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機能 #3391

⑦ トピックベースのポート接続機能

Added by n-ando almost 6 years ago. Updated about 4 years ago.

Status:
担当
Priority:
通常
Assignee:
Start date:
12/11/2015
Due date:
% Done:

100%

Estimated time:

Description

DDSのようなトピックベースのポート接続機能を実装すること。ただし、この機能はデータポート、サービスポートにも利用できるように実装すること。

Associated revisions

Revision 759 (diff)
Added by win-ei over 5 years ago

Two new functions list() and listByKind() have been added. These functions returns all or specified kind binding list according to specified absolute string path. refs #3391

Revision 760 (diff)
Added by win-ei over 5 years ago

Now PortProfile.properties of CorbaPort includes given port porperties from component configuration files. refs #3391

Revision 762 (diff)
Added by win-ei over 5 years ago

Now PortProfile.properties of CorbaPort includes given port porperties from component configuration files. refs #3391

Revision 763 (diff)
Added by win-ei over 5 years ago

Now NamingManager can register a reference of Port (PortBase) to naming service. refs #3391

Revision 789 (diff)
Added by win-ei over 5 years ago

Added bindPortObject. refs #3391

Revision 790 (diff)
Added by win-ei over 5 years ago

Added publishPorts() and subscribePorts(). Not implemented yet.. refs #3391

Revision 791 (diff)
Added by win-ei over 5 years ago

Topic-based connection has been implemente. refs #3391

Revision 793 (diff)
Added by win-ei over 5 years ago

NamingManager can register a reference of Port to naming service. refs #3391

Revision 834 (diff)
Added by win-ei about 5 years ago

Fixed bugs. refs #3391

Revision 835 (diff)
Added by win-ei about 5 years ago

Fixed bugs. refs #3391

Revision 836 (diff)
Added by win-ei about 5 years ago

Fixed bugs. refs #3391

Revision 837 (diff)
Added by win-ei about 5 years ago

Fixed bugs. refs #3391

Revision 838 (diff)
Added by win-ei about 5 years ago

Added components for tests of \"port connect function of a topic base\". refs #3391

Revision 839 (diff)
Added by win-ei about 5 years ago

Added components for tests of \"port connect function of a topic base\". refs #3391

Revision 1032 (diff)
Added by t-katami about 4 years ago

[compat,bugfix,->releng_1_2] Fixed components for test. refs #3391

History

#1 Updated by win-ei about 5 years ago

動作確認

動作確認用のコンポーネント(TopicTest)を作成して動作確認

  • 動作確認用のコンポーネントの概要
    コンポーネントはSimleIOのConsoleInとConsoleOutを改造。
    コンポーネントにはデータポートとサービスポートを実装。
    InPort、OutPort、CorbaPortを継承して、それぞれのコンストラクタでappendProperty()で"publish_topic"を追加。
    コンポーネント名はConsoleInとConsoleOut。
    コンポーネントを実行するスクリプト名はTopicConssoleIn.shとTopicConssoleOut.sh。
  • 動作確認用のコンポーネント を起動後 rtcat -l でポートが接続されることを確認
    $ rtcat localhost/ConsoleIn0.rtc -l
    ConsoleIn0.rtc  Inactive
      Category       example
      Description    Console input component
      Instance name  ConsoleIn0
      Type name      ConsoleIn
      Vendor         Noriaki Ando, AIST
      Version        1.0
      Parent
      Type           Monolithic
     +Extra properties
    -Execution Context 0
      State  Running
      Kind   Periodic
      Rate   1000.0
     +Extra properties
    -DataOutPort: topic_out
      dataport.data_type          IDL:RTC/TimedLong:1.0
      dataport.data_value         rtctree.rtc.RTC.TimedLong(tm=rtctree.rtc.RTC.Time(sec=0L, nsec=0L), data=0)
      dataport.dataflow_type      push,pull
      dataport.interface_type     direct,shared_memory,corba_cdr
      dataport.subscription_type  new, flush, periodic
      port.port_type              DataOutPort
      publish_topic               test
     +Connected to  /localhost/ConsoleOut0.rtc:topic_in
    -CorbaPort: topic_service
      port.port_type  CorbaPort
      publish_topic   test
      Interface: 
        Instance name  topic_service
        Type name      TestService
        Polarity       Provided
     +Connected to  /localhost/ConsoleOut0.rtc:topic_service
    

    $ rtcat localhost/ConsoleOut0.rtc -l
    ConsoleOut0.rtc  Inactive
      Category       example
      Description    Console output component
      Instance name  ConsoleOut0
      Type name      ConsoleOut
      Vendor         Noriaki Ando, AIST
      Version        1.0
      Parent
      Type           Monolithic
     +Extra properties
    -Execution Context 0
      State  Running
      Kind   Periodic
      Rate   1000.0
     +Extra properties
    -DataInPort: topic_in
      dataport.data_type          IDL:RTC/TimedLong:1.0
      dataport.dataflow_type      push,pull
      dataport.interface_type     direct,shared_memory,corba_cdr
      dataport.subscription_type  Any
      port.port_type              DataInPort
      publish_topic               test
     +Connected to  /localhost/ConsoleIn0.rtc:topic_out
    -CorbaPort: topic_service
      port.port_type  CorbaPort
      publish_topic   test
      Interface:
        Instance name  service
        Type name      Service
        Polarity       Required
     +Connected to  /localhost/ConsoleIn0.rtc:topic_service                                                                                                             
    
    

#2 Updated by katami about 4 years ago

  • Status changed from 新規 to 担当
  • Assignee set to win-ei
  • Target version set to RELEASE_1_2_0
  • % Done changed from 0 to 100

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