[openrtm-commit:02261] r907 - in trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port: . publisher

[openrtm ＠ openrtm.org]

Author: win-ei
Date: 2017-01-18 17:53:24 +0900 (Wed, 18 Jan 2017)
New Revision: 907

Modified:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortBase.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortPushConnector.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherFlush.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherNew.java
Log:
[FSM4RTC,compat,new prop] PortProfile/ConnectorProfile \"dataport.io_mode\" has been added. refs #3779

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortBase.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortBase.java	2017-01-17 10:54:38 UTC (rev 906)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortBase.java	2017-01-18 08:53:24 UTC (rev 907)
@@ -75,6 +75,12 @@
         rtcout.println(Logbuf.DEBUG,
                        "available subscription_type: "+pubs);
         addProperty("dataport.subscription_type", pubs, String.class);
+
+        // FSM4RTC formal/16-04-01 p.25
+        // In the FSM4RTC specification, publisher type is defined as "io_mode"
+        addProperty("dataport.io_mode",  pubs, String.class);
+
+
     }
 
     /**

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortPushConnector.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortPushConnector.java	2017-01-17 10:54:38 UTC (rev 906)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/OutPortPushConnector.java	2017-01-18 08:53:24 UTC (rev 907)
@@ -353,9 +353,23 @@
      * <p> create publisher </p>
      */
     protected PublisherBase createPublisher(ConnectorInfo profile) {
-        String pub_type;
-        pub_type = profile.properties.getProperty("subscription_type",
-                                              "flush");
+        String pub_type="";
+        pub_type = profile.properties.getProperty("io_mode");
+        if(pub_type.isEmpty()) {
+            pub_type = profile.properties.getProperty("subscription_type",
+                                                  "flush");
+         
+            if(pub_type.equals("flush")) {
+                profile.properties.setProperty("io_mode","block");
+            }
+            else if(pub_type.equals("new")) {
+                profile.properties.setProperty("io_mode","nonblock");
+            }
+            else {
+                profile.properties.setProperty("io_mode",pub_type);
+            }
+            
+        }
         pub_type = StringUtil.normalize(pub_type);
         PublisherBaseFactory<PublisherBase,String> factory  
                 = PublisherBaseFactory.instance();

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherFlush.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherFlush.java	2017-01-17 10:54:38 UTC (rev 906)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherFlush.java	2017-01-18 08:53:24 UTC (rev 907)
@@ -264,6 +264,13 @@
         factory.addFactory(id_name,
                     new PublisherFlush(),
                     new 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".
+        factory.addFactory("block",
+                    new PublisherFlush(),
+                    new PublisherFlush());
     
     }
     /**

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherNew.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherNew.java	2017-01-17 10:54:38 UTC (rev 906)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/port/publisher/PublisherNew.java	2017-01-18 08:53:24 UTC (rev 907)
@@ -634,6 +634,12 @@
         factory.addFactory(id_name,
                     new PublisherNew(),
                     new 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".
+        factory.addFactory("nonblock",
+                    new PublisherNew(),
+                    new PublisherNew());
     
     }
     /**