[openrtm-commit:03342] r3420 - branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2018-10-09 09:25:52 +0900 (Tue, 09 Oct 2018)
New Revision: 3420

Modified:
   branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/CORBA_RTCUtil.cpp
   branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp
Log:
[merge] r3419 has been merged from trunk.

Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/CORBA_RTCUtil.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/CORBA_RTCUtil.cpp	2018-10-09 00:24:33 UTC (rev 3419)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/CORBA_RTCUtil.cpp	2018-10-09 00:25:52 UTC (rev 3420)
@@ -781,9 +781,18 @@
     std::string prof_name;
     conn_prof->name = CORBA::string_dup(name.c_str());
     conn_prof->connector_id = CORBA::string_dup("");
-    conn_prof->ports.length(2);
-    conn_prof->ports[0] = RTC::PortService::_duplicate(port0);
-    conn_prof->ports[1] = RTC::PortService::_duplicate(port1);
+    if (CORBA::is_nil(port1))
+    {
+        conn_prof->ports.length(1);
+        conn_prof->ports[0] = RTC::PortService::_duplicate(port0);
+    }
+    else
+    {
+        conn_prof->ports.length(2);
+        conn_prof->ports[0] = RTC::PortService::_duplicate(port0);
+        conn_prof->ports[1] = RTC::PortService::_duplicate(port1);
+    }
+    
     if (prop["dataport.dataflow_type"].empty())
       {
         prop["dataport.dataflow_type"] = "push";
@@ -849,8 +858,10 @@
                             const RTC::PortService_ptr port1)
   {
     if (CORBA::is_nil(port0)) { return RTC::BAD_PARAMETER; }
-    if (CORBA::is_nil(port1)) { return RTC::BAD_PARAMETER; }
-    if (port0->_is_equivalent(port1)) { return RTC::BAD_PARAMETER; }
+    if (!CORBA::is_nil(port1)) {
+        if (port0->_is_equivalent(port1)) { return RTC::BAD_PARAMETER; }
+    }
+    
     RTC::ConnectorProfile_var cprof;
     cprof = create_connector(name, prop, port0, port1);
     return port0->connect(cprof);

Modified: branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp	2018-10-09 00:24:33 UTC (rev 3419)
+++ branches/RELENG_1_2/OpenRTM-aist/src/lib/rtm/Manager.cpp	2018-10-09 00:25:52 UTC (rev 3420)
@@ -2576,8 +2576,10 @@
 			  }
 			  std::string tmp = param_itr->first;
 			  coil::replaceString(tmp, "port", "");
+              std::string::size_type pos = param_itr->first.find("port");
+
 			  int val = 0;
-			  if (coil::stringTo<int>(val, tmp.c_str()))
+              if (coil::stringTo<int>(val, tmp.c_str()) && pos != std::string::npos)
 			  {
 				  ports.push_back(param_itr->second);
 				  continue;
@@ -2586,7 +2588,7 @@
 		  }
 
 
-
+          /*
 		  if (ports.size() == 0)
 		  {
 			  RTC_ERROR(("Invalid format for pre-connection."));
@@ -2593,6 +2595,7 @@
 			  RTC_ERROR(("Format must be Comp0.port0?port=Comp1.port1"));
 			  continue;
 		  }
+          */
 
 		  if (configs.count("dataflow_type") == 0)
 		  {
@@ -2645,6 +2648,25 @@
 			  continue;
 		  }
 
+          if (ports.size() == 0)
+          {
+              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, RTC::PortService::_nil()))
+              {
+                  RTC_ERROR(("Connection error: %s", connectors[i].c_str()));
+              }
+          }
+
 		  for (coil::vstring::iterator port_itr = ports.begin(); port_itr != ports.end(); ++port_itr)
 		  {