[openrtm-commit:03147] r3206 - branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 1月 25日 (木) 11:43:28 JST
Author: miyamoto
Date: 2018-01-25 11:43:28 +0900 (Thu, 25 Jan 2018)
New Revision: 3206
Modified:
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp
branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h
Log:
[compat, ->RELENG_1_2] refs #3404
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp 2018-01-24 23:24:08 UTC (rev 3205)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp 2018-01-25 02:43:28 UTC (rev 3206)
@@ -2524,7 +2524,7 @@
* @brief µ¯Æ°»þ¤Ërtc.conf¤Ç»ØÄꤷ¤¿¥Ý¡¼¥È¤òÀܳ¤¹¤ë
*
* Îã:
- * manager.components.preconnect: RTC0.port0^RTC0.port1(interface_type=corba_cdr&dataflow_type=pull&~),~
+ * manager.components.preconnect: RTC0.port0?RTC0.port1&interface_type=corba_cdr&dataflow_type=pull&~,~
*
*
* @else
@@ -2535,141 +2535,165 @@
*/
void Manager::initPreConnection()
{
- RTC_TRACE(("Connection pre-connection: %s",
- m_config["manager.components.preconnect"].c_str()));
- std::vector<std::string> connectors;
- connectors = coil::split(m_config["manager.components.preconnect"], ",");
- for (int i(0), len(connectors.size()); i < len; ++i)
- {
- coil::eraseBothEndsBlank(connectors[i]);
- if (connectors[i].empty())
- {
- continue;
- }
- // ConsoleIn.out:Console.in(dataflow_type=push,....)
- coil::vstring conn_prop = coil::split(connectors[i], "(");
- if (conn_prop.size() == 1)
- {
- conn_prop. // default connector profile value
- push_back("dataflow_type=push&interface_type=corba_cdr");
- }
- else if(conn_prop.size() < 2)
- {
- RTC_ERROR(("Invalid format for pre-connection."));
- continue;
- }// after this conn_prop.size() >= 2
- std::size_t pos = conn_prop[1].find_last_of(")");
- if (pos != std::string::npos) { conn_prop[1].erase(pos); }
+ RTC_TRACE(("Connection pre-connection: %s",
+ m_config["manager.components.preconnect"].c_str()));
+ std::vector<std::string> connectors;
+ connectors = coil::split(m_config["manager.components.preconnect"], ",");
+ for (int i(0), len(connectors.size()); i < len; ++i)
+ {
+
+ coil::eraseBothEndsBlank(connectors[i]);
+ if (connectors[i].empty())
+ {
+ continue;
+ }
- coil::vstring comp_ports;
- comp_ports = coil::split(conn_prop[0], "^");
- if (comp_ports.size() != 2)
- {
- RTC_ERROR(("Invalid format for pre-connection."));
- RTC_ERROR(("Format must be Comp0.port0^Comp1.port1"));
- continue;
- }
- coil::vstring tmp = coil::split(comp_ports[0], ".");
- tmp.pop_back();
- std::string comp0_name = coil::flatten(tmp, ".");
+ std::string port0_str = coil::split(connectors[i], "?")[0];
+ coil::mapstring param = coil::urlparam2map(connectors[i]);
- std::string port0_name = comp_ports[0];
- RTObject_impl* comp0 = NULL;
- RTC::RTObject_ptr comp0_ref = NULL;
+ coil::vstring ports;
+ coil::mapstring configs;
- if (comp0_name.find("://") == std::string::npos)
- {
- comp0 = getComponent(comp0_name.c_str());
- if (comp0 == NULL)
- {
- RTC_ERROR(("%s not found.", comp0_name.c_str()));
- continue;
- }
- comp0_ref = comp0->getObjRef();
- }
- else
- {
- RTC::RTCList rtcs = m_namingManager->string_to_component(comp0_name);
- if (rtcs.length() == 0)
- {
- RTC_ERROR(("%s not found.", comp0_name.c_str()));
- continue;
- }
- comp0_ref = rtcs[0];
- coil::vstring tmp_port0_name = coil::split(comp_ports[0], "/");
- port0_name = tmp_port0_name.back();
- }
+ for (coil::mapstring::iterator param_itr = param.begin(); param_itr != param.end(); ++param_itr) {
+ if (param_itr->first == "port")
+ {
+ ports.push_back(param_itr->second);
+ continue;
+ }
+ std::string tmp = param_itr->first;
+ coil::replaceString(tmp, "port", "");
+ int val = 0;
+ if (coil::stringTo<int>(val, tmp.c_str()))
+ {
+ ports.push_back(param_itr->second);
+ continue;
+ }
+ configs[param_itr->first] = param_itr->second;
+ }
- RTC::PortService_var port0_var = CORBA_RTCUtil::get_port_by_name(comp0_ref, port0_name);
- if (CORBA::is_nil(port0_var))
+
+ if (ports.size() == 0)
{
- RTC_DEBUG(("port %s found: " ,comp_ports[0].c_str()));
+ RTC_ERROR(("Invalid format for pre-connection."));
+ RTC_ERROR(("Format must be Comp0.port0?port=Comp1.port1"));
continue;
}
- tmp = coil::split(comp_ports[1], ".");
+ if (configs.count("dataflow_type") == 0)
+ {
+ configs["dataflow_type"] = "push";
+ }
+ if (configs.count("interface_type") == 0)
+ {
+ configs["interface_type"] = "corba_cdr";
+ }
+
+
+ coil::vstring tmp = coil::split(port0_str, ".");
tmp.pop_back();
- std::string comp1_name = coil::flatten(tmp, ".");
- std::string port1_name = comp_ports[1];
- RTObject_impl* comp1 = NULL;
- RTC::RTObject_ptr comp1_ref = NULL;
+ std::string comp0_name = coil::flatten(tmp, ".");
+
+ std::string port0_name = port0_str;
+ RTObject_impl* comp0 = NULL;
+ RTC::RTObject_ptr comp0_ref = NULL;
-
- if (comp1_name.find("://") == std::string::npos)
- { // local RTC
- comp1 = getComponent(comp1_name.c_str());
- if (comp1 == NULL)
+ if (comp0_name.find("://") == -1)
+ {
+ comp0 = getComponent(comp0_name.c_str());
+ if (comp0 == NULL)
{
- RTC_ERROR(("%s not found.", comp1_name.c_str()));
+ RTC_ERROR(("%s not found.", comp0_name));
continue;
}
- comp1_ref = comp1->getObjRef();
+ comp0_ref = comp0->getObjRef();
}
else
- { // remote RTC
- RTC::RTCList rtcs = m_namingManager->string_to_component(comp1_name);
+ {
+ RTC::RTCList rtcs = m_namingManager->string_to_component(comp0_name);
if (rtcs.length() == 0)
{
- RTC_ERROR(("%s not found.", comp1_name.c_str()));
+ RTC_ERROR(("%s not found.", comp0_name));
continue;
}
- comp1_ref = rtcs[0];
- coil::vstring tmp_port1_name = coil::split(comp_ports[0], "/");
- port1_name = tmp_port1_name.back();
+ comp0_ref = rtcs[0];
+ coil::vstring tmp_port0_name = coil::split(port0_str, "/");
+ port0_name = tmp_port0_name.back();
}
- RTC::PortService_var port1_var = CORBA_RTCUtil::get_port_by_name(comp1_ref, port1_name);
+ RTC::PortService_var port0_var = CORBA_RTCUtil::get_port_by_name(comp0_ref, port0_name);
- if (CORBA::is_nil(port1_var))
+ if (CORBA::is_nil(port0_var))
{
- RTC_DEBUG(("port %s found: ", comp_ports[1].c_str()));
+ RTC_DEBUG(("port %s found: ", port0_str));
continue;
}
- coil::Properties prop;
- coil::vstring opt_props = coil::split(conn_prop[1], "&");
+ for (coil::vstring::iterator port_itr = ports.begin(); port_itr != ports.end(); ++port_itr)
+ {
+ std::string port_str = (*port_itr);
- for (coil::vstring::iterator itr = opt_props.begin(); itr != opt_props.end(); ++itr)
- {
- std::string o = (*itr);
- coil::vstring temp = coil::split(o, "=");
- if (temp.size() == 2)
+ tmp = coil::split(port_str, ".");
+ tmp.pop_back();
+ std::string comp_name = coil::flatten(tmp, ".");
+ std::string port_name = port_str;
+ RTObject_impl* comp = NULL;
+ RTC::RTObject_ptr comp_ref = NULL;
+
+
+ if (comp_name.find("://") == -1)
{
- coil::eraseBothEndsBlank(temp[0]);
- coil::eraseBothEndsBlank(temp[1]);
+ comp = getComponent(comp_name.c_str());
+ if (comp == NULL)
+ {
+ RTC_ERROR(("%s not found.", comp_name));
+ continue;
+ }
+ comp_ref = comp->getObjRef();
}
- prop["dataport." + temp[0]] = temp[1];
+ else
+ {
+ RTC::RTCList rtcs = m_namingManager->string_to_component(comp_name);
+ if (rtcs.length() == 0)
+ {
+ RTC_ERROR(("%s not found.", comp_name));
+ continue;
+ }
+ comp_ref = rtcs[0];
+ coil::vstring tmp_port_name = coil::split(port_str, "/");
+ port_name = tmp_port_name.back();
- }
-
- if (RTC::RTC_OK != CORBA_RTCUtil::connect(connectors[i], prop, port0_var, port1_var))
- {
- RTC_ERROR(("Connection error: %s", connectors[i].c_str()));
+ }
+
+ RTC::PortService_var port_var = CORBA_RTCUtil::get_port_by_name(comp_ref, port_name);
+
+ if (CORBA::is_nil(port_var))
+ {
+ RTC_DEBUG(("port %s found: ", port_str));
+ continue;
+ }
+
+ coil::Properties prop;
+
+ for (coil::mapstring::iterator config_itr = configs.begin(); config_itr != configs.end(); ++config_itr) {
+ std::string key = config_itr->first;
+ std::string value = config_itr->second;
+ coil::eraseBothEndsBlank(key);
+ coil::eraseBothEndsBlank(value);
+
+ prop["dataport." + key] = value;
+ }
+
+
+
+ if (RTC::RTC_OK != CORBA_RTCUtil::connect(connectors[i], prop, port0_var, port_var))
+ {
+ RTC_ERROR(("Connection error: %s", connectors[i]));
+ }
}
}
}
Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h 2018-01-24 23:24:08 UTC (rev 3205)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.h 2018-01-25 02:43:28 UTC (rev 3206)
@@ -1665,7 +1665,7 @@
* @brief µ¯Æ°»þ¤Ërtc.conf¤Ç»ØÄꤷ¤¿¥Ý¡¼¥È¤òÀܳ¤¹¤ë
*
* Îã:
- * manager.components.preconnect: RTC0.port0:RTC0.port1(interface_type=corba_cdr&dataflow_type=pull&~),~
+ * manager.components.preconnect: RTC0.port0?RTC0.port1&interface_type=corba_cdr&dataflow_type=pull&~,~
*
*
* @else
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