OpenRTM-aist » OpenRTM-aist (C++)

元々は、デフォルトPOAを使用した場合にサービスポートのACTIVATE/DEACTIVATEにてIORが変化する
という問題があり、この対処方法としてManagerクラスのgetPOA()で取得できるPOAは、PERSISTENT・
USER_IDを設定したPOAを返すようにしていたが、これにより副作用があることが判明した。
そこで、以前のようにManager::getPOA()はデフォルトPOAを返すように戻し、CorbaPortクラスにて
ACTIVATE/DEACTIVATEでIORが変わらないように修正を行った。
修正箇所は下記のとおり。

$ svn diff Manager.cpp 
Index: Manager.cpp
===================================================================
--- Manager.cpp    (リビジョン 1443)
+++ Manager.cpp    (作業コピー)
@@ -923,13 +923,7 @@
     m_pORB = CORBA::ORB_init(argc, argv);
     // Get the RootPOA
     CORBA::Object_var obj = m_pORB->resolve_initial_references("RootPOA");
-    PortableServer::POA_var rootPOA = PortableServer::POA::_narrow(obj);
-    CORBA::PolicyList policies;
-    policies.length(2);
-    policies[(CORBA::ULong)0] = rootPOA->create_lifespan_policy(PortableServer::PERSISTENT);
-    policies[(CORBA::ULong)1] = rootPOA->create_id_assignment_policy(PortableServer::USER_ID);
-    PortableServer::POAManager_var rootManager = rootPOA->the_POAManager();
-    m_pPOA = rootPOA->create_POA("persistent", rootManager, policies);
+    m_pPOA = PortableServer::POA::_narrow(obj);
     if (CORBA::is_nil(m_pPOA))
       {
         RTC_ERROR(("Could not resolve RootPOA."));

$ svn diff CorbaPort.h
Index: CorbaPort.h
===================================================================
--- CorbaPort.h    (リビジョン 1443)
+++ CorbaPort.h    (作業コピー)
@@ -491,11 +491,39 @@
      * @endif
      */
     NVList m_providers;
-    std::vector<PortableServer::RefCountServantBase*> m_servants;
-    std::vector<std::string> m_instance_name;
-    
+
     /*!
      * @if jp
+     * @brief Provider�ξ�������Ǽ���빽¤�
+     * @else
+     * @brief The structure to be stored Provider's information.
+     * @endif
+     */
+    struct ProviderInfo
+    {
+      ProviderInfo(PortableServer::RefCountServantBase* _servant, PortableServer::ObjectId_var _objectid)
+    : servant(_servant),
+      oid(_objectid)
+      {}
+
+      ProviderInfo(const ProviderInfo& pinfo)
+    : servant(pinfo.servant),
+      oid(pinfo.oid)
+      {}
+      
+      ProviderInfo operator=(const ProviderInfo& _pinfo)
+      {
+        ProviderInfo pinfo(_pinfo);
+        return pinfo;
+      }
+      PortableServer::RefCountServantBase* servant;
+      PortableServer::ObjectId_var oid;
+    };
+    typedef std::map<std::string, ProviderInfo> ServantMap;
+    ServantMap m_servants;
+
+    /*!
+     * @if jp
      * @brief Consumer �ξ�������Ǽ���빽¤�
      * @else
      * @brief The structure to be stored Consumer information.

$ svn diff CorbaPort.cpp 
Index: CorbaPort.cpp
===================================================================
--- CorbaPort.cpp    (リビジョン 1443)
+++ CorbaPort.cpp    (作業コピー)
@@ -70,8 +70,7 @@
     return false;
       }

-    PortableServer::ObjectId_var oid = 
-        PortableServer::string_to_ObjectId(instance_name);
+    PortableServer::ObjectId_var oid = Manager::instance().getPOA()->servant_to_id(&provider);
     try
       {
         Manager::instance().getPOA()->activate_object_with_id(oid, &provider);
@@ -95,10 +94,7 @@
     CORBA::String_var ior = orb->object_to_string(obj);
     CORBA_SeqUtil::
       push_back(m_providers, NVUtil::newNV(key.c_str(), ior));
-    m_servants.push_back(&provider);
-
-    std::string name(instance_name);
-    m_instance_name.push_back(name);
+    m_servants.insert(std::pair<std::string, ProviderInfo>(instance_name,ProviderInfo(&provider,oid)));
     return true;
   };

@@ -139,13 +135,12 @@
    */
   void CorbaPort::activateInterfaces()
   {
-    for (int i(0), len(m_servants.size()); i < len; ++i)
+    ServantMap::iterator it = m_servants.begin();
+    while(it != m_servants.end())
       {
         try
           {
-            PortableServer::ObjectId_var oid = 
-                PortableServer::string_to_ObjectId(m_instance_name[i].c_str());
-            Manager::instance().getPOA()->activate_object_with_id(oid, m_servants[i]);
+            Manager::instance().getPOA()->activate_object_with_id(it->second.oid, it->second.servant);
           }
         catch(const ::PortableServer::POA::ServantAlreadyActive &)
           {
@@ -153,6 +148,7 @@
         catch(const ::PortableServer::POA::ObjectAlreadyActive &)
           {
           }
+    it++;
       }
   }

@@ -165,11 +161,11 @@
    */
   void CorbaPort::deactivateInterfaces()
   {
-    for (int i(0), len(m_servants.size()); i < len; ++i)
+    ServantMap::iterator it = m_servants.begin();
+    while(it != m_servants.end())
       {
-        PortableServer::ObjectId_var oid = 
-            PortableServer::string_to_ObjectId(m_instance_name[i].c_str());
-        Manager::instance().getPOA()->deactivate_object(oid);
+        Manager::instance().getPOA()->deactivate_object(it->second.oid);
+    it++;
       }
   }