[openrtm-commit:01554] r2623 - in trunk/OpenRTM-aist: etc src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2015年 6月 15日 (月) 03:03:08 JST
Author: n-ando
Date: 2015-06-15 03:03:08 +0900 (Mon, 15 Jun 2015)
New Revision: 2623
Modified:
trunk/OpenRTM-aist/etc/rtc.conf.sample
trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
Log:
[compat,->RELENG_1_1] New rtc.conf optinos (preconnection, preactivation) have been added.
Modified: trunk/OpenRTM-aist/etc/rtc.conf.sample
===================================================================
--- trunk/OpenRTM-aist/etc/rtc.conf.sample 2015-06-12 06:28:18 UTC (rev 2622)
+++ trunk/OpenRTM-aist/etc/rtc.conf.sample 2015-06-14 18:03:08 UTC (rev 2623)
@@ -280,6 +280,32 @@
manager.components.precreate:
#
+# Advance connection creation
+#
+# This option specifies connections to be created in advance before
+# starting the manager's event-loop. The target components and ports
+# must be created previously by manager.components.precreate optinos.
+#
+# Example:
+# manager.components.preconnect: ConsoleIn.out:ConsoleOut.in(dataflow_type=push,interface_type=corba_cdr)
+# if no parenthis parts are included, dataflow_type=push,interface_type=corba_cdr
+#
+manager.components.preconnect:
+
+#
+# Advance component activation
+#
+# This option specifies components' names (module name) to be
+# activated in advance before starting the manager's event-loop. The
+# target components should be created previously by
+# manager.components.precreate optinos.
+#
+# Example:
+# manager.components.preactivate: ConsoleIn0, ConsoleOut0
+#
+manager.components.preactivate:
+
+#
# Loading local service modules
#
# Local service mechanisms are provided for services provided among
Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2015-06-12 06:28:18 UTC (rev 2622)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2015-06-14 18:03:08 UTC (rev 2623)
@@ -379,13 +379,119 @@
m_initProc(this);
}
+ RTC_TRACE(("Components pre-creation: %s",
+ m_config["manager.components.precreate"].c_str()));
std::vector<std::string> comp;
comp = coil::split(m_config["manager.components.precreate"], ",");
for (int i(0), len(comp.size()); i < len; ++i)
{
- this->createComponent(comp[i].c_str());
+ this->createComponent(comp[i].c_str());
}
+ { // pre-connection
+ RTC_TRACE(("Connection pre-creation: %s",
+ m_config["manager.components.preconnect"].c_str()));
+ std::vector<std::string> connectors;
+ connectors = coil::split(m_config["manager.components.preconnect"], ",");
+ for (int i(0), len(connectors.size()); i < len; ++i)
+ {
+ // ConsoleIn.out:Console.in(dataflow_type=push,....)
+ coil::vstring conn_prop = coil::split(connectors[i], "(");
+ coil::replaceString(conn_prop[1], ")", "");
+ coil::vstring comp_ports;
+ comp_ports = coil::split(conn_prop[0], ":");
+ if (comp_ports.size() != 2)
+ {
+ RTC_ERROR(("Invalid format for pre-connection."));
+ RTC_ERROR(("Format must be Comp0.port0:Comp1.port1"));
+ continue;
+ }
+ std::string comp0_name = coil::split(comp_ports[0], ".")[0];
+ std::string comp1_name = coil::split(comp_ports[1], ".")[0];
+ RTObject_impl* comp0 = getComponent(comp0_name.c_str());
+ RTObject_impl* comp1 = getComponent(comp1_name.c_str());
+ if (comp0 == NULL)
+ { RTC_ERROR(("%s not found.", comp0_name.c_str())); }
+ if (comp1 == NULL)
+ { RTC_ERROR(("%s not found.", comp1_name.c_str())); }
+ std::string port0 = comp_ports[0];
+ std::string port1 = comp_ports[1];
+
+ PortServiceList_var ports0 = comp0->get_ports();
+ PortServiceList_var ports1 = comp1->get_ports();
+ RTC_DEBUG(("%s has %d ports.", comp0_name.c_str(), ports0->length()));
+ RTC_DEBUG(("%s has %d ports.", comp1_name.c_str(), ports1->length()));
+
+ PortService_var port0_var;
+ for (size_t p(0); p < ports0->length(); ++p)
+ {
+ PortProfile_var pp = ports0[p]->get_port_profile();
+ std::string s(CORBA::string_dup(pp->name));
+ if (comp_ports[0] == s)
+ {
+ RTC_DEBUG(("port %s found: ", comp_ports[0].c_str()));
+ port0_var = ports0[p];
+ }
+ }
+ PortService_var port1_var;
+ for (size_t p(0); p < ports1->length(); ++p)
+ {
+ PortProfile_var pp = ports1[p]->get_port_profile();
+ std::string s(CORBA::string_dup(pp->name));
+ if (port1 == s)
+ {
+ RTC_DEBUG(("port %s found: ", comp_ports[1].c_str()));
+ port1_var = ports1[p];
+ }
+ }
+ if (CORBA::is_nil(port0_var))
+ {
+ RTC_ERROR(("port0 %s is nil obj", comp_ports[0].c_str()));
+ continue;
+ }
+ if (CORBA::is_nil(port1_var))
+ {
+ RTC_ERROR(("port1 %s is nil obj", comp_ports[1].c_str()));
+ continue;
+ }
+ ConnectorProfile conn_prof;
+ std::string prof_name;
+ conn_prof.name = CORBA::string_dup(connectors[i].c_str());
+ conn_prof.connector_id = CORBA::string_dup("");
+ conn_prof.ports.length(2);
+ conn_prof.ports[0] = port0_var;
+ conn_prof.ports[1] = port1_var;
+ coil::Properties prop;
+ prop["dataport.dataflow_type"] = "push";
+ prop["dataport.interface_type"] = "corba_cdr";
+ coil::vstring opt_props = coil::split(conn_prop[1], "&");
+ for (size_t o(0); o < opt_props.size(); ++o)
+ {
+ coil::vstring temp = coil::split(opt_props[o], "=");
+ prop["dataport." + temp[0]] = temp[1];
+ }
+ NVUtil::copyFromProperties(conn_prof.properties, prop);
+ if (RTC::RTC_OK != port0_var->connect(conn_prof))
+ {
+ RTC_ERROR(("Connection error: %s",
+ connectors[i].c_str()));
+ }
+ }
+ } // end of pre-connection
+
+ { // pre-activation
+ RTC_TRACE(("Connection pre-creation: %s",
+ m_config["manager.components.preconnect"].c_str()));
+ std::vector<std::string> comps;
+ comps = coil::split(m_config["manager.components.preactivation"],
+ ",");
+ for (int i(0), len(comps.size()); i < len; ++i)
+ {
+ RTObject_impl* comp = getComponent(comps[i].c_str());
+ ExecutionContextList_var ecs = comp->get_owned_contexts();
+ ecs[0]->activate_component(comp->getObjRef());
+ }
+ } // end of pre-activation
return true;
}
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