[openrtm-commit:00400] r557 - trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
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openrtm ＠ openrtm.org
2011年 9月 9日 (金) 15:13:17 JST
Author: fsi-katami
Date: 2011-09-09 15:13:17 +0900 (Fri, 09 Sep 2011)
New Revision: 557
Modified:
trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
Log:
onDetach callback caller had been inserted in incorrect place. SDO service provider framework is implemented. Some SDO service related interfaces are added/delete/updated. Post-component-action callbacks were not called when component-actions throw exception. Now post-component-action callbacks are called with RTC::ERROR return value when exception is thrown. refs #2229 refs #2230 refs #2231
Modified: trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java
===================================================================
--- trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2011-09-08 06:17:44 UTC (rev 556)
+++ trunk/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/RTObject_impl.java 2011-09-09 06:13:17 UTC (rev 557)
@@ -1064,7 +1064,6 @@
CORBA_SeqUtil.push_back(m_ecMine,
(ExecutionContextService)ecs._duplicate());
int ec_id = (m_ecMine.value.length - 1);
- onDetachExecutionContext(ec_id);
return ec_id;
}
@@ -1252,7 +1251,7 @@
return ReturnCode_t.BAD_PARAMETER;
}
m_ecOther.value[index] = null;
-
+ onDetachExecutionContext(ec_id);
return ReturnCode_t.RTC_OK;
}
@@ -1283,20 +1282,20 @@
try {
preOnInitialize(0);
ret = onInitialize();
- postOnInitialize(0, ret);
- String active_set;
- active_set
- = m_properties.getProperty("configuration.active_config",
- "default");
- if (m_configsets.haveConfig(active_set)) {
- m_configsets.update(active_set);
- }
- else {
- m_configsets.update("default");
- }
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ String active_set;
+ active_set
+ = m_properties.getProperty("configuration.active_config",
+ "default");
+ if (m_configsets.haveConfig(active_set)) {
+ m_configsets.update(active_set);
+ }
+ else {
+ m_configsets.update("default");
+ }
+ postOnInitialize(0, ret);
return ret;
}
@@ -1326,10 +1325,10 @@
try {
preOnFinalize(0);
ret = onFinalize();
- postOnFinalize(0, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnFinalize(0, ret);
return ret;
}
@@ -1439,10 +1438,10 @@
m_configsets.update();
ret = onActivated(ec_id);
m_portAdmin.activatePorts();
- postOnActivated(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnActivated(ec_id, ret);
return ret;
}
@@ -1477,10 +1476,10 @@
preOnDeactivated(ec_id);
m_portAdmin.deactivatePorts();
ret = onDeactivated(ec_id);
- postOnDeactivated(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnDeactivated(ec_id, ret);
return ret;
}
@@ -1519,10 +1518,10 @@
try {
preOnAborting(ec_id);
ret = onAborting(ec_id);
- postOnAborting(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnAborting(ec_id, ret);
return ret;
}
@@ -1574,11 +1573,11 @@
try {
preOnError(ec_id);
ret = onError(ec_id);
- m_configsets.update();
- postOnError(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ m_configsets.update();
+ postOnError(ec_id, ret);
return ret;
}
@@ -1619,10 +1618,10 @@
try {
preOnReset(ec_id);
ret = onReset(ec_id);
- postOnReset(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnReset(ec_id, ret);
return ret;
}
@@ -1655,10 +1654,10 @@
if(m_writeAll){
writeAll();
}
- postOnExecute(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnExecute(ec_id, ret);
return ret;
}
@@ -1713,10 +1712,10 @@
preOnStateUpdate(ec_id);
ret = onStateUpdate(ec_id);
m_configsets.update();
- postOnStateUpdate(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnStateUpdate(ec_id, ret);
return ret;
}
@@ -1765,10 +1764,10 @@
try {
preOnRateChanged(ec_id);
ret = onRateChanged(ec_id);
- postOnRateChanged(ec_id, ret);
} catch(Exception ex) {
- return ReturnCode_t.RTC_ERROR;
+ ret = ReturnCode_t.RTC_ERROR;
}
+ postOnRateChanged(ec_id, ret);
return ret;
}
@@ -1976,11 +1975,17 @@
rtcout.println(Logbuf.TRACE, "RTObject_impl.get_service_profiles()");
+ ServiceProfile[] sprofiles = new ServiceProfile[1];
+
try {
- return m_pSdoConfigImpl.getServiceProfiles().value;
+ sprofiles = m_sdoservice.getServiceProviderProfiles();
+ rtcout.println(Logbuf.TRACE, "SDO ServiceProfiles["+sprofiles.length+"]");
+ //return m_pSdoConfigImpl.getServiceProfiles().value;
} catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR, "Unknown exception cought in get_service_profiles().");
throw new InternalError("get_service_profiles()");
}
+ return sprofiles;
}
/**
@@ -2025,19 +2030,21 @@
rtcout.println(Logbuf.TRACE, "RTObject_impl.get_service_profile(" + id + ")");
+ if( id == null || id.equals("") ) {
+ throw new InvalidParameter("get_service_profile(): Empty name.");
+ }
try {
- if( id == null || id.equals("") ) {
- throw new InvalidParameter("get_service_profile(): Empty name.");
- }
- ServiceProfile svcProf = m_pSdoConfigImpl.getServiceProfile(id);
+ ServiceProfile svcProf = m_sdoservice.getServiceProviderProfile(id);
if(svcProf == null || !id.equals(svcProf.id)) {
throw new InvalidParameter("get_service_profile(): Inexist id.");
}
ServiceProfileHolder sprofile = new ServiceProfileHolder(svcProf);
return sprofile.value;
} catch(InvalidParameter ex) {
+ rtcout.println(Logbuf.ERROR, "InvalidParameter exception: name ("+id+") is not found");
throw ex;
} catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR, "Unknown exception cought in get_service_profile("+id+") is not found");
throw new InternalError("get_service_profile()");
}
}
@@ -2090,15 +2097,15 @@
rtcout.println(Logbuf.TRACE, "RTObject_impl.get_sdo_service(" + id + ")");
+ if( id == null || id.equals("") ) {
+ throw new InvalidParameter("get_sdo_service(): Empty name.");
+ }
try {
- if( id == null || id.equals("") ) {
- throw new InvalidParameter("get_sdo_service(): Empty name.");
- }
- ServiceProfile svcProf = m_pSdoConfigImpl.getServiceProfile(id);
- if( svcProf == null || !id.equals(svcProf.id)) {
+ SDOService svcProf = m_sdoservice.getServiceProvider(id);
+ if( svcProf == null ) {
throw new InvalidParameter("get_sdo_service(): Inexist id.");
}
- SDOServiceHolder svcVar = new SDOServiceHolder(svcProf.service);
+ SDOServiceHolder svcVar = new SDOServiceHolder(svcProf);
return svcVar.value;
} catch(InvalidParameter ex ) {
throw ex;
@@ -2966,7 +2973,7 @@
String propkey = "port.outport.";
propkey += name;
- m_properties.getNode(propkey).merge(m_properties.getNode("port.inport.dataport"));
+ m_properties.getNode(propkey).merge(m_properties.getNode("port.outport.dataport"));
boolean ret = addPort(outport);
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