[openrtm-users 00098] Re: 一つのRTコンポーネントから複数ネームサーバ登録に関して
Ando Noriaki
n-ando ＠ aist.go.jp
2007年 4月 17日 (火) 16:54:00 JST
江口様
安藤です
お世話になっております。
> 初めて投稿させていただきます、内田洋行 江口と申します。
>
> 私の実行環境のRTMバージョンは、OpenRTM-aist-0.2.0
> OSは、Fedora Core 4です。
>
> 現在、一つのRTコンポーネントから複数のネームサーバに登録を行いたいと考え
> ているのですが、方法をご存知の方がいらっしゃいましたらアドバイスをいただ
> けませんでしょうか？
>
> 具体的には、RTコンポーネントの起動時に一つのネームサーバに登録を行うよう
> にしたときに、同じネットワークに新しいネームサーバがたった場合に、ネーム
> サーバの登録を古いサーバから新しいサーバに変えたいと考えております。
現状のRtcManagerにはそのような機能はありませんので、
ご自分で実装していただくしかありませんが、まもなくリリースする0.4.0では
複数のネームサーバを利用でき、かつrtc.confに記述されているネームサーバが
コンポーネント起動時点で動いていなくても、Managerが定期的にネームサーバが
起動しているかどうか見に行き、起動したら、それまで登録されていたコンポーネント
を全て新しいネームサーバに登録するようになっています。
ご希望の機能は、こういったものでよろしいでしょうか？
他に必要な機能がありましたらお知らせください。
余裕がありましたら実装したいと思います。
参考までに、その部分の0.4.0のソースをお送りいたします。
ただ、これを0.2.0のマネージャに組み込むのは少し面倒かもしれません。
もし組み込む場合は、NamingManagerクラスのupdate()を定期的に呼んでください。
なお、すでに存在しているネームサーバがなくなったときの処理はまだ書いていない
ので、その場合に新たに名前を登録しようとするとおそらく落ちます(笑
処理の概要は以下のとおりです。
CorbaNaming クラスはCORBA::ORB::resolve_initial_referenceではなく、
CORBA::ORB::string_to_objectを使用してネームサーバのオブジェクト参照を
取得し、参照やコンテキストのバインド・アンバインドを行います。
(なので、複数のNSを使用することができます。)
NamingManagerはCorbaNamingのインスタンスを複数作成・管理しており、
NamingManager::bindObjectで管理下にあるCorbaNamingを通して、
コンポーネントのバインドを行うと同時に、コンポーネントの名前とポインタを保存します。
update()を呼び出すと、未接続のCorbaNamingに対し、再度接続を試みて
接続できれば、NamingManagerに保存されているコンポーネントを
登録しに行くという流れです。
なお、OpenRTM-aist-0.4.0は4月中にはリリースしたいと考えております。
リリース時にはこのメーリングリストでも改めてお知らせいたします。
また、4月末か5月初めに産総研で、また5月の秋田のROBOMECで、
0.4.0を対象とした講習会も行う予定です。(まだ予定ですが。)
講習会についても日程等が決まりましたらこのMLでお知らせいたします。
どうぞよろしくお願いいたします。
--
安藤慶昭＠独立行政法人産業技術総合研究所 研究員
知能システム研究部門 タスクインテリジェンス研究グループ
〒305-8568 茨城県つくば市梅園1-1-1 中央第2
TEL: 029-861-5981 FAX: 029-861-5971
n-ando ＠ aist.go.jp, n-ando ＠ ieee.org
-------------- next part --------------
// -*- C++ -*-
/*!
* @file CorbaNaming.h
* @brief CORBA naming service helper class
* @date $Date: 2007/04/13 15:35:21 $
* @author Noriaki Ando <n-ando ＠ aist.go.jp>
*
* Copyright (C) 2006
* Noriaki Ando
* Task-intelligence Research Group,
* Intelligent Systems Research Institute,
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
*
* $Id: CorbaNaming.h,v 1.2 2007/04/13 15:35:21 n-ando Exp $
*
*/
/*
* $Log: CorbaNaming.h,v $
* Revision 1.2 2007/04/13 15:35:21 n-ando
* Error handing processing in case NameServer does not exist was added.
* Some bug fixes.
*
* Revision 1.1 2006/11/04 19:43:01 n-ando
* CORBA Naming service helper class has rewritten and renamed.
*
*/
#ifndef CorbaNaming_h
#define CorbaNaming_h
#include <rtm/RTC.h>
#ifdef ORB_IS_OMNIORB
#undef PACKAGE_BUGREPORT
#undef PACKAGE_NAME
#undef PACKAGE_STRING
#undef PACKAGE_TARNAME
#undef PACKAGE_VERSION
#include <omniORB4/CORBA.h>
#endif
// STL includes
#include <map>
#include <string>
#include <vector>
namespace RTC
{
/*!
* @if jp
* @class CorbaNaming
* @brief CORBA Naming Service ??????????????
*
* ??????????????CosNaming::NamingContext ??????????????????????????????
* CosNaming::NamingContext ????????????????????????????????????
* ?????????????????????????????????????????????????????? CosNaming::Name
* ????????????????????????????????????????????????????????????????????
*
* ???????????????????????????????????????? CORBA ????????????????????
* ??????????????????????????????????????????????????????????????????????
* ????????????
* ????????????????????????????????????????????????????????????????????????
* ??????????????????????????????????????????????????????????????????????
* ????????????????????????????????????????????????????????????????
*
* @else
* @class CorbaNaming
* @brief CORBA Naming Service helper class
*
* This class is a wrapper class of CosNaming::NamingContext.
* Almost the same operations which CosNaming::NamingContext has are
* provided, and some operation allows string naming representation of
* context and object instead of CosNaming::Name.
*
* The object of the class would connect to a CORBA naming server at
* the instantiation or immediately after instantiation.
* After that the object invokes operations to the root context of it.
* This class realizes forced binding to deep NamingContext, without binding
* intermediate NamingContexts explicitly.
*
* @endif
*/
class CorbaNaming
{
public:
CorbaNaming(CORBA::ORB_ptr orb);
CorbaNaming(CORBA::ORB_ptr orb, const char* name_server);
virtual ~CorbaNaming(){};
void init(const char* name_server);
typedef CosNaming::NamingContext::NotFound NotFound;
typedef CosNaming::NamingContext::CannotProceed CannotProceed;
typedef CosNaming::NamingContext::InvalidName InvalidName;
typedef CosNaming::NamingContext::AlreadyBound AlreadyBound;
typedef CosNaming::NamingContext::NotEmpty NotEmpty;
typedef CosNaming::NamingContextExt::InvalidAddress InvalidAddress;
typedef std::vector<CORBA::Object_ptr> ObjectList;
/*!
* @if jp
*
* @brief Object ?? bind ????
*
* CosNaming::bind() ??????????????????????????????????????????????????????
* ??????????????????????????bind()??????????????????????????
*
* Name <name> ?? Object <obj> ?????? NamingContext ??????????????????
* c_n ?? n ?????? NameComponent ????????????????????
* name ?? n ???? NameComponent ????????????????????????????????????
*
* cxt->bind(<c_1, c_2, ... c_n>, obj) ??????????????????????????
* cxt->resolve(<c_1, ... c_(n-1)>)->bind(<c_n>, obj)
*
* ??????????1????????n-1????????????????????????????n-1??????????????????
* ???? name <n> ????????obj ?? bind ??????
* ?????????????????? <c_1, ... c_(n-1)> ?? NemingContext ????
* bindContext() ?? rebindContext() ??????????????????????????????????????
* ???? <c_1, ... c_(n-1)> ?? NamingContext ??????????????????????
* NotFound ????????????????
*
* ?????????????????????????? force ?? true ????????<c_1, ... c_(n-1)>
* ??????????????????????????????????????????????????????????????
* ???????? obj ?????? name <c_n> ????????????????
*
* ??????????????????n-1?????????????????????? name<n> ??????????????
* (Object ???????? ????????????) ??????????????????????
* AlreadyBound ????????????????
*
* @param name ?????????????????????????? NameComponent
* @param obj ?????????????? Object
* @param force true????????????????????????????????????????????????
*
* @exception NotFound ?????? <c_1, c_2, ..., c_(n-1)> ??????????????
* @exception CannotProceed ??????????????????????????????????
* @exception InvalidName ???? name ??????????????
* @exception AlreadyBound name <c_n> ?? Object ????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void bind(const CosNaming::Name& name, CORBA::Object_ptr obj,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound);
/*!
* @if jp
*
* @brief Object ?? bind ????
*
* Object ?? bind ????????????????????????????????????????????????bind()
* ??????????????bind(toName(string_name), obj) ????????
*
* @param string_name ????????????????????????????????????
* @param obj ??????????????????????????
* @param force true????????????????????????????????????????????????
*
* @exception NotFound ?????? <c_1, c_2, ..., c_(n-1)> ??????????????
* @exception CannotProceed ??????????????????????????????????
* @exception InvalidName ???? name ??????????????
* @exception AlreadyBound name <n> ?? Object ????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void bindByString(const char* string_name, CORBA::Object_ptr obj,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound);
/*!
* @if jp
*
* @brief ???????????????????? bind ???????? Object ?? bind ????
*
* context ???????????? NamingContext ??????????name ????????????
* ???????????????????? <c_1, ... c_(n-1)> ?? NamingContext ??????
* ?????????????????? <c_n> ???????? obj ?? bind ??????
* ??????<c_1, ... c_(n-1)> ?????????? NamingContext ??????????????
* ?????? NamingContext ????????????????
*
* ???????? <c_1, c_2, ..., c_(n-1)> ?????????? NamingContext ??????
* ??????????????????????CosNaming::bind(<c_n>, object) ????????????????
* ?????????????????????????????????????????? AlreadyBound????????????????
*
* ??????????????????????????????????????????????????????????????????
* ?????????? NamingContext ???????? Binding ????????????????
* CannotProceed ????????????????????????????
*
* @param context bind ????????????NamingContext
* @param name ??????????????????????????????????????????????
* @param obj ??????????????????????????
*
* @exception CannotProceed <c_1, ..., c_(n-1)> ?????????? NamingContext
* ?????????????????????? NamingContext ?????? object ??????????
* ????????????????????????????????
* @exception InvalidName ???? name ??????
* @exception AlreadyBound name <c_n> ???????????????? object ??????????
* ????????????
* @else
*
* @brief
*
* @endif
*/
void bindRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CORBA::Object_ptr obj)
throw(CannotProceed, InvalidName, AlreadyBound);
/*!
* @if jp
*
* @brief Object ?? rebind ????
*
* name ???????????? Binding ???????????????????????????? bind() ??????
* ??????????????????????????????????????????????????????????????????????
* ????????????????
*
* @param name ?????????????????????????? NameComponent
* @param obj ??????????????????????????
* @param force true????????????????????????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void rebind(const CosNaming::Name& name, CORBA::Object_ptr obj,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief Object ?? rebind ????
*
* Object ?? rebind ?????????????????????????????????????????????? rebind()
* ??????????????rebind(toName(string_name), obj) ????????
*
* @param string_name ????????????????????????????????????
* @param obj ??????????????????????????
* @param force true????????????????????????????????????????????????
*
* @exception NotFound ?????? <c_1, c_2, ..., c_(n-1)> ??????????????
* @exception CannotProceed ??????????????????????????????????
* @exception InvalidName ???? name ??????????????
*
* @else
*
* @brief
*
* @endif
*/
void rebindByString(const char* string_name, CORBA::Object_ptr obj,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief ???????????????????? bind ???????? Object ?? rebind ????
*
* name <c_n> ???????????? NamingContext ???????? Object ????????????????
* ???????????? bindRecursive() ??????????????
*
* name <c_n> ????????????????????????????????????????????????????
* ??????????????????????????????????????
*
* @param name ????????????????????????????????????
* @param obj ??????????????????????????
* @param force true????????????????????????????????????????????????
*
* @exception CannotProceed ??????????????????????????????????
* @exception InvalidName ?????????? name ????????
*
* @else
*
* @brief
*
* @endif
*/
void rebindRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CORBA::Object_ptr obj)
throw(CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief NamingContext ?? bind ????
*
* bind ???????????????????? NamingContext ?????????????????? bind()
* ??????????????
*
* @param name ??????????????????????????????????????????????
* @param name_cxt ?????????????? NamingContext
* @param force true????????????????????????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void bindContext(const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound);
/*!
* @if jp
*
* @brief NamingContext ?? bind ????
*
* bind ???????????????????? NamingContext ?????????????????? bind()
* ??????????????
*
* @param name ????????????????????????????????????
* @param name_cxt ?????????????? NamingContext
* @param force true????????????????????????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void bindContext(const char* string_name,
CosNaming::NamingContext_ptr name_cxt,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound);
/*!
* @if jp
*
* @brief NamingContext ?? bind ????
*
* bind ???????????????????? NamingContext ??????????????????
* bindRecursive() ??????????????
*
* @param context bind ????????????NamingContext
* @param name ??????????????????????????????????????????????
* @param name_cxt ?????????????? NamingContext
* @param force true????????????????????????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void bindContextRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt);
/*!
* @if jp
*
* @brief NamingContext ?? rebind ????
*
* name ???????????????????????????????????????????????????? bindContext()
* ??????????????
* ??????????????????????????????????????????????????????????????
* ????????????????
*
* @param name ??????????????????????????????????????????????
* @param name_cxt ?????????????? NamingContext
* @param force true????????????????????????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void rebindContext(const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief NamingContext ?? rebind ????
*
* name ???????????????????????????????????????????????????? bindContext()
* ??????????????
* ??????????????????????????????????????????????????????????????
* ????????????????
*
* @param name ????????????????????????????????????
* @param name_cxt ?????????????? NamingContext
* @param force true????????????????????????????????????????????????
*
* @else
*
* @brief
*
* @endif
*/
void rebindContext(const char* string_name,
CosNaming::NamingContext_ptr name_cxt,
const bool force = 1)
throw(NotFound, CannotProceed, InvalidName);
void rebindContextRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt);
/*!
* @if jp
*
* @brief Object ?? name ????????????
*
* name ?? bind ??????????????????????????????????
* ???????????????????? <c_1, c_2, ... c_n> ??????????????????????
*
* CosNaming::resolve() ????????????????????????????????????????
* ???????????????????????????????????????? resolve() ??????????????????
* ????????
*
* @param name ??????????????????????????????????????????????????
* @return ??????????????????????????
*
* @else
*
* @endif
*/
CORBA::Object_ptr resolve(const CosNaming::Name& name)
throw(NotFound, CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief Object ?? name ????????????
*
* name ?? bind ??????????????????????????????????
* ???????????????????? <c_1, c_2, ... c_n> ??????????????????????
*
* CosNaming::resolve() ????????????????????????????????????????
* ???????????????????????????????????????? resolve() ??????????????????
* ????????
*
* @param name ????????????????????????????????????????
* @return ??????????????????????????
*
* @else
*
* @endif
*/
CORBA::Object_ptr resolve(const char* string_name)
throw(NotFound, CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief ?????????????????????????????? bind ??????????
*
* name ?? bind ??????????????????????????????????
* ???????????????????? <c_1, c_2, ... c_n> ??????????????????????
*
* CosNaming::unbind() ????????????????????????????????????????
* ???????????????????????????????????????? unbind() ??????????????????
* ????????
*
* @param name ??????????????????????????????????????????????????
* @return ??????????????????????????
*
* @else
*
* @endif
*/
void unbind(const CosNaming::Name& name)
throw(NotFound, CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief ?????????????????????????????? bind ??????????
*
* name ?? bind ??????????????????????????????????
* ???????????????????? <c_1, c_2, ... c_n> ??????????????????????
*
* CosNaming::unbind() ????????????????????????????????????????
* ???????????????????????????????????????? unbind() ??????????????????
* ????????
*
* @param name ????????????????????????????????????????
* @return ??????????????????????????
*
* @else
*
* @endif
*/
void unbind(const char* string_name)
throw(NotFound, CannotProceed, InvalidName);
/*!
* @if jp
*
* @brief ????????????????????????????
*
* ???????????????????????????????????? NamingContext ????????
* ???????? NamingContext ?? bind ??????????????
*
* @return ???????????????? NamingContext
*
* @else
*
* @endif
*/
CosNaming::NamingContext_ptr newContext();
/*!
* @if jp
*
* @brief ???????????????????? bind ????
*
* ?????????? name ??????????????????????????????????????????
* ????????????NamingContext ????????????????????????????????????????
*
* @param name NamingContext??????????????????????????????????
* @return ???????????????? NamingContext
*
* @else
*
* @endif
*/
CosNaming::NamingContext_ptr
bindNewContext(const CosNaming::Name& name, bool force = true)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound);
/*!
* @if jp
*
* @brief ???????????????????? bind ????
*
* ?????????? name ??????????????????????????????????????????
* ????????????NamingContext ????????????????????????????????????????
*
* @param name NamingContext????????????????????????
* @return ???????????????? NamingContext
*
* @else
*
* @endif
*/
CosNaming::NamingContext_ptr
bindNewContext(const char* string_name, bool force = true)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound);
/*!
* @if jp
*
* @brief NamingContext ????????????????????
*
* context ???????????? NamingContext ??????????????????????
* context ???????????????????????????????????????????? NotEmpty ??????
* ??????????
*
* @param context ?????????????????? NamingContext
*
* @else
*
* @brief Destroy the naming context
*
* Delete the specified naming context.
* any bindings should be <unbind> in which the given context is bound to
* some names before invoking <destroy> operation on it.
*
* @param context NamingContext which is destroied.
*
* @endif
*/
void destroy(CosNaming::NamingContext_ptr context)
throw(NotEmpty);
/*!
* @if jp
* @brief NamingContext ??????????????????????????????????
* @else
* @brief Destroy the naming context recursively
* @endif
*/
void destroyRecursive(CosNaming::NamingContext_ptr context)
throw(NotEmpty, NotFound, CannotProceed, InvalidName);
/*!
* @if jp
* @brief ???????? Binding ??????????
* @else
* @brief Destroy all binding
* @endif
*/
void clearAll();
/*!
* @if jp
* @brief ?????????? NamingContext ?? Binding ??????????
* @else
* @brief Get Binding on the NamingContextDestroy all binding
* @endif
*/
void list(CosNaming::NamingContext_ptr name_cxt,
unsigned long how_many,
CosNaming::BindingList_var& bl,
CosNaming::BindingIterator_var& bi);
//============================================================
// interface of NamingContextExt
//============================================================
/*!
* @if jp
* @brief ?????????? NameComponent ??????????????????
* @else
* @brief Get string representation of given NameComponent
* @endif
*/
char* toString(const CosNaming::Name& name)
throw(InvalidName);
/*!
* @if jp
* @brief ?????????????????????? NameComponent ??????????
* @else
* @brief Get NameComponent from gien string name representation
* @endif
*/
CosNaming::Name toName(const char* string_name)
throw(InvalidName);
/*!
* @if jp
* @brief ?????????? addre ?? string_name ???? URL??????????????
* @else
* @brief Get URL representation from given addr and string_name
* @endif
*/
char* toUrl(char* addr, char* string_name)
throw(InvalidAddress, InvalidName);
/*!
* @if jp
* @brief ?????????????????????? resolve ????????????????????
* @else
* @brief Resolve from name of string representation and get object
* @endif
*/
CORBA::Object_ptr resolveStr(const char* string_name)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound);
//============================================================
// Find functions
//============================================================
// ObjectList find(const char* name, const char* kind);
// ObjectList findById(const char* name, const char* kind);
// ObjectList findByKind(const char* name, const char* kind);
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Bind of resolve the given name component
* @endif
*/
CORBA::Object_ptr bindOrResolve(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CORBA::Object_ptr obj);
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Bind of resolve the given name component
* @endif
*/
CosNaming::NamingContext_ptr
bindOrResolveContext(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CosNaming::NamingContext_ptr new_context);
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Bind of resolve the given name component
* @endif
*/
CosNaming::NamingContext_ptr
bindOrResolveContext(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name);
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Get the name of naming server
* @endif
*/
const char* getNameServer();
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Get the root context
* @endif
*/
CosNaming::NamingContext_ptr getRootContext();
/*!
* @if jp
* @brief ??????????????????????????????????????????????
* @else
* @brief Whether the object is NamingContext
* @endif
*/
bool isNamingContext(CORBA::Object_ptr obj);
/*!
* @if jp
* @brief ??????????????????????????????????????????????
* @else
* @brief Whether the given name component is NamingContext
* @endif
*/
bool isNamingContext(const CosNaming::Name& name);
/*!
* @if jp
* @brief ??????????????????????????????????????????????
* @else
* @brief Whether the given string name is NamingContext
* @endif
*/
bool isNamingContext(const char* string_name);
/*!
* @if jp
* @brief ????????????????????????????????
* @else
* @brief Get subset of given name component
* @endif
*/
CosNaming::Name subName(const CosNaming::Name& name,
long begin,
long end = -1);
protected:
/*!
* @if jp
* @brief ??????????????????????????????????????????
* @else
* @brief Get string representation of name component
* @endif
*/
void nameToString(const CosNaming::Name& name, char* string_name,
unsigned long slen);
/*!
* @if jp
* @brief ????????????????????????????????????????????????????
* @else
* @brief Get string length of the name component's string representation
* @endif
*/
CORBA::ULong getNameLength(const CosNaming::Name& name);
/*!
* @if jp
* @brief ????????????
* @else
* @brief Split of string
* @endif
*/
unsigned int split(const std::string& input,
const std::string& delimiter,
std::vector<std::string>& results);
CORBA::ORB_var m_varORB;
std::string m_nameServer;
CosNaming::NamingContextExt_var m_rootContext;
private:
CORBA::ULong m_blLength;
}; // class CorbaNaming
}; // namespace RTC
#endif // end of __Naming_h__
-------------- next part --------------
// -*- C++ -*-
/*!
* @file CorbaNaming.cpp
* @brief CORBA naming service helper class
* @date $Date: 2007/04/13 15:35:16 $
* @author Noriaki Ando <n-ando ＠ aist.go.jp>
*
* Copyright (C) 2006
* Noriaki Ando
* Task-intelligence Research Group,
* Intelligent Systems Research Institute,
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
*
* $Id: CorbaNaming.cpp,v 1.3 2007/04/13 15:35:16 n-ando Exp $
*
*/
/*
* $Log: CorbaNaming.cpp,v $
* Revision 1.3 2007/04/13 15:35:16 n-ando
* Error handing processing in case NameServer does not exist was added.
* Some bug fixes.
*
* Revision 1.2 2007/01/21 09:05:47 n-ando
* "assert.h" is included.
*
* Revision 1.1 2006/11/04 19:42:55 n-ando
* CORBA Naming service helper class has rewritten and renamed.
*
*/
#ifdef WIN32
#define ACE_HAS_WINSOCK2 0
#endif //WIN32
#include <assert.h>
#include <rtm/CorbaNaming.h>
#include <iostream>
namespace RTC
{
CorbaNaming::CorbaNaming(CORBA::ORB_ptr orb)
: m_varORB(orb), m_nameServer(""),
m_rootContext(CosNaming::NamingContextExt::_nil()),
m_blLength(100)
{
}
CorbaNaming::CorbaNaming(CORBA::ORB_ptr orb,
const char* name_server)
: m_varORB(CORBA::ORB::_duplicate(orb)), m_nameServer(name_server),
m_rootContext(CosNaming::NamingContextExt::_nil()),
m_blLength(100)
{
CORBA::Object_var obj;
m_nameServer = "corbaloc::" + m_nameServer + "/NameService";
try
{
obj = m_varORB->string_to_object(m_nameServer.c_str());
std::cout << m_varORB->object_to_string(obj) << std::endl;
m_rootContext = CosNaming::NamingContextExt::_narrow(obj);
if (CORBA::is_nil(m_rootContext)) throw std::bad_alloc();
}
catch(...)
{
throw std::bad_alloc();
}
}
void CorbaNaming::init(const char* name_server)
{
m_nameServer = name_server;
m_nameServer = "corbaloc::" + m_nameServer + "/NameService";
CORBA::Object_var obj;
obj = m_varORB->string_to_object(m_nameServer.c_str());
m_rootContext = CosNaming::NamingContextExt::_narrow(obj);
if (CORBA::is_nil(m_rootContext)) throw std::bad_alloc();
}
/*!
* @if jp
* @brief Object ?? bind ????
* @else
* @brief Bind object on specified name component position
* @endif
*/
void CorbaNaming::bind(const CosNaming::Name& name, CORBA::Object_ptr obj,
const bool force)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound)
{
try
{
m_rootContext->bind(name, obj);
}
catch (NotFound& e)
{
force ? bindRecursive(m_rootContext, name, obj) : throw e;
}
catch (CannotProceed& e)
{
force ? bindRecursive(e.cxt, e.rest_of_name, obj) : throw e;
}
}
/*!
* @if jp
* @brief Object ?? bind ????
* @else
* @brief Bind object on specified string name position
* @endif
*/
void CorbaNaming::bindByString(const char* string_name, CORBA::Object_ptr obj,
const bool force)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound)
{
this->bind(toName(string_name), obj, force);
}
/*!
* @if jp
* @brief ???????????????????????????? bind ???????? Object ?? bind ????
* @else
* @brief Bind intermediate context recursively and bind object
* @endif
*/
void CorbaNaming::bindRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CORBA::Object_ptr obj)
throw(CannotProceed, InvalidName, AlreadyBound)
{
CORBA::ULong len(name.length());
CosNaming::NamingContext_var cxt;
cxt = CosNaming::NamingContext::_duplicate(context);
for (CORBA::ULong i = 0; i < len; ++i)
{
if (i == (len - 1))
{ // this operation may throw AlreadyBound,
cxt->bind(subName(name, i, i), obj);
return;
}
else
{ // If the context is not a NamingContext, CannotProceed is thrown
if (isNamingContext(cxt))
cxt = bindOrResolveContext(cxt, subName(name, i, i));
else
throw CannotProceed(cxt, subName(name, i));
}
}
return;
}
/*!
* @if jp
* @brief Object ?? rebind ????
* @else
* @brief Rebind object
* @endif
*/
void CorbaNaming::rebind(const CosNaming::Name& name,
CORBA::Object_ptr obj,
const bool force)
throw(NotFound, CannotProceed, InvalidName)
{
try
{
m_rootContext->rebind(name, obj);
}
catch (NotFound& e)
{
force ? rebindRecursive(m_rootContext, name, obj) : throw e;
}
catch (CannotProceed& e)
{
force ? rebindRecursive(e.cxt, e.rest_of_name, obj) : throw e;
}
}
/*!
* @if jp
* @brief Object ?? rebind ????
* @else
* @brief Rebind object
* @endif
*/
void CorbaNaming::rebindByString(const char* string_name,
CORBA::Object_ptr obj,
const bool force)
throw(NotFound, CannotProceed, InvalidName)
{
rebind(toName(string_name), obj, force);
}
/*!
* @if jp
* @brief Object ?? rebind ????
* @else
* @brief Rebind object
* @endif
*/
void CorbaNaming::rebindRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CORBA::Object_ptr obj)
throw(CannotProceed, InvalidName)
{
CORBA::ULong len(name.length());
CosNaming::NamingContext_var cxt;
cxt = CosNaming::NamingContext::_duplicate(context);
for (CORBA::ULong i = 0; i < len; ++i)
{
if (i == (len - 1))
{
cxt->rebind(subName(name, i, i), obj);
return;
}
else
{ // If the context is not a NamingContext, CannotProceed is thrown
if (isNamingContext(cxt))
{
try
{
cxt = cxt->bind_new_context(subName(name, i, i));
}
catch (AlreadyBound& e)
{
cxt = CosNaming::
NamingContextExt::
_narrow(cxt->resolve(subName(name, i, i)));
}
}
else
throw CannotProceed(cxt, subName(name, i));
}
}
return;
}
/*!
* @if jp
* @brief NamingContext ?? bind ????
* @else
* @brief Bind NamingContext
* @endif
*/
void CorbaNaming::bindContext(const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt,
const bool force)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound)
{
bind(name, name_cxt, force);
}
/*!
* @if jp
* @brief NamingContext ?? bind ????
* @else
* @brief Bind NamingContext
* @endif
*/
void CorbaNaming::bindContext(const char* string_name,
CosNaming::NamingContext_ptr name_cxt,
const bool force)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound)
{
bindContext(toName(string_name), name_cxt, force);
}
/*!
* @if jp
* @brief ???????????????????????????? bind ?? NamingContext ?? bind ????
* @else
* @brief Rebind object
* @endif
*/
void
CorbaNaming::bindContextRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt)
{
bindRecursive(context, name, name_cxt);
return;
}
/*!
* @if jp
* @brief NamingContext ?? rebind ????
* @else
* @brief Rebind NamingContext
* @endif
*/
void CorbaNaming::rebindContext(const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt,
const bool force)
throw(NotFound, CannotProceed, InvalidName)
{
rebind(name, name_cxt, force);
return;
}
/*!
* @if jp
* @brief NamingContext ?? rebind ????
* @else
* @brief Rebind NamingContext
* @endif
*/
void CorbaNaming::rebindContext(const char* string_name,
CosNaming::NamingContext_ptr name_cxt,
const bool force)
throw(NotFound, CannotProceed, InvalidName)
{
rebindContext(toName(string_name), name_cxt, force);
}
/*!
* @if jp
* @brief ???????????????????????????? rebind ?? NamingContext ?? rebind ????
* @else
* @brief Create or resolve intermediate context and rebind NamingContext
* @endif
*/
void
CorbaNaming::rebindContextRecursive(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CosNaming::NamingContext_ptr name_cxt)
{
rebindRecursive(context, name, name_cxt);
return;
}
/*!
* @if jp
* @brief ?????????? NameComponent ???????????????????? Object ??????
* @else
* @brief Return object bound on the specified NameComponent
* @endif
*/
CORBA::Object_ptr CorbaNaming::resolve(const CosNaming::Name& name)
throw(NotFound, CannotProceed, InvalidName)
{
return m_rootContext->resolve(name);
}
/*!
* @if jp
* @brief ?????????? NameComponent ???????????????????? Object ??????
* @else
* @brief Return object bound on the specified NameComponent
* @endif
*/
CORBA::Object_ptr CorbaNaming::resolve(const char* string_name)
throw(NotFound, CannotProceed, InvalidName)
{
return resolve(toName(string_name));
}
/*!
* @if jp
* @brief ?????????? NameComponent ??????????????????????????
* @else
* @brief Unbind a binding specified by NameComponent
* @endif
*/
void CorbaNaming::unbind(const CosNaming::Name& name)
throw(NotFound, CannotProceed, InvalidName)
{
m_rootContext->unbind(name);
}
/*!
* @if jp
* @brief ?????????? NameComponent ??????????????????????????
* @else
* @brief Unbind a binding specified by NameComponent
* @endif
*/
void CorbaNaming::unbind(const char* string_name)
throw(NotFound, CannotProceed, InvalidName)
{
unbind(toName(string_name));
}
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Create new NamingContext
* @endif
*/
CosNaming::NamingContext_ptr CorbaNaming::newContext()
{
return m_rootContext->new_context();
}
/*!
* @if jp
* @brief ???????????????????? bind ????
* @else
* pbrief Bind new namingContext
* @endif
*/
CosNaming::NamingContext_ptr
CorbaNaming::bindNewContext(const CosNaming::Name& name, bool force)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound)
{
try
{
return m_rootContext->bind_new_context(name);
}
catch (NotFound& e)
{
force ? bindRecursive(m_rootContext, name, newContext()) : throw e;
}
catch (CannotProceed& e)
{
force ? bindRecursive(e.cxt, e.rest_of_name, newContext()) : throw e;
}
return CosNaming::NamingContext::_nil();
}
/*!
* @if jp
* @brief ???????????????????? bind ????
* @else
* pbrief Bind new namingContext
* @endif
*/
CosNaming::NamingContext_ptr
CorbaNaming::bindNewContext(const char* string_name, bool force)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound)
{
return bindNewContext(toName(string_name));
}
/*!
* @if jp
* @brief NamingContext ????????????????????
* @else
* @brief Destroy the naming context
* @endif
*/
void CorbaNaming::destroy(CosNaming::NamingContext_ptr context)
throw(NotEmpty)
{
context->destroy();
}
/*!
* @if jp
* @brief NamingContext ??????????????????????????????????
* @else
* @brief Destroy the naming context recursively
* @endif
*/
void CorbaNaming::destroyRecursive(CosNaming::NamingContext_ptr context)
throw(NotEmpty, NotFound, CannotProceed, InvalidName)
{
CosNaming::BindingList_var bl;
CosNaming::BindingIterator_var bi;
CORBA::Boolean cont(true);
context->list(m_blLength, bl, bi);
while (cont)
{
CORBA::ULong len(bl->length());
for (CORBA::ULong i = 0; i < len; ++i)
{
if (bl[i].binding_type == CosNaming::ncontext)
{ // If Object is context, destroy recursive.
CosNaming::NamingContext_var next_context;
next_context = CosNaming::NamingContext::
_narrow(context->resolve(bl[i].binding_name));
// Recursive function call
destroyRecursive(next_context); // +++ Recursive call +++
context->unbind(bl[i].binding_name);
next_context->destroy();
}
else if (bl[i].binding_type == CosNaming::nobject)
{ // If Object is object, unbind it.
context->unbind(bl[i].binding_name);
}
else assert(0); // never comes here
}
// no more binding -> do-while loop will be finished
if (CORBA::is_nil(bi)) cont = false;
else bi->next_n(m_blLength, bl);
}
if (!CORBA::is_nil(bi)) bi->destroy();
return;
}
/*!
* @if jp
* @brief ???????? Binding ??????????
* @else
* @brief Destroy all binding
* @endif
*/
void CorbaNaming::clearAll()
{
destroyRecursive(m_rootContext);
}
/*!
* @if jp
* @brief ?????????? NamingContext ?? Binding ??????????
* @else
* @brief Get Binding on the NamingContextDestroy all binding
* @endif
*/
void CorbaNaming::list(CosNaming::NamingContext_ptr name_cxt,
unsigned long how_many,
CosNaming::BindingList_var& bl,
CosNaming::BindingIterator_var& bi)
{
name_cxt->list(how_many, bl, bi);
}
/*!
* @if jp
* @brief ?????????? NameComponent ??????????????????
* @else
* @brief Get string representation of given NameComponent
* @endif
*/
char* CorbaNaming::toString(const CosNaming::Name& name)
throw(InvalidName)
{
if (name.length() == 0)
throw InvalidName();
CORBA::ULong slen = 0;
slen = getNameLength(name);
char* string_name = CORBA::string_alloc(slen);
nameToString(name, string_name, slen);
return string_name;
}
/*!
* @if jp
* @brief ?????????????????????? NameComponent ??????????
* @else
* @brief Get NameComponent from gien string name representation
* @endif
*/
CosNaming::Name CorbaNaming::toName(const char* sname)
throw(InvalidName)
{
if (!sname) throw InvalidName();
if (*sname == '\0') throw InvalidName();
std::string string_name(sname);
std::vector<std::string> name_comps;
// String name should include 1 or more names
CORBA::ULong nc_length = 0;
nc_length = split(string_name, std::string("/"), name_comps);
if (!(nc_length > 0)) throw InvalidName();
// Name components are allocated
CosNaming::Name* namep = new CosNaming::Name;
CosNaming::Name_var name(namep);
name->length(nc_length);
// Insert id and kind to name components
for (CORBA::ULong i = 0; i < nc_length; ++i)
{
std::string::size_type pos;
pos = name_comps[i].find_last_of(".");
if (pos != 0)
{
name[i].id =
CORBA::string_dup(name_comps[i].substr(0, pos).c_str());
name[i].kind =
CORBA::string_dup(name_comps[i].substr(pos + 1).c_str());
}
else
{
name[i].id = CORBA::string_dup(name_comps[i].c_str());
name[i].kind = "";
}
}
return name;
}
/*!
* @if jp
* @brief ?????????? addre ?? string_name ???? URL??????????????
* @else
* @brief Get URL representation from given addr and string_name
* @endif
*/
char* CorbaNaming::toUrl(char* addr, char* string_name)
throw(InvalidAddress, InvalidName)
{
return m_rootContext->to_url(addr, string_name);
}
/*!
* @if jp
* @brief ?????????????????????? resolve ????????????????????
* @else
* @brief Resolve from name of string representation and get object
* @endif
*/
CORBA::Object_ptr CorbaNaming::resolveStr(const char* string_name)
throw(NotFound, CannotProceed, InvalidName, AlreadyBound)
{
return resolve(string_name);
}
//======================================================================
// Util functions
//======================================================================
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Bind of resolve the given name component
* @endif
*/
CORBA::Object_ptr
CorbaNaming::bindOrResolve(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CORBA::Object_ptr obj)
{
try
{
context->bind(name, obj);
return obj;
}
catch (AlreadyBound& e)
{
return context->resolve(name);
}
return CORBA::Object::_nil();
}
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Bind of resolve the given name component
* @endif
*/
CosNaming::NamingContext_ptr
CorbaNaming::bindOrResolveContext(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name,
CosNaming::NamingContext_ptr new_context)
{
return CosNaming::NamingContext::_narrow(bindOrResolve(context, name, new_context));
}
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Bind of resolve the given name component
* @endif
*/
CosNaming::NamingContext_ptr
CorbaNaming::bindOrResolveContext(CosNaming::NamingContext_ptr context,
const CosNaming::Name& name)
{
return bindOrResolveContext(context, name, newContext());
}
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Get the name of naming server
* @endif
*/
const char* CorbaNaming::getNameServer()
{
return m_nameServer.c_str();
}
/*!
* @if jp
* @brief ????????????????????????????
* @else
* @brief Get the root context
* @endif
*/
CosNaming::NamingContext_ptr CorbaNaming::getRootContext()
{
return m_rootContext;
}
/*!
* @if jp
* @brief ??????????????????????????????????????????????
* @else
* @brief Whether the object is NamingContext
* @endif
*/
bool CorbaNaming::isNamingContext(CORBA::Object_ptr obj)
{
CosNaming::NamingContext_var nc;
nc = CosNaming::NamingContext::_narrow(obj);
return CORBA::is_nil(nc) ? false : true;
}
/*!
* @if jp
* @brief ??????????????????????????????????????????????
* @else
* @brief Whether the given name component is NamingContext
* @endif
*/
bool CorbaNaming::isNamingContext(const CosNaming::Name& name)
{
return isNamingContext(resolve(name));
}
/*!
* @if jp
* @brief ??????????????????????????????????????????????
* @else
* @brief Whether the given string name is NamingContext
* @endif
*/
bool CorbaNaming::isNamingContext(const char* string_name)
{
return isNamingContext(resolve(string_name));
}
/*!
* @if jp
* @brief ????????????????????????????????
* @else
* @brief Get subset of given name component
* @endif
*/
CosNaming::Name CorbaNaming::subName(const CosNaming::Name& name,
long begin,
long end)
{
if (end < 0) end = name.length() - 1;
CosNaming::Name sub_name;
CORBA::ULong sub_len(end - (begin - 1));
if (sub_len > 0)
{
sub_name.length(sub_len);
}
else
{
sub_name.length(0);
return sub_name;
}
for (CORBA::ULong i = 0; i < sub_len; ++i)
{
sub_name[i] = name[begin + i];
}
return sub_name;
}
//------------------------------------------------------------
// Protected member functions
//------------------------------------------------------------
/*!
* @if jp
* @brief ??????????????????????????????????????????
* @else
* @brief Get string representation of name component
* @endif
*/
void CorbaNaming::nameToString(const CosNaming::Name& name,
char* string_name,
unsigned long slen)
{
char* s = string_name;
for (CORBA::ULong i = 0; i < name.length(); ++i)
{
// Copy id to string_name
for (const char* id = name[i].id; *id != '\0'; ++id)
{
if (*id == '/' || *id == '.' || *id == '\\') *s++ = '\\';
*s++ = *id;
}
// '.' if there is a kind, or no id
if (((const char*)(name[i].id ))[0] == '\0' ||
((const char*)(name[i].kind))[0] != '\0')
*s++ = '.';
// Copy kind to string_name
for (const char* kind = name[i].kind; *kind != '\0'; ++kind)
{
if (*kind == '/' || *kind == '.' || *kind == '\\')
*s++ = '\\';
*s++ = *kind;
}
// The end of string_name will be overwritten by '\0'
*s++ = '/';
}
string_name[slen-1] = '\0';
}
/*!
* @if jp
* @brief ????????????????????????????????????????????????????
* @else
* @brief Get string length of the name component's string representation
* @endif
*/
CORBA::ULong CorbaNaming::getNameLength(const CosNaming::Name& name)
{
CORBA::ULong slen = 0;
for (CORBA::ULong i = 0; i < name.length(); ++i)
{
// Count string length of id(s)
for (const char* id = name[i].id; *id; ++id)
{
// Escape character '/', '.', '\' will convert to "\/", "\.", "\\".
if (*id == '/' || *id == '.' || *id == '\\') slen++;
slen++;
}
// If kind exists, space for '.' is counted
if (((const char*)(name[i].id ))[0] == '\0' ||
((const char*)(name[i].kind))[0] != '\0')
{
slen++;
}
// Count string length of kind(s)
for (const char* kind = name[i].kind; *kind; kind++)
{
if (*kind == '/' || *kind == '.' || *kind == '\\') slen++;
slen++;
}
// Space for '/' or '\0'
slen++;
}
return slen;
}
/*!
* @if jp
* @brief ????????????
* @else
* @brief Split of string
* @endif
*/
unsigned int CorbaNaming::split(const std::string& input,
const std::string& delimiter,
std::vector<std::string>& results)
{
typedef std::string::size_type size;
size delim_size = delimiter.size();
size found_pos(0), begin_pos(0), pre_pos(0), substr_size(0);
if (input.substr(0, delim_size) == delimiter)
begin_pos = pre_pos = delim_size;
while (1)
{
REFIND:
found_pos = input.find(delimiter, begin_pos);
if (found_pos == std::string::npos)
{
results.push_back(input.substr(pre_pos));
break;
}
if ('\\' == input.at(found_pos - 1))
{
begin_pos = found_pos + delim_size;
goto REFIND;
}
substr_size = found_pos - pre_pos;
if (substr_size > 0)
{
results.push_back(input.substr(pre_pos, substr_size));
}
begin_pos = found_pos + delim_size;
pre_pos = found_pos + delim_size;
}
return results.size();
}
}; // namespace RTC
-------------- next part --------------
// -*- C++ -*-
/*!
* @file NamingManager.h
* @brief naming Service helper class
* @date $Date: 2007/04/13 18:08:42 $
* @author Noriaki Ando <n-ando ＠ aist.go.jp>
*
* Copyright (C) 2006
* Task-intelligence Research Group,
* Intelligent Systems Research Institute,
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
*
* $Id: NamingManager.h,v 1.2 2007/04/13 18:08:42 n-ando Exp $
*
*/
/*
* $Log: NamingManager.h,v $
* Revision 1.2 2007/04/13 18:08:42 n-ando
* Some changes for NameServers rebinding and objects rebinding.
*
* Revision 1.1 2006/11/04 21:11:44 n-ando
* NamingManager was introduced to support multiple name server.
*
*/
#ifndef NamingManager_h
#define NamingManager_h
#include <ace/Task.h>
#include <rtm/CorbaNaming.h>
#include <rtm/RTObject.h>
#include <rtm/SystemLogger.h>
namespace RTC
{
class Manager;
class NamingBase
{
public:
NamingBase() {};
virtual ~NamingBase() {};
virtual void bindObject(const char* name, const RTObject_impl* rtobj) = 0;
virtual void unbindObject(const char* name) = 0;
};
class NamingOnCorba
: public virtual NamingBase
{
public:
NamingOnCorba(CORBA::ORB_ptr orb, const char* names)
: m_cosnaming(orb, names)
{};
virtual ~NamingOnCorba(){};
virtual void bindObject(const char* name, const RTObject_impl* rtobj);
virtual void unbindObject(const char* name);
private:
CorbaNaming m_cosnaming;
std::map<std::string, RTObject_impl*> m_names;
};
class NamingManager
{
public:
NamingManager(Manager* manager);
virtual ~NamingManager();
void registerNameServer(const char* method, const char* name_server);
void bindObject(const char* name, const RTObject_impl* rtobj);
void update();
void unbindObject(const char* name);
void unbindAll();
protected:
NamingBase* createNamingObj(const char* method, const char* name_server);
void bindCompsTo(NamingBase* ns);
void registerCompName(const char* name, const RTObject_impl* rtobj);
void unregisterCompName(const char* name);
protected:
// Name Servers' method/name and object
struct Names
{
Names(const char* meth, const char* name, NamingBase* naming)
: method(meth), nsname(name), ns(naming)
{
}
std::string method;
std::string nsname;
NamingBase* ns;
};
std::vector<Names*> m_names;
ACE_Thread_Mutex m_namesMutex;
// Components' name and object
struct Comps
{
Comps(const char* n, const RTObject_impl* obj)
: name(n), rtobj(obj)
{}
std::string name;
const RTObject_impl* rtobj;
};
std::vector<Comps*> m_compNames;
Manager* m_manager;
MedLogbuf m_MedLogbuf;
LogStream rtcout;
}; // class NamingManager
}; // namespace RTC
#endif // NamingManager_h
-------------- next part --------------
// -*- C++ -*-
/*!
* @file NamingManager.h
* @brief naming Service helper class
* @date $Date: 2007/04/13 18:08:38 $
* @author Noriaki Ando <n-ando ＠ aist.go.jp>
*
* Copyright (C) 2006
* Task-intelligence Research Group,
* Intelligent Systems Research Institute,
* National Institute of
* Advanced Industrial Science and Technology (AIST), Japan
* All rights reserved.
*
* $Id: NamingManager.cpp,v 1.3 2007/04/13 18:08:38 n-ando Exp $
*
*/
/*
* $Log: NamingManager.cpp,v $
* Revision 1.3 2007/04/13 18:08:38 n-ando
* Some changes for NameServers rebinding and objects rebinding.
*
* Revision 1.2 2007/01/14 19:43:28 n-ando
* Debugging messages to stdout were deleted.
*
* Revision 1.1 2006/11/04 21:11:36 n-ando
* NamingManager was introduced to support multiple name server.
*
*/
#include <rtm/NamingManager.h>
#include <rtm/Manager.h>
#include <rtm/StringUtil.h>
#include <functional>
#include <algorithm>
#include <iostream>
namespace RTC
{
void NamingOnCorba::bindObject(const char* name,
const RTObject_impl* rtobj)
{
try
{
m_cosnaming.rebindByString(name, rtobj->getObjRef(), true);
}
catch (...)
{
;
}
}
void NamingOnCorba::unbindObject(const char* name)
{
try
{
m_cosnaming.unbind(name);
}
catch (...)
{
;
}
}
//============================================================
// NamingManager
//============================================================
NamingManager::NamingManager(Manager* manager)
:m_manager(manager),
m_MedLogbuf(manager->getLogbuf()), rtcout(m_MedLogbuf)
{
m_MedLogbuf.setSuffix("naming_svc");
m_MedLogbuf.setDateFmt(manager->getConfig()["logger.date_format"]);
rtcout.setLogLevel(manager->getConfig()["logger.log_level"]);
rtcout.setLogLock(toBool(manager->getConfig()["logger.stream_lock"],
"enable", "disable", false));
}
NamingManager::~NamingManager()
{
}
void NamingManager::registerNameServer(const char* method,
const char* name_server)
{
RTC_TRACE(("NamingManager::registerNameServer(%s, %s)", \
method, name_server));
NamingBase* name;
name = createNamingObj(method, name_server);
m_names.push_back(new Names(method, name_server, name));
}
void NamingManager::bindObject(const char* name,
const RTObject_impl* rtobj)
{
RTC_TRACE(("NamingManager::bindObject(%s)", name));
ACE_Guard<ACE_Thread_Mutex> guard(m_namesMutex);
for (int i(0), len(m_names.size()); i < len; ++i)
{
if (m_names[i]->ns != NULL)
m_names[i]->ns->bindObject(name, rtobj);
}
registerCompName(name, rtobj);
}
void NamingManager::update()
{
RTC_TRACE(("NamingManager::update()"));
ACE_Guard<ACE_Thread_Mutex> guard(m_namesMutex);
for (int i(0), len(m_names.size()); i < len; ++i)
{
if (m_names[i]->ns == NULL) // if ns==NULL
{ // recreate NamingObj
NamingBase* nsobj;
nsobj = createNamingObj(m_names[i]->method.c_str(),
m_names[i]->nsname.c_str());
if (nsobj != NULL) // if succeed
{
RTC_INFO(("New name server found: %s/%s", \
m_names[i]->method.c_str(), \
m_names[i]->nsname.c_str()));
m_names[i]->ns = nsobj;
bindCompsTo(nsobj); // rebind all comps to new NS
}
}
}
}
void NamingManager::unbindObject(const char* name)
{
RTC_TRACE(("NamingManager::unbindObject(%s)", name));
ACE_Guard<ACE_Thread_Mutex> guard(m_namesMutex);
for (int i(0), len(m_names.size()); i < len; ++i)
{
if (m_names[i]->ns != NULL)
m_names[i]->ns->unbindObject(name);
}
unregisterCompName(name);
}
void NamingManager::unbindAll()
{
RTC_TRACE(("NamingManager::unbindAll(): %d names.", m_compNames.size()));
ACE_Guard<ACE_Thread_Mutex> guard(m_namesMutex);
for (int i(0), len(m_compNames.size()); i < len; ++i)
{
unbindObject(m_compNames[i]->name.c_str());
}
}
//============================================================
// Protected
//============================================================
NamingBase* NamingManager::createNamingObj(const char* method,
const char* name_server)
{
std::string m(method);
if (m == "corba")
{
try
{
NamingBase* name;
name = new NamingOnCorba(m_manager->getORB(), name_server);
if (name == NULL) return NULL;
RTC_INFO(("NameServer connection succeeded: %s/%s", \
method, name_server));
return name;
}
catch (...)
{
RTC_INFO(("NameServer connection failed: %s/%s", \
method, name_server));
return NULL;
}
}
return NULL;
}
void NamingManager::bindCompsTo(NamingBase* ns)
{
for (int i(0), len(m_compNames.size()); i < len; ++i)
{
ns->bindObject(m_compNames[i]->name.c_str(), m_compNames[i]->rtobj);
}
}
void NamingManager::registerCompName(const char* name,
const RTObject_impl* rtobj)
{
for (int i(0), len(m_compNames.size()); i < len; ++i)
{
if (m_compNames[i]->name == name)
{
m_compNames[i]->rtobj = rtobj;
return;
}
}
m_compNames.push_back(new Comps(name, rtobj));
return;
}
void NamingManager::unregisterCompName(const char* name)
{
std::vector<Comps*>::iterator it(m_compNames.begin());
for (int i(0), len(m_compNames.size()); i < len; ++i, ++it)
{
if (m_compNames[i]->name == name)
{
m_compNames.erase(it);
return;
}
}
return;
}
}; // namespace RTC
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