[openrtm-commit:03311] r3277 - in trunk/OpenRTM-aist: src/lib/rtm win32/OpenRTM-aist/bin
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 3月 28日 (水) 14:04:53 JST
Author: miyamoto
Date: 2018-03-28 14:04:53 +0900 (Wed, 28 Mar 2018)
New Revision: 3277
Modified:
trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.cpp
trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.h
trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
trunk/OpenRTM-aist/src/lib/rtm/SystemLogger.h
trunk/OpenRTM-aist/win32/OpenRTM-aist/bin/rtm-naming.bat
Log:
[merge] r3226-3232 have been merged from RELENG_1_2.
Modified: trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.cpp 2018-03-28 04:59:47 UTC (rev 3276)
+++ trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.cpp 2018-03-28 05:04:53 UTC (rev 3277)
@@ -24,6 +24,7 @@
#include <coil/OS.h>
#include <coil/stringutil.h>
#include <rtm/DefaultConfiguration.h>
+#include <stdlib.h>
#ifdef __QNX__
using std::sprintf;
@@ -34,12 +35,12 @@
// The list of default configuration file path.
#ifdef RTM_OS_WIN32
- const char* ManagerConfig::config_file_path[] =
- {
- "./rtc.conf",
- "${RTM_ROOT}bin/${RTM_VC_VERSION}/rtc.conf",
- NULL
- };
+ const char* ManagerConfig::config_file_path[] =
+ {
+ "./rtc.conf",
+ "${RTM_ROOT}bin/${RTM_VC_VERSION}/rtc.conf",
+ NULL
+ };
#else
const char* ManagerConfig::config_file_path[] =
{
@@ -115,16 +116,16 @@
prop.setDefaults(default_config);
if (findConfigFile())
{
- std::ifstream f(m_configFile.c_str());
- if (f.is_open())
- {
- prop.load(f);
- f.close();
- }
+ std::ifstream f(m_configFile.c_str());
+ if (f.is_open())
+ {
+ prop.load(f);
+ f.close();
+ }
}
setSystemInformation(prop);
if (m_isMaster) { prop["manager.is_master"] = "YES"; }
-
+
// Properties from arguments are marged finally
prop << m_argprop;
prop["config_file"] = m_configFile;
@@ -146,30 +147,44 @@
while ((opt = get_opts()) > 0)
{
- switch (opt)
- {
+ switch (opt)
+ {
case 'a':
{
m_argprop["manager.corba_servant"] = "NO";
}
break;
- // Specify configuration file not default
- case 'f':
- m_configFile = get_opts.optarg;
- break;
- case 'l':
- // m_configFile = get_opts.optarg;
- break;
- case 'o':
+ // Specify configuration file not default
+ case 'f':
+ if (!fileExist(get_opts.optarg))
+ {
+ std::cerr << "Configuration file: " << m_configFile;
+ std::cerr << " not found." << std::endl;
+ abort();
+ }
+ m_configFile = get_opts.optarg;
+ break;
+ case 'o':
{
std::string optarg(get_opts.optarg);
std::string::size_type pos(optarg.find(":"));
if (pos != std::string::npos)
{
- m_argprop[optarg.substr(0, pos)] = optarg.substr(pos + 1);
+ std::string key = optarg.substr(0, pos);
+ std::string value = optarg.substr(pos + 1);
+
+ key = coil::unescape(key);
+ coil::eraseHeadBlank(key);
+ coil::eraseTailBlank(key);
+
+ value = coil::unescape(value);
+ coil::eraseHeadBlank(value);
+ coil::eraseTailBlank(value);
+
+ m_argprop[key] = value;
}
}
- break;
+ break;
case 'p': // ORB's port number
{
int portnum;
@@ -180,12 +195,12 @@
}
}
break;
- case 'd':
+ case 'd':
m_isMaster = true;
- break;
- default:
- break;
- }
+ break;
+ default:
+ break;
+ }
}
return;
}
@@ -202,34 +217,37 @@
// Check existance of configuration file given command arg
if (m_configFile != "")
{
- if (fileExist(m_configFile))
- {
- return true;
- }
+ if (fileExist(m_configFile))
+ {
+ return true;
+ }
+ std::cerr << "Configuration file: " << m_configFile;
+ std::cerr << " not found." << std::endl;
}
-
// Search rtc configuration file from environment variable
char* env = getenv(config_file_env);
if (env != NULL)
{
- if (fileExist(env))
- {
- m_configFile = env;
- return true;
- }
+ if (fileExist(env))
+ {
+ m_configFile = env;
+ return true;
+ }
+ std::cerr << "Configuration file: " << m_configFile;
+ std::cerr << " not found." << std::endl;
}
// Search rtc configuration file from default search path
int i = 0;
while (config_file_path[i] != NULL)
{
- std::string cpath = coil::replaceEnv(config_file_path[i]);
+ std::string cpath = coil::replaceEnv(config_file_path[i]);
- if (fileExist(cpath))
- {
- m_configFile = cpath;
- return true;
- }
- ++i;
+ if (fileExist(cpath))
+ {
+ m_configFile = cpath;
+ return true;
+ }
+ ++i;
}
return false;
}
@@ -249,7 +267,7 @@
coil::utsname sysinfo;
if (coil::uname(&sysinfo) != 0)
{
- return;
+ return;
}
//
@@ -283,13 +301,13 @@
// fial() 0: ok, !0: fail
if (infile.fail() != 0)
{
- infile.close();
- return false;
+ infile.close();
+ return false;
}
else
{
- infile.close();
- return true;
+ infile.close();
+ return true;
}
return false;
}
Modified: trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.h 2018-03-28 04:59:47 UTC (rev 3276)
+++ trunk/OpenRTM-aist/src/lib/rtm/ManagerConfig.h 2018-03-28 05:04:53 UTC (rev 3277)
@@ -37,6 +37,7 @@
* ¥×¥í¥Ñ¥Æ¥£¾ðÊó¤òÀßÄꤹ¤ë¡£
*
* ³ÆÀßÄê¤ÎÍ¥ÀèÅ٤ϰʲ¼¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£
+ * - UNIX/Linux
* <OL>
* <LI>¥³¥Þ¥ó¥É¥é¥¤¥ó¥ª¥×¥·¥ç¥ó "-f"
* <LI>´Ä¶ÊÑ¿ô "RTC_MANAGER_CONFIG"
@@ -47,9 +48,13 @@
* <LI>¥Ç¥Õ¥©¥ë¥ÈÀßÄê¥Õ¥¡¥¤¥ë "/usr/local/etc/rtc/rtc.conf"
* <LI>Ëä¤á¹þ¤ß¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥óÃÍ
*</OL>
- * ¤¿¤À¤·¡¢¥³¥Þ¥ó¥É¥é¥¤¥ó¥ª¥×¥·¥ç¥ó "-d" ¤¬»ØÄꤵ¤ì¤¿¾ì¹ç¤Ï¡¢
- * (¤¿¤È¤¨ -f ¤ÇÀßÄê¥Õ¥¡¥¤¥ë¤ò»ØÄꤷ¤Æ¤â)Ëä¤á¹þ¤ß¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥óÃÍ
- * ¤¬»ÈÍѤµ¤ì¤ë¡£
+ * - Windows
+ * <OL>
+ * <LI>¥³¥Þ¥ó¥É¥é¥¤¥ó¥ª¥×¥·¥ç¥ó "-f"
+ * <LI>´Ä¶ÊÑ¿ô "RTC_MANAGER_CONFIG"
+ * <LI>¥Ç¥Õ¥©¥ë¥ÈÀßÄê¥Õ¥¡¥¤¥ë "./rtc.conf"
+ * <LI>¥Ç¥Õ¥©¥ë¥ÈÀßÄê¥Õ¥¡¥¤¥ë "%RTM_ROOT%/%RTM_VC_VERSION%/rtc.conf"
+ * </OL>
*
* @since 0.4.0
*
@@ -58,12 +63,13 @@
* @class ManagerConfig
* @brief Manager configuration class
*
- * Modify Manager's configuration.
+ * Modify Manager's configuration.
* This class receives the command line arguments and will be instantiated.
* Set property information of Manager with the configuration file specified
* by the command line argument or the environment variable etc.
*
* The priorities of each configuration are as follows:
+ * - UNIX/Linux
* <OL>
* <LI>Command option "-f"
* <LI>Environment variable "RTC_MANAGER_CONFIG"
@@ -74,8 +80,13 @@
* <LI>Default configuration file "/usr/local/etc/rtc/rtc.conf"
* <LI>Embedded configuration value
*</OL>
- * If the command option "-d" is specified (even if specify configuration file
- * by "-f" option), the embedded configuration values will be used.
+ * - Windows
+ * <OL>
+ * <LI>Command option "-f"
+ * <LI>Environment variable "RTC_MANAGER_CONFIG"
+ * <LI>Default configuration file "./rtc.conf"
+ * <LI>Default configuration file "%RTM_ROOT%/%RTM_VC_VERSION%/rtc.conf"
+ * </OL>
*
* @since 0.4.0
*
@@ -167,10 +178,11 @@
* ¥³¥Þ¥ó¥É¥é¥¤¥ó°ú¿ô¤Ë±þ¤¸¤Æ½é´ü²½¤ò¼Â¹Ô¤¹¤ë¡£¥³¥Þ¥ó¥É¥é¥¤¥ó¥ª¥×¥·¥ç¥ó¤Ï
* °Ê²¼¤Î¤â¤Î¤¬»ÈÍѲÄǽ¤Ç¤¢¤ë¡£
*
- * - -f file : ¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¥Õ¥¡¥¤¥ë¤ò»ØÄꤹ¤ë¡£
- * - -l module : ¥í¡¼¥É¤¹¤ë¥â¥¸¥å¡¼¥ë¤ò»ØÄꤹ¤ë¡£(̤¼ÂÁõ)
- * - -o options: ¤½¤Î¾¥ª¥×¥·¥ç¥ó¤ò»ØÄꤹ¤ë¡£(̤¼ÂÁõ)
- * - -d : ¥Ç¥Õ¥©¥ë¥È¤Î¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¤ò»È¤¦¡£(̤¼ÂÁõ)
+ * - -a : ¥Þ¥Í¡¼¥¸¥ã¥µ¡¼¥Ó¥¹OFF
+ * - -f <file name> : ÀßÄê¥Õ¥¡¥¤¥ë¤Î»ØÄê
+ * - -o <option> ; ¥ª¥×¥·¥ç¥ó»ØÄê
+ * - -p <port number>: ¥Ý¡¼¥ÈÈÖ¹æ»ØÄê
+ * - -d : ¥Þ¥¹¥¿¡¼¥Þ¥Í¡¼¥¸¥ã»ØÄê
*
* @param argc ¥³¥Þ¥ó¥É¥é¥¤¥ó°ú¿ô¤Î¿ô
* @param argv ¥³¥Þ¥ó¥É¥é¥¤¥ó°ú¿ô
@@ -182,10 +194,11 @@
* Initialize with command line options. The following command options
* are available.
*
- * - -f file : Specify the configuration file.
- * - -l module : Specify modules to be loaded. (Not implemented)
- * - -o options: Specify other options. (Not implemented)
- * - -d : Use default static configuration. (Not implemented)
+ * - -a : Disable manager service
+ * - -f <file name> : Specify a configuration file
+ * - -o <option> ; Specify options
+ * - -p <port number>: Specify a port number
+ * - -d : Run as the master manager
*
* @param argc Number of command line arguments
* @param argv The command line arguments
Modified: trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp 2018-03-28 04:59:47 UTC (rev 3276)
+++ trunk/OpenRTM-aist/src/lib/rtm/ManagerServant.cpp 2018-03-28 05:04:53 UTC (rev 3277)
@@ -117,6 +117,20 @@
}
m_slaves.length(0);
+
+
+#ifndef ORB_IS_RTORB
+ CORBA::Object_ptr obj = m_mgr.theORB()->resolve_initial_references("omniINSPOA");
+#else // ROB_IS_RTORB
+ CORBA::Object_ptr obj = m_mgr.theORB()->resolve_initial_references((char*)"omniINSPOA");
+#endif // ORB_IS_RTORB
+
+ PortableServer::POA_ptr poa = PortableServer::POA::_narrow(obj);
+ PortableServer::ObjectId_var id;
+ id = poa->servant_to_id(this);
+
+ poa->deactivate_object(id.in());
+
}
/*!
Modified: trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2018-03-28 04:59:47 UTC (rev 3276)
+++ trunk/OpenRTM-aist/src/lib/rtm/RTObject.cpp 2018-03-28 05:04:53 UTC (rev 3277)
@@ -404,6 +404,14 @@
if (m_created) { return RTC::PRECONDITION_NOT_MET; }
if (m_exiting) { return RTC::RTC_OK; }
+
+ SDOPackage::OrganizationList* organizations = get_organizations();
+ CORBA::ULong len = organizations->length();
+
+ for (CORBA::ULong i = 0; i < len; i++)
+ {
+ (*organizations)[i]->remove_member(getInstanceName());
+ }
// deactivate myself on owned EC
CORBA_SeqUtil::for_each(m_ecMine,
deactivate_comps(m_objref));
@@ -2651,6 +2659,20 @@
oid2 = m_pPOA->servant_to_id(this);
m_pPOA->deactivate_object(oid1);
m_pPOA->deactivate_object(oid2);
+
+
+#ifndef ORB_IS_RTORB
+ CORBA::Object_ptr obj = m_pORB->resolve_initial_references("omniINSPOA");
+#else // ROB_IS_RTORB
+ CORBA::Object_ptr obj = m_pORB->resolve_initial_references((char*)"omniINSPOA");
+#endif // ORB_IS_RTORB
+ PortableServer::POA_ptr poa = PortableServer::POA::_narrow(obj);
+
+ PortableServer::ObjectId_var oid3;
+ oid3 = poa->servant_to_id(this);
+
+
+ poa->deactivate_object(oid3.in());
}
catch (PortableServer::POA::ServantNotActive &e)
{
Modified: trunk/OpenRTM-aist/src/lib/rtm/SystemLogger.h
===================================================================
--- trunk/OpenRTM-aist/src/lib/rtm/SystemLogger.h 2018-03-28 04:59:47 UTC (rev 3276)
+++ trunk/OpenRTM-aist/src/lib/rtm/SystemLogger.h 2018-03-28 05:04:53 UTC (rev 3277)
@@ -425,7 +425,7 @@
* @brief ¥¨¥é¡¼¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£
*
* ¥¨¥é¡¼¥ì¥Ù¥ë¤Î¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£<BR>¥í¥°¥ì¥Ù¥ë¤¬
- * ERROR, WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARANOID
+ * FATAL, ERROR, WARN, INFO, DEBUG, TRACE, VERBOSE, PARANOID
* ¤Î¾ì¹ç¤Ë¥í¥°½ÐÎϤµ¤ì¤ë¡£
*
* @else
@@ -433,7 +433,7 @@
* @brief Error log output macro
*
* This is a log output macro of the error level.
- * If log levels are ERROR, WARN, INFO, NORMAL, DEBUG, TRACE,
+ * If log levels are FATAL, ERROR, WARN, INFO, NORMAL, DEBUG, TRACE,
* VERBOSE or PARANOID, message will be output to log.
*
* @endif
@@ -447,7 +447,7 @@
* @brief ¥¨¥é¡¼¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£
*
* ¥¨¥é¡¼¥ì¥Ù¥ë¤Î¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£<BR>¥í¥°¥ì¥Ù¥ë¤¬
- * ERROR, WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARANOID
+ * ERROR, WARN, INFO, DEBUG, TRACE, VERBOSE, PARANOID
* ¤Î¾ì¹ç¤Ë¥í¥°½ÐÎϤµ¤ì¤ë¡£
*
* @else
@@ -455,8 +455,8 @@
* @brief Error log output macro
*
* This is a log output macro of the error level.
- * If log levels are ERROR, WARN, INFO, NORMAL, DEBUG, TRACE,
- * VERBOSE or PARANOID, message will be output to log.
+ * If log levels are ERROR, WARN, INFO, DEBUG, TRACE,
+ * VERBOSE and PARANOID, message will be output to log.
*
* @endif
*/
@@ -469,7 +469,7 @@
* @brief ¥ï¡¼¥Ë¥ó¥°¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£
*
* ¥ï¡¼¥Ë¥ó¥°¥ì¥Ù¥ë¤Î¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£<BR>¥í¥°¥ì¥Ù¥ë¤¬
- * ( WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARANOID )
+ * ( WARN, INFO, DEBUG, TRACE, VERBOSE, PARANOID )
* ¤Î¾ì¹ç¤Ë¥í¥°½ÐÎϤµ¤ì¤ë¡£
*
* @else
@@ -477,7 +477,7 @@
* @brief Warning log output macro
*
* If log levels are
- * ( WARN, INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARANOID ),
+ * ( WARN, INFO, DEBUG, TRACE, VERBOSE, PARANOID ),
* message will be output to log.
*
* @endif
@@ -491,7 +491,7 @@
* @brief ¥¤¥ó¥Õ¥©¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£
*
* ¥¤¥ó¥Õ¥©¥ì¥Ù¥ë¤Î¥í¥°½ÐÎÏ¥Þ¥¯¥í¡£<BR>¥í¥°¥ì¥Ù¥ë¤¬
- * ( INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARANOID )
+ * ( INFO, DEBUG, TRACE, VERBOSE, PARANOID )
* ¤Î¾ì¹ç¤Ë¥í¥°½ÐÎϤµ¤ì¤ë¡£
*
* @else
@@ -499,7 +499,7 @@
* @brief Information level log output macro
*
* If log levels are
- * ( INFO, NORMAL, DEBUG, TRACE, VERBOSE, PARANOID ),
+ * ( INFO, DEBUG, TRACE, VERBOSE, PARANOID ),
* message will be output to log.
*
* @endif
@@ -597,12 +597,12 @@
#define RTC_PARANOID_STR(str) RTC_LOG_STR(::RTC::Logger::RTL_PARANOID, str)
#else
+#define RTC_FATAL(fmt)
+#define RTC_FATAL_STR(str)
#define RTC_ERROR(fmt)
#define RTC_ERROR_STR(str)
#define RTC_WARN(fmt)
#define RTC_WARN_STR(str)
-#define RTC_NORMAL(fmt)
-#define RTC_NORMAL_STR(str)
#define RTC_INFO(fmt)
#define RTC_INFO_STR(str)
#define RTC_DEBUG(fmt)
Modified: trunk/OpenRTM-aist/win32/OpenRTM-aist/bin/rtm-naming.bat
===================================================================
--- trunk/OpenRTM-aist/win32/OpenRTM-aist/bin/rtm-naming.bat 2018-03-28 04:59:47 UTC (rev 3276)
+++ trunk/OpenRTM-aist/win32/OpenRTM-aist/bin/rtm-naming.bat 2018-03-28 05:04:53 UTC (rev 3277)
@@ -1,5 +1,10 @@
@echo off
+TASKLIST | FIND "omniNames.exe" > NUL
+IF NOT ERRORLEVEL 1 (
+ TASKKILL /F /IM omniNames.exe
+)
+
set cosnames="omninames"
set orb="omniORB"
set port=%1
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