[openrtm-commit:02068] r858 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port

[openrtm ＠ openrtm.org]

Author: win-ei
Date: 2016-10-18 17:35:44 +0900 (Tue, 18 Oct 2016)
New Revision: 858

Modified:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortSHMConsumer.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/SharedMemory.java
Log:
Fixed  bugs. refs #3395

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortSHMConsumer.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortSHMConsumer.java	2016-10-17 03:04:37 UTC (rev 857)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortSHMConsumer.java	2016-10-18 08:35:44 UTC (rev 858)
@@ -49,7 +49,7 @@
 
         
 //        rtcout.setLevel("PARANOID");
-//        m_orb = ORBUtil.getOrb();
+        m_orb = ORBUtil.getOrb();
     }
     /**
      * {@.ja 設定初期化}
@@ -143,8 +143,12 @@
                     EncapsOutputStreamExt cdr;
                     cdr = (EncapsOutputStreamExt)data;
                     byte[] ch = cdr.getByteArray();
+                    EncapsOutputStreamExt output_stream 
+                        = new EncapsOutputStreamExt(m_orb, m_connector.isLittleEndian());
+                    output_stream.write_octet_array(ch,0,ch.length);
                     CdrDataHolder cdr_data = new CdrDataHolder();
-                    cdr_data.value = ch;
+                    //cdr_data.value = ch;
+                    cdr_data.value = output_stream.getByteArray();
                     m_shmem.write(cdr_data);
         
                     ret = inportcdr.put();

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/SharedMemory.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/SharedMemory.java	2016-10-17 03:04:37 UTC (rev 857)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/SharedMemory.java	2016-10-18 08:35:44 UTC (rev 858)
@@ -201,12 +201,12 @@
             buffer.order(ByteOrder.LITTLE_ENDIAN);
 
 
-            org.omg.CORBA.LongHolder len = new org.omg.CORBA.LongHolder(data.value.length);
+            //org.omg.CORBA.LongHolder len = new org.omg.CORBA.LongHolder(data.value.length);
             EncapsOutputStreamExt cdr 
                 = new EncapsOutputStreamExt(ORBUtil.getOrb(),true);
-            len._write(cdr);
+            //len._write(cdr);
             //cdr.write_ulong(data.value.length);
-            //cdr.write_ulonglong(data.value.length);
+            cdr.write_ulonglong(data.value.length);
             byte[] ch = cdr.getByteArray();
             buffer.put(ch, 0, ch.length);
 
@@ -248,9 +248,12 @@
                 = new EncapsOutputStreamExt(ORBUtil.getOrb(),true);
             cdr.write_octet_array(len_data, 0, len_data.length);
             InputStream instream = cdr.create_input_stream();
-            org.omg.CORBA.LongHolder len = new org.omg.CORBA.LongHolder();
-            len._read(instream);
-            data.value = new byte[(int)len.value];
+            //org.omg.CORBA.LongHolder len = new org.omg.CORBA.LongHolder();
+            //len._read(instream);
+            //data.value = new byte[(int)len.value];
+	    //long len = instream.read_ulong();
+	    long len = instream.read_ulonglong();
+            data.value = new byte[(int)len];
             buffer.get(data.value);
             //buffer.get(data.value,8,data.value.length);
             channel.close();