[openrtm-commit:00562] r2271 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 1月 9日 (月) 22:32:18 JST
Author: n-ando
Date: 2012-01-09 22:32:18 +0900 (Mon, 09 Jan 2012)
New Revision: 2271
Modified:
trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h
trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp
trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h
Log:
[incomaptible API] Now ExecutionContextProfile management has been moved to ExecutionContextBase. getObjRef() is also moved to ExecutionContextBase.
[incompatible behavior] Now onExecute and onStateUpdate execution behavior has been changed when two or more RTCs attached to the EC.
Old: A::onExecute, A::onStateUpdate, B::onExecute, B::onStateUpdate
New: A::onExecute, B::onExecute, A::onStateUpdate, B::onStateUpdate
Modified: trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h 2012-01-09 13:23:02 UTC (rev 2270)
+++ trunk/OpenRTM-aist/src/lib/rtm/ExecutionContextBase.h 2012-01-09 13:32:18 UTC (rev 2271)
@@ -104,21 +104,6 @@
*/
virtual RTC::ReturnCode_t bindComponent(RTObject_impl* rtc) = 0;
- /*!
- * @if jp
- * @brief オブジェクトのリファレンスを取得する。
- *
- * オブジェクトのリファレンスを取得する。
- *
- * @else
- * @brief Get the reference of the object.
- *
- * Get the reference of the object.
- *
- * @endif
- */
- virtual RTC::ExecutionContextService_ptr getObjRef() = 0;
-
//============================================================
// Delegated functions to ExecutionContextProfile
//============================================================
@@ -165,7 +150,10 @@
*
* @endif
*/
- // RTC::ExecutionContextService_ptr getObjRef(void) const;
+ RTC::ExecutionContextService_ptr getObjRef(void) const
+ {
+ return m_profile.getObjRef();
+ }
/*!
* @if jp
Modified: trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp 2012-01-09 13:23:02 UTC (rev 2270)
+++ trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.cpp 2012-01-09 13:32:18 UTC (rev 2271)
@@ -40,21 +40,19 @@
{
RTC_TRACE(("PeriodicExecutionContext()"));
- m_period = (double)DEEFAULT_PERIOD;
- RTC_DEBUG(("Actual rate: %d [sec], %d [usec]",
- m_period.sec(), m_period.usec()));
// getting my reference
- m_ref = this->_this();
+ m_profile.setObjRef(this->_this());
// profile initialization
- m_profile.kind = PERIODIC;
- m_profile.rate = 1.0 / m_period;
- m_profile.owner = RTC::RTObject::_nil();
- m_profile.participants.length(0);
- m_profile.properties.length(0);
+ m_profile.setKind(PERIODIC);
+ m_profile.setRate(1.0 / (double)DEEFAULT_PERIOD);
+ m_profile.setOwner(RTC::RTObject::_nil());
+
+ RTC_DEBUG(("Actual period: %d [sec], %d [usec]",
+ m_profile.getPeriod().sec(), m_profile.getPeriod().usec()));
}
-
+
/*!
* @if jp
* @brief コンストラクタ
@@ -64,26 +62,24 @@
*/
PeriodicExecutionContext::
PeriodicExecutionContext(OpenRTM::DataFlowComponent_ptr owner,
- double rate)
+ double rate)
: rtclog("periodic_ec"), m_running(false), m_svc(true), m_nowait(true)
{
RTC_TRACE(("PeriodicExecutionContext(owner, rate = %f)", rate));
if (rate == 0) { rate = 1.0 / DEEFAULT_PERIOD; }
- m_period = coil::TimeValue(1.0 / rate);
+ m_profile.setPeriod(coil::TimeValue(1.0 / rate));
if (m_period < 0.000001) { m_nowait = true; }
- RTC_DEBUG(("Actual rate: %d [sec], %d [usec]",
- m_period.sec(), m_period.usec()));
+ RTC_DEBUG(("Actual period: %d [sec], %d [usec]",
+ m_profile.getPeriod().sec(), m_profile.getPeriod().usec()));
// getting my reference
- m_ref = this->_this();
+ m_profile.setObjRef(this->_this());
// profile initialization
- m_profile.kind = PERIODIC;
- m_profile.rate = 1.0 / m_period;
- m_profile.owner = RTC::RTObject::_nil();
- m_profile.participants.length(0);
- m_profile.properties.length(0);
+ m_profile.setKind(PERIODIC);
+ m_profile.setRate(1.0 / (double)DEEFAULT_PERIOD);
+ m_profile.setOwner(RTC::RTObject::_nil());
}
/*!
@@ -103,10 +99,6 @@
m_svc = false;
wait();
- // cleanup EC's profile
- m_profile.owner = RTC::RTObject::_nil();
- m_profile.participants.length(0);
- m_profile.properties.length(0);
}
/*------------------------------------------------------------
@@ -142,19 +134,21 @@
{
RTC_TRACE(("svc()"));
int count(0);
- do
+ do
{
m_worker.mutex_.lock();
- while (!m_worker.running_)
- {
- m_worker.cond_.wait();
- }
+ while (!m_worker.running_)
+ {
+ m_worker.cond_.wait();
+ }
coil::TimeValue t0(coil::gettimeofday());
- if (m_worker.running_)
- {
- std::for_each(m_comps.begin(), m_comps.end(), invoke_worker());
- }
- m_worker.mutex_.unlock();
+ if (m_worker.running_)
+ {
+ std::for_each(m_comps.begin(), m_comps.end(), invoke_worker_pre());
+ std::for_each(m_comps.begin(), m_comps.end(), invoke_worker_do());
+ std::for_each(m_comps.begin(), m_comps.end(), invoke_worker_post());
+ }
+ m_worker.mutex_.unlock();
coil::TimeValue t1(coil::gettimeofday());
if (count > 1000)
{
@@ -284,8 +278,7 @@
throw (CORBA::SystemException)
{
RTC_TRACE(("get_rate()"));
- Guard guard(m_profileMutex);
- return m_profile.rate;
+ return m_profile.getRate();
}
/*!
@@ -301,15 +294,11 @@
RTC_TRACE(("set_rate(%f)", rate));
if (rate > 0.0)
{
- {
- Guard guard(m_profileMutex);
- m_profile.rate = rate;
- }
- m_period = coil::TimeValue(1.0/rate);
- if (m_period == 0.0) { m_nowait = true; }
+ m_profile.setRate(rate);
+ if ((double)m_profile.getRate() == 0.0) { m_nowait = true; }
std::for_each(m_comps.begin(), m_comps.end(), invoke_on_rate_changed());
- RTC_DEBUG(("Actual rate: %d [sec], %d [usec]",
- m_period.sec(), m_period.usec()));
+ RTC_DEBUG(("Actual period: %d [sec], %d [usec]",
+ m_profile.getPeriod().sec(), m_profile.getPeriod().usec()));
return RTC::RTC_OK;
}
return RTC::BAD_PARAMETER;
@@ -515,8 +504,9 @@
ExecutionKind PeriodicExecutionContext::get_kind()
throw (CORBA::SystemException)
{
- RTC_TRACE(("get_kind()"));
- return m_profile.kind;
+ RTC_TRACE(("get_kind() = %s",
+ m_profile.getKindString()));
+ return getKind();
}
/*!
@@ -544,10 +534,11 @@
{
return RTC::BAD_PARAMETER;
}
+ ExecutionContextService_var ec = m_profile.getObjRef();
ExecutionContextHandle_t id;
- id = dfp->attach_context(m_ref);
+ id = dfp->attach_context(ec);
m_comps.push_back(Comp(comp, dfp, id));
- CORBA_SeqUtil::push_back(m_profile.participants, rtc._retn());
+ m_profile.addComponent(rtc._retn());
return RTC::RTC_OK;
}
catch (CORBA::Exception& e)
@@ -566,8 +557,8 @@
LightweightRTObject_var comp = RTC::RTObject::_duplicate(rtc->getObjRef());
OpenRTM::DataFlowComponent_var dfp;
dfp = OpenRTM::DataFlowComponent::_narrow(comp);
-
- ExecutionContextHandle_t id = rtc->bindContext(m_ref);
+ ExecutionContextService_var ec = m_profile.getObjRef();
+ ExecutionContextHandle_t id = rtc->bindContext(ec);
if (id < 0 || id > ECOTHER_OFFSET)
{
// id should be owned context id < ECOTHER_OFFSET
@@ -578,8 +569,7 @@
// rtc is owner of this EC
m_comps.push_back(Comp(comp,dfp,id));
- m_profile.owner = RTC::RTObject::_duplicate(dfp);
-
+ m_profile.setOwner(RTC::RTObject::_duplicate(dfp));
return RTC::RTC_OK;
}
@@ -610,17 +600,8 @@
m_comps.erase(it);
RTC_TRACE(("remove_component(): an RTC removed from this context."));
- RTObject_var rtcomp = RTObject::_narrow(comp);
- if (CORBA::is_nil(rtcomp))
- {
- RTC_ERROR(("Invalid object reference."));
- return RTC::RTC_ERROR;
- }
- {
- Guard guard(m_profileMutex);
- CORBA_SeqUtil::erase_if(m_profile.participants,
- find_participant(rtcomp));
- }
+ m_profile.removeComponent(comp);
+
return RTC::RTC_OK;
}
@@ -638,12 +619,7 @@
throw (CORBA::SystemException)
{
RTC_TRACE(("get_profile()"));
- ExecutionContextProfile_var p;
- {
- Guard guard(m_profileMutex);
- p = new ExecutionContextProfile(m_profile);
- }
- return p._retn();
+ return m_profile.getProfile();
}
}; // namespace RTC
Modified: trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h 2012-01-09 13:23:02 UTC (rev 2270)
+++ trunk/OpenRTM-aist/src/lib/rtm/PeriodicExecutionContext.h 2012-01-09 13:32:18 UTC (rev 2271)
@@ -131,30 +131,9 @@
* @endif
*/
virtual ~PeriodicExecutionContext(void);
-
+
/*!
* @if jp
- * @brief CORBA オブジェクト参照の取得
- *
- * 本オブジェクトの ExecutioncontextService としての CORBA オブジェ
- * クト参照を取得する。
- *
- * @return CORBA オブジェクト参照
- *
- * @else
- * @brief Get the reference to the CORBA object
- *
- * Get the reference to the CORBA object as
- * ExecutioncontextService of this object.
- *
- * @return The reference to CORBA object
- *
- * @endif
- */
- virtual ExecutionContextService_ptr getObjRef(void) {return m_ref;}
-
- /*!
- * @if jp
* @brief ExecutionContext用アクティビティスレッドを生成する
*
* Executioncontext 用の内部アクティビティスレッドを生成し起動する。
@@ -176,7 +155,7 @@
* @return The generation result
*
* @endif
- */
+ */
virtual int open(void *args);
/*!
@@ -197,7 +176,7 @@
* @return The execution result
*
* @endif
- */
+ */
virtual int svc(void);
/*!
@@ -981,6 +960,9 @@
* @endif
*/
virtual void worker(void) {return m_sm.worker();}
+ virtual void worker_pre(void) {return m_sm.worker_pre();}
+ virtual void worker_do(void) {return m_sm.worker_do();}
+ virtual void worker_post(void) {return m_sm.worker_post();}
/*!
* @if jp
@@ -1469,9 +1451,30 @@
{
void operator()(Comp& comp)
{
- comp._sm.worker();
+ comp._sm.worker();
}
};
+ struct invoke_worker_pre
+ {
+ void operator()(Comp& comp)
+ {
+ comp._sm.worker_pre();
+ }
+ };
+ struct invoke_worker_do
+ {
+ void operator()(Comp& comp)
+ {
+ comp._sm.worker_do();
+ }
+ };
+ struct invoke_worker_post
+ {
+ void operator()(Comp& comp)
+ {
+ comp._sm.worker_post();
+ }
+ };
/*!
* @if jp
@@ -1535,37 +1538,18 @@
* @endif
*/
Worker m_worker;
-
+
/*!
* @if jp
- * @brief ExecutionContextProfile
- * @else
- * @brief ExecutionContextProfile
- * @endif
- */
- ExecutionContextProfile m_profile;
- coil::Mutex m_profileMutex;
-
- /*!
- * @if jp
* @brief ExecutionContext の実行周期
* @else
* @brief Execution cycle of ExecutionContext
* @endif
*/
coil::TimeValue m_period;
-
+
/*!
* @if jp
- * @brief ExecutionContextService オブジェクトへの参照
- * @else
- * @brief Reference to ExecutionContextService object
- * @endif
- */
- ExecutionContextService_var m_ref;
-
- /*!
- * @if jp
* @brief ExecutionContext 即時実行(wait無し実行)フラグ
* @else
* @brief Flag of ExecutionContext to run immediately
openrtm-commit メーリングリストの案内