Manager.cpp
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// -*- C++ -*-
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/*!
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* @file Manager.h
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* @brief RTComponent manager class
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* @date $Date: 2008-03-06 06:58:40 $
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* @author Noriaki Ando <n-ando@aist.go.jp>
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*
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* Copyright (C) 2003-2005
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* Task-intelligence Research Group,
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* Intelligent Systems Research Institute,
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* National Institute of
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* Advanced Industrial Science and Technology (AIST), Japan
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* All rights reserved.
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*
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* $Id: Manager.cpp 3049 2017-09-27 07:13:10Z miyamoto $
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*
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*/
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#include <rtm/Manager.h> |
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#include <rtm/ManagerConfig.h> |
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#include <rtm/ModuleManager.h> |
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#include <rtm/CorbaNaming.h> |
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#include <rtm/NamingManager.h> |
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#include <rtm/RTC.h> |
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#include <rtm/PeriodicExecutionContext.h> |
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#include <rtm/ExtTrigExecutionContext.h> |
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#include <rtm/OpenHRPExecutionContext.h> |
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#include <rtm/PeriodicECSharedComposite.h> |
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#include <rtm/RTCUtil.h> |
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#include <rtm/ManagerServant.h> |
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#include <fstream> |
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#include <iostream> |
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#include <coil/Properties.h> |
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#include <coil/stringutil.h> |
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#include <coil/Signal.h> |
| 37 |
#include <coil/TimeValue.h> |
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#include <coil/Timer.h> |
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#include <coil/OS.h> |
| 40 |
#include <rtm/FactoryInit.h> |
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#include <rtm/CORBA_IORUtil.h> |
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#include <rtm/SdoServiceConsumerBase.h> |
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#include <rtm/LocalServiceAdmin.h> |
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#include <rtm/SystemLogger.h> |
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#include <rtm/LogstreamBase.h> |
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#include <rtm/NumberingPolicyBase.h> |
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|
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#ifdef RTM_OS_VXWORKS
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#include <rtm/VxWorksRTExecutionContext.h> |
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#ifndef __RTP__
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#include <rtm/VxWorksInterruptExecutionContext.h> |
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#endif
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#endif
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#ifdef RTM_OS_LINUX
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#ifndef _GNU_SOURCE
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#define _GNU_SOURCE
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#endif // _GNU_SOURCE |
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#include <pthread.h> |
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#endif // RTM_OS_LINUX |
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|
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#if defined(minor)
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#undef minor
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#endif
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|
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//static sig_atomic_t g_mgrActive = true;
|
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extern "C" void handler (int) |
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{
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::RTC::Manager::instance().terminate(); |
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} |
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|
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namespace RTC
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{
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Manager* Manager::manager = NULL;
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coil::Mutex Manager::mutex; |
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|
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Manager::InstanceName::InstanceName(RTObject_impl* comp) |
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: m_name(comp->getInstanceName()) |
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{}
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Manager::InstanceName::InstanceName(const char* name) |
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: m_name(name) |
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{}
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Manager::InstanceName::InstanceName(const std::string name) |
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: m_name(name) |
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{}
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bool Manager::InstanceName::operator()(RTObject_impl* comp) |
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{
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return m_name == comp->getInstanceName();
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} |
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|
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/*!
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* @if jp
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* @brief Protected コンストラクタ
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* @else
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* @brief Protected Constructor
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* @endif
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*/
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Manager::Manager() |
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: m_initProc(0), m_namingManager(0), m_timer(0), |
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m_logStreamBuf(), rtclog(&m_logStreamBuf), |
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m_runner(0), m_terminator(0) |
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{
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new coil::SignalAction((coil::SignalHandler) handler, SIGINT);
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} |
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/*!
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* @if jp
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* @brief Protected コピーコンストラクタ
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* @else
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* @brief Protected Copy Constructor
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* @endif
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*/
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Manager::Manager(const Manager& manager)
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: m_initProc(0), m_namingManager(0), m_timer(0), |
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m_logStreamBuf(), rtclog(&m_logStreamBuf), |
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m_runner(0), m_terminator(0) |
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{
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new coil::SignalAction((coil::SignalHandler) handler, SIGINT);
|
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} |
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/*!
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* @if jp
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* @brief マネージャの初期化
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* @else
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* @brief Initialize manager
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* @endif
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*/
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Manager* Manager::init(int argc, char** argv) |
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{
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// DCL for singleton
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if (!manager)
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{
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Guard guard(mutex); |
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if (!manager)
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{
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manager = new Manager();
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manager->initManager(argc, argv); |
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manager->initFactories(); |
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manager->initLogger(); |
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manager->initORB(); |
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manager->initNaming(); |
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manager->initExecContext(); |
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manager->initComposite(); |
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manager->initTimer(); |
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manager->initManagerServant(); |
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} |
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} |
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return manager;
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} |
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/*!
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* @if jp
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* @brief マネージャのインスタンスの取得
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* @else
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* @brief Get instance of the manager
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* @endif
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*/
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Manager& Manager::instance() |
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{
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// DCL for singleton
|
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if (!manager)
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{
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Guard guard(mutex); |
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if (!manager)
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{
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manager = new Manager();
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manager->initManager(0, NULL); |
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manager->initFactories(); |
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manager->initLogger(); |
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manager->initORB(); |
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manager->initNaming(); |
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manager->initExecContext(); |
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manager->initComposite(); |
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manager->initTimer(); |
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manager->initManagerServant(); |
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} |
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} |
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return *manager;
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} |
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|
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/*!
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* @if jp
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* @brief マネージャ終了処理
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* @else
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* @brief Terminate Manager
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* @endif
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*/
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void Manager::terminate()
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{
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if (m_terminator != NULL) |
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m_terminator->terminate(); |
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} |
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|
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/*!
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* @if jp
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* @brief マネージャ・シャットダウン
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* @else
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* @brief Shutdown Manager
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* @endif
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*/
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void Manager::shutdown()
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{
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RTC_TRACE(("Manager::shutdown()"));
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m_listeners.manager_.preShutdown(); |
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shutdownComponents(); |
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shutdownNaming(); |
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shutdownORB(); |
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shutdownManager(); |
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// 終了待ち合わせ
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if (m_runner != NULL) |
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{
|
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m_runner->wait(); |
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} |
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else
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{
|
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join(); |
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} |
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m_listeners.manager_.postShutdown(); |
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shutdownLogger(); |
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} |
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|
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/*!
|
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* @if jp
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* @brief マネージャ終了処理の待ち合わせ
|
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* @else
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* @brief Wait for Manager's termination
|
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* @endif
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*/
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void Manager::join()
|
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{
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RTC_TRACE(("Manager::wait()"));
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{
|
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Guard guard(m_terminate.mutex); |
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++m_terminate.waiting; |
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} |
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while (1) |
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{
|
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{
|
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Guard guard(m_terminate.mutex); |
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if (m_terminate.waiting > 1) break; |
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} |
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coil::usleep(100000);
|
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} |
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} |
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|
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/*!
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* @if jp
|
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* @brief 初期化プロシージャのセット
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* @else
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* @brief Set initial procedure
|
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* @endif
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*/
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void Manager::setModuleInitProc(ModuleInitProc proc)
|
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{
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m_initProc = proc; |
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} |
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|
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/*!
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* @if jp
|
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* @brief Managerのアクティブ化
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* @else
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* @brief Activate the Manager
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* @endif
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*/
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bool Manager::activateManager()
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{
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RTC_TRACE(("Manager::activateManager()"));
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|
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try
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{
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if(CORBA::is_nil(this->thePOAManager())) |
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{
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RTC_ERROR(("Could not get POA manager."));
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return false; |
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} |
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this->thePOAManager()->activate();
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RTC_TRACE(("POA Manager activated."));
|
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} |
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catch (...)
|
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{
|
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RTC_ERROR(("POA Manager activatatin failed."));
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return false; |
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} |
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|
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std::vector<std::string> lsvc;
|
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lsvc = coil::split(m_config["manager.local_service.modules"], ","); |
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|
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for (int i(0), len(lsvc.size()); i < len; ++i) |
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{
|
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size_t begin_pos(lsvc[i].find_first_of('('));
|
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size_t end_pos(lsvc[i].find_first_of(')'));
|
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std::string filename, initfunc;
|
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if (begin_pos != std::string::npos && end_pos != std::string::npos && |
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begin_pos < end_pos) |
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{
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initfunc = lsvc[i].substr(begin_pos + 1, end_pos - (begin_pos + 1)); |
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filename = lsvc[i].substr(0, begin_pos);
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coil::eraseBothEndsBlank(initfunc); |
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coil::eraseBothEndsBlank(filename); |
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} |
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else
|
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{
|
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initfunc = coil::split(lsvc[i], ".").operator[](0) + "Init"; |
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filename = lsvc[i]; |
| 307 |
} |
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if (filename.find_first_of('.') == std::string::npos) |
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{
|
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if (m_config.findNode("manager.modules.C++.suffixes") != 0) |
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{
|
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filename += "." + m_config["manager.modules.C++.suffixes"]; |
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} |
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} |
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try
|
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{
|
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m_module->load(filename, initfunc); |
| 318 |
} |
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catch (ModuleManager::Error& e)
|
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{
|
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RTC_ERROR(("Module load error: %s", e.reason.c_str()));
|
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} |
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catch (ModuleManager::SymbolNotFound& e)
|
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{
|
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RTC_ERROR(("Symbol not found: %s", e.name.c_str()));
|
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} |
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catch (ModuleManager::ModuleNotFound& e)
|
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{
|
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RTC_ERROR(("Module not found: %s", e.name.c_str()));
|
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} |
| 331 |
catch (...)
|
| 332 |
{
|
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RTC_ERROR(("Unknown Exception"));
|
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} |
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} |
| 336 |
|
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initLocalService(); |
| 338 |
|
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std::vector<std::string> mods;
|
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mods = coil::split(m_config["manager.modules.preload"], ","); |
| 341 |
|
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for (int i(0), len(mods.size()); i < len; ++i) |
| 343 |
{
|
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size_t begin_pos(mods[i].find_first_of('('));
|
| 345 |
size_t end_pos(mods[i].find_first_of(')'));
|
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std::string filename, initfunc;
|
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if (begin_pos != std::string::npos && end_pos != std::string::npos && |
| 348 |
begin_pos < end_pos) |
| 349 |
{
|
| 350 |
initfunc = mods[i].substr(begin_pos + 1, end_pos - (begin_pos + 1)); |
| 351 |
filename = mods[i].substr(0, begin_pos);
|
| 352 |
coil::eraseBothEndsBlank(initfunc); |
| 353 |
coil::eraseBothEndsBlank(filename); |
| 354 |
} |
| 355 |
else
|
| 356 |
{
|
| 357 |
initfunc = coil::split(mods[i], ".").operator[](0) + "Init"; |
| 358 |
filename = mods[i]; |
| 359 |
} |
| 360 |
if (filename.find_first_of('.') == std::string::npos) |
| 361 |
{
|
| 362 |
std::cout << m_config["manager.modules.C++.suffixes"] << std::endl;
|
| 363 |
if (m_config.findNode("manager.modules.C++.suffixes") != 0) |
| 364 |
{
|
| 365 |
filename += "." + m_config["manager.modules.C++.suffixes"]; |
| 366 |
} |
| 367 |
} |
| 368 |
try
|
| 369 |
{
|
| 370 |
m_module->load(filename, initfunc); |
| 371 |
} |
| 372 |
catch (ModuleManager::Error& e)
|
| 373 |
{
|
| 374 |
RTC_ERROR(("Module load error: %s", e.reason.c_str()));
|
| 375 |
} |
| 376 |
catch (ModuleManager::SymbolNotFound& e)
|
| 377 |
{
|
| 378 |
RTC_ERROR(("Symbol not found: %s", e.name.c_str()));
|
| 379 |
} |
| 380 |
catch (ModuleManager::ModuleNotFound& e)
|
| 381 |
{
|
| 382 |
RTC_ERROR(("Module not found: %s", e.name.c_str()));
|
| 383 |
} |
| 384 |
catch (...)
|
| 385 |
{
|
| 386 |
RTC_ERROR(("Unknown Exception"));
|
| 387 |
} |
| 388 |
} |
| 389 |
|
| 390 |
m_config["sdo.service.consumer.available_services"]
|
| 391 |
= coil::flatten(SdoServiceConsumerFactory::instance().getIdentifiers()); |
| 392 |
|
| 393 |
|
| 394 |
|
| 395 |
if (m_initProc != NULL) |
| 396 |
{
|
| 397 |
m_initProc(this);
|
| 398 |
} |
| 399 |
|
| 400 |
RTC_TRACE(("Components pre-creation: %s",
|
| 401 |
m_config["manager.components.precreate"].c_str()));
|
| 402 |
std::vector<std::string> comp;
|
| 403 |
comp = coil::split(m_config["manager.components.precreate"], ","); |
| 404 |
for (int i(0), len(comp.size()); i < len; ++i) |
| 405 |
{
|
| 406 |
this->createComponent(comp[i].c_str());
|
| 407 |
} |
| 408 |
|
| 409 |
{ // pre-connection
|
| 410 |
RTC_TRACE(("Connection pre-connection: %s",
|
| 411 |
m_config["manager.components.preconnect"].c_str()));
|
| 412 |
std::vector<std::string> connectors;
|
| 413 |
connectors = coil::split(m_config["manager.components.preconnect"], ","); |
| 414 |
for (int i(0), len(connectors.size()); i < len; ++i) |
| 415 |
{
|
| 416 |
// ConsoleIn.out:Console.in(dataflow_type=push,....)
|
| 417 |
coil::vstring conn_prop = coil::split(connectors[i], "(");
|
| 418 |
if (conn_prop.size() == 1) |
| 419 |
{
|
| 420 |
conn_prop. // default connector profile value
|
| 421 |
push_back("dataflow_type=push&interface_type=corba_cdr");
|
| 422 |
} // after this conn_prop.size() >= 2
|
| 423 |
std::size_t pos = conn_prop[1].find_last_of(")"); |
| 424 |
if (pos != std::string::npos) { conn_prop[1].erase(pos); } |
| 425 |
|
| 426 |
coil::vstring comp_ports; |
| 427 |
comp_ports = coil::split(conn_prop[0], ":"); |
| 428 |
if (comp_ports.size() != 2) |
| 429 |
{
|
| 430 |
RTC_ERROR(("Invalid format for pre-connection."));
|
| 431 |
RTC_ERROR(("Format must be Comp0.port0:Comp1.port1"));
|
| 432 |
continue;
|
| 433 |
} |
| 434 |
std::string comp0_name = coil::split(comp_ports[0], ".")[0]; |
| 435 |
std::string comp1_name = coil::split(comp_ports[1], ".")[0]; |
| 436 |
RTObject_impl* comp0 = getComponent(comp0_name.c_str()); |
| 437 |
RTObject_impl* comp1 = getComponent(comp1_name.c_str()); |
| 438 |
if (comp0 == NULL) |
| 439 |
{ RTC_ERROR(("%s not found.", comp0_name.c_str())); continue; }
|
| 440 |
if (comp1 == NULL) |
| 441 |
{ RTC_ERROR(("%s not found.", comp1_name.c_str())); continue; }
|
| 442 |
std::string port0 = comp_ports[0]; |
| 443 |
std::string port1 = comp_ports[1]; |
| 444 |
|
| 445 |
PortServiceList_var ports0 = comp0->get_ports(); |
| 446 |
PortServiceList_var ports1 = comp1->get_ports(); |
| 447 |
RTC_DEBUG(("%s has %d ports.", comp0_name.c_str(), ports0->length()));
|
| 448 |
RTC_DEBUG(("%s has %d ports.", comp1_name.c_str(), ports1->length()));
|
| 449 |
|
| 450 |
PortService_var port0_var; |
| 451 |
for (size_t p(0); p < ports0->length(); ++p) |
| 452 |
{
|
| 453 |
PortProfile_var pp = ports0[p]->get_port_profile(); |
| 454 |
std::string s(CORBA::string_dup(pp->name));
|
| 455 |
if (comp_ports[0] == s) |
| 456 |
{
|
| 457 |
RTC_DEBUG(("port %s found: ", comp_ports[0].c_str())); |
| 458 |
port0_var = ports0[p]; |
| 459 |
} |
| 460 |
} |
| 461 |
PortService_var port1_var; |
| 462 |
for (size_t p(0); p < ports1->length(); ++p) |
| 463 |
{
|
| 464 |
PortProfile_var pp = ports1[p]->get_port_profile(); |
| 465 |
std::string s(CORBA::string_dup(pp->name));
|
| 466 |
if (port1 == s)
|
| 467 |
{
|
| 468 |
RTC_DEBUG(("port %s found: ", comp_ports[1].c_str())); |
| 469 |
port1_var = ports1[p]; |
| 470 |
} |
| 471 |
} |
| 472 |
if (CORBA::is_nil(port0_var))
|
| 473 |
{
|
| 474 |
RTC_ERROR(("port0 %s is nil obj", comp_ports[0].c_str())); |
| 475 |
continue;
|
| 476 |
} |
| 477 |
if (CORBA::is_nil(port1_var))
|
| 478 |
{
|
| 479 |
RTC_ERROR(("port1 %s is nil obj", comp_ports[1].c_str())); |
| 480 |
continue;
|
| 481 |
} |
| 482 |
ConnectorProfile conn_prof; |
| 483 |
std::string prof_name;
|
| 484 |
conn_prof.name = CORBA::string_dup(connectors[i].c_str()); |
| 485 |
conn_prof.connector_id = CORBA::string_dup("");
|
| 486 |
conn_prof.ports.length(2);
|
| 487 |
conn_prof.ports[0] = port0_var;
|
| 488 |
conn_prof.ports[1] = port1_var;
|
| 489 |
coil::Properties prop; |
| 490 |
prop["dataport.dataflow_type"] = "push"; |
| 491 |
prop["dataport.interface_type"] = "corba_cdr"; |
| 492 |
coil::vstring opt_props = coil::split(conn_prop[1], "&"); |
| 493 |
for (size_t o(0); o < opt_props.size(); ++o) |
| 494 |
{
|
| 495 |
coil::vstring temp = coil::split(opt_props[o], "=");
|
| 496 |
prop["dataport." + temp[0]] = temp[1]; |
| 497 |
} |
| 498 |
NVUtil::copyFromProperties(conn_prof.properties, prop); |
| 499 |
if (RTC::RTC_OK != port0_var->connect(conn_prof))
|
| 500 |
{
|
| 501 |
RTC_ERROR(("Connection error: %s",
|
| 502 |
connectors[i].c_str())); |
| 503 |
} |
| 504 |
} |
| 505 |
} // end of pre-connection
|
| 506 |
|
| 507 |
{ // pre-activation
|
| 508 |
RTC_TRACE(("Components pre-activation: %s",
|
| 509 |
m_config["manager.components.preactivation"].c_str()));
|
| 510 |
std::vector<std::string> comps;
|
| 511 |
comps = coil::split(m_config["manager.components.preactivation"],
|
| 512 |
",");
|
| 513 |
for (int i(0), len(comps.size()); i < len; ++i) |
| 514 |
{
|
| 515 |
RTObject_impl* comp = getComponent(comps[i].c_str()); |
| 516 |
if (comp == NULL) |
| 517 |
{ RTC_ERROR(("%s not found.", comps[i].c_str())); continue; }
|
| 518 |
|
| 519 |
ExecutionContextList_var ecs = comp->get_owned_contexts(); |
| 520 |
ecs[CORBA::ULong(0)]->activate_component(comp->getObjRef());
|
| 521 |
} |
| 522 |
} // end of pre-activation
|
| 523 |
return true; |
| 524 |
} |
| 525 |
|
| 526 |
/*!
|
| 527 |
* @if jp
|
| 528 |
* @brief Managerの実行
|
| 529 |
* @else
|
| 530 |
* @brief Run the Manager
|
| 531 |
* @endif
|
| 532 |
*/
|
| 533 |
void Manager::runManager(bool no_block) |
| 534 |
{
|
| 535 |
if (no_block)
|
| 536 |
{
|
| 537 |
RTC_TRACE(("Manager::runManager(): non-blocking mode"));
|
| 538 |
m_runner = new OrbRunner(m_pORB);
|
| 539 |
m_runner->open(0);
|
| 540 |
} |
| 541 |
else
|
| 542 |
{
|
| 543 |
RTC_TRACE(("Manager::runManager(): blocking mode"));
|
| 544 |
m_pORB->run(); |
| 545 |
RTC_TRACE(("Manager::runManager(): ORB was terminated"));
|
| 546 |
join(); |
| 547 |
} |
| 548 |
return;
|
| 549 |
} |
| 550 |
|
| 551 |
//============================================================
|
| 552 |
// Module management
|
| 553 |
//============================================================
|
| 554 |
/*!
|
| 555 |
* @if jp
|
| 556 |
* @brief モジュールのロード
|
| 557 |
* @else
|
| 558 |
* @brief Load module
|
| 559 |
* @endif
|
| 560 |
*/
|
| 561 |
ReturnCode_t Manager::load(const std::string& fname, |
| 562 |
const std::string& initfunc) |
| 563 |
{
|
| 564 |
RTC_TRACE(("Manager::load(fname = %s, initfunc = %s)",
|
| 565 |
fname.c_str(), initfunc.c_str())); |
| 566 |
|
| 567 |
std::string file_name(fname);
|
| 568 |
std::string init_func(initfunc);
|
| 569 |
m_listeners.module_.preLoad(file_name, init_func); |
| 570 |
try
|
| 571 |
{
|
| 572 |
if (init_func.empty())
|
| 573 |
{
|
| 574 |
coil::vstring mod(coil::split(file_name, "."));
|
| 575 |
init_func = mod[0] + "Init"; |
| 576 |
} |
| 577 |
std::string path(m_module->load(file_name, init_func));
|
| 578 |
RTC_DEBUG(("module path: %s", path.c_str()));
|
| 579 |
m_listeners.module_.postLoad(path, init_func); |
| 580 |
} |
| 581 |
catch(RTC::ModuleManager::NotAllowedOperation& e)
|
| 582 |
{
|
| 583 |
RTC_ERROR(("Operation not allowed: %s",
|
| 584 |
e.reason.c_str())); |
| 585 |
return RTC::PRECONDITION_NOT_MET;
|
| 586 |
} |
| 587 |
catch(RTC::ModuleManager::NotFound& e)
|
| 588 |
{
|
| 589 |
RTC_ERROR(("Not found: %s",
|
| 590 |
e.name.c_str())); |
| 591 |
return RTC::RTC_ERROR;
|
| 592 |
} |
| 593 |
catch(RTC::ModuleManager::InvalidArguments& e)
|
| 594 |
{
|
| 595 |
RTC_ERROR(("Invalid argument: %s",
|
| 596 |
e.reason.c_str())); |
| 597 |
return RTC::BAD_PARAMETER;
|
| 598 |
} |
| 599 |
catch(RTC::ModuleManager::Error& e)
|
| 600 |
{
|
| 601 |
RTC_ERROR(("Error: %s", e.reason.c_str()));
|
| 602 |
return RTC::RTC_ERROR;
|
| 603 |
} |
| 604 |
catch (...)
|
| 605 |
{
|
| 606 |
RTC_ERROR(("Unknown error."));
|
| 607 |
return RTC::RTC_ERROR;
|
| 608 |
} |
| 609 |
return RTC::RTC_OK;
|
| 610 |
} |
| 611 |
|
| 612 |
/*!
|
| 613 |
* @if jp
|
| 614 |
* @brief モジュールのアンロード
|
| 615 |
* @else
|
| 616 |
* @brief Unload module
|
| 617 |
* @endif
|
| 618 |
*/
|
| 619 |
void Manager::unload(const char* fname) |
| 620 |
{
|
| 621 |
RTC_TRACE(("Manager::unload()"));
|
| 622 |
std::string fnamestr(fname);
|
| 623 |
m_listeners.module_.preUnload(fnamestr); |
| 624 |
m_module->unload(fname); |
| 625 |
m_listeners.module_.postUnload(fnamestr); |
| 626 |
return;
|
| 627 |
} |
| 628 |
|
| 629 |
/*!
|
| 630 |
* @if jp
|
| 631 |
* @brief 全モジュールのアンロード
|
| 632 |
* @else
|
| 633 |
* @brief Unload all modules
|
| 634 |
* @endif
|
| 635 |
*/
|
| 636 |
void Manager::unloadAll()
|
| 637 |
{
|
| 638 |
RTC_TRACE(("Manager::unloadAll()"));
|
| 639 |
m_module->unloadAll(); |
| 640 |
return;
|
| 641 |
} |
| 642 |
|
| 643 |
/*!
|
| 644 |
* @if jp
|
| 645 |
* @brief ロード済みのモジュールリストを取得する
|
| 646 |
* @else
|
| 647 |
* @brief Get a list of loaded modules
|
| 648 |
* @endif
|
| 649 |
*/
|
| 650 |
std::vector<coil::Properties> Manager::getLoadedModules() |
| 651 |
{
|
| 652 |
RTC_TRACE(("Manager::getLoadedModules()"));
|
| 653 |
return m_module->getLoadedModules();
|
| 654 |
} |
| 655 |
|
| 656 |
/*!
|
| 657 |
* @if jp
|
| 658 |
* @brief ロード可能なモジュールリストを取得する
|
| 659 |
* @else
|
| 660 |
* @brief Get a list of loadable modules
|
| 661 |
* @endif
|
| 662 |
*/
|
| 663 |
std::vector<coil::Properties> Manager::getLoadableModules() |
| 664 |
{
|
| 665 |
RTC_TRACE(("Manager::getLoadableModules()"));
|
| 666 |
return m_module->getLoadableModules();
|
| 667 |
} |
| 668 |
|
| 669 |
//============================================================
|
| 670 |
// Component factory management
|
| 671 |
//============================================================
|
| 672 |
/*!
|
| 673 |
* @if jp
|
| 674 |
* @brief RTコンポーネント用ファクトリを登録する
|
| 675 |
* @else
|
| 676 |
* @brief Register RT-Component Factory
|
| 677 |
* @endif
|
| 678 |
*/
|
| 679 |
bool Manager::registerFactory(coil::Properties& profile,
|
| 680 |
RtcNewFunc new_func, |
| 681 |
RtcDeleteFunc delete_func) |
| 682 |
{
|
| 683 |
RTC_TRACE(("Manager::registerFactory(%s)", profile["type_name"].c_str())); |
| 684 |
|
| 685 |
std::string policy_name =
|
| 686 |
m_config.getProperty("manager.components.naming_policy", "default"); |
| 687 |
RTM::NumberingPolicyBase* policy = |
| 688 |
RTM::NumberingPolicyFactory::instance().createObject(policy_name); |
| 689 |
FactoryBase* factory; |
| 690 |
if (policy == NULL) |
| 691 |
{
|
| 692 |
factory = new FactoryCXX(profile, new_func, delete_func);
|
| 693 |
} |
| 694 |
else
|
| 695 |
{
|
| 696 |
factory = new FactoryCXX(profile, new_func, delete_func, policy);
|
| 697 |
} |
| 698 |
try
|
| 699 |
{
|
| 700 |
bool ret = m_factory.registerObject(factory);
|
| 701 |
if (!ret) {
|
| 702 |
delete factory;
|
| 703 |
return false; |
| 704 |
} |
| 705 |
return true; |
| 706 |
} |
| 707 |
catch (...)
|
| 708 |
{
|
| 709 |
delete factory;
|
| 710 |
return false; |
| 711 |
} |
| 712 |
} |
| 713 |
|
| 714 |
std::vector<coil::Properties> Manager::getFactoryProfiles() |
| 715 |
{
|
| 716 |
std::vector<FactoryBase*> factories(m_factory.getObjects()); |
| 717 |
std::vector<coil::Properties> props; |
| 718 |
for (int i(0), len(factories.size()); i < len; ++i) |
| 719 |
{
|
| 720 |
props.push_back(factories[i]->profile()); |
| 721 |
} |
| 722 |
return props;
|
| 723 |
} |
| 724 |
|
| 725 |
/*!
|
| 726 |
* @if jp
|
| 727 |
* @brief ExecutionContext用ファクトリを登録する
|
| 728 |
* @else
|
| 729 |
* @brief Register ExecutionContext Factory
|
| 730 |
* @endif
|
| 731 |
*/
|
| 732 |
bool Manager::registerECFactory(const char* name, |
| 733 |
ECNewFunc new_func, |
| 734 |
ECDeleteFunc delete_func) |
| 735 |
{
|
| 736 |
RTC_TRACE(("Manager::registerECFactory(%s)", name));
|
| 737 |
try
|
| 738 |
{
|
| 739 |
ECFactoryBase* factory; |
| 740 |
factory = new ECFactoryCXX(name, new_func, delete_func);
|
| 741 |
if(m_ecfactory.registerObject(factory))
|
| 742 |
{
|
| 743 |
return true; |
| 744 |
} |
| 745 |
} |
| 746 |
catch (...)
|
| 747 |
{
|
| 748 |
return false; |
| 749 |
} |
| 750 |
return false; |
| 751 |
} |
| 752 |
|
| 753 |
/*!
|
| 754 |
* @if jp
|
| 755 |
* @brief ファクトリ全リストを取得する
|
| 756 |
* @else
|
| 757 |
* @brief Get the list of all Factories
|
| 758 |
* @endif
|
| 759 |
*/
|
| 760 |
std::vector<std::string> Manager::getModulesFactories()
|
| 761 |
{
|
| 762 |
RTC_TRACE(("Manager::getModulesFactories()"));
|
| 763 |
|
| 764 |
ModuleFactories m; |
| 765 |
return m_factory.for_each(m).modlist;
|
| 766 |
} |
| 767 |
|
| 768 |
//============================================================
|
| 769 |
// Component management
|
| 770 |
//============================================================
|
| 771 |
/*!
|
| 772 |
* @if jp
|
| 773 |
* @brief RTコンポーネントを生成する
|
| 774 |
* @else
|
| 775 |
* @brief Create RT-Components
|
| 776 |
* @endif
|
| 777 |
*/
|
| 778 |
RTObject_impl* Manager::createComponent(const char* comp_args) |
| 779 |
{
|
| 780 |
RTC_TRACE(("Manager::createComponent(%s)", comp_args));
|
| 781 |
std::string argstr(comp_args);
|
| 782 |
m_listeners.rtclifecycle_.preCreate(argstr); |
| 783 |
//------------------------------------------------------------
|
| 784 |
// extract "comp_type" and "comp_prop" from comp_arg
|
| 785 |
coil::Properties comp_prop, comp_id; |
| 786 |
if (!procComponentArgs(argstr.c_str(), comp_id, comp_prop)) return NULL; |
| 787 |
|
| 788 |
//------------------------------------------------------------
|
| 789 |
// Because the format of port-name had been changed from <port_name>
|
| 790 |
// to <instance_name>.<port_name>, the following processing was added.
|
| 791 |
// (since r1648)
|
| 792 |
|
| 793 |
if (comp_prop.findNode("exported_ports") != 0) |
| 794 |
{
|
| 795 |
coil::vstring exported_ports; |
| 796 |
exported_ports = coil::split(comp_prop["exported_ports"], ","); |
| 797 |
|
| 798 |
std::string exported_ports_str(""); |
| 799 |
for (size_t i(0), len(exported_ports.size()); i < len; ++i) |
| 800 |
{
|
| 801 |
coil::vstring keyval(coil::split(exported_ports[i], "."));
|
| 802 |
if (keyval.size() > 2) |
| 803 |
{
|
| 804 |
exported_ports_str += (keyval[0] + "." + keyval.back()); |
| 805 |
} |
| 806 |
else
|
| 807 |
{
|
| 808 |
exported_ports_str += exported_ports[i]; |
| 809 |
} |
| 810 |
|
| 811 |
if (i != exported_ports.size() - 1) |
| 812 |
{
|
| 813 |
exported_ports_str += ",";
|
| 814 |
} |
| 815 |
} |
| 816 |
|
| 817 |
comp_prop["exported_ports"] = exported_ports_str;
|
| 818 |
comp_prop["conf.default.exported_ports"] = exported_ports_str;
|
| 819 |
|
| 820 |
} |
| 821 |
//------------------------------------------------------------
|
| 822 |
|
| 823 |
//------------------------------------------------------------
|
| 824 |
// Create Component
|
| 825 |
FactoryBase* factory(m_factory.find(comp_id)); |
| 826 |
if (factory == 0) |
| 827 |
{
|
| 828 |
RTC_ERROR(("Factory not found: %s",
|
| 829 |
comp_id["implementation_id"].c_str()));
|
| 830 |
|
| 831 |
if (!coil::toBool(m_config["manager.modules.search_auto"], "YES", "NO", true)) |
| 832 |
{
|
| 833 |
return 0; |
| 834 |
} |
| 835 |
// automatic module loading
|
| 836 |
std::vector<coil::Properties> mp(m_module->getLoadableModules()); |
| 837 |
RTC_INFO(("%d loadable modules found", mp.size()));
|
| 838 |
|
| 839 |
std::vector<coil::Properties>::iterator it; |
| 840 |
it = std::find_if(mp.begin(), mp.end(), ModulePredicate(comp_id)); |
| 841 |
if (it == mp.end())
|
| 842 |
{
|
| 843 |
RTC_ERROR(("No module for %s in loadable modules list",
|
| 844 |
comp_id["implementation_id"].c_str()));
|
| 845 |
return 0; |
| 846 |
} |
| 847 |
if (it->findNode("module_file_name") == 0) |
| 848 |
{
|
| 849 |
RTC_ERROR(("Hmm...module_file_name key not found."));
|
| 850 |
return 0; |
| 851 |
} |
| 852 |
// module loading
|
| 853 |
RTC_INFO(("Loading module: %s", (*it)["module_file_name"].c_str())) |
| 854 |
load((*it)["module_file_name"].c_str(), ""); |
| 855 |
factory = m_factory.find(comp_id); |
| 856 |
if (factory == 0) |
| 857 |
{
|
| 858 |
RTC_ERROR(("Factory not found for loaded module: %s",
|
| 859 |
comp_id["implementation_id"].c_str()));
|
| 860 |
return 0; |
| 861 |
} |
| 862 |
} |
| 863 |
|
| 864 |
coil::Properties prop; |
| 865 |
prop = factory->profile(); |
| 866 |
|
| 867 |
const char* inherit_prop[] = { |
| 868 |
"config.version",
|
| 869 |
"openrtm.name",
|
| 870 |
"openrtm.version",
|
| 871 |
"os.name",
|
| 872 |
"os.release",
|
| 873 |
"os.version",
|
| 874 |
"os.arch",
|
| 875 |
"os.hostname",
|
| 876 |
"corba.endpoint",
|
| 877 |
"corba.id",
|
| 878 |
"exec_cxt.periodic.type",
|
| 879 |
"exec_cxt.periodic.rate",
|
| 880 |
"exec_cxt.event_driven.type",
|
| 881 |
"exec_cxt.sync_transition",
|
| 882 |
"exec_cxt.sync_activation",
|
| 883 |
"exec_cxt.sync_deactivation",
|
| 884 |
"exec_cxt.sync_reset",
|
| 885 |
"exec_cxt.transition_timeout",
|
| 886 |
"exec_cxt.activation_timeout",
|
| 887 |
"exec_cxt.deactivation_timeout",
|
| 888 |
"exec_cxt.reset_timeout",
|
| 889 |
"exec_cxt.cpu_affinity",
|
| 890 |
"exec_cxt.priority",
|
| 891 |
"exec_cxt.stack_size",
|
| 892 |
"exec_cxt.interrupt",
|
| 893 |
"logger.enable",
|
| 894 |
"logger.log_level",
|
| 895 |
"naming.enable",
|
| 896 |
"naming.type",
|
| 897 |
"naming.formats",
|
| 898 |
""
|
| 899 |
}; |
| 900 |
|
| 901 |
for (int i(0); inherit_prop[i][0] != '\0'; ++i) |
| 902 |
{
|
| 903 |
const char* key(inherit_prop[i]); |
| 904 |
if (m_config.findNode(key) != NULL) |
| 905 |
{
|
| 906 |
prop[key] = m_config[key]; |
| 907 |
} |
| 908 |
} |
| 909 |
|
| 910 |
RTObject_impl* comp; |
| 911 |
comp = factory->create(this);
|
| 912 |
if (comp == NULL) |
| 913 |
{
|
| 914 |
RTC_ERROR(("RTC creation failed: %s",
|
| 915 |
comp_id["implementation_id"].c_str()));
|
| 916 |
return NULL; |
| 917 |
} |
| 918 |
RTC_TRACE(("RTC created: %s", comp_id["implementation_id"].c_str())); |
| 919 |
m_listeners.rtclifecycle_.postCreate(comp); |
| 920 |
prop << comp_prop; |
| 921 |
|
| 922 |
//------------------------------------------------------------
|
| 923 |
// Load configuration file specified in "rtc.conf"
|
| 924 |
//
|
| 925 |
// rtc.conf:
|
| 926 |
// [category].[type_name].config_file = file_name
|
| 927 |
// [category].[instance_name].config_file = file_name
|
| 928 |
m_listeners.rtclifecycle_.preConfigure(prop); |
| 929 |
configureComponent(comp, prop); |
| 930 |
m_listeners.rtclifecycle_.postConfigure(prop); |
| 931 |
// comp->setProperties(prop);
|
| 932 |
|
| 933 |
//------------------------------------------------------------
|
| 934 |
// Component initialization
|
| 935 |
m_listeners.rtclifecycle_.preInitialize(); |
| 936 |
if (comp->initialize() != RTC::RTC_OK)
|
| 937 |
{
|
| 938 |
RTC_TRACE(("RTC initialization failed: %s",
|
| 939 |
comp_id["implementation_id"].c_str()));
|
| 940 |
RTC_TRACE(("%s was finalized", comp_id["implementation_id"].c_str())); |
| 941 |
if (comp->exit() != RTC::RTC_OK)
|
| 942 |
{
|
| 943 |
RTC_DEBUG(("%s finalization was failed.",
|
| 944 |
comp_id["implementation_id"].c_str()));
|
| 945 |
} |
| 946 |
return NULL; |
| 947 |
} |
| 948 |
RTC_TRACE(("RTC initialization succeeded: %s",
|
| 949 |
comp_id["implementation_id"].c_str()));
|
| 950 |
m_listeners.rtclifecycle_.postInitialize(); |
| 951 |
//------------------------------------------------------------
|
| 952 |
// Bind component to naming service
|
| 953 |
registerComponent(comp); |
| 954 |
return comp;
|
| 955 |
} |
| 956 |
|
| 957 |
/*!
|
| 958 |
* @if jp
|
| 959 |
* @brief RTコンポーネントを直接 Manager に登録する
|
| 960 |
* @else
|
| 961 |
* @brief Register RT-Component directly without Factory
|
| 962 |
* @endif
|
| 963 |
*/
|
| 964 |
bool Manager::registerComponent(RTObject_impl* comp)
|
| 965 |
{
|
| 966 |
RTC_TRACE(("Manager::registerComponent(%s)", comp->getInstanceName()));
|
| 967 |
// ### NamingManager のみで代用可能
|
| 968 |
m_compManager.registerObject(comp); |
| 969 |
|
| 970 |
coil::vstring names(comp->getNamingNames()); |
| 971 |
|
| 972 |
m_listeners.naming_.preBind(comp, names); |
| 973 |
for (int i(0), len(names.size()); i < len; ++i) |
| 974 |
{
|
| 975 |
RTC_TRACE(("Bind name: %s", names[i].c_str()));
|
| 976 |
m_namingManager->bindObject(names[i].c_str(), comp); |
| 977 |
} |
| 978 |
m_listeners.naming_.postBind(comp, names); |
| 979 |
|
| 980 |
return true; |
| 981 |
} |
| 982 |
|
| 983 |
/*!
|
| 984 |
* @if jp
|
| 985 |
* @brief RTコンポーネントの登録を解除する
|
| 986 |
* @else
|
| 987 |
* @brief Unregister RT-Components
|
| 988 |
* @endif
|
| 989 |
*/
|
| 990 |
bool Manager::unregisterComponent(RTObject_impl* comp)
|
| 991 |
{
|
| 992 |
RTC_TRACE(("Manager::unregisterComponent(%s)", comp->getInstanceName()));
|
| 993 |
// ### NamingManager のみで代用可能
|
| 994 |
m_compManager.unregisterObject(comp->getInstanceName()); |
| 995 |
|
| 996 |
coil::vstring names(comp->getNamingNames()); |
| 997 |
|
| 998 |
m_listeners.naming_.preUnbind(comp, names); |
| 999 |
for (int i(0), len(names.size()); i < len; ++i) |
| 1000 |
{
|
| 1001 |
RTC_TRACE(("Unbind name: %s", names[i].c_str()));
|
| 1002 |
m_namingManager->unbindObject(names[i].c_str()); |
| 1003 |
} |
| 1004 |
m_listeners.naming_.postUnbind(comp, names); |
| 1005 |
|
| 1006 |
return true; |
| 1007 |
} |
| 1008 |
|
| 1009 |
|
| 1010 |
ExecutionContextBase* Manager::createContext(const char* ec_args) |
| 1011 |
{
|
| 1012 |
RTC_TRACE(("Manager::createContext()"));
|
| 1013 |
RTC_TRACE(("ExecutionContext type: %s",
|
| 1014 |
m_config.getProperty("exec_cxt.periodic.type").c_str()));
|
| 1015 |
|
| 1016 |
std::string ec_id;
|
| 1017 |
coil::Properties ec_prop; |
| 1018 |
if (!procContextArgs(ec_args, ec_id, ec_prop)) return NULL; |
| 1019 |
|
| 1020 |
ECFactoryBase* factory(m_ecfactory.find(ec_id.c_str())); |
| 1021 |
if (factory == NULL) |
| 1022 |
{
|
| 1023 |
RTC_ERROR(("Factory not found: %s", ec_id.c_str()));
|
| 1024 |
return NULL; |
| 1025 |
} |
| 1026 |
|
| 1027 |
ExecutionContextBase* ec; |
| 1028 |
ec = factory->create(); |
| 1029 |
return ec;
|
| 1030 |
} |
| 1031 |
|
| 1032 |
/*!
|
| 1033 |
* @if jp
|
| 1034 |
* @brief Manager に登録されているRTコンポーネントを削除する
|
| 1035 |
* @else
|
| 1036 |
* @brief Unregister RT-Components that have been registered to Manager
|
| 1037 |
* @endif
|
| 1038 |
*/
|
| 1039 |
void Manager::deleteComponent(RTObject_impl* comp)
|
| 1040 |
{
|
| 1041 |
RTC_TRACE(("deleteComponent(RTObject*)"));
|
| 1042 |
// cleanup from manager's table, and naming serivce
|
| 1043 |
unregisterComponent(comp); |
| 1044 |
|
| 1045 |
// find factory
|
| 1046 |
coil::Properties& comp_id(comp->getProperties()); |
| 1047 |
FactoryBase* factory(m_factory.find(comp_id)); |
| 1048 |
if (factory == NULL) |
| 1049 |
{
|
| 1050 |
RTC_DEBUG(("Factory not found: %s",
|
| 1051 |
comp_id["implementation_id"].c_str()));
|
| 1052 |
return;
|
| 1053 |
} |
| 1054 |
else
|
| 1055 |
{
|
| 1056 |
RTC_DEBUG(("Factory found: %s",
|
| 1057 |
comp_id["implementation_id"].c_str()));
|
| 1058 |
factory->destroy(comp); |
| 1059 |
} |
| 1060 |
|
| 1061 |
if (coil::toBool(m_config["manager.shutdown_on_nortcs"], |
| 1062 |
"YES", "NO", true) && |
| 1063 |
!coil::toBool(m_config["manager.is_master"], "YES", "NO", false)) |
| 1064 |
{
|
| 1065 |
std::vector<RTObject_impl*> comps; |
| 1066 |
comps = getComponents(); |
| 1067 |
if (comps.size() == 0) |
| 1068 |
{
|
| 1069 |
shutdown(); |
| 1070 |
} |
| 1071 |
} |
| 1072 |
} |
| 1073 |
|
| 1074 |
void Manager::deleteComponent(const char* instance_name) |
| 1075 |
{
|
| 1076 |
RTC_TRACE(("deleteComponent(%s)", instance_name));
|
| 1077 |
RTObject_impl* comp; |
| 1078 |
comp = m_compManager.find(instance_name); |
| 1079 |
if (comp == 0) |
| 1080 |
{
|
| 1081 |
RTC_WARN(("RTC %s was not found in manager.", instance_name));
|
| 1082 |
return;
|
| 1083 |
} |
| 1084 |
deleteComponent(comp); |
| 1085 |
} |
| 1086 |
|
| 1087 |
/*!
|
| 1088 |
* @if jp
|
| 1089 |
* @brief Manager に登録されているRTコンポーネントを検索する
|
| 1090 |
* @else
|
| 1091 |
* @brief Get RT-Component's pointer
|
| 1092 |
* @endif
|
| 1093 |
*/
|
| 1094 |
RTObject_impl* Manager::getComponent(const char* instance_name) |
| 1095 |
{
|
| 1096 |
RTC_TRACE(("Manager::getComponent(%s)", instance_name));
|
| 1097 |
return m_compManager.find(instance_name);
|
| 1098 |
} |
| 1099 |
|
| 1100 |
/*!
|
| 1101 |
* @if jp
|
| 1102 |
* @brief Manager に登録されている全RTコンポーネントを取得する
|
| 1103 |
* @else
|
| 1104 |
* @brief Get all RT-Components registered in the Manager
|
| 1105 |
* @endif
|
| 1106 |
*/
|
| 1107 |
std::vector<RTObject_impl*> Manager::getComponents() |
| 1108 |
{
|
| 1109 |
RTC_TRACE(("Manager::getComponents()"));
|
| 1110 |
return m_compManager.getObjects();
|
| 1111 |
} |
| 1112 |
|
| 1113 |
void Manager::
|
| 1114 |
addManagerActionListener(RTM::ManagerActionListener* listener, |
| 1115 |
bool autoclean)
|
| 1116 |
{
|
| 1117 |
m_listeners.manager_.addListener(listener, autoclean); |
| 1118 |
} |
| 1119 |
void Manager::
|
| 1120 |
removeManagerActionListener(RTM::ManagerActionListener* listener) |
| 1121 |
{
|
| 1122 |
m_listeners.manager_.removeListener(listener); |
| 1123 |
} |
| 1124 |
|
| 1125 |
void Manager::
|
| 1126 |
addModuleActionListener(RTM::ModuleActionListener* listener, |
| 1127 |
bool autoclean)
|
| 1128 |
{
|
| 1129 |
m_listeners.module_.addListener(listener, autoclean); |
| 1130 |
} |
| 1131 |
void Manager::
|
| 1132 |
removeModuleActionListener(RTM::ModuleActionListener* listener) |
| 1133 |
{
|
| 1134 |
m_listeners.module_.removeListener(listener); |
| 1135 |
} |
| 1136 |
|
| 1137 |
void Manager::
|
| 1138 |
addRtcLifecycleActionListener(RTM::RtcLifecycleActionListener* listener, |
| 1139 |
bool autoclean)
|
| 1140 |
{
|
| 1141 |
m_listeners.rtclifecycle_.addListener(listener, autoclean); |
| 1142 |
} |
| 1143 |
void Manager::
|
| 1144 |
removeRtcLifecycleActionListener(RTM::RtcLifecycleActionListener* listener) |
| 1145 |
{
|
| 1146 |
m_listeners.rtclifecycle_.removeListener(listener); |
| 1147 |
} |
| 1148 |
|
| 1149 |
void Manager::
|
| 1150 |
addNamingActionListener(RTM::NamingActionListener* listener, |
| 1151 |
bool autoclean)
|
| 1152 |
{
|
| 1153 |
m_listeners.naming_.addListener(listener, autoclean); |
| 1154 |
} |
| 1155 |
|
| 1156 |
void Manager::
|
| 1157 |
removeNamingActionListener(RTM::NamingActionListener* listener) |
| 1158 |
{
|
| 1159 |
m_listeners.naming_.removeListener(listener); |
| 1160 |
} |
| 1161 |
|
| 1162 |
void Manager::
|
| 1163 |
addLocalServiceActionListener(RTM::LocalServiceActionListener* listener, |
| 1164 |
bool autoclean)
|
| 1165 |
{
|
| 1166 |
m_listeners.localservice_.addListener(listener, autoclean); |
| 1167 |
} |
| 1168 |
|
| 1169 |
void Manager::
|
| 1170 |
removeLocalServiceActionListener(RTM::LocalServiceActionListener* listener) |
| 1171 |
{
|
| 1172 |
m_listeners.localservice_.removeListener(listener); |
| 1173 |
} |
| 1174 |
|
| 1175 |
|
| 1176 |
//============================================================
|
| 1177 |
// CORBA 関連
|
| 1178 |
//============================================================
|
| 1179 |
/*!
|
| 1180 |
* @if jp
|
| 1181 |
* @brief ORB のポインタを取得する (所有権保持)
|
| 1182 |
* @else
|
| 1183 |
* @brief Get the pointer to the ORB (ownership retained)
|
| 1184 |
* @endif
|
| 1185 |
*/
|
| 1186 |
CORBA::ORB_ptr Manager::theORB() |
| 1187 |
{
|
| 1188 |
RTC_TRACE(("Manager::theORB()"));
|
| 1189 |
return m_pORB.in();
|
| 1190 |
} |
| 1191 |
/*!
|
| 1192 |
* @if jp
|
| 1193 |
* @brief ORB のポインタを取得する (所有権複製)
|
| 1194 |
* @else
|
| 1195 |
* @brief Get the pointer to the ORB (ownership duplicated)
|
| 1196 |
* @endif
|
| 1197 |
*/
|
| 1198 |
CORBA::ORB_ptr Manager::getORB() |
| 1199 |
{
|
| 1200 |
RTC_TRACE(("Manager::getORB()"));
|
| 1201 |
return CORBA::ORB::_duplicate(m_pORB);
|
| 1202 |
} |
| 1203 |
|
| 1204 |
/*!
|
| 1205 |
* @if jp
|
| 1206 |
* @brief Manager が持つ RootPOA のポインタを取得する (所有権保持)
|
| 1207 |
* @else
|
| 1208 |
* @brief Get the pointer to the RootPOA (ownership retained)
|
| 1209 |
* @endif
|
| 1210 |
*/
|
| 1211 |
PortableServer::POA_ptr Manager::thePOA() |
| 1212 |
{
|
| 1213 |
RTC_TRACE(("Manager::thePOA()"));
|
| 1214 |
return m_pPOA.in();
|
| 1215 |
} |
| 1216 |
#ifdef ORB_IS_OMNIORB
|
| 1217 |
PortableServer::POA_ptr Manager::theShortCutPOA() |
| 1218 |
{
|
| 1219 |
RTC_TRACE(("Manager::theShortCutPOA()"));
|
| 1220 |
return m_pShortCutPOA.in();
|
| 1221 |
} |
| 1222 |
#endif
|
| 1223 |
/*!
|
| 1224 |
* @if jp
|
| 1225 |
* @brief Manager が持つ RootPOA のポインタを取得する (所有権複製)
|
| 1226 |
* @else
|
| 1227 |
* @brief Get the pointer to the RootPOA (ownership duplicated)
|
| 1228 |
* @endif
|
| 1229 |
*/
|
| 1230 |
PortableServer::POA_ptr Manager::getPOA() |
| 1231 |
{
|
| 1232 |
RTC_TRACE(("Manager::getPOA()"));
|
| 1233 |
return PortableServer::POA::_duplicate(m_pPOA);
|
| 1234 |
} |
| 1235 |
#ifdef ORB_IS_OMNIORB
|
| 1236 |
PortableServer::POA_ptr Manager::getShortCutPOA() |
| 1237 |
{
|
| 1238 |
RTC_TRACE(("Manager::getPOA()"));
|
| 1239 |
return PortableServer::POA::_duplicate(m_pShortCutPOA);
|
| 1240 |
} |
| 1241 |
#endif
|
| 1242 |
|
| 1243 |
/*!
|
| 1244 |
* @if jp
|
| 1245 |
* @brief Manager が持つ POAManager を取得する (所有権保持)
|
| 1246 |
* @else
|
| 1247 |
* @brief Get the pointer to the POAManager (ownership retained)
|
| 1248 |
* @endif
|
| 1249 |
*/
|
| 1250 |
PortableServer::POAManager_ptr Manager::thePOAManager() |
| 1251 |
{
|
| 1252 |
RTC_TRACE(("Manager::thePOAManager()"));
|
| 1253 |
return m_pPOAManager.in();
|
| 1254 |
} |
| 1255 |
|
| 1256 |
/*!
|
| 1257 |
* @if jp
|
| 1258 |
* @brief Manager が持つ POAManager を取得する (所有権複製)
|
| 1259 |
* @else
|
| 1260 |
* @brief Get the pointer to the POAManager (ownership duplicated)
|
| 1261 |
* @endif
|
| 1262 |
*/
|
| 1263 |
PortableServer::POAManager_ptr Manager::getPOAManager() |
| 1264 |
{
|
| 1265 |
RTC_TRACE(("Manager::getPOAManager()"));
|
| 1266 |
return PortableServer::POAManager::_duplicate(m_pPOAManager);
|
| 1267 |
} |
| 1268 |
|
| 1269 |
//============================================================
|
| 1270 |
// Protected functions
|
| 1271 |
//============================================================
|
| 1272 |
|
| 1273 |
//============================================================
|
| 1274 |
// Manager initialization and finalization
|
| 1275 |
//============================================================
|
| 1276 |
/*!
|
| 1277 |
* @if jp
|
| 1278 |
* @brief Manager の内部初期化処理
|
| 1279 |
* @else
|
| 1280 |
* @brief Manager internal initialization
|
| 1281 |
* @endif
|
| 1282 |
*/
|
| 1283 |
void Manager::initManager(int argc, char** argv) |
| 1284 |
{
|
| 1285 |
// load configurations
|
| 1286 |
ManagerConfig config(argc, argv); |
| 1287 |
config.configure(m_config); |
| 1288 |
|
| 1289 |
// initialize ModuleManager
|
| 1290 |
m_module = new ModuleManager(m_config);
|
| 1291 |
|
| 1292 |
// initialize Terminator
|
| 1293 |
m_terminator = new Terminator(this); |
| 1294 |
{
|
| 1295 |
Guard guard(m_terminate.mutex); |
| 1296 |
m_terminate.waiting = 0;
|
| 1297 |
} |
| 1298 |
|
| 1299 |
// initialize Timer
|
| 1300 |
if (coil::toBool(m_config["timer.enable"], "YES", "NO", true)) |
| 1301 |
{
|
| 1302 |
coil::TimeValue tm(0, 100000); |
| 1303 |
std::string tick(m_config["timer.tick"]); |
| 1304 |
if (!tick.empty())
|
| 1305 |
{
|
| 1306 |
tm = atof(tick.c_str()); |
| 1307 |
m_timer = new coil::Timer(tm);
|
| 1308 |
m_timer->start(); |
| 1309 |
} |
| 1310 |
} |
| 1311 |
|
| 1312 |
if (coil::toBool(m_config["manager.shutdown_auto"], "YES", "NO", true) && |
| 1313 |
!coil::toBool(m_config["manager.is_master"], "YES", "NO", false)) |
| 1314 |
{
|
| 1315 |
coil::TimeValue tm(10, 0); |
| 1316 |
if (m_config.findNode("manager.auto_shutdown_duration") != NULL) |
| 1317 |
{
|
| 1318 |
double duration;
|
| 1319 |
const char* s = m_config["manager.auto_shutdown_duration"].c_str(); |
| 1320 |
if (coil::stringTo(duration, s))
|
| 1321 |
{
|
| 1322 |
tm = duration; |
| 1323 |
} |
| 1324 |
} |
| 1325 |
if (m_timer != NULL) |
| 1326 |
{
|
| 1327 |
m_timer->registerListenerObj(this,
|
| 1328 |
&Manager::shutdownOnNoRtcs, tm); |
| 1329 |
} |
| 1330 |
} |
| 1331 |
|
| 1332 |
{
|
| 1333 |
coil::TimeValue tm(1, 0); |
| 1334 |
if (m_timer != NULL) |
| 1335 |
{
|
| 1336 |
m_timer->registerListenerObj(this,
|
| 1337 |
&Manager::cleanupComponents, tm); |
| 1338 |
} |
| 1339 |
} |
| 1340 |
|
| 1341 |
} |
| 1342 |
|
| 1343 |
/*!
|
| 1344 |
* @if jp
|
| 1345 |
* @brief Manager の終了処理
|
| 1346 |
* @else
|
| 1347 |
* @brief Manager internal finalization
|
| 1348 |
* @endif
|
| 1349 |
*/
|
| 1350 |
void Manager::shutdownManager()
|
| 1351 |
{
|
| 1352 |
RTC_TRACE(("Manager::shutdownManager()"));
|
| 1353 |
m_timer->stop(); |
| 1354 |
} |
| 1355 |
|
| 1356 |
void Manager::shutdownOnNoRtcs()
|
| 1357 |
{
|
| 1358 |
RTC_TRACE(("Manager::shutdownOnNoRtcs()"));
|
| 1359 |
if (coil::toBool(m_config["manager.shutdown_on_nortcs"], "YES", "NO", true)) |
| 1360 |
{
|
| 1361 |
std::vector<RTObject_impl*> comps(getComponents()); |
| 1362 |
if (comps.size() == 0) |
| 1363 |
{
|
| 1364 |
shutdown(); |
| 1365 |
} |
| 1366 |
} |
| 1367 |
|
| 1368 |
} |
| 1369 |
|
| 1370 |
//============================================================
|
| 1371 |
// Logger initialization and finalization
|
| 1372 |
//============================================================
|
| 1373 |
/*!
|
| 1374 |
* @if jp
|
| 1375 |
* @brief File logger 初期化
|
| 1376 |
* initLoggerから呼ばれる
|
| 1377 |
* @else
|
| 1378 |
* @brief File logger initialization
|
| 1379 |
* This function is called from initLogger.
|
| 1380 |
* @endif
|
| 1381 |
*/
|
| 1382 |
void Manager::initLogstreamFile()
|
| 1383 |
{
|
| 1384 |
// format logger file name
|
| 1385 |
m_config["logger.file_name"] =
|
| 1386 |
formatString(m_config["logger.file_name"].c_str(), m_config);
|
| 1387 |
|
| 1388 |
std::vector<std::string> logouts =
|
| 1389 |
coil::split(m_config["logger.file_name"], ","); |
| 1390 |
coil::Properties& logprop = m_config.getNode("logger");
|
| 1391 |
|
| 1392 |
for (int i(0), len(logouts.size()); i < len; ++i) |
| 1393 |
{
|
| 1394 |
if (logouts[i].empty()) { continue; } |
| 1395 |
|
| 1396 |
LogstreamBase* logstream = |
| 1397 |
LogstreamFactory::instance().createObject("file");
|
| 1398 |
if (logstream == NULL) |
| 1399 |
{
|
| 1400 |
std::cerr << "\"file\" logger creation failed" << std::endl;
|
| 1401 |
continue;
|
| 1402 |
} |
| 1403 |
if (!logstream->init(logprop))
|
| 1404 |
{
|
| 1405 |
std::cerr << "\"file\" logger initialization failed" << std::endl;
|
| 1406 |
LogstreamFactory::instance().deleteObject("file", logstream);
|
| 1407 |
continue;
|
| 1408 |
} |
| 1409 |
m_logStreamBuf.addStream(logstream->getStreamBuffer()); |
| 1410 |
} |
| 1411 |
} |
| 1412 |
|
| 1413 |
void Manager::initLogstreamPlugins()
|
| 1414 |
{
|
| 1415 |
// loading logstream module
|
| 1416 |
// create logstream object and attach to the logger
|
| 1417 |
coil::vstring mods = coil::split(m_config["logger.plugins"], ","); |
| 1418 |
for (size_t i(0); i < mods.size(); ++i) |
| 1419 |
{
|
| 1420 |
std::string basename = mods[i].substr(0, mods[i].find('.')); |
| 1421 |
basename += "Init";
|
| 1422 |
try
|
| 1423 |
{
|
| 1424 |
m_module->load(mods[i], basename); |
| 1425 |
} |
| 1426 |
catch (...)
|
| 1427 |
{
|
| 1428 |
RTC_WARN(("Logstream plugin module load failed: %s",
|
| 1429 |
mods[i].c_str())); |
| 1430 |
continue;
|
| 1431 |
} |
| 1432 |
} |
| 1433 |
} |
| 1434 |
|
| 1435 |
void Manager::initLogstreamOthers()
|
| 1436 |
{
|
| 1437 |
LogstreamFactory& factory(LogstreamFactory::instance()); |
| 1438 |
|
| 1439 |
coil::Properties pp(m_config.getNode("logger.logstream"));
|
| 1440 |
|
| 1441 |
const std::vector<Properties*>& leaf0 = pp.getLeaf();
|
| 1442 |
for (size_t i(0); i < leaf0.size(); ++i) |
| 1443 |
{
|
| 1444 |
std::string lstype = leaf0[i]->getName();
|
| 1445 |
LogstreamBase* logstream = factory.createObject(lstype); |
| 1446 |
if (logstream == NULL) |
| 1447 |
{
|
| 1448 |
RTC_WARN(("Logstream %s creation failed.", lstype.c_str()));
|
| 1449 |
continue;
|
| 1450 |
} |
| 1451 |
RTC_INFO(("Logstream %s created.", lstype.c_str()));
|
| 1452 |
if (!logstream->init(*leaf0[i]))
|
| 1453 |
{
|
| 1454 |
RTC_WARN(("Logstream %s init failed.", lstype.c_str()));
|
| 1455 |
factory.deleteObject(lstype.c_str(), logstream); |
| 1456 |
RTC_WARN(("Logstream %s deleted.", lstype.c_str()));
|
| 1457 |
} |
| 1458 |
RTC_INFO(("Logstream %s added.", lstype.c_str()));
|
| 1459 |
m_logStreamBuf.addStream(logstream->getStreamBuffer()); |
| 1460 |
} |
| 1461 |
} |
| 1462 |
|
| 1463 |
/*!
|
| 1464 |
* @if jp
|
| 1465 |
* @brief System logger の初期化
|
| 1466 |
* @else
|
| 1467 |
* @brief System logger initialization
|
| 1468 |
* @endif
|
| 1469 |
*/
|
| 1470 |
bool Manager::initLogger()
|
| 1471 |
{
|
| 1472 |
// Enable logger or not
|
| 1473 |
rtclog.setLevel("SILENT");
|
| 1474 |
rtclog.setName("manager");
|
| 1475 |
if (!coil::toBool(m_config["logger.enable"], "YES", "NO", true)) |
| 1476 |
{
|
| 1477 |
return true; |
| 1478 |
} |
| 1479 |
|
| 1480 |
// Set date format for log entry header
|
| 1481 |
rtclog.setDateFormat(m_config["logger.date_format"].c_str());
|
| 1482 |
rtclog.setClockType(m_config["logger.clock_type"]);
|
| 1483 |
// Loglevel was set from configuration file.
|
| 1484 |
rtclog.setLevel(m_config["logger.log_level"].c_str());
|
| 1485 |
// Log color enable
|
| 1486 |
coil::toBool(m_config["logger.color_enable"], "YES", "NO", false) ? |
| 1487 |
rtclog.enableColor() : rtclog.disableColor(); |
| 1488 |
// Log stream mutex locking mode
|
| 1489 |
coil::toBool(m_config["logger.stream_lock"], "enable", "disable", false) ? |
| 1490 |
rtclog.enableLock() : rtclog.disableLock(); |
| 1491 |
|
| 1492 |
// File Logstream init
|
| 1493 |
initLogstreamFile(); |
| 1494 |
// Load logstream plugin
|
| 1495 |
initLogstreamPlugins(); |
| 1496 |
// Initialize other logstreams
|
| 1497 |
initLogstreamOthers(); |
| 1498 |
|
| 1499 |
RTC_INFO(("%s", m_config["openrtm.version"].c_str())); |
| 1500 |
RTC_INFO(("Copyright (C) 2003-2017"));
|
| 1501 |
RTC_INFO((" Noriaki Ando"));
|
| 1502 |
RTC_INFO((" Intelligent Systems Research Institute, AIST"));
|
| 1503 |
RTC_INFO(("Manager starting."));
|
| 1504 |
RTC_INFO(("Starting local logging."));
|
| 1505 |
|
| 1506 |
return true; |
| 1507 |
} |
| 1508 |
|
| 1509 |
/*!
|
| 1510 |
* @if jp
|
| 1511 |
* @brief System Logger の終了処理
|
| 1512 |
* @else
|
| 1513 |
* @brief System Logger finalization
|
| 1514 |
* @endif
|
| 1515 |
*/
|
| 1516 |
void Manager::shutdownLogger()
|
| 1517 |
{
|
| 1518 |
RTC_TRACE(("Manager::shutdownLogger()"));
|
| 1519 |
rtclog.flush(); |
| 1520 |
|
| 1521 |
for (int i(0), len(m_logfiles.size()); i < len; ++i) |
| 1522 |
{
|
| 1523 |
m_logfiles[i]->close(); |
| 1524 |
// m_logStreamBuf.removeStream(m_logfiles[i]->rdbuf());
|
| 1525 |
delete m_logfiles[i];
|
| 1526 |
} |
| 1527 |
if (!m_logfiles.empty())
|
| 1528 |
{
|
| 1529 |
m_logfiles.clear(); |
| 1530 |
} |
| 1531 |
} |
| 1532 |
|
| 1533 |
//============================================================
|
| 1534 |
// ORB initialization and finalization
|
| 1535 |
//============================================================
|
| 1536 |
/*!
|
| 1537 |
* @if jp
|
| 1538 |
* @brief CORBA ORB の初期化処理
|
| 1539 |
* @else
|
| 1540 |
* @brief CORBA ORB initialization
|
| 1541 |
* @endif
|
| 1542 |
*/
|
| 1543 |
bool Manager::initORB()
|
| 1544 |
{
|
| 1545 |
RTC_TRACE(("Manager::initORB()"));
|
| 1546 |
// Initialize ORB
|
| 1547 |
try
|
| 1548 |
{
|
| 1549 |
std::vector<std::string> args(coil::split(createORBOptions(), " ")); |
| 1550 |
// TAO's ORB_init needs argv[0] as command name.
|
| 1551 |
args.insert(args.begin(), "manager");
|
| 1552 |
char** argv = coil::toArgv(args);
|
| 1553 |
int argc(args.size());
|
| 1554 |
|
| 1555 |
#ifdef ORB_IS_ORBEXPRESS
|
| 1556 |
CORBA::ORB::spawn_flags(VX_SPE_TASK | VX_STDIO); |
| 1557 |
CORBA::ORB::stack_size(20000);
|
| 1558 |
m_pORB = CORBA::ORB_init(argc, argv, "");
|
| 1559 |
CORBA::Object_var obj = |
| 1560 |
m_pORB->resolve_initial_references((char*)"RootPOA"); |
| 1561 |
m_pPOA = PortableServer::POA::_narrow(obj); |
| 1562 |
#else
|
| 1563 |
// ORB initialization
|
| 1564 |
m_pORB = CORBA::ORB_init(argc, argv); |
| 1565 |
// Get the RootPOA
|
| 1566 |
CORBA::Object_var obj = |
| 1567 |
m_pORB->resolve_initial_references((char*)"RootPOA"); |
| 1568 |
m_pPOA = PortableServer::POA::_narrow(obj); |
| 1569 |
#endif
|
| 1570 |
if (CORBA::is_nil(m_pPOA))
|
| 1571 |
{
|
| 1572 |
RTC_ERROR(("Could not resolve RootPOA."));
|
| 1573 |
return false; |
| 1574 |
} |
| 1575 |
// Get the POAManager
|
| 1576 |
m_pPOAManager = m_pPOA->the_POAManager(); |
| 1577 |
#ifdef ORB_IS_OMNIORB
|
| 1578 |
CORBA::PolicyList pl; |
| 1579 |
pl.length(1);
|
| 1580 |
#ifdef RTM_OMNIORB_42
|
| 1581 |
pl[0] = omniPolicy::create_local_shortcut_policy(omniPolicy::LOCAL_CALLS_SHORTCUT);
|
| 1582 |
#else
|
| 1583 |
CORBA::Any v; |
| 1584 |
v <<= omniPolicy::LOCAL_CALLS_SHORTCUT; |
| 1585 |
pl[0] = m_pORB->create_policy(omniPolicy::LOCAL_SHORTCUT_POLICY_TYPE, v);
|
| 1586 |
#endif
|
| 1587 |
m_pShortCutPOA = m_pPOA->create_POA("shortcut", m_pPOAManager, pl);
|
| 1588 |
#endif
|
| 1589 |
|
| 1590 |
#ifdef ORB_IS_OMNIORB
|
| 1591 |
const char* conf = "corba.alternate_iiop_addresses"; |
| 1592 |
if (m_config.findNode(conf) != NULL) |
| 1593 |
{
|
| 1594 |
coil::vstring addr_list; |
| 1595 |
addr_list = coil::split(m_config[conf], ",", true); |
| 1596 |
|
| 1597 |
for (size_t i(0); i < addr_list.size(); ++i) |
| 1598 |
{
|
| 1599 |
coil::vstring addr_port = coil::split(addr_list[i], ":");
|
| 1600 |
if (addr_port.size() == 2) |
| 1601 |
{
|
| 1602 |
IIOP::Address iiop_addr; |
| 1603 |
iiop_addr.host = addr_port[0].c_str();
|
| 1604 |
CORBA::UShort port; |
| 1605 |
coil::stringTo(port, addr_port[1].c_str());
|
| 1606 |
iiop_addr.port = port; |
| 1607 |
#if defined(RTM_OMNIORB_40) || defined(RTM_OMNIORB_41)
|
| 1608 |
omniIOR::add_IIOP_ADDRESS(iiop_addr); |
| 1609 |
#else
|
| 1610 |
omniIOR::add_IIOP_ADDRESS(iiop_addr, 0);
|
| 1611 |
#endif // defined(RTC_OMNIORB_40) and defined(RTC_OMNIORB_41) |
| 1612 |
} |
| 1613 |
} |
| 1614 |
} |
| 1615 |
#endif // ORB_IS_OMNIORB |
| 1616 |
} |
| 1617 |
catch (...)
|
| 1618 |
{
|
| 1619 |
RTC_ERROR(("Exception: Caught unknown exception in initORB()." ));
|
| 1620 |
return false; |
| 1621 |
} |
| 1622 |
return true; |
| 1623 |
} |
| 1624 |
|
| 1625 |
/*!
|
| 1626 |
* @if jp
|
| 1627 |
* @brief ORB のコマンドラインオプション作成
|
| 1628 |
* @else
|
| 1629 |
* @brief ORB command option creation
|
| 1630 |
* @endif
|
| 1631 |
*/
|
| 1632 |
std::string Manager::createORBOptions()
|
| 1633 |
{
|
| 1634 |
std::string opt(m_config["corba.args"]); |
| 1635 |
RTC_DEBUG(("corba.args: %s", opt.c_str()));
|
| 1636 |
|
| 1637 |
RTC_DEBUG_STR((m_config)); |
| 1638 |
|
| 1639 |
coil::vstring endpoints; |
| 1640 |
createORBEndpoints(endpoints); |
| 1641 |
createORBEndpointOption(opt, endpoints); |
| 1642 |
|
| 1643 |
RTC_PARANOID(("ORB options: %s", opt.c_str()));
|
| 1644 |
return opt;
|
| 1645 |
} |
| 1646 |
|
| 1647 |
void Manager::createORBEndpoints(coil::vstring& endpoints)
|
| 1648 |
{
|
| 1649 |
// corba.endpoint is obsolete
|
| 1650 |
// corba.endpoints with comma separated values are acceptable
|
| 1651 |
if (m_config.findNode("corba.endpoints") != 0) |
| 1652 |
{
|
| 1653 |
endpoints = coil::split(m_config["corba.endpoints"], ","); |
| 1654 |
RTC_DEBUG(("corba.endpoints: %s", m_config["corba.endpoints"].c_str())); |
| 1655 |
} |
| 1656 |
|
| 1657 |
if (m_config.findNode("corba.endpoint") != 0) |
| 1658 |
{
|
| 1659 |
coil::vstring tmp(coil::split(m_config["corba.endpoint"], ",")); |
| 1660 |
endpoints.insert(endpoints.end(), tmp.begin(), tmp.end()); |
| 1661 |
RTC_DEBUG(("corba.endpoint: %s", m_config["corba.endpoint"].c_str())); |
| 1662 |
} |
| 1663 |
// If this process has master manager,
|
| 1664 |
// master manager's endpoint inserted at the top of endpoints
|
| 1665 |
RTC_DEBUG(("manager.is_master: %s",
|
| 1666 |
m_config["manager.is_master"].c_str()));
|
| 1667 |
if (coil::toBool(m_config["manager.is_master"], "YES", "NO", false)) |
| 1668 |
{
|
| 1669 |
std::string mm(m_config.getProperty("corba.master_manager", ":2810")); |
| 1670 |
coil::vstring mmm(coil::split(mm, ":"));
|
| 1671 |
if (mmm.size() == 2) |
| 1672 |
{
|
| 1673 |
endpoints.insert(endpoints.begin(), std::string(":") + mmm[1]); |
| 1674 |
} |
| 1675 |
else
|
| 1676 |
{
|
| 1677 |
endpoints.insert(endpoints.begin(), ":2810");
|
| 1678 |
} |
| 1679 |
} |
| 1680 |
coil::vstring tmp(endpoints); |
| 1681 |
endpoints = coil::unique_sv(tmp); |
| 1682 |
} |
| 1683 |
|
| 1684 |
void Manager::createORBEndpointOption(std::string& opt, |
| 1685 |
coil::vstring& endpoints) |
| 1686 |
{
|
| 1687 |
std::string corba(m_config["corba.id"]); |
| 1688 |
RTC_DEBUG(("corba.id: %s", corba.c_str()));
|
| 1689 |
|
| 1690 |
for (size_t i(0); i < endpoints.size(); ++i) |
| 1691 |
{
|
| 1692 |
std::string& endpoint(endpoints[i]);
|
| 1693 |
RTC_DEBUG(("Endpoint is : %s", endpoint.c_str()));
|
| 1694 |
if (endpoint.find(":") == std::string::npos) { endpoint += ":"; } |
| 1695 |
|
| 1696 |
if (corba == "omniORB") |
| 1697 |
{
|
| 1698 |
coil::normalize(endpoint); |
| 1699 |
if (coil::normalize(endpoint) == "all:") |
| 1700 |
{
|
| 1701 |
#ifdef ORB_IS_OMNIORB
|
| 1702 |
#ifdef RTC_CORBA_CXXMAPPING11
|
| 1703 |
// omniORB 4.1 or later
|
| 1704 |
opt += " -ORBendPointPublish all(addr)";
|
| 1705 |
#else
|
| 1706 |
// omniORB 4.0
|
| 1707 |
opt += " -ORBendPointPublishAllIFs 1";
|
| 1708 |
#endif // RTC_CORBA_CXXMAPPING1 |
| 1709 |
#endif // ORB_IS_OMNIORB |
| 1710 |
} |
| 1711 |
else
|
| 1712 |
{
|
| 1713 |
opt += " -ORBendPoint giop:tcp:" + endpoint;
|
| 1714 |
} |
| 1715 |
} |
| 1716 |
else if (corba == "TAO") |
| 1717 |
{
|
| 1718 |
opt += "-ORBEndPoint iiop://" + endpoint;
|
| 1719 |
} |
| 1720 |
else if (corba == "MICO") |
| 1721 |
{
|
| 1722 |
opt += "-ORBIIOPAddr inet:" + endpoint;
|
| 1723 |
} |
| 1724 |
} |
| 1725 |
} |
| 1726 |
|
| 1727 |
|
| 1728 |
/*!
|
| 1729 |
* @if jp
|
| 1730 |
* @brief ORB の終了処理
|
| 1731 |
* @else
|
| 1732 |
* @brief ORB finalization
|
| 1733 |
* @endif
|
| 1734 |
*/
|
| 1735 |
void Manager::shutdownORB()
|
| 1736 |
{
|
| 1737 |
RTC_TRACE(("Manager::shutdownORB()"));
|
| 1738 |
if(CORBA::is_nil(m_pORB))
|
| 1739 |
{
|
| 1740 |
return;
|
| 1741 |
} |
| 1742 |
try
|
| 1743 |
{
|
| 1744 |
while (m_pORB->work_pending())
|
| 1745 |
{
|
| 1746 |
RTC_PARANOID(("Pending work still exists."));
|
| 1747 |
if (m_pORB->work_pending())
|
| 1748 |
m_pORB->perform_work(); |
| 1749 |
} |
| 1750 |
RTC_DEBUG(("No pending works of ORB. Shutting down POA and ORB."));
|
| 1751 |
} |
| 1752 |
catch(...)
|
| 1753 |
{
|
| 1754 |
RTC_ERROR(("Caught SystemException during perform_work."));
|
| 1755 |
} |
| 1756 |
|
| 1757 |
if (!CORBA::is_nil(m_pPOA))
|
| 1758 |
{
|
| 1759 |
try
|
| 1760 |
{
|
| 1761 |
if (!CORBA::is_nil(m_pPOAManager))
|
| 1762 |
m_pPOAManager->deactivate(false, true); |
| 1763 |
RTC_DEBUG(("POA Manager was deactivated."));
|
| 1764 |
m_pPOA->destroy(false, true); |
| 1765 |
m_pPOA = PortableServer::POA::_nil(); |
| 1766 |
RTC_DEBUG(("POA was destroid."));
|
| 1767 |
} |
| 1768 |
catch (CORBA::SystemException& ex)
|
| 1769 |
{
|
| 1770 |
RTC_ERROR(("Exception cought during root POA destruction"));
|
| 1771 |
#ifndef ORB_IS_RTORB
|
| 1772 |
RTC_ERROR(("CORBA::SystemException(minor=%d)", ex.minor()));
|
| 1773 |
#endif // ORB_IS_RTORB |
| 1774 |
} |
| 1775 |
catch (...)
|
| 1776 |
{
|
| 1777 |
RTC_ERROR(("Caught unknown exception during POA destruction."));
|
| 1778 |
} |
| 1779 |
} |
| 1780 |
|
| 1781 |
if (!CORBA::is_nil(m_pORB))
|
| 1782 |
{
|
| 1783 |
try
|
| 1784 |
{
|
| 1785 |
m_pORB->shutdown(true);
|
| 1786 |
RTC_DEBUG(("ORB was shutdown."));
|
| 1787 |
//m_pORB->destroy();
|
| 1788 |
RTC_DEBUG(("ORB was destroied."));
|
| 1789 |
m_pORB = CORBA::ORB::_nil(); |
| 1790 |
} |
| 1791 |
catch (CORBA::SystemException& ex)
|
| 1792 |
{
|
| 1793 |
RTC_ERROR(("Exception caught during ORB shutdown"));
|
| 1794 |
#ifndef ORB_IS_RTORB
|
| 1795 |
RTC_ERROR(("CORBA::SystemException(minodor=%d)", ex.minor()));
|
| 1796 |
#endif // ORB_IS_RTORB |
| 1797 |
} |
| 1798 |
catch (...)
|
| 1799 |
{
|
| 1800 |
RTC_ERROR(("Caught unknown exception during ORB shutdown."));
|
| 1801 |
} |
| 1802 |
} |
| 1803 |
} |
| 1804 |
|
| 1805 |
//============================================================
|
| 1806 |
// Naming initialization and finalization
|
| 1807 |
//============================================================
|
| 1808 |
/*!
|
| 1809 |
* @if jp
|
| 1810 |
* @brief NamingManager の初期化
|
| 1811 |
* @else
|
| 1812 |
* @brief NamingManager initialization
|
| 1813 |
* @endif
|
| 1814 |
*/
|
| 1815 |
bool Manager::initNaming()
|
| 1816 |
{
|
| 1817 |
RTC_TRACE(("Manager::initNaming()"));
|
| 1818 |
|
| 1819 |
m_namingManager = new NamingManager(this); |
| 1820 |
|
| 1821 |
// If NameService is disabled, return immediately
|
| 1822 |
if (!coil::toBool(m_config["naming.enable"], "YES", "NO", true)) |
| 1823 |
{
|
| 1824 |
return true; |
| 1825 |
} |
| 1826 |
|
| 1827 |
// NameServer registration for each method and servers
|
| 1828 |
std::vector<std::string> meth(coil::split(m_config["naming.type"], ",")); |
| 1829 |
|
| 1830 |
for (int i(0), len_i(meth.size()); i < len_i; ++i) |
| 1831 |
{
|
| 1832 |
std::vector<std::string> names;
|
| 1833 |
names = coil::split(m_config[meth[i] + ".nameservers"], ","); |
| 1834 |
|
| 1835 |
|
| 1836 |
for (int j(0), len_j(names.size()); j < len_j; ++j) |
| 1837 |
{
|
| 1838 |
RTC_TRACE(("Register Naming Server: %s/%s", \
|
| 1839 |
meth[i].c_str(), names[j].c_str())); |
| 1840 |
m_namingManager->registerNameServer(meth[i].c_str(), |
| 1841 |
names[j].c_str()); |
| 1842 |
} |
| 1843 |
} |
| 1844 |
|
| 1845 |
// NamingManager Timer update initialization
|
| 1846 |
if (coil::toBool(m_config["naming.update.enable"], "YES", "NO", true)) |
| 1847 |
{
|
| 1848 |
coil::TimeValue tm(10, 0); // default interval = 10sec for safty |
| 1849 |
std::string intr(m_config["naming.update.interval"]); |
| 1850 |
if (!intr.empty())
|
| 1851 |
{
|
| 1852 |
tm = atof(intr.c_str()); |
| 1853 |
} |
| 1854 |
if (m_timer != NULL) |
| 1855 |
{
|
| 1856 |
m_timer->registerListenerObj(m_namingManager, |
| 1857 |
&NamingManager::update, tm); |
| 1858 |
} |
| 1859 |
} |
| 1860 |
return true; |
| 1861 |
} |
| 1862 |
|
| 1863 |
/*!
|
| 1864 |
* @if jp
|
| 1865 |
* @brief NamingManager の終了処理
|
| 1866 |
* @else
|
| 1867 |
* @brief NamingManager finalization
|
| 1868 |
* @endif
|
| 1869 |
*/
|
| 1870 |
void Manager::shutdownNaming()
|
| 1871 |
{
|
| 1872 |
RTC_TRACE(("Manager::shutdownNaming()"));
|
| 1873 |
std::vector<RTObject_impl*> comps = getComponents(); |
| 1874 |
|
| 1875 |
for (size_t i(0); i < comps.size(); ++i) |
| 1876 |
{
|
| 1877 |
coil::vstring names = comps[i]->getNamingNames(); |
| 1878 |
m_listeners.naming_.preUnbind(comps[i], names); |
| 1879 |
for (size_t j(0); j < names.size(); ++j) |
| 1880 |
{
|
| 1881 |
m_namingManager->unbindObject(names[j].c_str()); |
| 1882 |
} |
| 1883 |
m_listeners.naming_.postUnbind(comps[i], names); |
| 1884 |
} |
| 1885 |
|
| 1886 |
m_namingManager->unbindAll(); |
| 1887 |
delete m_namingManager;
|
| 1888 |
} |
| 1889 |
|
| 1890 |
/*!
|
| 1891 |
* @if jp
|
| 1892 |
* @brief NamingManagerを取得する
|
| 1893 |
* @else
|
| 1894 |
* @brief Getting NamingManager
|
| 1895 |
* @endif
|
| 1896 |
*/
|
| 1897 |
NamingManager& Manager::getNamingManager() |
| 1898 |
{
|
| 1899 |
return *m_namingManager;
|
| 1900 |
} |
| 1901 |
|
| 1902 |
//============================================================
|
| 1903 |
// Naming initialization and finalization
|
| 1904 |
//============================================================
|
| 1905 |
/*!
|
| 1906 |
* @if jp
|
| 1907 |
* @brief ExecutionContextManager の初期化
|
| 1908 |
* @else
|
| 1909 |
* @brief ExecutionContextManager initialization
|
| 1910 |
* @endif
|
| 1911 |
*/
|
| 1912 |
bool Manager::initExecContext()
|
| 1913 |
{
|
| 1914 |
RTC_TRACE(("Manager::initExecContext()"));
|
| 1915 |
PeriodicExecutionContextInit(this);
|
| 1916 |
ExtTrigExecutionContextInit(this);
|
| 1917 |
OpenHRPExecutionContextInit(this);
|
| 1918 |
#ifdef RTM_OS_VXWORKS
|
| 1919 |
VxWorksRTExecutionContextInit(this);
|
| 1920 |
#ifndef __RTP__
|
| 1921 |
VxWorksInterruptExecutionContextInit(this);
|
| 1922 |
#endif
|
| 1923 |
#endif
|
| 1924 |
// initialize CPU affinity
|
| 1925 |
#ifdef RTM_OS_LINUX
|
| 1926 |
initCpuAffinity(); |
| 1927 |
#endif // RTM_OS_LINUX |
| 1928 |
|
| 1929 |
return true; |
| 1930 |
} |
| 1931 |
|
| 1932 |
bool Manager::initComposite()
|
| 1933 |
{
|
| 1934 |
RTC_TRACE(("Manager::initComposite()"));
|
| 1935 |
PeriodicECSharedCompositeInit(this);
|
| 1936 |
|
| 1937 |
return true; |
| 1938 |
} |
| 1939 |
|
| 1940 |
bool Manager::initFactories()
|
| 1941 |
{
|
| 1942 |
RTC_TRACE(("Manager::initFactories()"));
|
| 1943 |
FactoryInit(); |
| 1944 |
return true; |
| 1945 |
} |
| 1946 |
|
| 1947 |
void Manager::initCpuAffinity()
|
| 1948 |
{
|
| 1949 |
RTC_TRACE(("initCpuAffinity()"));
|
| 1950 |
#ifdef RTM_OS_LINUX
|
| 1951 |
if (m_config.findNode("manager.cpu_affinity") == 0) { return; } |
| 1952 |
|
| 1953 |
std::string& affinity(m_config["manager.cpu_affinity"]); |
| 1954 |
RTC_DEBUG(("CPU affinity property: %s", affinity.c_str()));
|
| 1955 |
|
| 1956 |
coil::vstring tmp = coil::split(affinity, ",", true); |
| 1957 |
|
| 1958 |
pid_t pid = getpid(); |
| 1959 |
cpu_set_t cpu_set; CPU_ZERO(&cpu_set); |
| 1960 |
|
| 1961 |
for (size_t i(0); i < tmp.size(); ++i) |
| 1962 |
{
|
| 1963 |
int num;
|
| 1964 |
if (coil::stringTo(num, tmp[i].c_str()))
|
| 1965 |
{
|
| 1966 |
CPU_SET(num, &cpu_set); |
| 1967 |
RTC_DEBUG(("CPU affinity mask set to %d", num));
|
| 1968 |
} |
| 1969 |
} |
| 1970 |
|
| 1971 |
int result = sched_setaffinity(pid, sizeof(cpu_set_t), &cpu_set); |
| 1972 |
if (result != 0) |
| 1973 |
{
|
| 1974 |
RTC_ERROR(("pthread_getaffinity_np():"
|
| 1975 |
"CPU affinity mask setting failed"));
|
| 1976 |
} |
| 1977 |
CPU_ZERO(&cpu_set); |
| 1978 |
result = sched_getaffinity(pid, sizeof(cpu_set_t), &cpu_set);
|
| 1979 |
if (result != 0) |
| 1980 |
{
|
| 1981 |
RTC_ERROR(("pthread_getaffinity_np(): returned error."));
|
| 1982 |
} |
| 1983 |
for (size_t j(0); j < CPU_SETSIZE; ++j) |
| 1984 |
{
|
| 1985 |
if (CPU_ISSET(j, &cpu_set))
|
| 1986 |
{
|
| 1987 |
RTC_DEBUG(("Current CPU affinity mask is %d.", j));
|
| 1988 |
} |
| 1989 |
} |
| 1990 |
#endif // RTM_OS_LINUX |
| 1991 |
} |
| 1992 |
|
| 1993 |
/*!
|
| 1994 |
* @if jp
|
| 1995 |
* @brief Timer の初期化
|
| 1996 |
* @else
|
| 1997 |
* @brief Timer initialization
|
| 1998 |
* @endif
|
| 1999 |
*/
|
| 2000 |
bool Manager::initTimer()
|
| 2001 |
{
|
| 2002 |
return true; |
| 2003 |
} |
| 2004 |
|
| 2005 |
|
| 2006 |
bool Manager::initManagerServant()
|
| 2007 |
{
|
| 2008 |
RTC_TRACE(("Manager::initManagerServant()"));
|
| 2009 |
if (!coil::toBool(m_config["manager.corba_servant"], "YES", "NO", true)) |
| 2010 |
{
|
| 2011 |
return true; |
| 2012 |
} |
| 2013 |
m_mgrservant = new ::RTM::ManagerServant();
|
| 2014 |
coil::Properties& prop(m_config.getNode("manager"));
|
| 2015 |
std::vector<std::string> names(coil::split(prop["naming_formats"], ",")); |
| 2016 |
|
| 2017 |
if (coil::toBool(prop["is_master"], "YES", "NO", true)) |
| 2018 |
{
|
| 2019 |
for (int i(0), len(names.size()); i < len; ++i) |
| 2020 |
{
|
| 2021 |
std::string mgr_name(formatString(names[i].c_str(), prop));
|
| 2022 |
m_namingManager->bindObject(mgr_name.c_str(), m_mgrservant); |
| 2023 |
} |
| 2024 |
} |
| 2025 |
|
| 2026 |
std::ifstream otherref(m_config["manager.refstring_path"].c_str());
|
| 2027 |
if (otherref.fail() != 0) |
| 2028 |
{
|
| 2029 |
otherref.close(); |
| 2030 |
std::ofstream reffile(m_config["manager.refstring_path"].c_str());
|
| 2031 |
RTM::Manager_var mgr_v(RTM::Manager:: |
| 2032 |
_duplicate(m_mgrservant->getObjRef())); |
| 2033 |
CORBA::String_var str_var = m_pORB->object_to_string(mgr_v); |
| 2034 |
reffile << str_var; |
| 2035 |
reffile.close(); |
| 2036 |
} |
| 2037 |
else
|
| 2038 |
{
|
| 2039 |
std::string refstring;
|
| 2040 |
otherref >> refstring; |
| 2041 |
otherref.close(); |
| 2042 |
|
| 2043 |
CORBA::Object_var obj = m_pORB->string_to_object(refstring.c_str()); |
| 2044 |
RTM::Manager_var mgr = RTM::Manager::_narrow(obj); |
| 2045 |
// if (CORBA::is_nil(mgr)) return false;
|
| 2046 |
// mgr->set_child(m_mgrservant->getObjRef());
|
| 2047 |
// m_mgrservant->set_owner(mgr);
|
| 2048 |
} |
| 2049 |
|
| 2050 |
return true; |
| 2051 |
} |
| 2052 |
|
| 2053 |
/*!
|
| 2054 |
* @if jp
|
| 2055 |
* @brief ManagerServantを取得する
|
| 2056 |
* @else
|
| 2057 |
* @brief Getting ManagerServant
|
| 2058 |
* @endif
|
| 2059 |
*/
|
| 2060 |
RTM::ManagerServant& Manager::getManagerServant() |
| 2061 |
{
|
| 2062 |
return *m_mgrservant;
|
| 2063 |
} |
| 2064 |
|
| 2065 |
bool Manager::initLocalService()
|
| 2066 |
{
|
| 2067 |
RTC_TRACE(("Manager::initLocalService()"));
|
| 2068 |
|
| 2069 |
RTM::LocalServiceAdmin& admin = RTM::LocalServiceAdmin::instance(); |
| 2070 |
coil::Properties& prop(m_config.getNode("manager.local_service"));
|
| 2071 |
admin.init(prop); |
| 2072 |
RTC_DEBUG(("LocalServiceAdmin's properties:"));
|
| 2073 |
RTC_DEBUG_STR((prop)); |
| 2074 |
|
| 2075 |
RTM::LocalServiceProfileList svclist = admin.getServiceProfiles(); |
| 2076 |
for (size_t i(0); i < svclist.size(); ++i) |
| 2077 |
{
|
| 2078 |
RTC_INFO(("Available local service: %s (%s)",
|
| 2079 |
svclist[i].name.c_str(), svclist[i].uuid.c_str())); |
| 2080 |
} |
| 2081 |
return true; |
| 2082 |
} |
| 2083 |
|
| 2084 |
/*!
|
| 2085 |
* @if jp
|
| 2086 |
* @brief NamingManager の終了処理
|
| 2087 |
* @else
|
| 2088 |
* @brief NamingManager finalization
|
| 2089 |
* @endif
|
| 2090 |
*/
|
| 2091 |
void Manager::shutdownComponents()
|
| 2092 |
{
|
| 2093 |
RTC_TRACE(("Manager::shutdownComponents()"));
|
| 2094 |
std::vector<RTObject_impl*> comps; |
| 2095 |
comps = m_namingManager->getObjects(); |
| 2096 |
for (int i(0), len(comps.size()); i < len; ++i) |
| 2097 |
{
|
| 2098 |
try
|
| 2099 |
{
|
| 2100 |
comps[i]->exit(); |
| 2101 |
coil::Properties p(comps[i]->getInstanceName()); |
| 2102 |
p << comps[i]->getProperties(); |
| 2103 |
rtclog.lock(); |
| 2104 |
rtclog.level(::RTC::Logger::RTL_PARANOID) << p; |
| 2105 |
rtclog.unlock(); |
| 2106 |
} |
| 2107 |
catch (...)
|
| 2108 |
{
|
| 2109 |
; |
| 2110 |
} |
| 2111 |
} |
| 2112 |
for (CORBA::ULong i(0), len(m_ecs.size()); i < len; ++i) |
| 2113 |
{
|
| 2114 |
try{
|
| 2115 |
PortableServer::RefCountServantBase* servant; |
| 2116 |
servant = dynamic_cast<PortableServer::RefCountServantBase*>(m_ecs[i]);
|
| 2117 |
if (servant == NULL) |
| 2118 |
{
|
| 2119 |
RTC_ERROR(("Invalid dynamic cast. EC->RefCountServantBase failed."));
|
| 2120 |
return;
|
| 2121 |
} |
| 2122 |
PortableServer::ObjectId_var oid = m_pPOA->servant_to_id(servant); |
| 2123 |
m_pPOA->deactivate_object(oid); |
| 2124 |
} |
| 2125 |
catch (...)
|
| 2126 |
{
|
| 2127 |
; |
| 2128 |
} |
| 2129 |
} |
| 2130 |
return;
|
| 2131 |
} |
| 2132 |
|
| 2133 |
/*!
|
| 2134 |
* @if jp
|
| 2135 |
* @brief RTコンポーネントの登録解除
|
| 2136 |
* @else
|
| 2137 |
* @brief Unregister RT-Components
|
| 2138 |
* @endif
|
| 2139 |
*/
|
| 2140 |
void Manager::cleanupComponent(RTObject_impl* comp)
|
| 2141 |
{
|
| 2142 |
RTC_TRACE(("Manager::cleanupComponent()"));
|
| 2143 |
unregisterComponent(comp); |
| 2144 |
} |
| 2145 |
|
| 2146 |
void Manager::cleanupComponents()
|
| 2147 |
{
|
| 2148 |
RTC_VERBOSE(("Manager::cleanupComponents()"));
|
| 2149 |
Guard guard(m_finalized.mutex); |
| 2150 |
RTC_VERBOSE(("%d components are marked as finalized.",
|
| 2151 |
m_finalized.comps.size())); |
| 2152 |
for (size_t i(0); i < m_finalized.comps.size(); ++i) |
| 2153 |
{
|
| 2154 |
deleteComponent(m_finalized.comps[i]); |
| 2155 |
} |
| 2156 |
m_finalized.comps.clear(); |
| 2157 |
} |
| 2158 |
|
| 2159 |
void Manager::notifyFinalized(RTObject_impl* comp)
|
| 2160 |
{
|
| 2161 |
RTC_TRACE(("Manager::notifyFinalized()"));
|
| 2162 |
Guard guard(m_finalized.mutex); |
| 2163 |
m_finalized.comps.push_back(comp); |
| 2164 |
} |
| 2165 |
|
| 2166 |
/*!
|
| 2167 |
* @if jp
|
| 2168 |
* @brief createComponentの引数を処理する
|
| 2169 |
* @else
|
| 2170 |
*
|
| 2171 |
* @endif
|
| 2172 |
*/
|
| 2173 |
bool Manager::procComponentArgs(const char* comp_arg, |
| 2174 |
coil::Properties& comp_id, |
| 2175 |
coil::Properties& comp_conf) |
| 2176 |
{
|
| 2177 |
std::vector<std::string> id_and_conf(coil::split(comp_arg, "?")); |
| 2178 |
// arg should be "id?key0=value0&key1=value1...".
|
| 2179 |
// id is mandatory, conf is optional
|
| 2180 |
if (id_and_conf.size() != 1 && id_and_conf.size() != 2) |
| 2181 |
{
|
| 2182 |
RTC_ERROR(("Invalid arguments. Two or more '?' in arg : %s", comp_arg));
|
| 2183 |
return false; |
| 2184 |
} |
| 2185 |
if (id_and_conf[0].find(":") == std::string::npos) |
| 2186 |
{
|
| 2187 |
id_and_conf[0].insert(0, "RTC:::"); |
| 2188 |
id_and_conf[0] += ":"; |
| 2189 |
} |
| 2190 |
std::vector<std::string> id(coil::split(id_and_conf[0], ":")); |
| 2191 |
|
| 2192 |
// id should be devided into 1 or 5 elements
|
| 2193 |
// RTC:[vendor]:[category]:impl_id:[version] => 5
|
| 2194 |
if (id.size() != 5) |
| 2195 |
{
|
| 2196 |
RTC_ERROR(("Invalid RTC id format.: %s", id_and_conf[0].c_str())); |
| 2197 |
return false; |
| 2198 |
} |
| 2199 |
|
| 2200 |
const char* prof[] = |
| 2201 |
{
|
| 2202 |
"RTC", "vendor", "category", "implementation_id", "version" |
| 2203 |
}; |
| 2204 |
|
| 2205 |
if (id[0] != prof[0]) |
| 2206 |
{
|
| 2207 |
RTC_ERROR(("Invalid id type: %s", id[0].c_str())); |
| 2208 |
return false; |
| 2209 |
} |
| 2210 |
for (int i(1); i < 5; ++i) |
| 2211 |
{
|
| 2212 |
comp_id[prof[i]] = id[i]; |
| 2213 |
RTC_TRACE(("RTC basic propfile %s: %s", prof[i], id[i].c_str()));
|
| 2214 |
} |
| 2215 |
|
| 2216 |
if (id_and_conf.size() == 2) |
| 2217 |
{
|
| 2218 |
std::vector<std::string> conf(coil::split(id_and_conf[1], "&")); |
| 2219 |
for (int i(0), len(conf.size()); i < len; ++i) |
| 2220 |
{
|
| 2221 |
if (conf[i].empty()) { continue; } |
| 2222 |
std::vector<std::string> keyval(coil::split(conf[i], "=")); |
| 2223 |
if (keyval.size() != 2) { continue; } |
| 2224 |
comp_conf[keyval[0]] = keyval[1]; |
| 2225 |
RTC_TRACE(("RTC property %s: %s",
|
| 2226 |
keyval[0].c_str(), keyval[1].c_str())); |
| 2227 |
} |
| 2228 |
} |
| 2229 |
return true; |
| 2230 |
} |
| 2231 |
|
| 2232 |
bool Manager::procContextArgs(const char* ec_args, |
| 2233 |
std::string& ec_id,
|
| 2234 |
coil::Properties& ec_conf) |
| 2235 |
{
|
| 2236 |
std::vector<std::string> id_and_conf(coil::split(ec_args, "?")); |
| 2237 |
if (id_and_conf.size() != 1 && id_and_conf.size() != 2) |
| 2238 |
{
|
| 2239 |
RTC_ERROR(("Invalid arguments. Two or more '?' in arg : %s", ec_args));
|
| 2240 |
return false; |
| 2241 |
} |
| 2242 |
if (id_and_conf[0].empty()) |
| 2243 |
{
|
| 2244 |
RTC_ERROR(("Empty ExecutionContext's name"));
|
| 2245 |
return false; |
| 2246 |
} |
| 2247 |
ec_id =id_and_conf[0];
|
| 2248 |
|
| 2249 |
if (id_and_conf.size() == 2) |
| 2250 |
{
|
| 2251 |
std::vector<std::string> conf(coil::split(id_and_conf[1], "&")); |
| 2252 |
for (int i(0), len(conf.size()); i < len; ++i) |
| 2253 |
{
|
| 2254 |
std::vector<std::string> k(coil::split(conf[i], "=")); |
| 2255 |
ec_conf[k[0]] = k[1]; |
| 2256 |
RTC_TRACE(("EC property %s: %s", k[0].c_str(), k[1].c_str())); |
| 2257 |
} |
| 2258 |
} |
| 2259 |
return true; |
| 2260 |
} |
| 2261 |
|
| 2262 |
/*!
|
| 2263 |
* @if jp
|
| 2264 |
* @brief RTコンポーネントのコンフィギュレーション処理
|
| 2265 |
* @else
|
| 2266 |
*
|
| 2267 |
* @endif
|
| 2268 |
*/
|
| 2269 |
void Manager::configureComponent(RTObject_impl* comp,
|
| 2270 |
const coil::Properties& prop)
|
| 2271 |
{
|
| 2272 |
std::string category(comp->getCategory());
|
| 2273 |
std::string type_name(comp->getTypeName());
|
| 2274 |
std::string inst_name(comp->getInstanceName());
|
| 2275 |
|
| 2276 |
std::string type_conf(category + "." + type_name + ".config_file"); |
| 2277 |
std::string name_conf(category + "." + inst_name + ".config_file"); |
| 2278 |
coil::vstring config_fname; |
| 2279 |
coil::Properties type_prop, name_prop; |
| 2280 |
|
| 2281 |
// Load "category.instance_name.config_file"
|
| 2282 |
if (!m_config[name_conf].empty())
|
| 2283 |
{
|
| 2284 |
std::ifstream conff(m_config[name_conf].c_str()); |
| 2285 |
if (!conff.fail())
|
| 2286 |
{
|
| 2287 |
name_prop.load(conff); |
| 2288 |
RTC_INFO(("Component instance conf file: %s loaded.",
|
| 2289 |
m_config[name_conf].c_str())); |
| 2290 |
RTC_DEBUG_STR((name_prop)) |
| 2291 |
config_fname.push_back(m_config[name_conf].c_str()); |
| 2292 |
} |
| 2293 |
} |
| 2294 |
if (m_config.findNode(category + "." + inst_name) != NULL) |
| 2295 |
{
|
| 2296 |
coil::Properties& temp(m_config.getNode(category + "." + inst_name));
|
| 2297 |
coil::vstring keys(temp.propertyNames()); |
| 2298 |
if (!(keys.size() == 1 && keys.back() == "config_file")) |
| 2299 |
{
|
| 2300 |
name_prop << m_config.getNode(category + "." + inst_name);
|
| 2301 |
RTC_INFO(("Component type conf exists in rtc.conf. Merged."));
|
| 2302 |
RTC_DEBUG_STR((name_prop)); |
| 2303 |
if (m_config.findNode("config_file") != NULL) |
| 2304 |
{
|
| 2305 |
config_fname.push_back(m_config["config_file"]);
|
| 2306 |
} |
| 2307 |
} |
| 2308 |
} |
| 2309 |
if (!m_config[type_conf].empty())
|
| 2310 |
{
|
| 2311 |
std::ifstream conff(m_config[type_conf].c_str()); |
| 2312 |
if (!conff.fail())
|
| 2313 |
{
|
| 2314 |
type_prop.load(conff); |
| 2315 |
RTC_INFO(("Component type conf file: %s loaded.",
|
| 2316 |
m_config[type_conf].c_str())); |
| 2317 |
RTC_DEBUG_STR((type_prop)); |
| 2318 |
config_fname.push_back(m_config[type_conf].c_str()); |
| 2319 |
} |
| 2320 |
} |
| 2321 |
if (m_config.findNode(category + "." + type_name) != NULL) |
| 2322 |
{
|
| 2323 |
coil::Properties& temp(m_config.getNode(category + "." + type_name));
|
| 2324 |
coil::vstring keys(temp.propertyNames()); |
| 2325 |
if (!(keys.size() == 1 && keys.back() == "config_file")) |
| 2326 |
{
|
| 2327 |
type_prop << m_config.getNode(category + "." + type_name);
|
| 2328 |
RTC_INFO(("Component type conf exists in rtc.conf. Merged."));
|
| 2329 |
RTC_DEBUG_STR((type_prop)); |
| 2330 |
if (m_config.findNode("config_file") != NULL) |
| 2331 |
{
|
| 2332 |
config_fname.push_back(m_config["config_file"]);
|
| 2333 |
} |
| 2334 |
} |
| 2335 |
} |
| 2336 |
// Merge Properties. type_prop is merged properties
|
| 2337 |
comp->setProperties(prop); |
| 2338 |
type_prop << name_prop; |
| 2339 |
type_prop["config_file"] = coil::flatten(coil::unique_sv(config_fname));
|
| 2340 |
comp->setProperties(type_prop); |
| 2341 |
|
| 2342 |
//------------------------------------------------------------
|
| 2343 |
// Format component's name for NameService
|
| 2344 |
std::string naming_formats;
|
| 2345 |
coil::Properties& comp_prop(comp->getProperties()); |
| 2346 |
|
| 2347 |
naming_formats += m_config["naming.formats"];
|
| 2348 |
if (comp_prop.findNode("naming.formats") != 0) |
| 2349 |
{
|
| 2350 |
naming_formats = comp_prop["naming.formats"];
|
| 2351 |
} |
| 2352 |
naming_formats = coil::flatten(coil::unique_sv(coil::split(naming_formats, |
| 2353 |
",")));
|
| 2354 |
|
| 2355 |
std::string naming_names;
|
| 2356 |
naming_names = formatString(naming_formats.c_str(), comp->getProperties()); |
| 2357 |
comp->getProperties()["naming.formats"] = naming_formats;
|
| 2358 |
comp->getProperties()["naming.names"] = naming_names;
|
| 2359 |
} |
| 2360 |
|
| 2361 |
/*!
|
| 2362 |
* @if jp
|
| 2363 |
* @brief プロパティ情報のマージ
|
| 2364 |
* @else
|
| 2365 |
* @brief Merge property information
|
| 2366 |
* @endif
|
| 2367 |
*/
|
| 2368 |
bool Manager::mergeProperty(coil::Properties& prop, const char* file_name) |
| 2369 |
{
|
| 2370 |
if (file_name == NULL) |
| 2371 |
{
|
| 2372 |
RTC_ERROR(("Invalid configuration file name."));
|
| 2373 |
return false; |
| 2374 |
} |
| 2375 |
if (file_name[0] != '\0') |
| 2376 |
{
|
| 2377 |
std::ifstream conff(file_name); |
| 2378 |
if (!conff.fail())
|
| 2379 |
{
|
| 2380 |
prop.load(conff); |
| 2381 |
conff.close(); |
| 2382 |
return true; |
| 2383 |
} |
| 2384 |
} |
| 2385 |
return false; |
| 2386 |
} |
| 2387 |
|
| 2388 |
/*!
|
| 2389 |
* @if jp
|
| 2390 |
* @brief NamingServer に登録する際の登録情報を組み立てる
|
| 2391 |
* @else
|
| 2392 |
* @brief Construct registration information when registering to Naming server
|
| 2393 |
* @endif
|
| 2394 |
*/
|
| 2395 |
std::string Manager::formatString(const char* naming_format, |
| 2396 |
coil::Properties& prop) |
| 2397 |
{
|
| 2398 |
std::string name(naming_format), str(""); |
| 2399 |
std::string::iterator it, it_end;
|
| 2400 |
int count(0); |
| 2401 |
|
| 2402 |
it = name.begin(); |
| 2403 |
it_end = name.end(); |
| 2404 |
for ( ; it != it_end; ++it)
|
| 2405 |
{
|
| 2406 |
char c(*it);
|
| 2407 |
if (c == '%') |
| 2408 |
{
|
| 2409 |
++count; |
| 2410 |
if (!(count % 2)) str.push_back((*it)); |
| 2411 |
} |
| 2412 |
else if (c == '$') |
| 2413 |
{
|
| 2414 |
count = 0;
|
| 2415 |
++it; |
| 2416 |
if (*it == '{' || *it == '(') |
| 2417 |
{
|
| 2418 |
++it; |
| 2419 |
std::string env;
|
| 2420 |
for ( ; it != it_end && (*it) != '}' && (*it) != ')'; ++it) |
| 2421 |
{
|
| 2422 |
env += *it; |
| 2423 |
} |
| 2424 |
char* envval = coil::getenv(env.c_str());
|
| 2425 |
if (envval != NULL) str += envval; |
| 2426 |
} |
| 2427 |
else
|
| 2428 |
{
|
| 2429 |
str.push_back(c); |
| 2430 |
} |
| 2431 |
} |
| 2432 |
else
|
| 2433 |
{
|
| 2434 |
if (count > 0 && (count % 2)) |
| 2435 |
{
|
| 2436 |
count = 0;
|
| 2437 |
if (c == 'n') str += prop["instance_name"]; |
| 2438 |
else if (c == 't') str += prop["type_name"]; |
| 2439 |
else if (c == 'm') str += prop["type_name"]; |
| 2440 |
else if (c == 'v') str += prop["version"]; |
| 2441 |
else if (c == 'V') str += prop["vendor"]; |
| 2442 |
else if (c == 'c') str += prop["category"]; |
| 2443 |
else if (c == 'i') str += prop["implementation_id"]; |
| 2444 |
else if (c == 'N') |
| 2445 |
{
|
| 2446 |
size_t n = prop["implementation_id"].size();
|
| 2447 |
str += prop["instance_name"].substr(n);
|
| 2448 |
} |
| 2449 |
else if (c == 'h') str += m_config["os.hostname"]; |
| 2450 |
else if (c == 'M') str += m_config["manager.name"]; |
| 2451 |
else if (c == 'p') str += m_config["manager.pid"]; |
| 2452 |
else str.push_back(c);
|
| 2453 |
} |
| 2454 |
else
|
| 2455 |
{
|
| 2456 |
count = 0;
|
| 2457 |
str.push_back(c); |
| 2458 |
} |
| 2459 |
} |
| 2460 |
} |
| 2461 |
return str;
|
| 2462 |
} |
| 2463 |
|
| 2464 |
}; |