComponent()"));
- RTC::ReturnCode_t ret = onDeactivating(comp); // Template
+ RTC::ReturnCode_t ret = onDeactivating(comp); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onDeactivatingComponent() failed."));
@@ -464,14 +464,14 @@
return ret;
}
long int cycle =
- (long int)((double)m_deactivationTimeout / (double)getPeriod());
+ (long int)(<double>m_deactivationTimeout / <double>getPeriod());
RTC_DEBUG(("Timeout is %f [s] (%f [s] in %d times)",
- (double)m_deactivationTimeout, getRate(), cycle));
+ <double>m_deactivationTimeout, getRate(), cycle));
// Wating ACTIVE -> INACTIVE
coil::TimeValue starttime(coil::gettimeofday());
while (rtobj->isCurrentState(RTC::ACTIVE_STATE))
{
- ret = onWaitingDeactivated(rtobj, count); // Template method
+ ret = onWaitingDeactivated(rtobj, count); // Template method
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onWaitingDeactivated failed."));
@@ -480,7 +480,7 @@
coil::sleep(getPeriod());
coil::TimeValue delta(coil::gettimeofday() - starttime);
RTC_DEBUG(("Waiting to be INACTIVE state. Sleeping %f [s] (%d/%d)",
- (double)delta, count, cycle));
+ <double>delta, count, cycle));
++count;
if (delta > m_deactivationTimeout || count > cycle)
{
@@ -503,7 +503,7 @@
RTC_DEBUG(("onDeactivated() done."))
return ret;
}
-
+
/*!
* @if jp
* @brief RTコンポーネントをリセットする
@@ -515,14 +515,14 @@
resetComponent(RTC::LightweightRTObject_ptr comp)
{
RTC_TRACE(("resetComponent()"));
- RTC::ReturnCode_t ret = onResetting(comp); // Template
+ RTC::ReturnCode_t ret = onResetting(comp); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onResetting() failed."));
return ret;
}
RTC_impl::RTObjectStateMachine* rtobj;
- ret = m_worker.resetComponent(comp, rtobj); // Actual resetComponent()
+ ret = m_worker.resetComponent(comp, rtobj); // Actual resetComponent()
if (ret != RTC::RTC_OK) { return ret; }
if (!m_syncReset)
{
@@ -539,7 +539,7 @@
"Waiting for the RTC to be INACTIVE state. "));
return waitForReset(rtobj);
}
-
+
RTC::ReturnCode_t ExecutionContextBase::
waitForReset(RTC_impl::RTObjectStateMachine* rtobj)
{
@@ -551,14 +551,14 @@
return ret;
}
long int cycle =
- (long int)((double)m_resetTimeout / (double)getPeriod());
+ (long int)(<double>m_resetTimeout / <double>getPeriod());
RTC_DEBUG(("Timeout is %f [s] (%f [s] in %d times)",
- (double)m_resetTimeout, getRate(), cycle));
+ <double>m_resetTimeout, getRate(), cycle));
// Wating ERROR -> INACTIVE
coil::TimeValue starttime(coil::gettimeofday());
while (rtobj->isCurrentState(RTC::ERROR_STATE))
{
- ret = onWaitingReset(rtobj, count); // Template
+ ret = onWaitingReset(rtobj, count); // Template
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onWaitingReset failed."));
@@ -567,7 +567,7 @@
coil::sleep(getPeriod());
coil::TimeValue delta(coil::gettimeofday() - starttime);
RTC_DEBUG(("Waiting to be INACTIVE state. Sleeping %f [s] (%d/%d)",
- (double)delta, count, cycle));
+ <double>delta, count, cycle));
++count;
if (delta > m_resetTimeout || count > cycle)
{
@@ -582,7 +582,7 @@
return RTC::RTC_ERROR;
}
RTC_DEBUG(("Current state is %s", getStateString(rtobj->getState())));
- ret = onReset(rtobj, count); // Template method
+ ret = onReset(rtobj, count); // Template method
if (ret != RTC::RTC_OK)
{
RTC_ERROR(("onResetd() failed."));
@@ -661,7 +661,7 @@
RTC_DEBUG(("onGetKind() returns %s", getKindString(kind)));
return kind;
}
-
+
/*!
* @if jp
* @brief Profileを取得する
@@ -696,7 +696,7 @@
RTC_DEBUG_STR((props));
return onGetProfile(prof);
}
-
+
//============================================================
// Delegated functions to ExecutionContextProfile
//============================================================
@@ -723,19 +723,19 @@
{
return m_profile.getObjRef();
}
-
+
/*!
* @if jp
* @brief ExecutionKind を文字列化する
* @else
- * @brief Converting ExecutionKind enum to string
+ * @brief Converting ExecutionKind enum to string
* @endif
*/
const char* ExecutionContextBase::getKindString(RTC::ExecutionKind kind) const
{
return m_profile.getKindString(kind);
}
-
+
/*!
* @if jp
* @brief ExecutionKind を設定する
@@ -747,7 +747,7 @@
{
return m_profile.setKind(kind);
}
-
+
/*!
* @if jp
* @brief Ownerコンポーネントをセットする。
@@ -760,7 +760,7 @@
{
return m_profile.setOwner(comp);
}
-
+
/*!
* @if jp
* @brief Ownerコンポーネントの参照を取得する
@@ -772,7 +772,7 @@
{
return m_profile.getOwner();
}
-
+
/*!
* @if jp
* @brief RTコンポーネントの参加者リストを取得する
@@ -784,7 +784,7 @@
{
return m_profile.getComponentList();
}
-
+
/*!
* @if jp
* @brief Propertiesをセットする
@@ -796,7 +796,7 @@
{
m_profile.setProperties(props);
}
-
+
/*!
* @if jp
* @brief Propertiesを取得する
@@ -808,7 +808,7 @@
{
return m_profile.getProperties();
}
-
+
/*!
* @if jp
* @brief Profileを取得する
@@ -823,8 +823,8 @@
}
// end of delegated functions to ExecutionContextProfile
//============================================================
-
-
+
+
//============================================================
// private functions
/*!
@@ -847,7 +847,7 @@
}
return false;
}
-
+
/*!
* @if jp
* @brief Propertiesから状態遷移モードをセットする
@@ -869,7 +869,7 @@
RTC_DEBUG(("Configuration %s not found.", key));
return false;
}
-
+
/*!
* @if jp
* @brief Propertiesから状態遷移Timeoutをセットする
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/ExecutionContextProfile.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -36,7 +36,7 @@
ExecutionContextProfile::
ExecutionContextProfile(RTC::ExecutionKind kind)
: rtclog("periodic_ecprofile"),
- m_period((double)DEEFAULT_PERIOD),
+ m_period(<double>DEEFAULT_PERIOD),
m_ref(RTC::ExecutionContextService::_nil())
{
RTC_TRACE(("ExecutionContextProfile()"));
@@ -130,11 +130,11 @@
RTC::ReturnCode_t ExecutionContextProfile::setPeriod(coil::TimeValue period)
{
- RTC_TRACE(("setPeriod(%f [sec])", (double)period));
- if ((double)period <= 0.0) { return RTC::BAD_PARAMETER; }
+ RTC_TRACE(("setPeriod(%f [sec])", <double>period));
+ if (<double>period <= 0.0) { return RTC::BAD_PARAMETER; }
Guard guard(m_profileMutex);
- m_profile.rate = 1.0 / (double)period;
+ m_profile.rate = 1.0 / <double>period;
m_period = period;
return RTC::RTC_OK;
}
@@ -418,4 +418,4 @@
m_profileMutex.unlock();
}
-}; // namespace RTC
+}; // namespace RTC_impl
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -16,6 +16,8 @@
*
*/
+#include <rtm/FactoryInit.h>
+
// Buffers
#include <rtm/CdrRingBuffer.h>
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrConsumer.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrConsumer.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrConsumer.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -34,7 +34,7 @@
: rtclog("InPortCorbaCdrConsumer")
{
}
-
+
/*!
* @if jp
* @brief デストラクタ
@@ -74,14 +74,14 @@
#ifndef ORB_IS_RTORB
::OpenRTM::CdrData tmp(data.bufSize(), data.bufSize(),
static_cast<CORBA::Octet*>(data.bufPtr()), 0);
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
OpenRTM_CdrData *cdrdata_tmp = new OpenRTM_CdrData();
- cdrdata_tmp->_buffer =
- (CORBA_octet *)RtORB_alloc(data.bufSize(), "InPortCorbaCdrComsumer::put");
+ cdrdata_tmp->_buffer =
+ <CORBA_octet *>RtORB_alloc(data.bufSize(), "InPortCorbaCdrComsumer::put");
memcpy(cdrdata_tmp->_buffer, data.bufPtr(), data.bufSize());
cdrdata_tmp->_length = cdrdata_tmp->_maximum = data.bufSize();
::OpenRTM::CdrData tmp(cdrdata_tmp);
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
try
{
// return code conversion
@@ -94,7 +94,7 @@
}
return UNKNOWN_ERROR;
}
-
+
/*!
* @if jp
* @brief InterfaceProfile情報を公開する
@@ -120,16 +120,16 @@
{
RTC_TRACE(("subscribeInterface()"));
RTC_DEBUG_STR((NVUtil::toString(properties)));
-
+
// getting InPort's ref from IOR string
if (subscribeFromIor(properties)) { return true; }
-
+
// getting InPort's ref from Object reference
if (subscribeFromRef(properties)) { return true; }
-
+
return false;;
}
-
+
/*!
* @if jp
* @brief データ送信通知からの登録解除
@@ -142,11 +142,11 @@
{
RTC_TRACE(("unsubscribeInterface()"));
RTC_DEBUG_STR((NVUtil::toString(properties)));
-
+
if (unsubscribeFromIor(properties)) { return; }
unsubscribeFromRef(properties);
}
-
+
//----------------------------------------------------------------------
// private functions
@@ -161,7 +161,7 @@
subscribeFromIor(const SDOPackage::NVList& properties)
{
RTC_TRACE(("subscribeFromIor()"));
-
+
CORBA::Long index;
index = NVUtil::find_index(properties,
"dataport.corba_cdr.inport_ior");
@@ -170,23 +170,23 @@
RTC_ERROR(("inport_ior not found"));
return false;
}
-
+
const char* ior(0);
if (!(properties[index].value >>= ior))
{
RTC_ERROR(("inport_ior has no string"));
return false;
}
-
+
CORBA::ORB_var orb = ::RTC::Manager::instance().getORB();
CORBA::Object_var obj = orb->string_to_object(ior);
-
+
if (CORBA::is_nil(obj))
{
RTC_ERROR(("invalid IOR string has been passed"));
return false;
}
-
+
if (!setObject(obj.in()))
{
RTC_WARN(("Setting object to consumer failed."));
@@ -194,7 +194,7 @@
}
return true;
}
-
+
/*!
* @if jp
* @brief Anyから直接オブジェクト参照を取得する
@@ -214,20 +214,20 @@
RTC_ERROR(("inport_ref not found"));
return false;
}
-
+
CORBA::Object_var obj;
if (!(properties[index].value >>= CORBA::Any::to_object(obj.out())))
{
RTC_ERROR(("prop[inport_ref] is not objref"));
return true;
}
-
+
if (CORBA::is_nil(obj))
{
RTC_ERROR(("prop[inport_ref] is not objref"));
return false;
}
-
+
if (!setObject(obj.in()))
{
RTC_ERROR(("Setting object to consumer failed."));
@@ -235,7 +235,7 @@
}
return true;
}
-
+
/*!
* @if jp
* @brief 接続解除(IOR版)
@@ -255,14 +255,14 @@
RTC_ERROR(("inport_ior not found"));
return false;
}
-
+
const char* ior;
if (!(properties[index].value >>= ior))
{
RTC_ERROR(("prop[inport_ior] is not string"));
return false;
}
-
+
CORBA::ORB_var orb = ::RTC::Manager::instance().getORB();
CORBA::Object_var var = orb->string_to_object(ior);
if (!(_ptr()->_is_equivalent(var)))
@@ -270,11 +270,11 @@
RTC_ERROR(("connector property inconsistency"));
return false;
}
-
+
releaseObject();
return true;
}
-
+
/*!
* @if jp
* @brief 接続解除(Object reference版)
@@ -290,15 +290,15 @@
index = NVUtil::find_index(properties,
"dataport.corba_cdr.inport_ref");
if (index < 0) { return false; }
-
+
CORBA::Object_var obj;
- if (!(properties[index].value >>= CORBA::Any::to_object(obj.out())))
+ if (!(properties[index].value >>= CORBA::Any::to_object(obj.out())))
{
return false;
}
-
+
if (!(_ptr()->_is_equivalent(obj.in()))) { return false; }
-
+
releaseObject();
return true;
}
@@ -336,11 +336,11 @@
}
return InPortConsumer::UNKNOWN_ERROR;
}
-
+
}; // namespace RTC
extern "C"
-{
+{
/*!
* @if jp
* @brief モジュール初期化関数
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrProvider.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrProvider.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrProvider.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -33,14 +33,14 @@
* @endif
*/
InPortCorbaCdrProvider::InPortCorbaCdrProvider(void)
- : m_buffer(0)
+ : m_buffer(0)
{
// PortProfile setting
setInterfaceType("corba_cdr");
-
+
// ConnectorProfile setting
m_objref = this->_this();
-
+
// set InPort's reference
CORBA::ORB_var orb = ::RTC::Manager::instance().getORB();
CORBA::String_var ior = orb->object_to_string(m_objref.in());
@@ -51,7 +51,7 @@
push_back(m_properties,
NVUtil::newNV("dataport.corba_cdr.inport_ref", m_objref));
}
-
+
/*!
* @if jp
* @brief デストラクタ
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortDirectConsumer.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortDirectConsumer.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortDirectConsumer.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -34,7 +34,7 @@
: rtclog("InPortDirectConsumer")
{
}
-
+
/*!
* @if jp
* @brief デストラクタ
@@ -99,7 +99,7 @@
RTC_TRACE(("subscribeInterface(): do nothing"));
return true;
}
-
+
/*!
* @if jp
* @brief データ送信通知からの登録解除
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortProvider.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortProvider.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/InPortProvider.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -33,7 +33,7 @@
: rtclog("InPortProvier")
{
}
-
+
/*!
* @if jp
* @brief デストラクタ
@@ -44,7 +44,7 @@
InPortProvider::~InPortProvider()
{
}
-
+
/*!
* @if jp
* @brief InterfaceProfile情報を公開する
@@ -59,13 +59,13 @@
#ifdef ORB_IS_RTORB
NVUtil::appendStringValue(*prop.cobj(), "dataport.interface_type",
m_interfaceType.c_str());
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
NVUtil::appendStringValue(prop, "dataport.interface_type",
m_interfaceType.c_str());
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
NVUtil::append(prop, m_properties);
}
-
+
/*!
* @if jp
* @brief Interface情報を公開する
@@ -83,7 +83,7 @@
{
return false;
}
-
+
NVUtil::append(prop, m_properties);
// NVUtil::dump(m_properties);
return true;
@@ -91,7 +91,7 @@
//----------------------------------------------------------------------
// protected functions
-
+
/*!
* @if jp
* @brief インターフェースタイプを設定する
@@ -104,7 +104,7 @@
RTC_TRACE(("setInterfaceType(%s)", interface_type));
m_interfaceType = interface_type;
}
-
+
/*!
* @if jp
* @brief データフロータイプを設定する
@@ -117,7 +117,7 @@
RTC_TRACE(("setDataFlowType(%s)", dataflow_type));
m_dataflowType = dataflow_type;
}
-
+
/*!
* @if jp
* @brief サブスクリプションタイプを設定する
@@ -130,4 +130,4 @@
RTC_TRACE(("setSubscriptionType(%s)", subs_type));
m_subscriptionType = subs_type;
}
-}; // namespace RTC
+}; // namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/LocalServiceAdmin.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/LocalServiceAdmin.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/LocalServiceAdmin.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -16,8 +16,6 @@
*
*/
-#include <memory>
-#include <algorithm>
#include <coil/UUID.h>
#include <coil/Guard.h>
@@ -27,6 +25,10 @@
#include <rtm/CORBA_SeqUtil.h>
#include <rtm/LocalServiceAdmin.h>
#include <rtm/LocalServiceBase.h>
+#include <memory>
+#include <algorithm>
+#include <string.h>
+#include <vector>
namespace RTM
{
@@ -42,7 +44,7 @@
{
RTC_TRACE(("LocalServiceAdmin::LocalServiceAdmin()"));
}
-
+
/*!
* @if jp
* @brief 仮想デストラクタ
@@ -54,7 +56,7 @@
{
finalize();
}
-
+
/*!
* @if jp
* @brief "all" 文字列探索Functor
@@ -70,7 +72,7 @@
return coil::normalize(a) == "all" ? true : false;
}
};
-
+
/*!
* @if jp
*
@@ -91,11 +93,11 @@
RTC_INFO(("All the local services are enabled."));
all_enable = true;
}
-
+
RTM::LocalServiceFactory& factory(RTM::LocalServiceFactory::instance());
coil::vstring ids = factory.getIdentifiers();
RTC_DEBUG(("Available services: %s", coil::flatten(ids).c_str()));
-
+
for (size_t i(0); i < ids.size(); ++i)
{
if (all_enable || isEnabled(ids[i], svcs))
@@ -111,7 +113,7 @@
}
}
}
-
+
/*!
* @if jp
* @brief LocalserviceAdmin の終了処理
@@ -129,7 +131,7 @@
}
m_services.clear();
}
-
+
/*!
* @if jp
* @brief LocalServiceProfileListの取得
@@ -146,7 +148,7 @@
}
return profs;
}
-
+
/*!
* @if jp
* @brief LocalServiceProfile を取得する
@@ -169,7 +171,7 @@
}
return false;
}
-
+
/*!
* @if jp
* @brief LocalService の Service を取得する
@@ -188,7 +190,7 @@
}
return NULL;
}
-
+
/*!
* @if jp
* @brief SDO service provider をセットする
@@ -210,7 +212,7 @@
m_services.push_back(service);
return true;
}
-
+
/*!
* @if jp
* @brief LocalService を削除する
@@ -222,7 +224,7 @@
{
RTC_TRACE(("removeLocalService(%d)", name.c_str()));
Guard gurad(m_services_mutex);
-
+
std::vector<LocalServiceBase*>::iterator it = m_services.begin();
std::vector<LocalServiceBase*>::iterator it_end = m_services.end();
while (it != it_end)
@@ -242,7 +244,7 @@
RTC_WARN(("Specified SDO service not found: %s", name.c_str()));
return false;
}
-
+
//============================================================
// private functions
/*!
@@ -260,8 +262,8 @@
ret ? "is" : "is not"));
return ret;
}
-
-
+
+
/*!
* @if jp
* @brief 指定されたIDがすでに存在するかどうかチェックする
@@ -283,5 +285,5 @@
RTC_DEBUG(("Local service %s does not exist.", id.c_str()));
return true;
}
-
-}; // end of namepsace RTM
+
+}; // namepsace RTM
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OpenHRPExecutionContext.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -76,7 +76,7 @@
if (!isRunning()) { return; }
Guard guard(m_tickmutex);
- ExecutionContextBase::invokeWorkerPreDo(); // update state
+ ExecutionContextBase::invokeWorkerPreDo(); // update state
coil::TimeValue t0(coil::gettimeofday());
ExecutionContextBase::invokeWorkerDo();
coil::TimeValue t1(coil::gettimeofday());
@@ -86,10 +86,10 @@
coil::TimeValue period(getPeriod());
if (m_count > 1000)
{
- RTC_PARANOID(("Period: %f [s]", (double)period));
- RTC_PARANOID(("Exec-Do: %f [s]", (double)(t1 - t0)));
- RTC_PARANOID(("Exec-PostDo: %f [s]", (double)(t2 - t1)));
- RTC_PARANOID(("Sleep: %f [s]", (double)(period - (t2 - t0))));
+ RTC_PARANOID(("Period: %f [s]", <double>period));
+ RTC_PARANOID(("Exec-Do: %f [s]", <double>(t1 - t0)));
+ RTC_PARANOID(("Exec-PostDo: %f [s]", <double>(t2 - t1)));
+ RTC_PARANOID(("Sleep: %f [s]", <double>(period - (t2 - t0))));
}
coil::TimeValue t3(coil::gettimeofday());
if (period > (t2 - t0))
@@ -100,7 +100,7 @@
if (m_count > 1000)
{
coil::TimeValue t4(coil::gettimeofday());
- RTC_PARANOID(("Slept: %f [s]", (double)(t4 - t3)));
+ RTC_PARANOID(("Slept: %f [s]", <double>(t4 - t3)));
m_count = 0;
}
++m_count;
@@ -289,7 +289,7 @@
{
return ExecutionContextBase::getProfile();
}
-};
+}; // namespace RTC
extern "C"
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -17,10 +17,6 @@
*
*/
-#include <iostream>
-#include <algorithm>
-#include <functional>
-#include <iterator>
#include <coil/stringutil.h>
#include <rtm/ConnectorBase.h>
@@ -28,6 +24,10 @@
#include <rtm/OutPortPullConnector.h>
#include <rtm/OutPortBase.h>
#include <rtm/PublisherBase.h>
+#include <iostream>
+#include <algorithm>
+#include <functional>
+#include <iterator>
namespace RTC
{
@@ -98,7 +98,7 @@
addProperty("dataport.subscription_type", pubs.c_str());
};
-
+
/*!
* @if jp
* @brief デストラクタ
@@ -114,7 +114,7 @@
m_connectors.end(),
connector_cleanup());
}
-
+
/*!
* @if jp
* @brief プロパティの初期化
@@ -141,10 +141,10 @@
initConsumers();
initProviders();
int num(-1);
- if (!coil::stringTo(num,
+ if (!coil::stringTo(num,
m_properties.getProperty("connection_limit", "-1").c_str()))
{
- RTC_ERROR(("invalid connection_limit value: %s",
+ RTC_ERROR(("invalid connection_limit value: %s",
m_properties.getProperty("connection_limit").c_str()));
}
@@ -333,7 +333,7 @@
m_connectors[i]->activate();
}
}
-
+
/*!
* @if jp
* @brief 全ての Port のインターフェースを deactivates する
@@ -350,8 +350,8 @@
m_connectors[i]->deactivate();
}
}
-
+
/*!
* @if jp
* @brief ConnectorDataListener リスナを追加する
@@ -402,7 +402,7 @@
RTC_ERROR(("removeConnectorDataListener(): Unknown Listener Type"));
return;
}
-
+
/*!
* @if jp
* @brief ConnectorListener リスナを追加する
@@ -426,7 +426,7 @@
RTC_ERROR(("addConnectorListener(): Unknown Listener Type"));
return;
}
-
+
/*!
* @if jp
* @brief ConnectorListener リスナを削除する
@@ -526,7 +526,7 @@
{
coil::Properties conn_prop;
NVUtil::copyToProperties(conn_prop, cprof.properties);
- prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
+ prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
/*
* marge ConnectorProfile for buffer property.
* e.g.
@@ -561,7 +561,7 @@
{
return RTC::BAD_PARAMETER;
}
-
+
// create OutPortPullConnector
OutPortConnector* connector(createConnector(cprof, prop, provider));
if (connector == 0)
@@ -597,7 +597,7 @@
{
coil::Properties conn_prop;
NVUtil::copyToProperties(conn_prop, cprof.properties);
- prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
+ prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
/*
* marge ConnectorProfile for buffer property.
* e.g.
@@ -663,7 +663,7 @@
RTC_DEBUG(("subscribeInterfaces() successfully finished."));
return RTC::RTC_OK;
}
-
+
RTC_ERROR(("unsupported dataflow_type: %s", dflow_type.c_str()));
return RTC::BAD_PARAMETER;
}
@@ -786,7 +786,7 @@
std::back_inserter(consumer_types));
}
#endif
-
+
// InPortConsumer supports "push" dataflow type
if (consumer_types.size() > 0)
{
@@ -795,7 +795,7 @@
appendProperty("dataport.interface_type",
coil::flatten(consumer_types).c_str());
}
-
+
m_consumerTypes = consumer_types;
}
@@ -855,12 +855,12 @@
coil::flatten(m_providerTypes).c_str()));
return 0;
}
-
+
RTC_DEBUG(("interface_type: %s", prop["interface_type"].c_str()));
OutPortProvider* provider;
provider = OutPortProviderFactory::
instance().createObject(prop["interface_type"].c_str());
-
+
if (provider != 0)
{
RTC_TRACE(("provider created"));
@@ -873,7 +873,7 @@
OutPortProviderFactory::instance().deleteObject(provider);
return 0;
}
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
::SDOPackage::NVList_ptr prop_ref(cprof.properties);
if (!provider->publishInterface(*prop_ref))
{
@@ -881,7 +881,7 @@
OutPortProviderFactory::instance().deleteObject(provider);
return 0;
}
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
return provider;
}
@@ -909,12 +909,12 @@
coil::flatten(m_consumerTypes).c_str()));
return 0;
}
-
+
RTC_DEBUG(("interface_type: %s", prop["interface_type"].c_str()));
InPortConsumer* consumer;
consumer = InPortConsumerFactory::
instance().createObject(prop["interface_type"].c_str());
-
+
if (consumer != 0)
{
RTC_TRACE(("consumer created"));
@@ -931,7 +931,7 @@
}
RTC_ERROR(("consumer creation failed"));
- return 0;
+ return 0;
}
/*!
@@ -950,14 +950,14 @@
ConnectorInfo profile(cprof.name,
cprof.connector_id,
CORBA_SeqUtil::refToVstring(cprof.ports),
- prop);
-#else // ORB_IS_RTORB
+ prop);
+#else // ORB_IS_RTORB
ConnectorInfo profile(cprof.name,
cprof.connector_id,
CORBA_SeqUtil::
refToVstring(RTC::PortServiceList(cprof.ports)),
- prop);
-#endif // ORB_IS_RTORB
+ prop);
+#endif // ORB_IS_RTORB
try
{
@@ -1020,14 +1020,14 @@
ConnectorInfo profile(cprof.name,
cprof.connector_id,
CORBA_SeqUtil::refToVstring(cprof.ports),
- prop);
-#else // ORB_IS_RTORB
+ prop);
+#else // ORB_IS_RTORB
ConnectorInfo profile(cprof.name,
cprof.connector_id,
CORBA_SeqUtil::
refToVstring(RTC::PortServiceList(cprof.ports)),
- prop);
-#endif // ORB_IS_RTORB
+ prop);
+#endif // ORB_IS_RTORB
try
{
@@ -1092,4 +1092,4 @@
return NULL;
}
-}; // end of namespace RTM
+}; // namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortCorbaCdrConsumer.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortCorbaCdrConsumer.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/OutPortCorbaCdrConsumer.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -34,7 +34,7 @@
{
rtclog.setName("OutPortCorbaCdrConsumer");
}
-
+
/*!
* @if jp
* @brief デストラクタ
@@ -44,7 +44,7 @@
*/
OutPortCorbaCdrConsumer::~OutPortCorbaCdrConsumer(void)
{
- }
+ }
/*!
* @if jp
@@ -75,7 +75,7 @@
* @if jp
* @brief リスナを設定する。
* @else
- * @brief Set the listener.
+ * @brief Set the listener.
* @endif
*/
void OutPortCorbaCdrConsumer::setListener(ConnectorInfo& info,
@@ -106,7 +106,7 @@
if (ret == ::OpenRTM::PORT_OK)
{
RTC_DEBUG(("get() successful"));
- data.put_octet_array(&(cdr_data[0]), (int)cdr_data->length());
+ data.put_octet_array(&(cdr_data[0]), <int>cdr_data->length());
RTC_PARANOID(("CDR data length: %d", cdr_data->length()));
onReceived(data);
@@ -134,7 +134,7 @@
RTC_ERROR(("OutPortCorbaCdrConsumer::get(): Never comes here."));
return UNKNOWN_ERROR;
}
-
+
/*!
* @if jp
* @brief データ受信通知への登録
@@ -154,7 +154,7 @@
RTC_DEBUG(("dataport.corba_cdr.outport_ior not found."));
return false;
}
-
+
if (NVUtil::isString(properties,
"dataport.corba_cdr.outport_ior"))
{
@@ -175,10 +175,10 @@
}
return ret;
}
-
+
return false;
}
-
+
/*!
* @if jp
* @brief データ受信通知からの登録解除
@@ -198,7 +198,7 @@
RTC_DEBUG(("dataport.corba_cdr.outport_ior not found."));
return;
}
-
+
const char* ior;
if (properties[index].value >>= ior)
{
@@ -232,7 +232,7 @@
// never comes here
return PORT_OK;
break;
-
+
case ::OpenRTM::PORT_ERROR:
onSenderError();
return PORT_ERROR;
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -21,12 +21,13 @@
#ifdef RTM_OS_LINUX
#define _GNU_SOURCE
#include <pthread.h>
-#endif // RTM_OS_LINUX
+#endif // RTM_OS_LINUX
#include <coil/Time.h>
#include <coil/TimeValue.h>
#include <rtm/PeriodicExecutionContext.h>
#include <rtm/RTObjectStateMachine.h>
+#include <string.h>
#define DEEFAULT_PERIOD 0.000001
namespace RTC_exp
@@ -51,7 +52,7 @@
// profile initialization
setKind(RTC::PERIODIC);
- setRate(1.0 / (double)DEEFAULT_PERIOD);
+ setRate(1.0 / <double>DEEFAULT_PERIOD);
RTC_DEBUG(("Actual period: %d [sec], %d [usec]",
m_profile.getPeriod().sec(), m_profile.getPeriod().usec()));
@@ -154,7 +155,7 @@
RTC_DEBUG(("Current CPU affinity mask is %d.", j));
}
}
-#endif // RTM_OS_LINUX
+#endif // RTM_OS_LINUX
do
{
@@ -177,9 +178,9 @@
coil::TimeValue period(getPeriod());
if (count > 1000)
{
- RTC_PARANOID(("Period: %f [s]", (double)period));
- RTC_PARANOID(("Execution: %f [s]", (double)(t1 - t0)));
- RTC_PARANOID(("Sleep: %f [s]", (double)(period - (t1 - t0))));
+ RTC_PARANOID(("Period: %f [s]", <double>period));
+ RTC_PARANOID(("Execution: %f [s]", <double>(t1 - t0)));
+ RTC_PARANOID(("Sleep: %f [s]", <double>(period - (t1 - t0))));
}
coil::TimeValue t2(coil::gettimeofday());
if (!m_nowait && period > (t1 - t0))
@@ -190,7 +191,7 @@
if (count > 1000)
{
coil::TimeValue t3(coil::gettimeofday());
- RTC_PARANOID(("Slept: %f [s]", (double)(t3 - t2)));
+ RTC_PARANOID(("Slept: %f [s]", <double>(t3 - t2)));
count = 0;
}
++count;
@@ -626,7 +627,7 @@
}
}
-}; // namespace RTC
+}; // namespace RTC_exp
extern "C"
{
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortAdmin.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortAdmin.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortAdmin.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -16,10 +16,12 @@
*
*/
-#include <functional>
#include <rtm/RTC.h>
#include <rtm/PortAdmin.h>
#include <rtm/CORBA_SeqUtil.h>
+#include <functional>
+#include <string.h>
+#include <vector>
namespace RTC
{
@@ -40,12 +42,12 @@
#ifndef ORB_IS_RTORB
PortProfile_var prof(p->get_port_profile());
std::string name(prof->name);
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
PortProfile *pp;
pp = p->get_port_profile();
std::string name( pp->name);
delete pp;
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
return m_name == name;
}
catch (...)
@@ -66,7 +68,7 @@
}
const PortService_ptr m_port;
};
-
+
/*!
* @if jp
* @brief Port削除用ファンクタ
@@ -83,7 +85,7 @@
m_pa->removePort(*p);
}
};
-
+
/*!
* @if jp
* @brief コンストラクタ
@@ -97,7 +99,7 @@
rtclog("portadmin")
{
}
-
+
/*!
* @if jp
* @brief PortServiceList の取得
@@ -111,7 +113,7 @@
ports = new PortServiceList(m_portRefs);
return ports._retn();
}
-
+
/*!
* @if jp
* @brief PortProfileList の取得
@@ -128,7 +130,7 @@
port_prof_collect2 p(port_profs);
// m_portServants.for_each(p);
::CORBA_SeqUtil::for_each(m_portRefs, p);
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
CORBA::ULong len = m_portRefs.length();
PortProfileList port_profs = PortProfileList(len);
@@ -144,13 +146,12 @@
}
catch (...)
{
- ;
}
}
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
return port_profs;
}
-
+
/*!
* @if jp
* @brief Port のオブジェクト参照の取得
@@ -162,13 +163,13 @@
{
CORBA::Long index;
index = CORBA_SeqUtil::find(m_portRefs, find_port_name(port_name));
- if (index >= 0)
- {//throw NotFound(port_name);
+ if (index >= 0)
+ { // throw NotFound(port_name);
return m_portRefs[index];
}
return RTC::PortService::_nil();
}
-
+
/*!
* @if jp
* @brief Port のサーバントのポインタの取得
@@ -180,7 +181,7 @@
{
return m_portServants.find(port_name);
}
-
+
/*!
* @if jp
* @brief Port を登録する
@@ -199,7 +200,7 @@
// Store Port's ref to PortServiceList
CORBA_SeqUtil::push_back(m_portRefs,
RTC::PortService::_duplicate(port.getPortRef()));
-
+
// Store Port servant
return m_portServants.registerObject(&port);
}
@@ -218,7 +219,7 @@
{
PortProfile_var prof(port->get_port_profile());
std::string name(prof->name);
-
+
// Why RtORB delete _var object explicitly?
#ifdef ORB_IS_RTORB
delete prof._retn();
@@ -243,7 +244,7 @@
RTC_ERROR(("registerPort(PortBase&) failed."));
}
}
-
+
void PortAdmin::registerPort(PortService_ptr port)
{
if (!addPort(port))
@@ -251,7 +252,7 @@
RTC_ERROR(("registerPort(PortService_ptr) failed."));
}
}
-
+
/*!
* @if jp
* @brief Port の登録を解除する
@@ -265,14 +266,14 @@
{
port.disconnect_all();
// port.shutdown();
-
+
const char* tmp(port.getProfile().name);
CORBA_SeqUtil::erase_if(m_portRefs, find_port_name(tmp));
-
+
PortableServer::ObjectId_var oid = m_pPOA->servant_to_id(&port);
m_pPOA->deactivate_object(oid);
port.setPortRef(RTC::PortService::_nil());
-
+
return m_portServants.unregisterObject(tmp) == NULL ? false : true;
}
catch (...)
@@ -309,7 +310,7 @@
}
}
-
+
/*!
* @if jp
* @brief 名称指定によりPort の登録を解除する
@@ -372,4 +373,4 @@
ports = m_portServants.getObjects();
for_each(ports.begin(), ports.end(), del_port(this));
}
-};
+}; // namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortBase.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortBase.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/PortBase.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -17,16 +17,16 @@
*
*/
-#include <assert.h>
-#include <memory>
#include <coil/UUID.h>
#include <rtm/PortBase.h>
#include <rtm/PortCallback.h>
+#include <assert.h>
+#include <memory>
namespace RTC
{
//============================================================
- // class PortBase
+ // class PortBase
//============================================================
/*!
* @if jp
@@ -60,7 +60,7 @@
m_profile.owner = RTC::RTObject::_nil();
m_profile.properties.length(0);
}
-
+
/*!
* @if jp
* @brief デストラクタ
@@ -89,7 +89,7 @@
RTC_ERROR(("Unknown exception caught."));
}
}
-
+
/*!
* @if jp
* @brief [CORBA interface] PortProfileを取得する
@@ -108,7 +108,7 @@
prof = new PortProfile(m_profile);
return prof._retn();
}
-
+
/*!
* @if jp
* @brief [Local interface] PortProfile を取得する。
@@ -122,7 +122,7 @@
return m_profile;
}
-
+
/*!
* @if jp
* @brief [CORBA interface] ConnectorProfileListを取得する
@@ -142,7 +142,7 @@
conn_prof = new ConnectorProfileList(m_profile.connector_profiles);
return conn_prof._retn();
}
-
+
/*!
* @if jp
* @brief [CORBA interface] ConnectorProfile を取得する
@@ -170,7 +170,7 @@
conn_prof = new ConnectorProfile(m_profile.connector_profiles[index]);
return conn_prof._retn();
}
-
+
/*!
* @if jp
* @brief [CORBA interface] Port の接続を行う
@@ -218,7 +218,7 @@
}
return RTC::RTC_ERROR;
}
-
+
/*!
* @if jp
* @brief [CORBA interface] Port の接続通知を行う
@@ -264,7 +264,7 @@
}
retval[2] = subscribeInterfaces(connector_profile);
- if (retval[2] != RTC::RTC_OK)
+ if (retval[2] != RTC::RTC_OK)
{
RTC_ERROR(("subscribeInterfaces() in notify_connect() failed."));
}
@@ -304,7 +304,7 @@
onConnected(getName(), connector_profile, RTC::RTC_OK);
return RTC::RTC_OK;
}
-
+
/*!
* @if jp
* @brief Interface情報を公開する
@@ -372,9 +372,9 @@
{
#ifndef ORB_IS_RTORB
RTC_WARN(("Exception caught: minor code(%d).", e.minor()));;
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
RTC_WARN(("Exception caught"));
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
continue;
}
catch (...)
@@ -386,7 +386,7 @@
RTC_ERROR(("notify_disconnect() for all ports failed."));
return RTC::RTC_ERROR;
}
-
+
/*!
* @if jp
* @brief [CORBA interface] Port の接続解除通知を行う
@@ -403,12 +403,12 @@
// find connector_profile
CORBA::Long index(findConnProfileIndex(connector_id));
- if (index < 0)
+ if (index < 0)
{
RTC_ERROR(("Invalid connector id: %s", connector_id));
return RTC::BAD_PARAMETER;
}
-
+
ConnectorProfile& prof(m_profile.connector_profiles[(CORBA::ULong)index]);
onNotifyDisconnect(getName(), prof);
@@ -421,7 +421,7 @@
}
onUnsubscribeInterfaces(getName(), prof);
unsubscribeInterfaces(prof);
-
+
if (m_onDisconnected != 0)
{
(*m_onDisconnected)(prof);
@@ -429,22 +429,22 @@
// Why RtORB does not use CORBA_SeqUtil?
#ifndef ORB_IS_RTORB
CORBA_SeqUtil::erase(m_profile.connector_profiles, index);
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
CORBA::ULong len(m_profile.connector_profiles.length());
if (index < (CORBA::Long)len)
{
for (CORBA::ULong i(index); i < len - 1; ++i)
{
- m_profile.connector_profiles[i] =
- m_profile.connector_profiles[i + 1] ;
+ m_profile.connector_profiles[i] =
+ m_profile.connector_profiles[i + 1];
}
m_profile.connector_profiles._length = len-1;
}
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
onDisconnected(getName(), prof, retval);
return retval;
}
-
+
/*!
* @if jp
* @brief [CORBA interface] Port の全接続を解除する
@@ -472,10 +472,10 @@
tmpret = this->disconnect(plist[i].connector_id);
if (tmpret != RTC::RTC_OK) retcode = tmpret;
}
-
+
return retcode;
}
-
+
//============================================================
// Local operations
//============================================================
@@ -507,7 +507,7 @@
RTC_TRACE(("getName() = %s", (const char*)m_profile.name));
return m_profile.name;
}
-
+
/*!
* @if jp
* @brief PortProfileを取得する
@@ -521,7 +521,7 @@
Guard guard(m_profile_mutex);
return m_profile;
}
-
+
/*!
* @if jp
* @brief Port のオブジェクト参照を設定する
@@ -535,7 +535,7 @@
Guard gurad(m_profile_mutex);
m_profile.port_ref = port_ref;
}
-
+
/*!
* @if jp
* @brief Port のオブジェクト参照を取得する
@@ -549,7 +549,7 @@
Guard gurad(m_profile_mutex);
return m_profile.port_ref;
}
-
+
/*!
* @if jp
* @brief Port の owner の RTObject を指定する
@@ -565,7 +565,7 @@
RTC_TRACE(("setOwner(%s)", m_ownerInstanceName.c_str()));
{
- Guard gurad(m_profile_mutex);
+ Guard gurad(m_profile_mutex);
std::string portname((const char*)m_profile.name);
coil::vstring p(coil::split(portname, "."));
// Now Port name is <instance_name>.<port_name>. r1648
@@ -591,7 +591,7 @@
{
m_onConnected = on_connected;
}
-
+
void PortBase::setOnUnsubscribeInterfaces(ConnectionCallback* on_unsubscribe)
{
m_onUnsubscribeInterfaces = on_unsubscribe;
@@ -601,11 +601,11 @@
{
m_onDisconnected = on_disconnected;
}
-
+
void PortBase::setOnConnectionLost(ConnectionCallback* on_connection_lost)
{
m_onConnectionLost = on_connection_lost;
- }
+ }
void PortBase::
setPortConnectListenerHolder(PortConnectListeners* portconnListeners)
@@ -629,9 +629,9 @@
CORBA::Long index;
index = CORBA_SeqUtil::find(connector_profile.ports,
find_port_ref(m_profile.port_ref));
-
+
if (index < 0) return RTC::BAD_PARAMETER;
-
+
if (++index < static_cast<CORBA::Long>(connector_profile.ports.length()))
{
RTC::PortService_ptr p;
@@ -640,7 +640,7 @@
}
return RTC::RTC_OK;
}
-
+
/*!
* @if jp
* @brief 次の Port に対して notify_disconnect() をコールする
@@ -661,9 +661,9 @@
{
return RTC::RTC_OK;
}
-
+
CORBA::ULong len = cprof.ports.length();
-
+
++index;
for (CORBA::ULong i(index); i < len; ++i)
{
@@ -677,18 +677,18 @@
{
#ifndef ORB_IS_RTORB
RTC_WARN(("Exception caught: minor code.", e.minor()));
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
RTC_WARN(("Exception caught"));
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
continue;
- }
+ }
catch (...)
{
RTC_WARN(("Unknown exception caught."));
continue;
}
}
-
+
return RTC::RTC_ERROR;
}
/*!
@@ -702,7 +702,7 @@
{
m_connectionLimit = limit_value;
}
-
+
//============================================================
// protected utility functions
//============================================================
@@ -717,8 +717,8 @@
{
return connector_profile.connector_id[(CORBA::ULong)0] == 0;
}
-
-
+
+
/*!
* @if jp
* @brief UUIDを生成する
@@ -731,10 +731,10 @@
coil::UUID_Generator uugen;
uugen.init();
std::auto_ptr<coil::UUID> uuid(uugen.generateUUID(2, 0x01));
-
+
return std::string((const char*)uuid->to_string());
}
-
+
/*!
* @if jp
* @brief UUIDを生成し ConnectorProfile にセットする
@@ -747,7 +747,7 @@
connector_profile.connector_id = CORBA::string_dup(getUUID().c_str());
assert(connector_profile.connector_id[(CORBA::ULong)0] != 0);
}
-
+
/*!
* @if jp
* @brief id が既存の ConnectorProfile のものかどうか判定する
@@ -760,7 +760,7 @@
return CORBA_SeqUtil::find(m_profile.connector_profiles,
find_conn_id(id)) >= 0;
}
-
+
/*!
* @if jp
* @brief id を持つ ConnectorProfile を探す
@@ -775,7 +775,7 @@
find_conn_id(id));
return m_profile.connector_profiles[index];
}
-
+
/*!
* @if jp
* @brief id を持つ ConnectorProfile を探す
@@ -788,7 +788,7 @@
return CORBA_SeqUtil::find(m_profile.connector_profiles,
find_conn_id(id));
}
-
+
/*!
* @if jp
* @brief ConnectorProfile の追加もしくは更新
@@ -802,7 +802,7 @@
CORBA::Long index;
index = CORBA_SeqUtil::find(m_profile.connector_profiles,
find_conn_id(connector_profile.connector_id));
-
+
if (index < 0)
{
CORBA_SeqUtil::push_back(m_profile.connector_profiles,
@@ -813,7 +813,7 @@
m_profile.connector_profiles[index] = connector_profile;
}
}
-
+
/*!
* @if jp
* @brief ConnectorProfile を削除する
@@ -827,11 +827,11 @@
index = CORBA_SeqUtil::find(m_profile.connector_profiles,
find_conn_id(id));
if (index < 0) return false;
-
+
CORBA_SeqUtil::erase(m_profile.connector_profiles, index);
return true;
}
-
+
/*!
* @if jp
* @brief PortInterfaceProfile に インターフェースを登録する
@@ -846,7 +846,7 @@
CORBA::Long index;
index = CORBA_SeqUtil::find(m_profile.interfaces,
find_interface(instance_name, pol));
-
+
if (index >= 0) return false;
// setup PortInterfaceProfile
PortInterfaceProfile prof;
@@ -854,10 +854,10 @@
prof.type_name = CORBA::string_dup(type_name);
prof.polarity = pol;
CORBA_SeqUtil::push_back(m_profile.interfaces, prof);
-
+
return true;
}
-
+
/*!
* @if jp
* @brief PortInterfaceProfile からインターフェース登録を削除する
@@ -870,9 +870,9 @@
CORBA::Long index;
index = CORBA_SeqUtil::find(m_profile.interfaces,
find_interface(name, pol));
-
+
if (index < 0) return false;
-
+
CORBA_SeqUtil::erase(m_profile.interfaces, index);
return true;
}
@@ -902,7 +902,7 @@
RTC_WARN(("Dead connection: %s", id));
}
}
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
ConnectorProfileList* clist;
clist = new ConnectorProfileList(m_profile.connector_profiles);
@@ -916,7 +916,7 @@
}
}
delete clist;
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
}
for (std::vector<std::string>::iterator it(connector_ids.begin());
@@ -925,7 +925,7 @@
this->disconnect((*it).c_str());
}
}
-
+
/*!
* @if jp
* @brief ポートの存在を確認する。
@@ -935,9 +935,9 @@
*/
#ifndef ORB_IS_RTORB
bool PortBase::checkPorts(::RTC::PortServiceList& ports)
-#else // ORB_IS_RTORB
+#else // ORB_IS_RTORB
bool PortBase::checkPorts(RTC_PortServiceList& ports)
-#endif // ORB_IS_RTORB
+#endif // ORB_IS_RTORB
{
for (CORBA::ULong i(0), len(ports.length()); i < len; ++i)
{
@@ -957,4 +957,4 @@
return true;
}
-}; // namespace RTC
+}; // namespace RTC
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/RTObjectStateMachine.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -472,4 +472,4 @@
{
return m_sm.worker_post();
}
-}; // namespace RTC_impl
+}; // namespace RTC_impl
Modified: branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp
===================================================================
--- branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp 2017-01-17 09:49:29 UTC (rev 2848)
+++ branches/DEV_IQ_2016/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp 2017-01-17 10:02:02 UTC (rev 2849)
@@ -16,7 +16,6 @@
*
*/
-#include <memory>
#include <coil/UUID.h>
#include <coil/Guard.h>
#include <coil/stringutil.h>
@@ -25,6 +24,9 @@
#include <rtm/SdoServiceAdmin.h>
#include <rtm/SdoServiceProviderBase.h>
#include <rtm/SdoServiceConsumerBase.h>
+#include <memory>
+#include <string.h>
+#include <vector>
namespace RTC
{
@@ -39,7 +41,7 @@
*/
struct service_id
{
- explicit service_id(const char* id) : m_id(id) {};
+ explicit service_id(const char* id) : m_id(id) {}
bool operator()(const SDOPackage::ServiceProfile& s)
{
std::string id(s.id);
@@ -47,8 +49,8 @@
}
const std::string m_id;
};
-
+
/*!
* @if jp
* @brief コンストラクタ
@@ -67,19 +69,19 @@
//------------------------------------------------------------
// SDO service provider
- ::coil::vstring enabledProviderTypes
+ ::coil::vstring enabledProviderTypes
= ::coil::split(prop["sdo.service.provider.enabled_services"], ",", true);
RTC_DEBUG(("sdo.service.provider.enabled_services: %s",
prop["sdo.service.provider.enabled_services"].c_str()));
- ::coil::vstring availableProviderTypes
+ ::coil::vstring availableProviderTypes
= SdoServiceProviderFactory::instance().getIdentifiers();
prop["sdo.service.provider.available_services"]
= coil::flatten(availableProviderTypes);
RTC_DEBUG(("sdo.service.provider.available_services: %s",
prop["sdo.service.provider.available_services"].c_str()));
-
+
// If types include '[Aa][Ll][Ll]', all types enabled in this RTC
::coil::vstring activeProviderTypes;
for (size_t i(0); i < enabledProviderTypes.size(); ++i)
@@ -106,7 +108,7 @@
{
SdoServiceProviderBase* svc
= factory.createObject(activeProviderTypes[i]);
-
+
SDOPackage::ServiceProfile prof;
prof.id = CORBA::string_dup(activeProviderTypes[i].c_str());
prof.interface_type = CORBA::string_dup(activeProviderTypes[i].c_str());
@@ -168,7 +170,7 @@
}
m_consumers.clear();
}
-
+
/*!
* @if jp
* @brief SDO Service Provider の ServiceProfileList を取得する
@@ -223,7 +225,7 @@
{
SDOPackage::ServiceProfile_var prof;
prof = getServiceProviderProfile(id);
- SDOPackage::SDOService_var sdo
+ SDOPackage::SDOService_var sdo
= SDOPackage::SDOService::_duplicate(prof->service);
return sdo._retn();
}
@@ -278,7 +280,7 @@
if (strid == static_cast<const char*>((*it)->getProfile().id))
{
(*it)->finalize();
- SdoServiceProviderFactory&
+ SdoServiceProviderFactory&
factory(SdoServiceProviderFactory::instance());
factory.deleteObject(*it);
m_providers.erase(it);
@@ -304,12 +306,12 @@
Guard guard(m_consumer_mutex);
RTC_TRACE(("addSdoServiceConsumer(IFR = %s)",
static_cast<const char*>(sProfile.interface_type)));
-
+
// Not supported consumer type -> error return
if (!isEnabledConsumerType(sProfile)) { return false; }
if (!isExistingConsumerType(sProfile)) { return false; }
RTC_DEBUG(("Valid SDO service required"));
- if (strncmp(sProfile.id, "", 1) == 0)
+ if (strncmp(sProfile.id, "", 1) == 0)
{
RTC_WARN(("No id specified. It should be given by clients."));
return false;
@@ -331,15 +333,15 @@
RTC_DEBUG(("SDO service properly initialized."));
// new pofile
- SdoServiceConsumerFactory&
+ SdoServiceConsumerFactory&
factory(SdoServiceConsumerFactory::instance());
const char* ctype = static_cast<const char*>(sProfile.interface_type);
if (ctype == NULL) { return false; }
SdoServiceConsumerBase* consumer(factory.createObject(ctype));
- if (consumer == NULL)
+ if (consumer == NULL)
{
RTC_ERROR(("Hmm... consumer must be created."));
- return false;
+ return false;
}
RTC_DEBUG(("An SDO service consumer created."));
@@ -365,10 +367,10 @@
// store consumer
m_consumers.push_back(consumer);
-
+
return true;
}
-
+
/*!
* @if jp
* @brief Service Consumer を削除する
@@ -394,7 +396,7 @@
if (strid == static_cast<const char*>((*it)->getProfile().id))
{
(*it)->finalize();
- SdoServiceConsumerFactory&
+ SdoServiceConsumerFactory&
factory(SdoServiceConsumerFactory::instance());
factory.deleteObject(*it);
m_consumers.erase(it);
@@ -406,7 +408,7 @@
RTC_WARN(("Specified SDO consumer not found: %s", id));
return false;
}
-
+
//------------------------------------------------------------
// protected functios
//------------------------------------------------------------
@@ -425,7 +427,7 @@
for (size_t i(0); i < m_consumerTypes.size(); ++i)
{
- if (m_consumerTypes[i] ==
+ if (m_consumerTypes[i] ==
static_cast<const char*>(sProfile.interface_type))
{
RTC_DEBUG(("%s is supported SDO service.",
@@ -450,10 +452,10 @@
{
SdoServiceConsumerFactory& factory(SdoServiceConsumerFactory::instance());
coil::vstring consumerTypes(factory.getIdentifiers());
-
+
for (size_t i(0); i < consumerTypes.size(); ++i)
{
- if (consumerTypes[i] ==
+ if (consumerTypes[i] ==
static_cast<const char*>(sProfile.interface_type))
{
RTC_DEBUG(("%s exists in the SDO service factory.",
@@ -473,7 +475,7 @@
coil::UUID_Generator uugen;
uugen.init();
std::auto_ptr<coil::UUID> uuid(uugen.generateUUID(2, 0x01));
-
+
return (const char*) uuid->to_string();
}
@@ -487,4 +489,4 @@
}
-}; // end of namepsace RTC
+}; // namepsace RTC
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