[openrtm-commit:03295] r3261 - trunk/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 3月 28日 (水) 11:37:09 JST
Author: miyamoto
Date: 2018-03-28 11:37:08 +0900 (Wed, 28 Mar 2018)
New Revision: 3261
Modified:
trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
trunk/OpenRTM-aist/src/lib/rtm/Manager.h
Log:
[merge] r3162 have been merged from RELENG_1_2.
Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2018-03-28 02:14:18 UTC (rev 3260)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.cpp 2018-03-28 02:37:08 UTC (rev 3261)
@@ -398,129 +398,10 @@
m_initProc(this);
}
- RTC_TRACE(("Components pre-creation: %s",
- m_config["manager.components.precreate"].c_str()));
- std::vector<std::string> comp;
- comp = coil::split(m_config["manager.components.precreate"], ",");
- for (int i(0), len(comp.size()); i < len; ++i)
- {
- this->createComponent(comp[i].c_str());
- }
+ initPreCreation();
+ initPreConnection();
+ initPreActivation();
- { // pre-connection
- 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)
- {
- // 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");
- } // 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); }
-
- 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;
- }
- std::string comp0_name = coil::split(comp_ports[0], ".")[0];
- std::string comp1_name = coil::split(comp_ports[1], ".")[0];
- RTObject_impl* comp0 = getComponent(comp0_name.c_str());
- RTObject_impl* comp1 = getComponent(comp1_name.c_str());
- if (comp0 == NULL)
- { RTC_ERROR(("%s not found.", comp0_name.c_str())); continue; }
- if (comp1 == NULL)
- { RTC_ERROR(("%s not found.", comp1_name.c_str())); continue; }
- std::string port0 = comp_ports[0];
- std::string port1 = comp_ports[1];
-
- PortServiceList_var ports0 = comp0->get_ports();
- PortServiceList_var ports1 = comp1->get_ports();
- RTC_DEBUG(("%s has %d ports.", comp0_name.c_str(), ports0->length()));
- RTC_DEBUG(("%s has %d ports.", comp1_name.c_str(), ports1->length()));
-
- PortService_var port0_var;
- for (size_t p(0); p < ports0->length(); ++p)
- {
- PortProfile_var pp = ports0[p]->get_port_profile();
- std::string s(CORBA::string_dup(pp->name));
- if (comp_ports[0] == s)
- {
- RTC_DEBUG(("port %s found: ", comp_ports[0].c_str()));
- port0_var = ports0[p];
- }
- }
- PortService_var port1_var;
- for (size_t p(0); p < ports1->length(); ++p)
- {
- PortProfile_var pp = ports1[p]->get_port_profile();
- std::string s(CORBA::string_dup(pp->name));
- if (port1 == s)
- {
- RTC_DEBUG(("port %s found: ", comp_ports[1].c_str()));
- port1_var = ports1[p];
- }
- }
- if (CORBA::is_nil(port0_var))
- {
- RTC_ERROR(("port0 %s is nil obj", comp_ports[0].c_str()));
- continue;
- }
- if (CORBA::is_nil(port1_var))
- {
- RTC_ERROR(("port1 %s is nil obj", comp_ports[1].c_str()));
- continue;
- }
- ConnectorProfile conn_prof;
- std::string prof_name;
- conn_prof.name = CORBA::string_dup(connectors[i].c_str());
- conn_prof.connector_id = CORBA::string_dup("");
- conn_prof.ports.length(2);
- conn_prof.ports[0] = port0_var;
- conn_prof.ports[1] = port1_var;
- coil::Properties prop;
- prop["dataport.dataflow_type"] = "push";
- prop["dataport.interface_type"] = "corba_cdr";
- coil::vstring opt_props = coil::split(conn_prop[1], "&");
- for (size_t o(0); o < opt_props.size(); ++o)
- {
- coil::vstring temp = coil::split(opt_props[o], "=");
- prop["dataport." + temp[0]] = temp[1];
- }
- NVUtil::copyFromProperties(conn_prof.properties, prop);
- if (RTC::RTC_OK != port0_var->connect(conn_prof))
- {
- RTC_ERROR(("Connection error: %s",
- connectors[i].c_str()));
- }
- }
- } // end of pre-connection
-
- { // pre-activation
- RTC_TRACE(("Components pre-activation: %s",
- m_config["manager.components.preactivation"].c_str()));
- std::vector<std::string> comps;
- comps = coil::split(m_config["manager.components.preactivation"],
- ",");
- for (int i(0), len(comps.size()); i < len; ++i)
- {
- RTObject_impl* comp = getComponent(comps[i].c_str());
- if (comp == NULL)
- { RTC_ERROR(("%s not found.", comps[i].c_str())); continue; }
-
- ExecutionContextList_var ecs = comp->get_owned_contexts();
- ecs[CORBA::ULong(0)]->activate_component(comp->getObjRef());
- }
- } // end of pre-activation
return true;
}
@@ -1347,6 +1228,32 @@
}
}
+
+ {
+ coil::vstring lmpm_ = coil::split(m_config["manager.preload.modules"], ",");
+ for (coil::vstring::iterator itr = lmpm_.begin(); itr != lmpm_.end(); ++itr)
+ {
+ std::string mpm_ = (*itr);
+ coil::eraseBothEndsBlank(mpm_);
+ if (mpm_.empty())
+ {
+ continue;
+ }
+ std::string basename_ = coil::split(mpm_, ".").front() + "Init";
+ try
+ {
+ m_module->load(mpm_, basename_);
+ }
+ catch (...)
+ {
+ //RTC_ERROR((""));
+ }
+ }
+
+ }
+ m_config["manager.instance_name"] = formatString(m_config["manager.instance_name"].c_str(), m_config);
+
+
}
/*!
@@ -2033,30 +1940,29 @@
}
}
- std::ifstream otherref(m_config["manager.refstring_path"].c_str());
- if (otherref.fail() != 0)
- {
- otherref.close();
- std::ofstream reffile(m_config["manager.refstring_path"].c_str());
- RTM::Manager_var mgr_v(RTM::Manager::
- _duplicate(m_mgrservant->getObjRef()));
- CORBA::String_var str_var = m_pORB->object_to_string(mgr_v);
- reffile << str_var;
- reffile.close();
- }
- else
- {
- std::string refstring;
- otherref >> refstring;
- otherref.close();
+ if (coil::toBool(m_config["corba.update_master_manager.enable"], "YES", "NO", true)
+ && !coil::toBool(m_config["manager.is_master"], "YES", "NO", false))
+ {
+ coil::TimeValue tm(10, 0);
+ if (m_config.findNode("corba.update_master_manager.interval") != NULL)
+ {
+ float duration = 10;
+
+ coil::stringTo<float>(duration, m_config["corba.update_master_manager.interval"].c_str());
+ if (duration > 0)
+ {
+ tm = coil::TimeValue(duration);
+ }
+ if (m_timer)
+ {
+ m_timer->registerListenerObj(m_mgrservant, &RTM::ManagerServant::updateMasterManager, tm);
+ }
- CORBA::Object_var obj = m_pORB->string_to_object(refstring.c_str());
- RTM::Manager_var mgr = RTM::Manager::_narrow(obj);
- // if (CORBA::is_nil(mgr)) return false;
- // mgr->set_child(m_mgrservant->getObjRef());
- // m_mgrservant->set_owner(mgr);
- }
+
+ }
+ }
+
return true;
}
@@ -2069,9 +1975,30 @@
*/
RTM::ManagerServant& Manager::getManagerServant()
{
+ RTC_TRACE(("Manager.getManagerServant()"));
return *m_mgrservant;
}
+ /*!
+ * @if jp
+ * @brief NamingManager¤ò¼èÆÀ¤¹¤ë
+ *
+ * @return NamingManager
+ *
+ * @else
+ *
+ * @brief Getting NamingManager
+ *
+ ** @return NamingManager
+ *
+ * @endif
+ */
+ NamingManager* Manager::getNaming()
+ {
+ RTC_TRACE(("Manager.getNaming()"));
+ return m_namingManager;
+ }
+
bool Manager::initLocalService()
{
RTC_TRACE(("Manager::initLocalService()"));
@@ -2192,35 +2119,36 @@
RTC_ERROR(("Invalid arguments. Two or more '?' in arg : %s", comp_arg));
return false;
}
+
+ //RTM::CompParam::prof_list
+
if (id_and_conf[0].find(":") == std::string::npos)
{
- id_and_conf[0].insert(0, "RTC:::");
- id_and_conf[0] += ":";
+ std::string id = RTM::CompParam::prof_list[0];
+ id = id + ":::";
+
+ id_and_conf[0].insert(0, id);
+ id_and_conf[0] += "::";
}
std::vector<std::string> id(coil::split(id_and_conf[0], ":"));
// id should be devided into 1 or 5 elements
// RTC:[vendor]:[category]:impl_id:[version] => 5
- if (id.size() != 5)
+ if (id.size() != RTM::CompParam::prof_list_size)
{
RTC_ERROR(("Invalid RTC id format.: %s", id_and_conf[0].c_str()));
return false;
}
- const char* prof[] =
+ if (id[0] != RTM::CompParam::prof_list[0])
{
- "RTC", "vendor", "category", "implementation_id", "version"
- };
-
- if (id[0] != prof[0])
- {
RTC_ERROR(("Invalid id type: %s", id[0].c_str()));
return false;
}
- for (int i(1); i < 5; ++i)
+ for (size_t i(1); i < RTM::CompParam::prof_list_size; ++i)
{
- comp_id[prof[i]] = id[i];
- RTC_TRACE(("RTC basic propfile %s: %s", prof[i], id[i].c_str()));
+ comp_id[RTM::CompParam::prof_list[i]] = id[i];
+ RTC_TRACE(("RTC basic propfile %s: %s", RTM::CompParam::prof_list[i], id[i].c_str()));
}
if (id_and_conf.size() == 2)
@@ -2582,4 +2510,275 @@
return;
}
+
+
+
+ /*!
+ * @if jp
+ * @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&~,~
+ *
+ *
+ * @else
+ * @brief
+ *
+ *
+ * @endif
+ */
+ 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;
+ }
+
+ std::string port0_str = coil::split(connectors[i], "?")[0];
+ coil::mapstring param = coil::urlparam2map(connectors[i]);
+
+ coil::vstring ports;
+ coil::mapstring configs;
+
+ 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;
+ }
+
+
+
+ if (ports.size() == 0)
+ {
+ RTC_ERROR(("Invalid format for pre-connection."));
+ RTC_ERROR(("Format must be Comp0.port0?port=Comp1.port1"));
+ continue;
+ }
+
+ 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 comp0_name = coil::flatten(tmp, ".");
+
+ std::string port0_name = port0_str;
+ RTObject_impl* comp0 = NULL;
+ RTC::RTObject_ptr comp0_ref = NULL;
+
+ 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(port0_str, "/");
+ port0_name = tmp_port0_name.back();
+
+
+ }
+
+ RTC::PortService_var port0_var = CORBA_RTCUtil::get_port_by_name(comp0_ref, port0_name);
+
+ if (CORBA::is_nil(port0_var))
+ {
+ RTC_DEBUG(("port %s found: ", port0_str.c_str()));
+ continue;
+ }
+
+ for (coil::vstring::iterator port_itr = ports.begin(); port_itr != ports.end(); ++port_itr)
+ {
+
+ std::string port_str = (*port_itr);
+
+ 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("://") == std::string::npos)
+ {
+ comp = getComponent(comp_name.c_str());
+ if (comp == NULL)
+ {
+ RTC_ERROR(("%s not found.", comp_name.c_str()));
+ continue;
+ }
+ comp_ref = comp->getObjRef();
+ }
+ else
+ {
+ RTC::RTCList rtcs = m_namingManager->string_to_component(comp_name);
+ if (rtcs.length() == 0)
+ {
+ RTC_ERROR(("%s not found.", comp_name.c_str()));
+ continue;
+ }
+ comp_ref = rtcs[0];
+ coil::vstring tmp_port_name = coil::split(port_str, "/");
+ port_name = tmp_port_name.back();
+
+
+ }
+
+ 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.c_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].c_str()));
+ }
+ }
+ }
+ }
+
+ /*!
+ * @if jp
+ * @brief µ¯Æ°»þ¤Ërtc.conf¤Ç»ØÄꤷ¤¿RTC¤ò¥¢¥¯¥Æ¥£¥Ù¡¼¥·¥ç¥ó¤¹¤ë
+ *
+ * Îã:
+ * manager.components.preactivation: RTC1,RTC2~
+ *
+ *
+ * @else
+ * @brief
+ *
+ *
+ * @endif
+ */
+ void Manager::initPreActivation()
+ {
+ RTC_TRACE(("Components pre-activation: %s",
+ m_config["manager.components.preactivation"].c_str()));
+ std::vector<std::string> comps;
+ comps = coil::split(m_config["manager.components.preactivation"],
+ ",");
+ for (int i(0), len(comps.size()); i < len; ++i)
+ {
+ coil::eraseBothEndsBlank(comps[i]);
+ if (!comps[i].empty())
+ {
+ RTC::RTObject_ptr comp_ref;
+ if (comps[i].find("://") == std::string::npos)
+ {
+ RTObject_impl* comp = getComponent(comps[i].c_str());
+ if (comp == NULL)
+ {
+ RTC_ERROR(("%s not found.", comps[i].c_str())); continue;
+ }
+ comp_ref = comp->getObjRef();
+ }
+ else
+ {
+ RTC::RTCList rtcs = m_namingManager->string_to_component(comps[i]);
+ if (rtcs.length() == 0)
+ {
+ RTC_ERROR(("%s not found.", comps[i].c_str()));
+ continue;
+ }
+ comp_ref = rtcs[0];
+
+ }
+
+ RTC::ReturnCode_t ret = CORBA_RTCUtil::activate(comp_ref);
+ if (ret != RTC::RTC_OK)
+ {
+ RTC_ERROR(("%s activation filed.", comps[i].c_str()));
+ }
+ else
+ {
+ RTC_INFO(("%s activated.", comps[i].c_str()));
+ }
+ }
+
+
+ }
+ }
+
+ /*!
+ * @if jp
+ * @brief µ¯Æ°»þ¤Ërtc.conf¤Ç»ØÄꤷ¤¿RTC¤òÀ¸À®¤¹¤ë
+ *
+ * Îã:
+ * manager.components.precreate RTC1,RTC2~
+ *
+ *
+ * @else
+ * @brief
+ *
+ *
+ * @endif
+ */
+ void Manager::initPreCreation()
+ {
+ RTC_TRACE(("Components pre-creation: %s",
+ m_config["manager.components.precreate"].c_str()));
+ std::vector<std::string> comp;
+ comp = coil::split(m_config["manager.components.precreate"], ",");
+ for (int i(0), len(comp.size()); i < len; ++i)
+ {
+ this->createComponent(comp[i].c_str());
+ }
+ }
+
};
Modified: trunk/OpenRTM-aist/src/lib/rtm/Manager.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/Manager.h 2018-03-28 02:14:18 UTC (rev 3260)
+++ trunk/OpenRTM-aist/src/lib/rtm/Manager.h 2018-03-28 02:37:08 UTC (rev 3261)
@@ -1136,6 +1136,48 @@
* @endif
*/
PortableServer::POAManager_ptr getPOAManager();
+
+ /*!
+ * @if jp
+ * @brief ManagerServant¤ò¼èÆÀ¤¹¤ë
+ *
+ * @else
+ *
+ * @brief Getting ManagerServant
+ *
+ * @endif
+ */
+ RTM::ManagerServant& getManagerServant();
+
+ /*!
+ * @if jp
+ * @brief LocalService ¤Î½é´ü²½
+ *
+ * @return Timer ½é´ü²½½èÍý¼Â¹Ô·ë²Ì(½é´ü²½À®¸ù:true¡¢½é´ü²½¼ºÇÔ:false)
+ *
+ * @else
+ * @brief LocalService initialization
+ *
+ * @return Timer Initialization result (Successful:true, Failed:false)
+ *
+ * @endif
+ */
+ bool initLocalService();
+ /*!
+ * @if jp
+ * @brief NamingManager¤ò¼èÆÀ¤¹¤ë
+ *
+ * @return NamingManager
+ *
+ * @else
+ *
+ * @brief Getting NamingManager
+ *
+ * @return NamingManager
+ *
+ * @endif
+ */
+ NamingManager* getNaming();
//============================================================
// Protected functions
@@ -1406,7 +1448,7 @@
* @endif
*/
void shutdownNaming();
-
+
/*!
* @if jp
* @brief NamingManager¤ò¼èÆÀ¤¹¤ë
@@ -1622,6 +1664,51 @@
bool initFactories();
void initCpuAffinity();
+ /*!
+ * @if jp
+ * @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&~,~
+ *
+ *
+ * @else
+ * @brief
+ *
+ *
+ * @endif
+ */
+ void initPreConnection();
+ /*!
+ * @if jp
+ * @brief µ¯Æ°»þ¤Ërtc.conf¤Ç»ØÄꤷ¤¿RTC¤ò¥¢¥¯¥Æ¥£¥Ù¡¼¥·¥ç¥ó¤¹¤ë
+ *
+ * Îã:
+ * manager.components.preactivation: RTC1,RTC2~
+ *
+ *
+ * @else
+ * @brief
+ *
+ *
+ * @endif
+ */
+ void initPreActivation();
+ /*!
+ * @if jp
+ * @brief µ¯Æ°»þ¤Ërtc.conf¤Ç»ØÄꤷ¤¿RTC¤òÀ¸À®¤¹¤ë
+ *
+ * Îã:
+ * manager.components.precreate RTC1,RTC2~
+ *
+ *
+ * @else
+ * @brief
+ *
+ *
+ * @endif
+ */
+ void initPreCreation();
/*!
* @if jp
@@ -1659,32 +1746,7 @@
*/
bool initManagerServant();
- /*!
- * @if jp
- * @brief ManagerServant¤ò¼èÆÀ¤¹¤ë
- *
- * @else
- *
- * @brief Getting ManagerServant
- *
- * @endif
- */
- RTM::ManagerServant& getManagerServant();
- /*!
- * @if jp
- * @brief LocalService ¤Î½é´ü²½
- *
- * @return Timer ½é´ü²½½èÍý¼Â¹Ô·ë²Ì(½é´ü²½À®¸ù:true¡¢½é´ü²½¼ºÇÔ:false)
- *
- * @else
- * @brief LocalService initialization
- *
- * @return Timer Initialization result (Successful:true, Failed:false)
- *
- * @endif
- */
- bool initLocalService();
/*!
* @if jp
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