[openrtm-commit:02004] r825 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 10月 4日 (火) 12:51:21 JST
Author: win-ei
Date: 2016-10-04 12:51:21 +0900 (Tue, 04 Oct 2016)
New Revision: 825
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
Log:
Added initPreActivation() and initPreConnection(). refs #3387
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2016-10-03 09:08:16 UTC (rev 824)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/Manager.java 2016-10-04 03:51:21 UTC (rev 825)
@@ -892,6 +892,9 @@
}
precreateComponent();
+ initPreActivation();
+ initPreConnection();
+/*
{ // pre-connection
String preconnect
= m_config.getProperty("manager.components.preconnect");
@@ -1031,7 +1034,8 @@
NVUtil.dump(nvholder);
}
} // end of pre-connection
-
+*/
+/*
{ // pre-activation
String preactivation
= m_config.getProperty("manager.components.preactivation");
@@ -1059,7 +1063,7 @@
eclistholder.value[0].activate_component(comp.getObjRef());
}
} // end of pre-activation
-
+*/
return true;
}
@@ -1102,7 +1106,7 @@
*
* <p>
* {@.ja このメソッドは"manager.components.precreate"に設定されている
- * コンポーネントを生成する。
+ * コンポーネントを生成する。}
* {@.en This method creates components set to
* "Manager.components.precreate".}
*/
@@ -1118,8 +1122,200 @@
this.createComponent(comp[i]);
}
}
+ /**
+ * {@.ja 起動時にrtc.confで指定したRTCをアクティベーションする。}
+ * {@.en Activates RTC designated in rtc.conf,when starting.}
+ *
+ * <p>
+ * {@.ja このメソッドは"manager.components.preactivation"に設定される
+ * コンポーネントを活性化する。
+ * 例:
+ * manager.components.preactivation: RTC1,RTC2~}
+ * {@.en This method activates components set to
+ * "manager.components.preactivation".}
+ *
+ */
+ private void initPreActivation() {
+ String preactivation
+ = m_config.getProperty("manager.components.preactivation");
+ rtcout.println(Logbuf.TRACE,
+ "Components pre-activation: "
+ + Arrays.toString(preactivation.split(",")));
+ String[] comps = new String[0];
+ if ( preactivation == null || preactivation.length() == 0 ) {
+ }
+ else {
+ comps = preactivation.split(",");
+ }
+ for (int ic=0; ic < comps.length; ++ic) {
+ comps[ic] = comps[ic].trim();
+ if(!comps[ic].isEmpty()) {
+ RTC.RTObject comp_ref;
+ if(comps[ic].indexOf("://") == -1) {
+ RTObject_impl comp = getComponent(comps[ic]);
+ if (comp == null) {
+ rtcout.println(Logbuf.ERROR, comps[ic] + " not found.");
+ continue;
+ }
+ comp_ref = comp.getObjRef();
+ }
+ else {
+ RTC.RTObject[] rtcs = m_namingManager.string_to_component(comps[ic]);
+ if(rtcs.length == 0) {
+ rtcout.println(Logbuf.ERROR, comps[ic] + " not found.");
+ continue;
+ }
+ comp_ref = rtcs[0];
+ }
+ ReturnCode_t ret = CORBA_RTCUtil.activate(comp_ref);
+ if (ret != ReturnCode_t.RTC_OK) {
+ rtcout.println(Logbuf.ERROR, comps[ic] + " activation filed.");
+ }
+ else {
+ rtcout.println(Logbuf.INFO, comps[ic] + " activated.");
+ }
+/*
+ ExecutionContextListHolder eclistholder
+ = new ExecutionContextListHolder();
+ eclistholder.value = new ExecutionContext[0];
+ eclistholder.value = comp.get_owned_contexts();
+ eclistholder.value[0].activate_component(comp_ref);
+*/
+ }
+ }
+ }
/**
+ * {@.ja 起動時にrtc.confで指定したポートを接続する。}
+ * {@.en Connects ports of RTC designated in rtc.conf,when starting.}
+ *
+ * <p>
+ * {@.ja このメソッドは"manager.components.preactivation"に設定される
+ * コンポーネントを活性化する。
+ * 例:
+ * manager.components.preconnect: RTC0.port0^RTC0.port1(interface_type=corba_cdr&dataflow_type=pull&~),~}
+ * {@.en This method activates components set to
+ * "manager.components.preconnect".}
+ *
+ */
+ private void initPreConnection() { // pre-connection
+ String preconnect
+ = m_config.getProperty("manager.components.preconnect");
+ rtcout.println(Logbuf.TRACE, "Connection pre-connection: "
+ + preconnect);
+ String[] connectors = new String[0];
+ if ( preconnect == null || preconnect.length() == 0 ) {
+ }
+ else {
+ connectors = preconnect.split(",");
+ rtcout.println(Logbuf.TRACE, "connectors: "
+ +Arrays.toString(connectors));
+ }
+ for (int ic=0; ic < connectors.length; ++ic) {
+ // ConsoleIn.out^Console.in(dataflow_type=push&....)
+ String[] conn_prop = connectors[ic].split("\\(");
+ if ( conn_prop == null || conn_prop.length == 0 ) {
+ }
+ if ( conn_prop.length == 2 ) {
+ conn_prop[1] = conn_prop[1].replace(")","");
+ }
+ String[] comp_ports = conn_prop[0].split("\\^"); //"^" is expressing a connection between ports.
+ if(comp_ports.length != 2) {
+ rtcout.println(Logbuf.ERROR,
+ "Invalid format for pre-connection.");
+ rtcout.println(Logbuf.ERROR,
+ "Format must be Comp0.port0:Comp1.port1");
+ continue;
+ }
+ String comp0_name = comp_ports[0].split("\\.")[0];
+ String port0_name = comp_ports[0];
+ RTC.RTObject comp0_ref;
+ if(comp0_name.indexOf("://") == -1){
+ RTObject_impl comp0 = getComponent(comp0_name);
+ if (comp0 == null) {
+ rtcout.println(Logbuf.ERROR,
+ comp0_name + " not found.");
+ continue;
+ }
+ comp0_ref = comp0.getObjRef();
+ }
+ else {
+ RTC.RTObject[] rtcs = m_namingManager.string_to_component(comp0_name);
+ if(rtcs.length == 0) {
+ rtcout.println(Logbuf.ERROR, comp0_name + " not found.");
+ continue;
+ }
+ comp0_ref = rtcs[0];
+ String[] array = comp_ports[0].split("/");
+ port0_name = array[array.length-1];
+ }
+
+ PortService port0_var = CORBA_RTCUtil.get_port_by_name(comp0_ref, port0_name);
+
+ if(port0_var == null){
+ rtcout.println(Logbuf.ERROR, "port " + port0_name + " not found.");
+ continue;
+ }
+
+
+ String comp1_name = comp_ports[1].split("\\.")[0];
+ String port1_name = comp_ports[1];
+ RTC.RTObject comp1_ref;
+ if(comp1_name.indexOf("://") == -1){
+ RTObject_impl comp1 = getComponent(comp1_name);
+ if (comp1 == null) {
+ rtcout.println(Logbuf.ERROR,
+ comp1_name + " not found.");
+ continue;
+ }
+ comp1_ref = comp1.getObjRef();
+ }
+ else{
+ RTC.RTObject[] rtcs = m_namingManager.string_to_component(comp1_name);
+ if(rtcs.length == 0) {
+ rtcout.println(Logbuf.ERROR, comp1_name + " not found.");
+ continue;
+ }
+ comp1_ref = rtcs[0];
+ String[] array = comp_ports[1].split("/");
+ port1_name = array[array.length-1];
+ }
+
+
+ PortService port1_var = CORBA_RTCUtil.get_port_by_name(comp1_ref, port1_name);
+ if(port1_var == null){
+ rtcout.println(Logbuf.ERROR, "port " + port1_name + " not found.");
+ continue;
+ }
+
+
+ NVListHolder nvholder = new NVListHolder();
+ if( nvholder.value==null ) {
+ nvholder.value = new NameValue[0];
+ }
+ String[] opt_props = conn_prop[1].split("\\&");
+ for (int o=0; o < opt_props.length; ++o) {
+ String[] temp = opt_props[o].split("=");
+ //prop["dataport." + temp[0]] = temp[1];
+ if(temp.length == 2){
+ rtcout.println(Logbuf.TRACE, "options: " + Arrays.toString(temp));
+ CORBA_SeqUtil.push_back(nvholder,
+ NVUtil.newNVString("dataport." + temp[0],temp[1]));
+ }
+ }
+ Properties prop = new Properties();
+ NVUtil.copyToProperties(prop, nvholder);
+ ReturnCode_t ret = CORBA_RTCUtil.connect(
+ connectors[ic],prop,port0_var, port1_var);
+ if(ret != ReturnCode_t.RTC_OK){
+ rtcout.println(Logbuf.ERROR,
+ "Connection error in topic connection.");
+ }
+ NVUtil.dump(nvholder);
+ }
+ }
+
+ /**
* {@.ja Managerの実行。}
* {@.en Run the Manager}
*
More information about the openrtm-commit
mailing list