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;
}