void MyModuleInit(RTC::Manager* manager)
{
RGB2GrayInit(manager);
RTC::RtcBase* comp;
// Create a component
comp = manager->createComponent("RGB2Gray");
// Example
// The following procedure is examples how handle RT-Components.
// These should not be in this function.
// Get the component's object reference
RTC::RTObject_var rtobj;
rtobj = RTC::RTObject::_narrow(manager->getPOA()->servant_to_reference(comp));
// Get the port list of the component
PortServiceList* portlist;
portlist = rtobj->get_ports();
// getting port profiles
std::cout << "Number of Ports: ";
std::cout << portlist->length() << std::endl << std::endl;
for (CORBA::ULong i(0), n(portlist->length()); i < n; ++i)
{
PortService_ptr port;
port = (*portlist)[i];
std::cout << "Port" << i << " (name): ";
std::cout << port->get_port_profile()->name << std::endl;
RTC::PortInterfaceProfileList iflist;
iflist = port->get_port_profile()->interfaces;
std::cout << "---interfaces---" << std::endl;
for (CORBA::ULong i(0), n(iflist.length()); i < n; ++i)
{
std::cout << "I/F name: ";
std::cout << iflist[i].instance_name << std::endl;
std::cout << "I/F type: ";
std::cout << iflist[i].type_name << std::endl;
const char* pol;
pol = iflist[i].polarity == 0 ? "PROVIDED" : "REQUIRED";
std::cout << "Polarity: " << pol << std::endl;
}
std::cout << "---properties---" << std::endl;
NVUtil::dump(port->get_port_profile()->properties);
std::cout << "----------------" << std::endl << std::endl;
}
return;
}
RTSPortExt::RTSPortExt(const string& name_, PortService_var port_, RTSCompExt* parent)
: rtsComp(parent), isConnected_(false)
{
isInPort = true;
name = name_;
port = port_;
//
if (port) {
RTC::PortProfile_var profile = port->get_port_profile();
RTC::PortInterfaceProfileList interfaceList = profile->interfaces;
for (CORBA::ULong index = 0; index < interfaceList.length(); ++index) {
RTC::PortInterfaceProfile ifProfile = interfaceList[index];
PortInterfaceExtPtr portIf(new PortInterfaceExt());
if (parent) {
portIf->rtc_name = parent->name;
}
const char* port_name;
portIf->port_name = string((const char*)profile->name);
if (ifProfile.polarity == PortInterfacePolarity::REQUIRED) {
portIf->if_polarity = "required";
} else {
portIf->if_polarity = "provided";
}
const char* if_iname;
const char* if_tname;
if_iname = (const char*)ifProfile.instance_name;
if_tname = (const char*)ifProfile.type_name;
DDEBUG_V("name: %s, IF name: %s, instance_name: %s, type_name: %s", name_.c_str(), portIf->port_name.c_str(), if_iname, if_tname);
portIf->if_tname = if_tname;
portIf->if_iname = if_iname;
interList.push_back(portIf);
isConnected_ = isConnected();
}
}
}
void RTSPropertiesViewImpl::showPortConcrete(PortProfile* portprofile, QTreeWidgetItem* item)
{
coil::Properties pproperties = NVUtil::toProperties(portprofile->properties);
string portName = string(portprofile->name);
RTCCommonUtil::splitPortName(portName);
string portType = pproperties["port.port_type"];
QTreeWidgetItem* port = new QTreeWidgetItem;
if (boost::iequals(portType, "CorbaPort")) {
port->setText(0, QString("ServicePort"));
port->setIcon(0, QIcon(":/RTSystemEditor/icons/IconServicePort.png"));
} else {
port->setText(0, QString(portType.substr(4).c_str()));
port->setIcon(0, QIcon(boost::iequals(portType, "DataOutPort") ?
":/RTSystemEditor/icons/IconOutPort.png" :
":/RTSystemEditor/icons/IconInPort.png"));
}
item->addChild(port);
QTreeWidgetItem* portChild = new QTreeWidgetItem;
portChild->setText(0, _("Name"));
portChild->setText(1, QString(portName.c_str()));
port->addChild(portChild);
if (boost::iequals(portType, "CorbaPort")) {
RTC::PortInterfaceProfileList iflist = portprofile->interfaces;
for (CORBA::ULong i = 0; i < iflist.length(); i++) {
QTreeWidgetItem* ifport = new QTreeWidgetItem;
ifport->setText(0, QString("PortInterfaceProfile"));
ifport->setIcon(0, QIcon(":/RTSystemEditor/icons/IconPIP.png"));
port->addChild(ifport);
QTreeWidgetItem* ifportc = new QTreeWidgetItem;
ifportc->setText(0, QString("Interface Name"));
ifportc->setText(1, QString(iflist[i].instance_name));
ifport->addChild(ifportc);
ifportc = new QTreeWidgetItem;
ifportc->setText(0, QString("Type Name"));
ifportc->setText(1, QString(iflist[i].type_name));
ifport->addChild(ifportc);
ifportc = new QTreeWidgetItem;
ifportc->setText(0, QString("Port Interface Polarity"));
ifportc->setText(1, QString((iflist[i].polarity == 0 ? "PROVIDED" : "REQUIRED")));
ifport->addChild(ifportc);
}
}
// Get the port properties.
QTreeWidgetItem* portProp = new QTreeWidgetItem;
portProp->setText(0, _("Properties"));
port->addChild(portProp);
vector<string> portNames = pproperties.propertyNames();
for (vector<string>::iterator iter = portNames.begin(); iter != portNames.end(); iter++) {
QTreeWidgetItem* portPropChild = new QTreeWidgetItem;
portPropChild->setText(0, QString((*iter).c_str()));
portPropChild->setText(1, QString((pproperties[*iter]).c_str()));
portProp->addChild(portPropChild);
}
}
