[openrtm-commit:02088] r864 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 10月 29日 (土) 13:29:26 JST
Author: win-ei
Date: 2016-10-29 13:29:26 +0900 (Sat, 29 Oct 2016)
New Revision: 864
Added:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Kernel32.java
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/SharedMemory.java
Log:
Added processing of SharedMemory of windows edition. refs #3395
Added: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Kernel32.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Kernel32.java (rev 0)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/Kernel32.java 2016-10-29 04:29:26 UTC (rev 864)
@@ -0,0 +1,76 @@
+package jp.go.aist.rtm.RTC.port;
+import com.sun.jna.Library;
+import com.sun.jna.platform.win32.WinNT;
+/*
+import com.sun.jna.Native;
+import com.sun.jna.platform.win32.BaseTSD.SIZE_T;
+import com.sun.jna.platform.win32.WinDef.DWORD;
+import com.sun.jna.platform.win32.WinDef.DWORDByReference;
+import com.sun.jna.platform.win32.WinDef.PVOID;
+import com.sun.jna.platform.win32.WinDef.BOOL;
+import com.sun.jna.platform.win32.WinNT.HANDLE;
+*/
+
+
+import com.sun.jna.Native;
+import com.sun.jna.Pointer;
+import com.sun.jna.win32.StdCallLibrary;
+import com.sun.jna.win32.W32APIOptions;
+
+/**
+ * {@.ja Kernel32 クラス}
+ * {@.en Kernel32 class}
+ * <p>
+ * {@.ja WindowsAPIラッパクラス
+ * JNAを使用してWindowsAPIを呼び出す}
+ * {@.en WindowsAPI wrappers class
+ * Calls windowsAPI via JNA.}
+ *
+ */
+public interface Kernel32 extends Library,StdCallLibrary, WinNT {
+ Kernel32 INSTANCE = (Kernel32)Native.loadLibrary("kernel32" , Kernel32.class);
+ HANDLE CreateFileMappingA(
+ HANDLE hFile, // ファイルハンドル
+ WinNT.SECURITY_ATTRIBUTES psa,// セキュリティ指定
+ int fdwProtect, // ファイルデータ保護属性
+ int dwMaxSizeHigh, // サイズの上位32ビット
+ int dwMaxSizeLow, // サイズの下位32ビット
+ String pszName // オブジェクトの名前
+ );
+ Pointer MapViewOfFile(
+ HANDLE hMappingObject, // マッピングオブジェクトのハンドル
+ int dwDesiredAccess, // データのアクセス方法
+ int dwFileOffsetHigh, // オフセットの上位32ビット
+ int dwFileOffsetLow, // オフセットの下位32ビット
+ int dwNumberOfByteToMap // マッピングをするバイト数
+ );
+ boolean UnmapViewOfFile(
+ Pointer pBaseAddress // ビューのベースアドレス
+ );
+ boolean CloseHandle(
+ HANDLE hObject // オブジェクトのハンドル
+ );
+/*
+ HANDLE CreateFileMappingA(
+ HANDLE hFile, // ファイルハンドル
+ WinNT.SECURITY_ATTRIBUTES psa,// セキュリティ指定
+ DWORD fdwProtect, // ファイルデータ保護属性
+ DWORD dwMaxSizeHigh, // サイズの上位32ビット
+ DWORD dwMaxSizeLow, // サイズの下位32ビット
+ String pszName // オブジェクトの名前
+ );
+ PVOID MapViewOfFile(
+ HANDLE hMappingObject, // マッピングオブジェクトのハンドル
+ DWORD dwDesiredAccess, // データのアクセス方法
+ DWORD dwFileOffsetHigh, // オフセットの上位32ビット
+ DWORD dwFileOffsetLow, // オフセットの下位32ビット
+ SIZE_T dwNumberOfByteToMap // マッピングをするバイト数
+ );
+ BOOL UnmapViewOfFile(
+ PVOID pBaseAddress // ビューのベースアドレス
+ );
+ BOOL CloseHandle(
+ HANDLE hObject // オブジェクトのハンドル
+ );
+*/
+}
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 2016-10-29 04:15:19 UTC (rev 863)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/SharedMemory.java 2016-10-29 04:29:26 UTC (rev 864)
@@ -4,6 +4,7 @@
import java.io.File;
import java.io.RandomAccessFile;
+import java.nio.ByteBuffer;
import java.nio.MappedByteBuffer;
import java.nio.ByteOrder;
import java.nio.channels.FileChannel;
@@ -19,6 +20,9 @@
import org.omg.CORBA.portable.OutputStream;
import org.omg.CORBA.portable.InputStream;
+import com.sun.jna.Pointer;
+import com.sun.jna.platform.win32.WinNT;
+import com.sun.jna.platform.win32.WinNT.HANDLE;
/**
* {@.ja SharedMemory クラス}
* {@.en SharedMemory class}
@@ -50,6 +54,8 @@
m_memory_size = DEFAULT_MEMORY_SIZE;
m_endian = true;
m_os = System.getProperty("os.name").toLowerCase();
+ m_hMapping = null;
+ m_pMappingView = null;
}
@@ -112,12 +118,40 @@
String address;
if(m_os.startsWith("windows")){
- address = m_shm_address;
+ HANDLE fileHandle = new HANDLE(new Pointer(0xffffffff));
+ WinNT.SECURITY_ATTRIBUTES psa = null;
+ try{
+ m_hMapping = Kernel32.INSTANCE.CreateFileMappingA(
+ fileHandle,
+ psa,
+ 0x04,//PAGE_READWRITE
+ 0,
+ (int)m_memory_size,
+ m_shm_address
+ );
+ m_pMappingView = Kernel32.INSTANCE.MapViewOfFile(
+ m_hMapping,
+ 0x001f,//FILE_MAP_ALL_ACCESS
+ 0,
+ 0,
+ (int)m_memory_size
+ );
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"Open error "+ex.toString() );
+ }
}
else {
address = SHARED_NAME+m_shm_address;
+ try{
+ RandomAccessFile file = new RandomAccessFile(address, "rw");
+ file.setLength(m_memory_size);
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"Open error "+ex.toString() );
+ }
}
-
+/*
try{
RandomAccessFile file = new RandomAccessFile(address, "rw");
file.setLength(m_memory_size);
@@ -125,7 +159,7 @@
catch(Exception ex) {
rtcout.println(Logbuf.ERROR,"Open error "+ex.toString() );
}
-
+*/
if(m_smInterface!=null){
m_smInterface.open_memory(m_memory_size, m_shm_address);
}
@@ -153,11 +187,40 @@
m_shm_address = shm_address;
String address;
if(m_os.startsWith("windows")){
- address = m_shm_address;
+ HANDLE fileHandle = new HANDLE(new Pointer(0xffffffff));
+ WinNT.SECURITY_ATTRIBUTES psa = null;
+ try{
+ m_hMapping = Kernel32.INSTANCE.CreateFileMappingA(
+ fileHandle,
+ psa,
+ 0x04,//PAGE_READWRITE
+ 0,
+ (int)m_memory_size,
+ m_shm_address
+ );
+ m_pMappingView = Kernel32.INSTANCE.MapViewOfFile(
+ m_hMapping,
+ 0x001f,//FILE_MAP_ALL_ACCESS
+ 0,
+ 0,
+ (int)m_memory_size
+ );
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"Open error "+ex.toString() );
+ }
}
else {
address = SHARED_NAME+m_shm_address;
+ try{
+ RandomAccessFile file = new RandomAccessFile(address, "rw");
+ file.setLength(m_memory_size);
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"Open error "+ex.toString() );
+ }
}
+/*
try{
RandomAccessFile file = new RandomAccessFile(address, "rw");
file.setLength(m_memory_size);
@@ -165,6 +228,7 @@
catch(Exception ex) {
rtcout.println(Logbuf.ERROR,"Open error "+ex.toString() );
}
+*/
}
/**
*
@@ -178,11 +242,17 @@
# void close_memory(boolean unlink);
*/
public void close_memory(boolean unlink){
- File file = new File(SHARED_NAME+m_shm_address);
- file.delete();
- if(m_smInterface!=null){
- m_smInterface.close_memory(false);
+ if(m_os.startsWith("windows")){
+ Kernel32.INSTANCE.UnmapViewOfFile(m_pMappingView);
+ Kernel32.INSTANCE.CloseHandle(m_hMapping);
}
+ else {
+ File file = new File(SHARED_NAME+m_shm_address);
+ file.delete();
+ if(m_smInterface!=null){
+ m_smInterface.close_memory(false);
+ }
+ }
}
public void close_memory(){
@@ -210,35 +280,49 @@
rtcout.println(Logbuf.TRACE, "write()");
String address;
if(m_os.startsWith("windows")){
- address = m_shm_address;
+ HANDLE fileHandle = new HANDLE(new Pointer(0xffffffff));
+ WinNT.SECURITY_ATTRIBUTES psa = null;
+ try{
+ EncapsOutputStreamExt cdr
+ = new EncapsOutputStreamExt(ORBUtil.getOrb(),m_endian);
+ cdr.write_ulonglong(data.value.length);
+ byte[] ch = cdr.getByteArray();
+
+ m_pMappingView.write((long)0, ch, 0, ch.length);
+
+ m_pMappingView.write((long)8, data.value, 0, data.value.length);
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"write error "+ex.toString() );
+ }
}
else {
address = SHARED_NAME+m_shm_address;
- }
- try{
- RandomAccessFile file = new RandomAccessFile(address, "rw");
- FileChannel channel = file.getChannel();
- int length = (int)channel.size();
- MappedByteBuffer buffer
- = channel.map(FileChannel.MapMode.READ_WRITE, 0, length);
- buffer.order(ByteOrder.LITTLE_ENDIAN);
+ try{
+ RandomAccessFile file = new RandomAccessFile(address, "rw");
+ FileChannel channel = file.getChannel();
+ int length = (int)channel.size();
+ MappedByteBuffer buffer
+ = channel.map(FileChannel.MapMode.READ_WRITE, 0, length);
+ buffer.order(ByteOrder.LITTLE_ENDIAN);
- EncapsOutputStreamExt cdr
- = new EncapsOutputStreamExt(ORBUtil.getOrb(),m_endian);
- cdr.write_ulonglong(data.value.length);
- byte[] ch = cdr.getByteArray();
- buffer.put(ch, 0, ch.length);
+ EncapsOutputStreamExt cdr
+ = new EncapsOutputStreamExt(ORBUtil.getOrb(),m_endian);
+ cdr.write_ulonglong(data.value.length);
+ byte[] ch = cdr.getByteArray();
+ buffer.put(ch, 0, ch.length);
- buffer.put(data.value);
+ buffer.put(data.value);
- channel.close();
- file.close();
+ channel.close();
+ file.close();
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"write error "+ex.toString() );
+ }
}
- catch(Exception ex) {
- rtcout.println(Logbuf.ERROR,"write error "+ex.toString() );
- }
}
/**
*
@@ -256,38 +340,52 @@
String address;
if(m_os.startsWith("windows")){
address = m_shm_address;
+ HANDLE fileHandle = new HANDLE(new Pointer(0xffffffff));
+ WinNT.SECURITY_ATTRIBUTES psa = null;
+ try{
+ byte[] len_data = new byte[8];
+ len_data = m_pMappingView.getByteArray(0,8);
+ EncapsOutputStreamExt cdr
+ = new EncapsOutputStreamExt(ORBUtil.getOrb(),m_endian);
+ cdr.write_octet_array(len_data, 0, len_data.length);
+ InputStream instream = cdr.create_input_stream();
+ long len = instream.read_ulonglong();
+ data.value = new byte[(int)len];
+ ByteBuffer buffer = m_pMappingView.getByteBuffer(8, len);
+ buffer.get(data.value);
+
+
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"read error "+ex.toString() );
+ }
}
else {
address = SHARED_NAME+m_shm_address;
- }
- try {
- RandomAccessFile file = new RandomAccessFile(address, "rw");
- FileChannel channel = file.getChannel();
- int length = (int)channel.size();
- MappedByteBuffer buffer
- = channel.map(FileChannel.MapMode.READ_WRITE, 0, length);
- buffer.order(ByteOrder.LITTLE_ENDIAN);
- byte[] len_data = new byte[8];
- buffer.get(len_data,0,len_data.length);
+ try {
+ RandomAccessFile file = new RandomAccessFile(address, "rw");
+ FileChannel channel = file.getChannel();
+ int length = (int)channel.size();
+ MappedByteBuffer buffer
+ = channel.map(FileChannel.MapMode.READ_WRITE, 0, length);
+ buffer.order(ByteOrder.LITTLE_ENDIAN);
+ byte[] len_data = new byte[8];
+ buffer.get(len_data,0,len_data.length);
- EncapsOutputStreamExt cdr
- = new EncapsOutputStreamExt(ORBUtil.getOrb(),m_endian);
- 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];
- //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();
- file.close();
+ EncapsOutputStreamExt cdr
+ = new EncapsOutputStreamExt(ORBUtil.getOrb(),m_endian);
+ cdr.write_octet_array(len_data, 0, len_data.length);
+ InputStream instream = cdr.create_input_stream();
+ long len = instream.read_ulonglong();
+ data.value = new byte[(int)len];
+ buffer.get(data.value);
+ channel.close();
+ file.close();
+ }
+ catch(Exception ex) {
+ rtcout.println(Logbuf.ERROR,"read error "+ex.toString() );
+ }
}
- catch(Exception ex) {
- rtcout.println(Logbuf.ERROR,"read error "+ex.toString() );
- }
}
@@ -352,6 +450,8 @@
private long m_memory_size;
private OpenRTM.PortSharedMemory m_smInterface;
private String m_os;
+ private HANDLE m_hMapping;
+ private Pointer m_pMappingView;
protected boolean m_endian;
}
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