[openrtm-commit:02314] r2886 - branches/FSM4RTC/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 1月 22日 (日) 23:07:24 JST
Author: n-ando
Date: 2017-01-22 23:07:24 +0900 (Sun, 22 Jan 2017)
New Revision: 2886
Modified:
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.cpp
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.h
branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
Log:
[FSM4RTC,incompat] setEndpointProperty() function has been added to set endpoints information ro corba.endpoints . refs #3836
Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.cpp 2017-01-22 14:00:28 UTC (rev 2885)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.cpp 2017-01-22 14:07:24 UTC (rev 2886)
@@ -806,7 +806,7 @@
"os.version",
"os.arch",
"os.hostname",
- "corba.endpoint",
+ "corba.endpoints",
"corba.id",
"exec_cxt.periodic.type",
"exec_cxt.periodic.rate",
@@ -827,6 +827,20 @@
""
};
+ RTObject_impl* comp;
+ comp = factory->create(this);
+ if (comp == NULL)
+ {
+ RTC_ERROR(("RTC creation failed: %s",
+ comp_id["implementation_id"].c_str()));
+ return NULL;
+ }
+
+ if (m_config.getProperty("corba.endpoints_ipv4") == "")
+ {
+ setEndpointProperty(comp->getObjRef());
+ }
+
for (int i(0); inherit_prop[i][0] != '\0'; ++i)
{
const char* key(inherit_prop[i]);
@@ -835,15 +849,7 @@
prop[key] = m_config[key];
}
}
-
- RTObject_impl* comp;
- comp = factory->create(this);
- if (comp == NULL)
- {
- RTC_ERROR(("RTC creation failed: %s",
- comp_id["implementation_id"].c_str()));
- return NULL;
- }
+
RTC_TRACE(("RTC created: %s", comp_id["implementation_id"].c_str()));
m_listeners.rtclifecycle_.postCreate(comp);
prop << comp_prop;
@@ -1762,7 +1768,6 @@
return true;
}
-
bool Manager::initManagerServant()
{
RTC_TRACE(("Manager::initManagerServant()"));
@@ -1771,6 +1776,10 @@
return true;
}
m_mgrservant = new ::RTM::ManagerServant();
+ if (m_config.getProperty("corba.endpoints_ipv4") == "")
+ {
+ setEndpointProperty(m_mgrservant->getObjRef());
+ }
coil::Properties& prop(m_config.getNode("manager"));
std::vector<std::string> names(coil::split(prop["naming_formats"], ","));
@@ -1788,10 +1797,10 @@
{
otherref.close();
std::ofstream reffile(m_config["manager.refstring_path"].c_str());
- RTM::Manager_var mgr_v(RTM::Manager::
+ RTM::Manager_var mgr_v(RTM::Manager::
_duplicate(m_mgrservant->getObjRef()));
CORBA::String_var str_var = m_pORB->object_to_string(mgr_v);
- reffile << str_var;
+ reffile << str_var;
reffile.close();
}
else
@@ -2208,5 +2217,114 @@
}
return str;
}
-
+
+ /*!
+ * @if jp
+ * @brief corba.endpoints にエンドポイント情報を設定する
+ * @else
+ * @brief Setting endpoint info from corba.endpoints
+ * @endif
+ */
+ void Manager::setEndpointProperty(CORBA::Object_ptr objref)
+ {
+ RTC_TRACE(("sedEndpointProperty()"));
+ if (CORBA::is_nil(objref))
+ {
+ RTC_WARN(("Object reference is nil."));
+ return;
+ }
+
+ bool ipv4, ipv6;
+ std::vector<int> ipv4_list, ipv6_list;
+ endpointPropertySwitch("ipv4", ipv4, ipv4_list);
+ endpointPropertySwitch("ipv6", ipv6, ipv6_list);
+
+ CORBA::String_var iorstr = theORB()->object_to_string(objref);
+ IOP::IOR ior;
+ CORBA_IORUtil::toIOR(iorstr, ior);
+ std::vector<IIOP::Address> endpoints;
+ endpoints = CORBA_IORUtil::getEndpoints(ior);
+
+ coil::vstring epstr, epstr_ipv4, epstr_ipv6;
+ size_t ipv4_count(0), ipv6_count(0);
+
+ coil::vstring addrs;
+ for (size_t i(0); i < endpoints.size(); ++i)
+ {
+ std::string addr(endpoints[i].host);
+ if (ipv4 && coil::isIPv4(addr))
+ {
+ std::string tmp(addr + ":" + coil::otos(endpoints[i].port));
+ if (ipv4_list.size() == 0 ||
+ std::find(ipv4_list.begin(), ipv4_list.end(), ipv4_count)
+ != ipv4_list.end())
+ {
+ epstr.push_back(tmp);
+ epstr_ipv4.push_back(tmp);
+ }
+ ipv4_count += 1;
+ }
+ if (ipv6 && coil::isIPv6(addr))
+ {
+ std::string tmp("[" + addr + "]:" + coil::otos(endpoints[i].port));
+ if (ipv6_list.size() == 0 ||
+ std::find(ipv6_list.begin(), ipv6_list.end(), ipv6_count)
+ != ipv6_list.end())
+ {
+ epstr.push_back(tmp);
+ epstr_ipv6.push_back(tmp);
+ }
+ ipv6_count += 1;
+ }
+ }
+ m_config.setProperty("corba.endpoints", coil::flatten(epstr));
+ m_config.setProperty("corba.endpoints_ipv4", coil::flatten(epstr_ipv4));
+ m_config.setProperty("corba.endpoints_ipv6", coil::flatten(epstr_ipv6));
+ }
+
+ /*!
+ * @if jp
+ * @brief corba.endpoint_property からオプション情報を取得する
+ * @else
+ * @brief Getting option info from corba.endpoint_property
+ * @endif
+ */
+ void Manager::endpointPropertySwitch(const std::string& ipver,
+ bool& ip, std::vector<int>& ip_list)
+ {
+ ip = false; ip_list.resize(0);
+
+ std::string ep_prop;
+ ep_prop = m_config.getProperty("corba.endpoint_property", "ipv4");
+ coil::toLower(ep_prop);
+
+ std::string::size_type pos = ep_prop.find(ipver);
+ if (pos == std::string::npos) { return; }
+
+ ip = true;
+ pos += ipver.size();
+ if (pos >= ep_prop.size() || ep_prop[pos] != '(') { return; }
+ std::string::size_type par_begin, par_end;
+ par_begin = pos;
+ ++pos;
+ while (pos < ep_prop.size())
+ {
+ if (ep_prop[pos] == ')') { break; }
+ ++pos;
+ }
+ par_end = pos;
+
+ std::string list_num(ep_prop.substr(par_begin + 1, par_end - 1));
+ coil::vstring nums = coil::split(list_num, ",");
+ for (size_t i(0); i < nums.size(); ++i)
+ {
+ int n;
+ if (coil::stringTo(n, nums[i].c_str()))
+ {
+ ip_list.push_back(n);
+ }
+ }
+ return;
+ }
+
};
Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.h
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.h 2017-01-22 14:00:28 UTC (rev 2885)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/Manager.h 2017-01-22 14:07:24 UTC (rev 2886)
@@ -1719,7 +1719,24 @@
std::string formatString(const char* naming_format,
coil::Properties& prop);
+ /*!
+ * @if jp
+ * @brief corba.endpoints にエンドポイント情報を設定する
+ * @else
+ * @brief Setting endpoint info from corba.endpoints
+ * @endif
+ */
+ void setEndpointProperty(CORBA::Object_ptr objref);
+ /*!
+ * @if jp
+ * @brief corba.endpoint_property からオプション情報を取得する
+ * @else
+ * @brief Getting option info from corba.endpoint_property
+ * @endif
+ */
+ void endpointPropertySwitch(const std::string& ipver,
+ bool& ip, std::vector<int>& ip_list);
//============================================================
// protected 変数
Modified: branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
===================================================================
--- branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp 2017-01-22 14:00:28 UTC (rev 2885)
+++ branches/FSM4RTC/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp 2017-01-22 14:07:24 UTC (rev 2886)
@@ -34,17 +34,17 @@
{
rtclog.setName("ManagerServant");
coil::Properties config(m_mgr.getConfig());
-
+
+ if (!createINSManager())
+ {
+ RTC_WARN(("Manager CORBA servant creation failed."));
+ return;
+ }
+
if (coil::toBool(config["manager.is_master"], "YES", "NO", true))
{ // this is master manager
RTC_TRACE(("This manager is master."));
- if (!createINSManager())
- {
- RTC_WARN(("Manager CORBA servant creation failed."));
- return;
-
- }
m_isMaster = true;
RTC_WARN(("Manager CORBA servant was successfully created."));
return;
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