[openrtm-commit:02978] r3112 - in trunk/OpenRTM-aist: . src/ext/sdo src/lib/rtm
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2017年 12月 11日 (月) 06:00:43 JST
Author: n-ando
Date: 2017-12-11 06:00:43 +0900 (Mon, 11 Dec 2017)
New Revision: 3112
Added:
trunk/OpenRTM-aist/src/ext/sdo/extended_fsm/
trunk/OpenRTM-aist/src/ext/sdo/fsm4rtc_observer/
Modified:
trunk/OpenRTM-aist/configure.ac
trunk/OpenRTM-aist/src/ext/sdo/Makefile.am
trunk/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp
trunk/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h
Log:
merged changes from branches/FSM4RTC/OpenRTM-aist r2761-2762, sdo/Makefile.am confliction resolved:
[FSM4RTC,incompat,->RELENG_2_0] FSM4RTC ComponentObservice initial implementation has been added. refs #3591
[FSM4RTC,incompat,->RELENG_2_0] FSM4RTC ExtendedFsmService initial implementation has been added. refs #3593
Modified: trunk/OpenRTM-aist/configure.ac
===================================================================
--- trunk/OpenRTM-aist/configure.ac 2017-12-10 07:07:01 UTC (rev 3111)
+++ trunk/OpenRTM-aist/configure.ac 2017-12-10 21:00:43 UTC (rev 3112)
@@ -1669,6 +1669,8 @@
src/ext/sdo/Makefile
src/ext/sdo/logger/Makefile
src/ext/sdo/observer/Makefile
+ src/ext/sdo/fsm4rtc_observer/Makefile
+ src/ext/sdo/extended_fsm/Makefile
src/ext/local_service/Makefile
src/ext/local_service/nameservice_file/Makefile
src/ext/logger/Makefile
Modified: trunk/OpenRTM-aist/src/ext/sdo/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/ext/sdo/Makefile.am 2017-12-10 07:07:01 UTC (rev 3111)
+++ trunk/OpenRTM-aist/src/ext/sdo/Makefile.am 2017-12-10 21:00:43 UTC (rev 3112)
@@ -7,6 +7,5 @@
AUTOMAKE_OPTIONS = 1.4
-SUBDIRS = logger observer
+SUBDIRS = logger observer fsm4rtc_observer extended_fsm
-
Modified: trunk/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp 2017-12-10 07:07:01 UTC (rev 3111)
+++ trunk/OpenRTM-aist/src/lib/rtm/SdoServiceAdmin.cpp 2017-12-10 21:00:43 UTC (rev 3112)
@@ -114,8 +114,13 @@
std::string propkey = ifrToKey(activeProviderTypes[i]);
NVUtil::copyFromProperties(prof.properties,
prop.getNode(propkey.c_str()));
-
- svc->init(rtobj, prof);
+ // TODO: return value must be concerned
+ if (svc->init(rtobj, prof) != true)
+ {
+ svc->finalize();
+ delete svc;
+ continue;
+ }
m_providers.push_back(svc);
}
Modified: trunk/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h 2017-12-10 07:07:01 UTC (rev 3111)
+++ trunk/OpenRTM-aist/src/lib/rtm/SdoServiceProviderBase.h 2017-12-10 21:00:43 UTC (rev 3112)
@@ -55,7 +55,7 @@
* ¥Ó¥¹¤Î¤¿¤á¤Î¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¥ª¥×¥·¥ç¥ó¤¬ coil::Property¤Ë
* ¤è¤êÅϤµ¤ì¤ë¡£
* -# ¥¤¥ó¥¹¥¿¥ó¥¹²½¤µ¤ì¤¿SDO¥µ¡¼¥Ó¥¹¥×¥í¥Ð¥¤¥À¤Ï
- * SDO::get_get_sdo_service() ¤Ë¤è¤ê³°Éô¤«¤é¥¢¥¯¥»¥¹¤µ¤ì¤ë¡£¤³¤Î¤È
+ * SDO::get_sdo_service() ¤Ë¤è¤ê³°Éô¤«¤é¥¢¥¯¥»¥¹¤µ¤ì¤ë¡£¤³¤Î¤È
* ¤¡¢¥µ¡¼¥Ó¥¹¤ò»ØÄꤹ¤ëID¤ÏIFR ID¤ÈƱ¤¸¤Ç¤¢¤ë¡£¤³¤Î¤È¤¤Î¥¢¥¿¥Ã
* ¥Á¥·¡¼¥±¥ó¥¹¤Ï°Ê²¼¤ÎÄ̤ꡣ
* -# RTC¤¬finalize¤µ¤ì²òÂΤµ¤ì¤ë¤ÈƱ»þ¤ËSDO¥µ¡¼¥Ó¥¹¥×¥í¥Ð¥¤¥À¤â²òÂÎ
@@ -101,7 +101,7 @@
* ¥¤¥ë̾¤Î basename + "Init" ¤Ë¤·¤Æ¤ª¤¯¡£°Ê²¼¤Ë¡¢¥¯¥é¥¹Ì¾¡¢¥Õ¥¡¥¤¥ë
* ̾¡¢¥¨¥ó¥È¥ê¥Ý¥¤¥ó¥È´Ø¿ô̾¤Î¿ä¾©Îã¤ò¼¨¤¹¡£
*
- * - ¼ÂÁõ¥¯¥é¥¹Ì¾: MySdoServiceConusmer
+ * - ¼ÂÁõ¥¯¥é¥¹Ì¾: MySdoServiceProvider
* - ¥Õ¥¡¥¤¥ë̾: MySdoServiceProvider.h. MySdoServiceProvider.cpp
* - ¶¦Í¥ª¥Ö¥¸¥§¥¯¥È̾: MySdoServiceProvider.so (or DLL)
* - ¥¨¥ó¥È¥ê¥Ý¥¤¥ó¥È´Ø¿ô̾: MySdoServiceProviderInit()
@@ -149,17 +149,32 @@
* @if jp
* @brief ¥³¥ó¥·¥å¡¼¥Þ¥¯¥é¥¹¤Î½é´ü²½´Ø¿ô
*
- * ¤³¤Î¥ª¥Ö¥¸¥§¥¯¥È¤Î½é´ü²½¤ò¹Ô¤¦¡£³°Éô¤«¤éSDO¥µ¡¼¥Ó¥¹¤¬
- * ServiceProfile ¤È¤È¤â¤Ë¥¢¥¿¥Ã¥Á¤µ¤ì¤ë¤È¡¢SDO¥³¥ó¥·¥å¡¼¥Þ¤¬¥¤¥ó¥¹
- * ¥¿¥ó¥¹²½¤µ¤ì¡¢¤½¤Îľ¸å¤Ë SDO ¥µ¡¼¥Ó¥¹¤¬¥¢¥¿¥Ã¥Á¤µ¤ì¤¿ RTC ¤ÈÍ¿¤¨
- * ¤é¤ì¤¿ ServiceProfile ¤ò°ú¿ô¤È¤·¤Æ¤³¤Î´Ø¿ô¤¬¸Æ¤Ð¤ì¤ë¡£
+ * ½é´ü²½´Ø¿ô¡£Í¿¤¨¤é¤ì¤¿ RTObject ¤ª¤è¤Ó ServiceProfile ¤«¤é¡¢Åö³º
+ * ¥ª¥Ö¥¸¥§¥¯¥È¤ò½é´ü²½¤·¤Þ¤¹¡£¤³¤Î¥µ¡¼¥Ó¥¹¤¬
+ * ''sdo.service.provider.enabled_services'' ¤Ç͸ú²½¤µ¤ì¤Æ¤¤¤ì¤Ð¡¢
+ * ¤³¤Î´Ø¿ô¤ÏÂбþ¤¹¤ëRTC¤¬¥¤¥ó¥¹¥¿¥ó¥¹²½¤µ¤ì¤¿Ä¾¸å¤Ë¸Æ¤Ó½Ð¤µ¤ì¤Þ¤¹¡£
*
- * ´Ø¿ôÆâ¤Ç¤Ï¡¢ServiceProfile Æâ¤Î SDO ¥µ¡¼¥Ó¥¹¥ê¥Õ¥¡¥ì¥ó¥¹¤ò
- * CorbaProvider ¥¯¥é¥¹Åù¤òÍøÍѤ·¥ª¥Ö¥¸¥§¥¯¥ÈÆâ¤ËÊÝ»ý¤¹¤ë¤È¤È¤â¤Ë¡¢
- * properties ¤«¤éÀßÄêÆâÍƤòÆɤ߹þ¤ß¥µ¡¼¥Ó¥¹¸ÇͤÎÀßÄêÅù¤ò¹Ô¤¦¡£Í¿
- * ¤¨¤é¤ì¤¿¥µ¡¼¥Ó¥¹¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤¬ÉÔÀµ¡¢¤¢¤ë¤¤¤Ï
- * properties ¤ÎÆâÍƤ¬ÉÔÀµ¡¢Åù¤Î¾ì¹ç¤ÏÌá¤êÃÍ¤Ë false ¤òÊÖ¤¹¡£
+ * ServiceProfile ¤Ë¤Ï°Ê²¼¤Î¾ðÊó¤¬Æþ¤Ã¤¿¾õÂ֤ǸƤӽФµ¤ì¤Þ¤¹¡£
*
+ * - ServiceProfile.id: Åö³º¥µ¡¼¥Ó¥¹¤ÎIFR·¿
+ * - ServiceProfile.interface_type: Åö³º¥µ¡¼¥Ó¥¹¤ÎIFR·¿
+ * - ServiceProfile.service: Åö³º¥µ¡¼¥Ó¥¹¤Î¥ª¥Ö¥¸¥§¥¯¥È»²¾È
+ * - ServiceProfile.properties: rtc.conf ¤ä <component>.conf Åù¤ÇÍ¿
+ * ¤¨¤é¤ì¤¿SDO¥µ¡¼¥Ó¥¹¸ÇͤΥª¥×¥·¥ç¥ó¤¬ÅϤµ¤ì¤ë¡£
+ * conf¥Õ¥¡¥¤¥ëÆâ¤Ç
+ * ¤Ï¡¢''<pragma>.<module_name>.<interface_name>''
+ * ¤È¤¤¤¦¥×¥ê¥Õ¥£¥Ã¥¯¥¹¤ò¤Ä¤±¤¿¥ª¥×¥·¥ç¥ó¤È¤·¤ÆÍ¿
+ * ¤¨¤ë¤³¤È¤¬¤Ç¤¡¢properties Æâ¤Ë¤Ï¡¢¤³¤Î¥×¥ê
+ * ¥Õ¥£¥Ã¥¯¥¹¤ò½ü¤¤¤¿¥ª¥×¥·¥ç¥ó¤¬key:value·Á¼°¤Ç
+ * ´Þ¤Þ¤ì¤Æ¤¤¤ë¡£
+ *
+ * ´Ø¿ôÆâ¤Ç¤Ï¡¢¼ç¤Ë properties ¤«¤éÀßÄêÆâÍƤòÆɤ߹þ¤ß¥µ¡¼¥Ó¥¹¸ÇͤÎ
+ * ÀßÄêÅù¤ò¹Ô¤¤¤Þ¤¹¡£Í¿¤¨¤é¤ì¤¿ ServiceProfile¤ÎÆâÍƤ¬ÉÔÀµ¡¢¤¢¤ë¤¤
+ * ¤Ï¤½¤Î¾¤ÎÍýͳ¤ÇÅö³º¥µ¡¼¥Ó¥¹¤ò¥¤¥ó¥¹¥¿¥ó¥¹²½¤·¤Ê¤¤¾ì¹ç¤Ï false
+ * ¤òÊÖ¤·¤Þ¤¹¡£¤½¤Î¾ì¹ç¡¢finalize() ¤¬¸Æ¤Ó½Ð¤µ¤ì¤½¤Î¸å¥ª¥Ö¥¸¥§¥¯¥È
+ * ¤Ïºï½ü¤µ¤ì¤Þ¤¹¡£¤½¤ì°Ê³°¤Î¾ì¹ç¤Ï true ¤òÊÖ¤¹¤È¡¢¥µ¡¼¥Ó¥¹¥ª¥Ö¥¸¥§
+ * ¥¯¥È¤Ï RTC Æâ¤ËÊÝ»ý¤µ¤ì¤Þ¤¹¡£
+ *
* @param rtobj ¤³¤Î¥ª¥Ö¥¸¥§¥¯¥È¤¬¥¤¥ó¥¹¥¿¥ó¥¹²½¤µ¤ì¤¿ RTC
* @param profile ³°Éô¤«¤éÍ¿¤¨¤é¤ì¤¿ SDO ServiceProfile
* @return Í¿¤¨¤é¤ì¤¿ SDO Service ¤ä ServiceProfile ¤¬ÉÔÀµ¤Î¾ì¹ç false
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