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;
}
RTC::ReturnCode_t ImageViewer::onActivated(RTC::UniqueId ec_id)
{
PortServiceList* portlist;
portlist = this->get_ports();
connection_check = new bool [portlist->length()];
for(unsigned int i=0; i<portlist->length(); ++i)
{
PortService_ptr port;
port = (*portlist)[i];
if(port->get_port_profile()->connector_profiles.length()!=0)
connection_check[i]=true;
else
connection_check[i]=false;
}
//サービスポート接続状態のチェック
if(connection_check[1])
{
//連続画像取得モードに設定
if(m_capture_frame_num == 0)
{
std::cout << "start continuous image streaming." << std::endl;
RTC_INFO(("Send command of \"start continuous\" via CameraCaptureService."));
m_CameraCaptureService->start_continuous();
}
//1shotキャプチャモードに設定
else if(m_capture_frame_num == 1)
{
std::cout << "take one frame." << std::endl;
RTC_INFO(("Send command of \"take one frame\" via CameraCaptureService."));
m_CameraCaptureService->take_one_frame();
}
//指定枚数キャプチャモードに設定
else if(m_capture_frame_num > 1)
{
std::cout << "take multi frames (" << m_capture_frame_num << " frames)." << std::endl;
RTC_INFO(("Send command of \"take multi frames\" via CameraCaptureService."));
m_CameraCaptureService->take_multi_frames(m_capture_frame_num);
}
else
{
std::cerr << "Please set capture_frame_num to more than 0" << std::endl;
RTC_ERROR(("Configuration Param <frames_num> should be over 0. [%d]",m_capture_frame_num));
return RTC::RTC_ERROR;
}
}
std::cout << "Start image view" << std::endl;
std::cout << "If you want to take a 1 shot image as image file, please push s on Captured Image Window!" << std::endl;
return RTC::RTC_OK;
}
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 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;
}
void portConnect(PortService_ptr p1, PortService_var p2)
{
string subs_type = "new";
string period = "";
coil::UUID_Generator *m_uuid = new coil::UUID_Generator();
coil::UUID* m_generateUUID = m_uuid->generateUUID(0, 0);
std::string m_uuidstr = m_generateUUID->to_string();
//p1->disconnect_all();
//p2->disconnect_all();
string ConnectName = m_uuidstr;
string ConnectIDName = "_id_" + m_uuidstr;
/*
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);
delete m_uuid;
delete m_generateUUID;
}
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;
}
