void portConnect(PortService_ptr p1, PortService_var p2)
{
string subs_type = "flush";
string period = "";
p1->disconnect_all();
p2->disconnect_all();
string ConnectName = "_";
ConnectName += p1->get_port_profile()->name;
ConnectName += "_";
ConnectName += p2->get_port_profile()->name;
string ConnectIDName = "_id_";
ConnectIDName += p1->get_port_profile()->name;
ConnectIDName += "_";
ConnectIDName += p2->get_port_profile()->name;
/*
http://www17.atpages.jp/~aitech/wiki/?OpenRTM%2FControl%2Fconnect
のソースコード70〜78行目
*/
RTC::ConnectorProfile prof;
prof.connector_id = ConnectIDName.c_str();
prof.name = CORBA::string_dup(ConnectName.c_str());
prof.ports.length(2);
prof.ports[0] = p1;
prof.ports[1] = p2;
CORBA_SeqUtil::push_back(prof.properties,NVUtil::newNV("dataport.interface_type", "corba_cdr"));
CORBA_SeqUtil::push_back(prof.properties,NVUtil::newNV("dataport.dataflow_type","push"));
if(subs_type=="flush")
CORBA_SeqUtil::push_back(prof.properties,NVUtil::newNV("dataport.subscription_type","flush"));
else if(subs_type=="new")
CORBA_SeqUtil::push_back(prof.properties,NVUtil::newNV("dataport.subscription_type","new"));
else if(subs_type=="periodic"){
CORBA_SeqUtil::push_back(prof.properties,NVUtil::newNV("dataport.subscription_type","periodic"));
CORBA_SeqUtil::push_back(prof.properties,NVUtil::newNV("dataport.push_rate",period.c_str()));
}
/*ここまで*/
RTC::ReturnCode_t ret;
ret = p1->connect(prof);
}
void RTSPropertiesViewImpl::showConnection(PortService_var port, string id, QTreeWidgetItem* item)//ComponentProfile_var cprofile, string port, string id, QTreeWidgetItem* item)
{
item->setText(0, _("Connector Profile"));
item->setIcon(0, QIcon(":/RTSystemEditor/icons/IconConnector.png"));
if(CORBA::is_nil(port) || port->_non_existent())
return;
PortProfile_var portprofile = port->get_port_profile();
ConnectorProfileList connections = portprofile->connector_profiles;
for(CORBA::ULong i = 0; i < connections.length(); i++){
ConnectorProfile connector = connections[i];
if(id == string(connector.connector_id)){
PortServiceList& connectedPorts = connector.ports;
QTreeWidgetItem* conPropChild = new QTreeWidgetItem;
conPropChild->setText(0, _("Connector ID"));
conPropChild->setText(1, QString(connector.connector_id));
item->addChild(conPropChild);
//conPropChild = new RTSTreeItem(RTSTreeItem::RTS_ITEM_NAME_TYPE);
conPropChild = new QTreeWidgetItem;
conPropChild->setText(0, _("Name"));
conPropChild->setText(1, QString(connector.name));
// keep the values of connection.
//this->connItem->name = string(connector.name);
item->addChild(conPropChild);
coil::Properties cproperties = NVUtil::toProperties(connector.properties);
vector<string> names = cproperties.propertyNames();
for (vector<string>::iterator iter = names.begin(); iter != names.end(); iter++) {
// view the attribute of rtc-connection.
string name = (*iter).c_str();
//QTreeWidgetItem* connPropChild = judgementType(name);
conPropChild = new QTreeWidgetItem;
conPropChild->setText(0, QString(name.c_str()));
conPropChild->setText(1, QString((cproperties[*iter]).c_str()));
item->addChild(conPropChild);
}
// Show the port informations.
CORBA::ULong pslen(connectedPorts.length());
for (CORBA::ULong k = 0; k < pslen; k++) {
PortService_var pservice = connectedPorts[k];
PortProfile* pprofile = pservice->get_port_profile();
showPortConcrete(pprofile, item);
}
}
}
}
bool RTSCompExt::connectionCheckSub(RTSPortExt* rtsPort)
{
bool updated = false;
if (isObjectAlive(rtsPort->port) == false) return updated;
/**
The get_port_profile() function should not be used here because
it takes much time when the port has large data and its owner RTC is in a remote host.
The get_connector_profiles() function does not seem to cause such a problem.
*/
ConnectorProfileList_var connectorProfiles = rtsPort->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_var connectedPortRef = connectedPorts[j];
if(CORBA::is_nil(connectedPortRef)){
continue;
}
PortProfile_var connectedPortProfile;
try {
connectedPortProfile = connectedPortRef->get_port_profile();
}
catch (CORBA::SystemException& ex) {
MessageView::instance()->putln(
MessageView::WARNING, format(_("CORBA %1% (%2%), %3% in RTSComp::connectionCheckSub()"))
% ex._name() % ex._rep_id() % ex.NP_minorString());
continue;
}
string portName = string(connectedPortProfile->name);
vector<string> target;
RTCCommonUtil::splitPortName(portName, target);
if (target[0] == name) continue;
string rtcPath;
if(!getComponentPath(connectedPortRef, rtcPath)){
continue;
}
RTSCompExt* targetRTC = rts_->impl->nameToRTSComp("/" + rtcPath);
if(!targetRTC){
continue;
}
//DDEBUG("targetRTC Found");
RTSPortExt* targetPort = targetRTC->nameToRTSPort(portName);
if (targetPort) {
auto itr = rts_->impl->rtsConnections.find(RTSystemExtItem::RTSPortPair(rtsPort, targetPort));
if (itr != rts_->impl->rtsConnections.end()) {
continue;
}
RTSConnectionExtPtr rtsConnection = new RTSConnectionExt(
string(connectorProfile.connector_id), string(connectorProfile.name),
name, rtsPort->name,
target[0], portName);
coil::Properties properties = NVUtil::toProperties(connectorProfile.properties);
vector<NamedValueExtPtr> propList;
NamedValueExtPtr dataType(new NamedValueExt("dataport.dataflow_type", properties["dataport.dataflow_type"]));
propList.push_back(dataType);
NamedValueExtPtr subscription(new NamedValueExt("dataport.subscription_type", properties["dataport.subscription_type"]));
rtsConnection->propList = propList;
rtsConnection->srcRTC = this;
rtsConnection->sourcePort = nameToRTSPort(rtsConnection->sourcePortName);
rtsConnection->targetRTC = targetRTC;
rtsConnection->targetPort = targetRTC->nameToRTSPort(rtsConnection->targetPortName);
rtsConnection->isAlive_ = true;
rts_->impl->rtsConnections[RTSystemExtItem::RTSPortPair(rtsPort, targetPort)] = rtsConnection;
rts_->suggestFileUpdate();
updated = true;
}
}
}
return updated;
}
