[openrtm-commit:02457] r951 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port

[openrtm ＠ openrtm.org]

Author: win-ei
Date: 2017-02-17 23:41:34 +0900 (Fri, 17 Feb 2017)
New Revision: 951

Modified:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortBase.java
Log:
[FSM4RTC] for multi-buffer mode. refs #3780

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java	2017-02-16 08:33:23 UTC (rev 950)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPort.java	2017-02-17 14:41:34 UTC (rev 951)
@@ -2,6 +2,7 @@
 
 import java.lang.reflect.Field;
 import java.lang.reflect.Method;
+import java.util.ArrayList;
 
 import jp.go.aist.rtm.RTC.buffer.BufferBase;
 import jp.go.aist.rtm.RTC.buffer.RingBuffer;
@@ -256,6 +257,40 @@
         rtcout.println(Logbuf.DEBUG, "isNew() = false, no readable data");
         return false;
     }
+    /**
+     *
+     */
+    public boolean isNew(ArrayList<String> names) {
+
+        rtcout.println(Logbuf.TRACE, "isNew()");
+        int r = 0;
+
+        synchronized (m_directNewDataMutex){
+            if (m_directNewData == true) {
+                rtcout.println(Logbuf.DEBUG, 
+                              "isNew() returns true because of direct write.");
+                return true;
+            }
+        }
+        boolean ret = false;
+        synchronized (m_connectorsMutex){
+            synchronized (m_connectors){
+                if (m_connectors.size() == 0) {
+                    rtcout.println(Logbuf.DEBUG, "no connectors");
+                    return false;
+                }
+                for(int ic=0;ic<m_connectors.size();++ic){
+                    r = m_connectors.elementAt(ic).getBuffer().readable();
+                    if (r > 0) {
+                        names.add(m_connectors.elementAt(ic).name());
+                        ret = true;
+                    }
+                }
+            }
+        }
+  
+        return ret;
+    }
     
     
     /**
@@ -368,7 +403,6 @@
                 }
 
                 //ret = m_connectors.elementAt(0).read(dataref);
-                int index = 0;
                 for(int ic=0;ic<m_connectors.size();++ic){
                     ret = m_connectors.elementAt(ic).read(dataref);
                     if (ret.equals(ReturnCode.PORT_OK)) {
@@ -402,6 +436,77 @@
 
         }
     }
+    /**
+     *
+     */
+    public boolean read(String name) {
+        rtcout.println(Logbuf.TRACE, "DataType read()");
+
+        if (m_OnRead != null) {
+            m_OnRead.run();
+            rtcout.println(Logbuf.TRACE, "OnRead called");
+        }
+
+        // 1) direct connection
+        synchronized (m_directNewDataMutex){
+            if (m_directNewData == true) {
+                rtcout.println(Logbuf.DEBUG, "Direct data transfer");
+                m_directNewData = false;
+                if (m_OnReadConvert != null) {
+                    m_value.v = m_OnReadConvert.run(m_value.v);
+                    rtcout.println(Logbuf.DEBUG, 
+                         "OnReadConvert for direct data called");
+                    return true;
+                }
+                return true;
+            }
+        }
+        // 2) network connection
+        synchronized (m_connectorsMutex){
+            ReturnCode ret = ReturnCode.PORT_OK;
+            EncapsOutputStreamExt cdr = new EncapsOutputStreamExt(m_orb, 
+                                                        isLittleEndian());
+            DataRef<InputStream> dataref 
+                    = new DataRef<InputStream>(cdr.create_input_stream());
+            synchronized (m_connectors){
+
+                if (m_connectors.size() == 0) {
+                    rtcout.println(Logbuf.DEBUG, "no connectors");
+                    return false;
+                }
+
+                for(int ic=0;ic<m_connectors.size();++ic){
+                    if (m_connectors.elementAt(ic).name().equals(name)) {
+                        ret = m_connectors.elementAt(ic).read(dataref);
+                    }
+                }
+            }
+
+            if (ret.equals(ReturnCode.PORT_OK)) {
+                rtcout.println(Logbuf.DEBUG, "data read succeeded");
+
+                m_value.v = read_stream(m_value,dataref.v);
+                if (m_OnReadConvert != null) {
+                    m_value.v = m_OnReadConvert.run(m_value.v);
+                    rtcout.println(Logbuf.DEBUG, "OnReadConvert called");
+                    return true;
+                }
+                return true;
+            }
+            else if (ret.equals(ReturnCode.BUFFER_EMPTY)) {
+                rtcout.println(Logbuf.WARN, "buffer empty");
+                return false;
+            }
+            else if (ret.equals(ReturnCode.BUFFER_TIMEOUT)) {
+                rtcout.println(Logbuf.WARN, "buffer read timeout");
+                return false;
+            }
+            rtcout.println(Logbuf.ERROR, 
+                           "unknown retern value from buffer.read()");
+            return false;
+
+        }
+    }
     
     /**
      * <p>バインドされたDataType型のデータに、ポート内バッファの最新値を読み込みます。<br />

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortBase.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortBase.java	2017-02-16 08:33:23 UTC (rev 950)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/InPortBase.java	2017-02-17 14:41:34 UTC (rev 951)
@@ -58,7 +58,8 @@
 
         rtcout.println(Logbuf.DEBUG, "Port name: "+name);
 
-        m_singlebuffer = true;
+        //m_singlebuffer = true;
+        m_singlebuffer = false;
         m_thebuffer = null;
         m_isLittleEndian = true;
         // Set PortProfile::properties