[openrtm-commit:02825] r1045 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC

[openrtm ＠ openrtm.org]

Author: t-katami
Date: 2017-09-15 13:33:24 +0900 (Fri, 15 Sep 2017)
New Revision: 1045

Modified:
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java
   trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
Log:
[compat,newfunc->releng_1_2] When manager_name is not designated, a slave manager starts it by the manager_\<process number\>.  refs #4187

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java	2017-09-15 02:43:33 UTC (rev 1044)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java	2017-09-15 04:33:24 UTC (rev 1045)
@@ -70,6 +70,9 @@
         "sdo.service.provider.enabled_services",  "ALL",
         "sdo.service.consumer.enabled_services",  "ALL",
         "manager.local_service.enabled_services","ALL",
+        "manager.modules.C++.load_paths",  "./",
+        "manager.modules.Python.load_paths",  "./",
+        "manager.modules.Java.load_paths",  "./",
         ""
     };
 }

Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java	2017-09-15 02:43:33 UTC (rev 1044)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java	2017-09-15 04:33:24 UTC (rev 1045)
@@ -1440,12 +1440,18 @@
             return null;
         }
 
-        RTM.Manager mgrobj = findManager_by_name(mgrstr);
-        rtcout.println(Logbuf.PARANOID, 
-                        "findManager_by_name("
-                        +mgrstr
-                        +"):"
-                        +mgrobj);
+        RTM.Manager mgrobj;
+        if(mgrstr.equals("manager_%p")){
+            mgrobj = null;
+        }
+        else{
+            mgrobj = findManager_by_name(mgrstr);
+            rtcout.println(Logbuf.PARANOID, 
+                            "findManager_by_name("
+                            +mgrstr
+                            +"):"
+                            +mgrobj);
+        }
 
         tmp[0] = arg;
         String language = get_parameter_by_modulename("language",tmp);
@@ -1466,6 +1472,14 @@
             if(rtcd_cmd.isEmpty()){
                 rtcd_cmd = "rtcd_java";
             }
+ 
+            String load_path = config.getProperty("manager.modules.load_path");
+            String load_path_language = config.getProperty(
+                                         "manager.modules."
+                                         +language
+                                         +".load_paths");
+            load_path = load_path + "," + load_path_language;
+
             List<String> cmd = new ArrayList();
             cmd.add(rtcd_cmd);
             cmd.add("-o");
@@ -1481,6 +1495,8 @@
             cmd.add("-o");
             cmd.add("manager.instance_name:"+mgrstr);
             cmd.add("-o");
+            cmd.add("manager.modules.load_path:"+load_path);
+            cmd.add("-o");
             cmd.add("manager.shutdown_auto:YES");
 /*
             String cmd = rtcd_cmd;
@@ -1653,11 +1669,21 @@
             if(rtcd_cmd.isEmpty()){
                 rtcd_cmd = "rtcd_java";
             }
+ 
+            String load_path = config.getProperty("manager.modules.load_path");
+            String load_path_language = config.getProperty(
+                                         "manager.modules."
+                                         +language
+                                         +".load_paths");
+            load_path = load_path + "," + load_path_language;
 
+
             List<String> cmd = new ArrayList();
             cmd.add(rtcd_cmd);
             cmd.add("-p");
             cmd.add(mgrvstr[1]);
+            cmd.add("-o");
+            cmd.add("manager.modules.load_path:"+load_path);
 
             rtcout.println(Logbuf.DEBUG, "Invoking command: "+ cmd + ".");