jp.go.aist.rtm.RTC.port
Class CorbaPort

java.lang.Object
  org.omg.PortableServer.Servant
      RTC.PortServicePOA
          jp.go.aist.rtm.RTC.port.PortBase
              jp.go.aist.rtm.RTC.port.CorbaPort

All Implemented Interfaces:

SDOServiceOperations, org.omg.CORBA.portable.InvokeHandler, PortServiceOperations

public class CorbaPort
extends PortBase

CORBAを通信手段とするPortクラスです。

Nested Class Summary

Nested classes/interfaces inherited from class jp.go.aist.rtm.RTC.port.PortBase

PortBase.connect_func, PortBase.disconnect_all_func, PortBase.disconnect_func, PortBase.find_conn_id, PortBase.find_interface, PortBase.find_port_ref

Field Summary

(package private) java.util.Vector<jp.go.aist.rtm.RTC.port.CorbaPort.CorbaConsumerHolder>	m_consumers
protected Properties	m_properties Properties
(package private) java.util.Vector<jp.go.aist.rtm.RTC.port.CorbaPort.CorbaProviderHolder>	m_providers vector to stored Providers' information
protected Logbuf	rtcout Logging用フォーマットオブジェクト

Fields inherited from class jp.go.aist.rtm.RTC.port.PortBase

m_connectionLimit, m_connectorsMutex, m_objref, m_onConnected, m_onConnectionLost, m_onDisconnected, m_onPublishInterfaces, m_onSubscribeInterfaces, m_onUnsubscribeInterfaces, m_ownerInstanceName, m_profile, m_profile_mutex

Constructor Summary

CorbaPort(java.lang.String name)
コンストラクタです。

Method Summary

void	activateInterfaces() Activate all Port interfaces
void	deactivateInterfaces() Deactivate all Port interfaces
void	init(Properties prop) Initializing properties
protected ReturnCode_t	publishInterfaces(ConnectorProfileHolder connector_profile) Publish information about interfaces
boolean	registerConsumer(java.lang.String instance_name, java.lang.String type_name, CorbaConsumerBase consumer)
boolean	registerProvider(java.lang.String instance_name, java.lang.String type_name, org.omg.PortableServer.Servant provider) brief Register the provider
protected ReturnCode_t	subscribeInterfaces(ConnectorProfileHolder connector_profile) Subscribe to interface
protected void	unsubscribeInterfaces(ConnectorProfile connector_profile) Unsubscribe interfaces

Methods inherited from class jp.go.aist.rtm.RTC.port.PortBase

_publishInterfaces, _this, addProperty, appendInterface, appendProperty, checkPorts, connect, connectNext, deleteInterface, disconnect_all, disconnect, disconnectNext, eraseConnectorProfile, findConnProfile, findConnProfileIndex, get_connector_profile, get_connector_profiles, get_port_profile, getName, getPortProfile, getPortRef, getProfile, getUUID, isEmptyId, isExistingConnId, notify_connect, notify_disconnect, setConnectionLimit, setName, setOnConnected, setOnConnectionLost, setOnDisconnected, setOnPublishInterfaces, setOnSubscribeInterfaces, setOnUnsubscribeInterfaces, setOwner, setPortRef, setUUID, updateConnectorProfile, updateConnectors

Methods inherited from class RTC.PortServicePOA

_all_interfaces, _invoke, _this

Methods inherited from class org.omg.PortableServer.Servant

_default_POA, _get_delegate, _get_interface_def, _is_a, _non_existent, _object_id, _orb, _poa, _set_delegate, _this_object, _this_object

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

m_providers

java.util.Vector<jp.go.aist.rtm.RTC.port.CorbaPort.CorbaProviderHolder> m_providers

vector to stored Providers' information

m_consumers

java.util.Vector<jp.go.aist.rtm.RTC.port.CorbaPort.CorbaConsumerHolder> m_consumers

rtcout

protected Logbuf rtcout

Logging用フォーマットオブジェクト

m_properties

protected Properties m_properties

Properties

Constructor Detail

CorbaPort

public CorbaPort(java.lang.String name)

コンストラクタです。

Parameters:

name - Port名称

Method Detail

init

public void init(Properties prop)

Initializing properties

This operation initializes outport's properties. If a property "connection_limit" is set and appropriate value is set to this property value, the number of maximum connection is set as this value. If the property does not exist or invalid value is set to this property, the maximum number of connection will be set unlimited.

Parameters:

prop - properties of the CorbaPort

registerProvider

public boolean registerProvider(java.lang.String instance_name,
                                java.lang.String type_name,
                                org.omg.PortableServer.Servant provider)
                         throws org.omg.PortableServer.POAPackage.ServantAlreadyActive,
                                org.omg.PortableServer.POAPackage.WrongPolicy,
                                org.omg.PortableServer.POAPackage.ObjectNotActive

brief Register the provider

This operation registers a servant, which is provided in this Port, to the Port. The servant is associated with "instance_name" and "type_name" as the instance name of the servant and as the type name of the servant. A given servant will be stored in the CorbaPort, and this is registered as RTC::PROVIDED interface into the PortInterfaceProfile.

Parameters:

instance_name - Instance name of servant

type_name - Type name of the servant

provider - CORBA servant

Returns:

Return false if the same name of instance_name is already registered.

Throws:

org.omg.PortableServer.POAPackage.ServantAlreadyActive

org.omg.PortableServer.POAPackage.WrongPolicy

org.omg.PortableServer.POAPackage.ObjectNotActive

registerConsumer

public boolean registerConsumer(java.lang.String instance_name,
                                java.lang.String type_name,
                                CorbaConsumerBase consumer)

activateInterfaces

public void activateInterfaces()

Activate all Port interfaces

This operation activate all interfaces that is registered in the ports.

Specified by:

activateInterfaces in class PortBase

deactivateInterfaces

public void deactivateInterfaces()

Deactivate all Port interfaces

This operation deactivate all interfaces that is registered in the ports.

Specified by:

deactivateInterfaces in class PortBase

publishInterfaces

protected ReturnCode_t publishInterfaces(ConnectorProfileHolder connector_profile)

Publish information about interfaces

This operation publishes Provider interfaces information, which is owned by this port, to the other Ports via ConnectorProfile::properties. Now it is assumed RTC instance name and other information is as follows,

• RTC instance name: rtc_iname
• Port name: port_name
• Interface polarity: if_polarity
• Interface type name: if_tname
• Interface instance name: if_iname

the following values are stored as the "name" and the "value" of the NameValue typee element in ConnectorProfile::properties.

• name .port..provided..
• value IOR string value of interface reference

In addition, although the following NameValue values are also stored for the backward compatibility, this will be deleted in the future version.

• name port..
• value IOR string value of interface reference

These values are stored in the ConnectorProfile::properties and are propagated to the other Ports. If the Consumer interface exists that requires this Provider interface, it will retrieve reference from the ConnectorProfile and utilize it.

Specified by:

publishInterfaces in class PortBase

Parameters:

connector_profile - Connector profile

Returns:

The return code of ReturnCode_t type

subscribeInterfaces

protected ReturnCode_t subscribeInterfaces(ConnectorProfileHolder connector_profile)

Subscribe to interface

Retrieve information associated with Provider matches Consumer owned by this port and set the object reference to Consumer. Now, Consumer is registered as the following:

  PortInterfaceProfile
  {
    instance_name = "PA10_0";
    type_name     = "Manipulator";
    polarity      = REQUIRED;
  }
 

Find the object reference of Serivce Provider that is registered as the following of other ports:

  PortInterfaceProfile
  {
    instance_name = "PA10_0";
    type_name     = "Manipulator";
    polarity      = PROVIDED;
  }
 

and set to Consumer. In fact, find NameValue that is registered as the following to ConnectorProfile::properties:

 NameValue = { "port.Manipulator.PA10_0":