[openrtm-commit:02904] r3063 - in trunk/OpenRTM-aist: . src/lib/rtm

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2017-11-07 16:37:46 +0900 (Tue, 07 Nov 2017)
New Revision: 3063

Modified:
   trunk/OpenRTM-aist/CMakeLists.txt
   trunk/OpenRTM-aist/src/lib/rtm/ConnectorListener.h
   trunk/OpenRTM-aist/src/lib/rtm/InPort.h
   trunk/OpenRTM-aist/src/lib/rtm/OutPortSHMConsumer.cpp
   trunk/OpenRTM-aist/src/lib/rtm/PeriodicECSharedComposite.cpp
   trunk/OpenRTM-aist/src/lib/rtm/SharedMemoryPort.cpp
Log:
[compat] Support TAO.

Modified: trunk/OpenRTM-aist/CMakeLists.txt
===================================================================
--- trunk/OpenRTM-aist/CMakeLists.txt	2017-11-06 13:08:01 UTC (rev 3062)
+++ trunk/OpenRTM-aist/CMakeLists.txt	2017-11-07 07:37:46 UTC (rev 3063)
@@ -59,7 +59,13 @@
 			set(IDL_COMPILE_COMMAND ${ORB_ROOT}/bin/tao_idl)
 		endif(VXWORKS)
 	endif()
-	SET(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/TAO)
+	if(UNIX)
+		SET(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/include)
+	elseif(VXWORKS)
+		SET(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/TAO)
+	elseif(MSVC)
+		SET(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/TAO)
+	endif()
 endif()
 
 if(UNIX)

Modified: trunk/OpenRTM-aist/src/lib/rtm/ConnectorListener.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ConnectorListener.h	2017-11-06 13:08:01 UTC (rev 3062)
+++ trunk/OpenRTM-aist/src/lib/rtm/ConnectorListener.h	2017-11-07 07:37:46 UTC (rev 3063)
@@ -355,7 +355,8 @@
         }
        cdr.cdr >> data;
 #elif defined(ORB_IS_TAO)
-       TAO_InputCDR(cdr.cdr) >> data;
+       TAO_InputCDR tao_cdr = TAO_InputCDR(cdr.cdr);
+       tao_cdr >> data;
 #else
       if (endian[0] == "little")
         {

Modified: trunk/OpenRTM-aist/src/lib/rtm/InPort.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/InPort.h	2017-11-06 13:08:01 UTC (rev 3062)
+++ trunk/OpenRTM-aist/src/lib/rtm/InPort.h	2017-11-07 07:37:46 UTC (rev 3063)
@@ -443,7 +443,8 @@
 #ifdef ORB_IS_ORBEXPRESS
           cdr.cdr >> m_value;
 #elif defined(ORB_IS_TAO)
-          TAO_InputCDR(cdr.cdr) >> m_value;
+          TAO_InputCDR tao_cdr = TAO_InputCDR(cdr.cdr);
+          tao_cdr >> m_value;
 #else
           m_value <<= cdr;
 #endif

Modified: trunk/OpenRTM-aist/src/lib/rtm/OutPortSHMConsumer.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/OutPortSHMConsumer.cpp	2017-11-06 13:08:01 UTC (rev 3062)
+++ trunk/OpenRTM-aist/src/lib/rtm/OutPortSHMConsumer.cpp	2017-11-07 07:37:46 UTC (rev 3063)
@@ -132,8 +132,13 @@
 				m_shmem.read(data);
 
 				RTC_DEBUG(("get() successful"));
-
+#ifdef ORB_IS_ORBEXPRESS
+				RTC_PARANOID(("CDR data length: %d", data.cdr.size_written()));
+#elif defined(ORB_IS_TAO)
+				RTC_PARANOID(("CDR data length: %d", data.cdr.length()));
+#else
 				RTC_PARANOID(("CDR data length: %d", data.bufSize()));
+#endif
 
 				onReceived(data);
 				onBufferWrite(data);

Modified: trunk/OpenRTM-aist/src/lib/rtm/PeriodicECSharedComposite.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/PeriodicECSharedComposite.cpp	2017-11-06 13:08:01 UTC (rev 3062)
+++ trunk/OpenRTM-aist/src/lib/rtm/PeriodicECSharedComposite.cpp	2017-11-07 07:37:46 UTC (rev 3063)
@@ -130,7 +130,11 @@
     for (::CORBA::ULong i(0), len(sdo_list.length()); i < len; ++i)
       {
 #ifndef ORB_IS_RTORB
+#ifdef ORB_IS_TAO
+        const SDO_var sdo  = sdo_list[i].in();
+#else
         const SDO_var sdo  = sdo_list[i];
+#endif
         ::OpenRTM::DataFlowComponent_var dfc;
 	if (!sdoToDFC(sdo.in(), dfc.out())) { continue; }
 #else // ORB_IS_RTORB

Modified: trunk/OpenRTM-aist/src/lib/rtm/SharedMemoryPort.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/SharedMemoryPort.cpp	2017-11-06 13:08:01 UTC (rev 3062)
+++ trunk/OpenRTM-aist/src/lib/rtm/SharedMemoryPort.cpp	2017-11-07 07:37:46 UTC (rev 3063)
@@ -250,7 +250,13 @@
   */
 	void SharedMemoryPort::write(const cdrMemoryStream& data)
   {
+#ifdef ORB_IS_ORBEXPRESS
+	  CORBA::ULongLong data_size = (CORBA::ULongLong)data.cdr.size_written();
+#elif defined(ORB_IS_TAO)
+	  CORBA::ULongLong data_size = (CORBA::ULongLong)data.cdr.length();
+#else
 	  CORBA::ULongLong data_size = (CORBA::ULongLong)data.bufSize();
+#endif
 	  if (data_size + sizeof(CORBA::ULongLong) > m_shmem.get_size())
 	  {
 		  int memory_size = (int)data_size + (int)sizeof(CORBA::ULongLong);
@@ -286,7 +292,7 @@
 #ifdef ORB_IS_ORBEXPRESS
 		  m_shmem.write(const_cast<char*>(data.get_buffer()), sizeof(CORBA::ULongLong), data.cdr.size_written());
 #elif defined(ORB_IS_TAO)
-		  m_shmem.write((char*)data.buffer(), sizeof(CORBA::ULongLong), data.cdr.length());
+		  m_shmem.write((char*)data.cdr.buffer(), sizeof(CORBA::ULongLong), data.cdr.length());
 #else
 		 
 		  m_shmem.write((char*)data.bufPtr(), sizeof(CORBA::ULongLong), data.bufSize());
@@ -321,11 +327,12 @@
 #ifdef ORB_IS_ORBEXPRESS
 		  data.is_little_endian(m_endian);
 		  data_size_cdr.is_little_endian(m_endian);
-		  data_size_cdr.write_array_1(data_size_str[0], sizeof(CORBA::ULongLong));
+		  data_size_cdr.write_array_1((CORBA::Octet *)&(m_shmem.get_data()[0]), sizeof(CORBA::ULongLong));
 		  data_size_cdr.cdr >> data_size;
 #elif defined(ORB_IS_TAO)
-		  data_size_cdr.write_octet_array(data_size_str[0], sizeof(CORBA::ULongLong));
-		  TAO_InputCDR(data_size_cdr.cdr) >> data_size;
+		  data_size_cdr.cdr.write_octet_array((CORBA::Octet *)&(m_shmem.get_data()[0]), sizeof(CORBA::ULongLong));
+		  TAO_InputCDR tao_cdr = TAO_InputCDR(data_size_cdr.cdr);
+		  tao_cdr >> data_size;
 #else
 		  data.setByteSwapFlag(m_endian);
 		  data_size_cdr.setByteSwapFlag(m_endian);
@@ -343,7 +350,13 @@
 			 
 			  data.put_octet_array(&(shm_data[0]), (int)data_size);
 		  }*/
+#ifdef ORB_IS_ORBEXPRESS
+		  data.cdr.write_array_1((CORBA::Octet *)&(m_shmem.get_data()[sizeof(CORBA::ULongLong)]), (int)data_size);
+#elif defined(ORB_IS_TAO)
+		  data.cdr.write_octet_array((CORBA::Octet *)&(m_shmem.get_data()[sizeof(CORBA::ULongLong)]), (int)data_size);
+#else
 		  data.put_octet_array((CORBA::Octet *)&(m_shmem.get_data()[sizeof(CORBA::ULongLong)]), (int)data_size);
+#endif
 		  //delete shm_data;
 	  }