[openrtm-commit:02920] r3075 - in trunk/OpenRTM-aist: . src/lib/rtm

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2017-11-16 19:12:02 +0900 (Thu, 16 Nov 2017)
New Revision: 3075

Modified:
   trunk/OpenRTM-aist/CMakeLists.txt
   trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
Log:
[compat, VxWorks, TAO] fixed bug.

Modified: trunk/OpenRTM-aist/CMakeLists.txt
===================================================================
--- trunk/OpenRTM-aist/CMakeLists.txt	2017-11-16 08:10:47 UTC (rev 3074)
+++ trunk/OpenRTM-aist/CMakeLists.txt	2017-11-16 10:12:02 UTC (rev 3075)
@@ -183,9 +183,11 @@
 		else()
 			SET(ORB_C_FLAGS_LIST -D__x86__)
 		endif()
+		SET(ORB_C_FLAGS_LIST ${ORB_C_FLAGS_LIST} -DACE_VXWORKS=0x690 -DACE_HAS_PTHREADS -DACE_HAS_AIO_CALLS -DACE_LACKS_ISBLANK)
+message(STATUS ${ORB_ROOT}/lib)
 		set(ORB_LINK_DIR ${ORB_ROOT}/lib)
-		set(ORB_LIBRARIES ACE TAO TAO_AnyTypeCode TAO_PortableServer TAO_Svc_Utils TAO_CosNaming TAO_IORTable TAO_CodecFactory TAO_PI TAO_Utils)
-		set(ORB_INCLUDE_DIR ${ORB_ROOT}/include)
+		set(ORB_LIBRARIES   TAO_AnyTypeCode TAO_PortableServer TAO_Svc_Utils TAO_CosNaming   TAO_AnyTypeCode TAO_DynamicInterface TAO_PI TAO_Utils TAO_PortableServer TAO_DiffServPolicy TAO_DynamicInterface  TAO ACE)
+		set(ORB_INCLUDE_DIR ${ORB_ROOT} ${ORB_ROOT}/TAO ${ORB_ROOT}/TAO/orbsvcs)
 	elseif(UNIX)
 		set(ORB_LINK_DIR ${ORB_ROOT}/lib)
 		set(ORB_LIBRARIES ACE TAO TAO_AnyTypeCode TAO_PortableServer TAO_Svc_Utils TAO_CosNaming TAO_IORTable TAO_CodecFactory TAO_PI TAO_Utils)

Modified: trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp	2017-11-16 08:10:47 UTC (rev 3074)
+++ trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp	2017-11-16 10:12:02 UTC (rev 3075)
@@ -171,7 +171,11 @@
     for (int i(0), len(prof.size()); i < len; ++i)
       {
         RTC_VERBOSE_STR((prof[i]));
+#ifndef ORB_IS_TAO
         NVUtil::copyFromProperties(cprof[(CORBA::Long)i].properties, prof[i]);
+#else
+        NVUtil::copyFromProperties(cprof.inout()[(CORBA::Long)i].properties, prof[i]);
+#endif
       }
 
     if (0)
@@ -225,7 +229,11 @@
     for (int i(0), len(prof.size()); i < len; ++i)
       {
         RTC_VERBOSE_STR((prof[i]));
+#ifndef ORB_IS_TAO
         NVUtil::copyFromProperties(cprof[(CORBA::Long)i].properties, prof[i]);
+#else
+        NVUtil::copyFromProperties(cprof.inout()[(CORBA::Long)i].properties, prof[i]);
+#endif
       }
 
     if (0)
@@ -279,7 +287,11 @@
     for (int i(0), len(prof.size()); i < len; ++i)
       {
         RTC_VERBOSE_STR((prof[i]));
+#ifndef ORB_IS_TAO
         NVUtil::copyFromProperties(cprof[(CORBA::Long)i].properties, prof[i]);
+#else
+        NVUtil::copyFromProperties(cprof.inout()[(CORBA::Long)i].properties, prof[i]);
+#endif
       }
 
     if (0)
@@ -424,7 +436,11 @@
     crtcs->length((CORBA::Long)rtcs.size());
     for (int i(0), len(rtcs.size()); i < len; ++i)
       {
+#ifndef ORB_IS_TAO
         crtcs[(CORBA::Long)i] = RTC::RTObject::_duplicate(rtcs[i]->getObjRef());
+#else
+        crtcs.inout()[(CORBA::Long)i] = RTC::RTObject::_duplicate(rtcs[i]->getObjRef());
+#endif
       }
 
     // get slaves' component references
@@ -474,7 +490,11 @@
     for (int i(0), len(rtcs.size()); i < len; ++i)
       {
         ::RTC::ComponentProfile_var prof = rtcs[i]->get_component_profile();
+#ifndef ORB_IS_TAO
         cprofs[(CORBA::Long)i] = prof;
+#else
+        cprofs.inout()[(CORBA::Long)i] = prof;
+#endif
       }
 
     // copy slaves' component profiles