bool RTSConnectionExt::connect()
{
DDEBUG("RTSConnection::connect");
if (!sourcePort || !targetPort) {
return false;
}
if (!sourcePort->port || !targetPort->port ||
CORBA::is_nil(sourcePort->port) || sourcePort->port->_non_existent() ||
CORBA::is_nil(targetPort->port) || targetPort->port->_non_existent()) {
DDEBUG("RTSConnection::connect False");
return false;
}
if (sourcePort->isConnectedWith(targetPort)) {
return false;
}
ConnectorProfile cprof;
cprof.connector_id = CORBA::string_dup(id.c_str());
cprof.name = CORBA::string_dup(name.c_str());
cprof.ports.length(2);
cprof.ports[0] = PortService::_duplicate(sourcePort->port);
cprof.ports[1] = PortService::_duplicate(targetPort->port);
for (int index = 0; index < propList.size(); index++) {
NamedValueExtPtr param = propList[index];
CORBA_SeqUtil::push_back(
cprof.properties, NVUtil::newNV(param->name_.c_str(), param->value_.c_str()));
}
RTC::ReturnCode_t result = sourcePort->port->connect(cprof);
if (result == RTC::RTC_OK) {
PortProfile_var portprofile = sourcePort->port->get_port_profile();
ConnectorProfileList connections = portprofile->connector_profiles;
for (CORBA::ULong i = 0; i < connections.length(); i++) {
ConnectorProfile& connector = connections[i];
PortServiceList& connectedPorts = connector.ports;
for (CORBA::ULong j = 0; j < connectedPorts.length(); ++j) {
PortService_ptr connectedPortRef = connectedPorts[j];
if (connectedPortRef->_is_equivalent(targetPort->port)) {
id = string(connector.connector_id);
isAlive_ = true;
DDEBUG("RTSConnection::connect End");
return true;
}
}
}
return false;
}
DDEBUG("connect Error");
return false;
}
bool RTSPortExt::isConnectedWith(RTSPortExt* target)
{
if (!port || !target->port ||
CORBA::is_nil(port) || port->_non_existent() ||
CORBA::is_nil(target->port) || target->port->_non_existent()) {
return false;
}
ConnectorProfileList_var connectorProfiles = port->get_connector_profiles();
for (CORBA::ULong i = 0; i < connectorProfiles->length(); ++i) {
ConnectorProfile& connectorProfile = connectorProfiles[i];
PortServiceList& connectedPorts = connectorProfile.ports;
for (CORBA::ULong j = 0; j < connectedPorts.length(); ++j) {
PortService_ptr connectedPortRef = connectedPorts[j];
if (connectedPortRef->_is_equivalent(target->port)) {
return true;
}
}
}
return false;
}