[openrtm-commit:02200] r2824 - branches/FSM4RTC/OpenRTM-aist/src/lib/rtm

[openrtm ＠ openrtm.org]

Author: n-ando
Date: 2017-01-10 11:11:15 +0900 (Tue, 10 Jan 2017)
New Revision: 2824

Modified:
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortPushConnector.cpp
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherFlush.cpp
   branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherNew.cpp
Log:
[FSM4RTC,compat,new prop] PortProfile/ConnectorProfile "dataport.io_mode" has been added. refs #3688

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp	2017-01-10 00:49:21 UTC (rev 2823)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortBase.cpp	2017-01-10 02:11:15 UTC (rev 2824)
@@ -96,6 +96,9 @@
     coil::eraseBlank(pubs);
     RTC_DEBUG(("available subscription_type: %s",  pubs.c_str()));
     addProperty("dataport.subscription_type", pubs.c_str());
+    // FSM4RTC formal/16-04-01 p.25
+    // In the FSM4RTC specification, publisher type is defined as "io_mode"
+    addProperty("dataport.io_mode", pubs.c_str());
 
   };
   

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortPushConnector.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortPushConnector.cpp	2017-01-10 00:49:21 UTC (rev 2823)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/OutPortPushConnector.cpp	2017-01-10 02:11:15 UTC (rev 2824)
@@ -187,8 +187,14 @@
   PublisherBase* OutPortPushConnector::createPublisher(ConnectorInfo& info)
   {
     std::string pub_type;
-    pub_type = info.properties.getProperty("subscription_type",
-                                              "flush");
+    pub_type = info.properties.getProperty("io_mode");
+    if (pub_type.empty())
+      {
+        pub_type = info.properties.getProperty("subscription_type", "flush");
+        if (pub_type == "flush")    { info.properties["io_mode"] = "block";    }
+        else if (pub_type == "new") { info.properties["io_mode"] = "nonblock"; }
+        else                        { info.properties["io_mode"] = pub_type;   }
+      }
     coil::normalize(pub_type);
     return PublisherFactory::instance().createObject(pub_type);
   }

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherFlush.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherFlush.cpp	2017-01-10 00:49:21 UTC (rev 2823)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherFlush.cpp	2017-01-10 02:11:15 UTC (rev 2824)
@@ -231,6 +231,15 @@
                                              ::RTC::PublisherFlush>,
                             ::coil::Destructor< ::RTC::PublisherBase,
                                                 ::RTC::PublisherFlush>);
+    // FSM4RTC formal/16-04-01 p.25
+    // In the FSM4RTC specification, publisher type is defined as "io_mode"
+    // Publisher "flush" is functionally equals to "io_mode: block".
+    ::RTC::PublisherFactory::
+      instance().addFactory("block",
+                            ::coil::Creator< ::RTC::PublisherBase,
+                                             ::RTC::PublisherFlush>,
+                            ::coil::Destructor< ::RTC::PublisherBase,
+                                                ::RTC::PublisherFlush>);
   }
 };
 

Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherNew.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherNew.cpp	2017-01-10 00:49:21 UTC (rev 2823)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/PublisherNew.cpp	2017-01-10 02:11:15 UTC (rev 2824)
@@ -584,5 +584,14 @@
                                              ::RTC::PublisherNew>,
                             ::coil::Destructor< ::RTC::PublisherBase,
                                                 ::RTC::PublisherNew>);
+    // FSM4RTC formal/16-04-01 p.25
+    // In the FSM4RTC specification, publisher type is defined as "io_mode"
+    // Publisher "new" is functionally equals to "io_mode: nonblock".
+    ::RTC::PublisherFactory::
+      instance().addFactory("nonblock",
+                            ::coil::Creator< ::RTC::PublisherBase,
+                                             ::RTC::PublisherNew>,
+                            ::coil::Destructor< ::RTC::PublisherBase,
+                                                ::RTC::PublisherNew>);
   }
 };