[openrtm-users 00530] Re: サービスポートのRTC以外からの利用に関して
Ando Noriaki
n-ando ＠ aist.go.jp
2008年 7月 14日 (月) 22:25:33 JST
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http://www.amazon.co.jp/CORBA%E5%88%86%E6%95%A3%E3%82%AA%E3%83%96%E3%82%B8%E3%82%A7%E3%82%AF%E3%83%88%E2%80%95Orbix%E3%82%92%E7%94%A8%E3%81%84%E3%81%A6-%E3%82%B7%E3%83%A7%E3%83%BC%E3%83%B3-%E3%83%99%E3%83%BC%E3%82%AB%E3%83%BC/dp/4894711583/ref=sr_1_16?ie=UTF8&s=books&qid=1216041813&sr=8-16
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2008/07/10 21:45 $BLnB<!!BvKa(B <nomura-takuma ＠ jp.yamatake.com>:
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>
> $B8E$$OC$G62=L$G$9$,!"0JA0$N(BML$B$N(BNo.266"Re: $B%5!<%S%9%]!<%H$N(BRTC$B0J30$+$i$NMxMQ$K4X$7$F(B"
> $B$G>R2pD:$$$?J}K!$r;29M$K!"%3%s%]!<%M%s%H0J30$N%W%m%0%i%`$+$i%5!<%S%9%]!<%H$r8F$S=P$9=hM}$r<BAu$7$F$$$^$9!#(B
>
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> CORBA$B$N(BIDL$B$GDj5A$5$l$F$$$k%/%i%9$J$N$G!"(B***_var$B%/%i%9$r;H$&$N$, ＠ 5$7$$J}K!$G$O$J$$$G$7$g$&$+!)(B
>
> ***_var$B%/%i%9$r;H$&!JJ}$,NI$$!K>l9g$H!";H$o$J$$!J;H$o$J$/$FNI$$!K>l9g$,$"$k$N$G$7$g$&$+!)(B
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>
>
> ----------
> $BLnB<!!BvKa(B
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> $B")(B251-8522$B?@F`@n8)F#Bt;T ＠ nL>(B1-12-2
> TEL:070-6660-5322$B!JD>DL!K(B
> E-mail:nomura-takuma ＠ jp.yamatake.com
> URL:http://jp.azbil.com
>
>
>
> ----- Original Message ----- From: "Ando Noriaki" <n-ando ＠ aist.go.jp>
> To: "Fumio Kanehiro" <f-kanehiro ＠ aist.go.jp>
> Cc: <openrtm-users ＠ m.aist.go.jp>
> Sent: Friday, November 16, 2007 9:17 AM
> Subject: [openrtm-users 00266] Re: $B%5!<%S%9%]!<%H$N(BRTC$B0J30$+$i$NMxMQ$K4X$7$F(B
>
>
>> $B6b9-MM(B
>>
>> $B0BF#$G$9(B
>>
>>> $B%5!<%S%9%]!<%H$KDj5A$5$l$F$$$k(BIDL$B$N%$%s%?%U%'!<%9$r(BRTC$B0J30$N(B
>>> $BDL>o$N(BCORBA$B%/%i%$%"%s%H$+$i8F$S=P$9J}K!$O$"$j$^$9$G$7$g$&$+!)(B
>>> $B$I$N$h$&$K$9$k$H%5!<%S%9$N;2>H$r<hF@$G$-$k$G$7$g$&$+!)(B
>>
>> RTC$B$N(BPort$B$K(Bconnect$B$r$9$k:]$K!"$=$N%]!<%H<+?H$N%*%V%8%'%/%H%j%U%!%l%s%9$N$_(B
>> $B$r(BConnectorProfile$B$K%;%C%H$7$F(Bconnect$B$7$F$/$@$5$$!#(B
>> $B$=$&$9$k$H!"La$C$F$-$?(BConnectorProfile::properties$B$NCf$K!"(B
>> port.[Service Type].[Service Name] $B$H$$$&%-!<$G(BCORBA::Any$B7?$G(B
>> $B%*%V%8%'%/%H%j%U%!%l%s%9$,F~$C$F$$$^$9!#(B
>> $B$=$l$r!";HMQ$7$?$$%5!<%S%9$N7?$K(Bnarrow$B$7$F;HMQ$7$F$/$@$5$$!#(B
>>
>> $B$A$g$C$H$4$A$c$4$A$c$7$F$^$9$,!"$*$*$h$=0J2<$N$h$&$K$J$j$^$9!#(B
>>
>> $B$3$N%U%!%$%k$H(BMakefile$B$rE:IU$7$^$9!#(B
>> $BE:IU$N(Btar-ball$B$r(Bexamples/SimpleService$B$N2<$GE83+$7(Bmake$B$7$F$/$@$5$$!#(B
>> make -f Makefile.client$B$G(Bmake$B$G$-$^$9!#(B
>>
>> $B$3$N%W%m%0%i%`$r;n$9<j=g$O0J2<$NDL$j$G$9!#(B
>> MyServiceProvider$B$N%5!<%S%9%]!<%H$,(BProvide$B$7$F$k(BMyService$B%$%s%?!<%U%'!<%9$r(B
>> $B<hF@$7$F!"(BMyService$B%$%s%?!<%U%'!<%9$N%*%Z%l!<%7%g%s$G$"$k(Becho()$B$r8F$s$G$$$^$9!#(B
>>
>> 1. $B%M!<%`%5!<%P$r%m!<%+%k$KN)$A>e$2$k(B
>> 2. MyServiceProvider$B$r(Bterminal1$B$GN)$A>e$2$k(B
>> 3. terminal2$B$G2<$N%W%m%0%i%`$r%3%s%Q%$%k$7$?$b$N$r5/F0(B
>> 4. terminal1$B$G0J2<$N$h$&$KI=<($5$l$k(B
>> MyService::echo() was called.
>> Message: hogehoge
>>
>> $B%W%m%0%i%`Cf$K$O%/%i%9%j%U%!%l%s%9$*$h$S(BIDL$B%j%U%!%l%s%9$X$N(BURL$B$b(B
>> $B=q$$$F$"$j$^$9$N$GE,59;2>H$7$J$,$i$4$i$s$/$@$5$$!#(B
>>
>>
>> ------------------
>> #include <rtm/CorbaNaming.h>
>> #include <iostream>
>> #include "MyService.hh"
>> #include <rtm/NVUtil.h>
>>
>> int main(int argc, char** argv)
>> {
>> CORBA::ORB_var orb;
>> orb = CORBA::ORB_init(argc, argv);
>>
>> // RTC::CorbaNaming $B$r;HMQ$7$F%M!<%`%5!<%P$K%"%/%;%9(B
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/ClassReference/classRTC_1_1CorbaNaming.html
>> RTC::CorbaNaming ns(orb, "localhost");
>>
>> // RTObject$B$r<hF@(B
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/interfaceRTC_1_1RTObject.html
>> CORBA::Object_var obj = ns.resolve("MyServiceProvider0.rtc");
>> RTC::RTObject_var rtc = RTC::RTObject::_narrow(obj);
>>
>> // ComponentProfile$B$r<hF@(B
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1ComponentProfile.html
>> RTC::ComponentProfile* prof;
>> prof = rtc->get_component_profile();
>> std::cout << "RTC name: " << prof->instance_name << std::endl;
>>
>> // PortProfile$B$r<hF@(B
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1PortProfile.html
>> RTC::PortProfileList port_prof;
>> port_prof = prof->port_profiles;
>> for (CORBA::ULong i(0), len(port_prof.length()); i < len; ++i)
>> {
>> std::cout << "name: " << port_prof[i].name << std::endl;
>>
>> // $B%$%s%?!<%U%'!<%9$rI=<($7$F$_$k(B
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1PortInterfaceProfile.html
>> RTC::PortInterfaceProfileList ifs(port_prof[i].interfaces);
>> for (CORBA::ULong j(0), jlen(ifs.length()); j < jlen; ++j)
>> {
>> std::cout << "IF name: " << ifs[j].instance_name << std::endl;
>> std::cout << "IF type: " << ifs[j].type_name << std::endl;
>> const char* pol;
>> pol = ifs[j].polarity == RTC::PROVIDED ? "Provided" : "Required";
>> std::cout << "IF polarity: " << pol << std::endl;
>> }
>> }
>>
>> RTC::Port_var port;
>> port = port_prof[0].port_ref;
>>
>>
>>
>> //
>> // ConnectorProfile $B$N(Bport$B%a%s%P$K<+J,<+?H$N%j%U%!%l%s%9$N$_F~$l$F(B
>> // connect $B$9$k!#La$C$F$-$?(BConnectorProfile$B$N(Bproperties$B$NCf$K$O(B
>> // $B%5!<%S%9$N(BObjectReference$B$,F~$C$F$$$k$N$G<hF@$9$k!#(B
>> //
>> // $B%5!<%S%9$N@\B3$K4X$9$k>pJs$O%/%i%9%j%U%!%l%s%9$N(BCorbaPort$B$r;2>H(B
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/ClassReference/classRTC_1_1CorbaPort.html
>> //
>> // ConnectorProfile
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/IDLReference/structRTC_1_1ConnectorProfile.html
>> RTC::ConnectorProfile con_prof;
>> con_prof.name = CORBA::string_dup("tekitouna_namae0");
>> con_prof.connector_id = "";
>> con_prof.ports.length(1);
>> con_prof.ports[0] = port;
>> con_prof.properties.length(0);
>> if (CORBA::is_nil(port))
>> {
>> std::cout << "nil reference" << std::endl;
>> return 0;
>> }
>>
>> if (port->connect(con_prof) != RTC::RTC_ERROR)
>> {
>> // $B%(%i!<$OL5;k(B
>> std::cout << "ignore error" << std::endl;
>> }
>> std::cout << "connect OK" << std::endl;
>>
>> CORBA::Object_ptr aobj;
>> MyService_var mysvc;
>>
>> // NVUtil$B$G(Bproperties$B$NCf$+$i%5!<%S%9$N%*%V%8%'%/%H%j%U%!%l%s%9$r<hF@(B
>> //
>> http://www.is.aist.go.jp/rt/OpenRTM-aist/doxygen/ClassReference/namespaceNVUtil.html
>> if (NVUtil::find(con_prof.properties, "port.MyService.myservice0")
>>>>
>>>> = CORBA::Any::to_object(aobj))
>>
>> {
>> mysvc = MyService::_narrow(aobj);
>> }
>>
>> // $B%5!<%S%9$r8F$V(B
>> mysvc->echo("hogehoge");
>> // MyServiceProvider$B$r<B9T$7$?2hLL$G0J2<$N$h$&$KI=<($5$l$k$O$:(B
>> //
>> // MyService::echo() was called.
>> // Message: hogehoge
>>
>>
>>
>> }
>>
>>
>>
>> --
>> $B0BF#7D><!wFHN)9T@/K!?M;:6H5;=QAm9g8&5f=j(B $B8&5f0w(B
>> $BCNG=%7%9%F%`8&5fItLg(B $B%?%9%/%$%s%F%j%8%'%s%98&5f%0%k!<%W(B
>> $B")(B305-8568 $B0q>k8)$D$/$P;TG_1`(B1-1-1 $BCf1{Bh(B2
>> TEL: 029-861-5981 FAX: 029-861-5971
>> n-ando ＠ aist.go.jp, n-ando ＠ ieee.org
>>
>
>
>
--
$B0BF#7D><!wFHN)9T@/K!?M;:6H5;=QAm9g8&5f=j(B $B8&5f0w(B
$BCNG=%7%9%F%`8&5fItLg(B $B%?%9%/%$%s%F%j%8%'%s%98&5f%0%k!<%W(B
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TEL: 029-861-5981 FAX: 029-862-6631
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