[openrtm-commit:03143] r3202 - in trunk/OpenRTM-aist: etc etc/tao_udp src/lib/rtm

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2018-01-24 23:54:28 +0900 (Wed, 24 Jan 2018)
New Revision: 3202

Added:
   trunk/OpenRTM-aist/etc/tao_udp/
   trunk/OpenRTM-aist/etc/tao_udp/svc.conf
Modified:
   trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
   trunk/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrUDPConsumer.cpp
Log:
[compat, TAO] UDP data port implementation.

Added: trunk/OpenRTM-aist/etc/tao_udp/svc.conf
===================================================================
--- trunk/OpenRTM-aist/etc/tao_udp/svc.conf	                        (rev 0)
+++ trunk/OpenRTM-aist/etc/tao_udp/svc.conf	2018-01-24 14:54:28 UTC (rev 3202)
@@ -0,0 +1,2 @@
+static Advanced_Resource_Factory "-ORBProtocolFactory DIOP_Factory -ORBProtocolFactory IIOP_Factory -ORBReactorType select_st"
+

Modified: trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp	2018-01-24 03:20:38 UTC (rev 3201)
+++ trunk/OpenRTM-aist/src/lib/rtm/FactoryInit.cpp	2018-01-24 14:54:28 UTC (rev 3202)
@@ -41,6 +41,10 @@
 #include <rtm/InPortSHMConsumer.h>
 #include <rtm/OutPortSHMProvider.h>
 #include <rtm/OutPortSHMConsumer.h>
+#ifdef ORB_IS_TAO
+#include <rtm/InPortCorbaCdrUDPProvider.h>
+#include <rtm/InPortCorbaCdrUDPConsumer.h>
+#endif
 
 // RTC name numbering policy
 #include <rtm/NumberingPolicy.h>
@@ -72,6 +76,10 @@
     InPortSHMConsumerInit();
     OutPortSHMProviderInit();
     OutPortSHMConsumerInit();
+#ifdef ORB_IS_TAO
+    InPortCorbaCdrUDPProviderInit();
+    InPortCorbaCdrUDPConsumerInit();
+#endif
 
     // Naming Policy
     ProcessUniquePolicyInit();

Modified: trunk/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrUDPConsumer.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrUDPConsumer.cpp	2018-01-24 03:20:38 UTC (rev 3201)
+++ trunk/OpenRTM-aist/src/lib/rtm/InPortCorbaCdrUDPConsumer.cpp	2018-01-24 14:54:28 UTC (rev 3202)
@@ -20,6 +20,13 @@
 #include <rtm/InPortCorbaCdrUDPConsumer.h>
 #include <rtm/CORBA_IORUtil.h>
 
+#ifdef ORB_IS_TAO
+#include <tao/Endpoint.h>
+#include <tao/Profile.h>
+#include <tao/Stub.h>
+#endif
+
+
 namespace RTC
 {
   /*!
@@ -201,9 +208,31 @@
     
     CORBA::ORB_var orb = ::RTC::Manager::instance().getORB();
 
+
     CORBA::Object_var obj = orb->string_to_object(ior);
+	
 
+#ifdef ORB_IS_TAO
+	TAO_Stub *stub = obj->_stubobj();
 
+
+	TAO_MProfile profiles = stub->base_profiles();
+	
+	while (profiles.profile_count() > 1)
+	{
+		if (profiles.get_profile(0)->tag() != TAO_TAG_DIOP_PROFILE)
+		{
+			profiles.remove_profile(profiles.get_profile(0));
+		}
+		else
+		{
+			break;
+		}
+	}
+	
+	TAO_Profile* profile = stub->profile_in_use();
+	stub->base_profiles(profiles);
+#endif
     
     if (CORBA::is_nil(obj))
       {