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Allow loading of global service plugins via the CORBA interface of each TaskContextProxy #228

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merged 1 commit into from
Oct 26, 2017
Merged

Allow loading of global service plugins via the CORBA interface of each TaskContextProxy #228

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1 change: 1 addition & 0 deletions rtt/internal/FusedFunctorDataSource.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@
#include "BindStorage.hpp"
#include "../ExecutionEngine.hpp"
#include "../os/oro_allocator.hpp"
#include "UnMember.hpp"
#include <boost/bind.hpp>
#include <boost/type_traits.hpp>
#include <boost/function.hpp>
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108 changes: 60 additions & 48 deletions rtt/transports/corba/OperationInterfaceI.cpp
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Expand Up @@ -75,6 +75,7 @@
#include "../../internal/SendHandleC.hpp"
#include "../../Logger.hpp"
#include "../../internal/GlobalEngine.hpp"
#include "../../plugin/PluginLoader.hpp"

using namespace RTT;
using namespace RTT::detail;
Expand Down Expand Up @@ -214,8 +215,11 @@ void RTT_corba_CSendHandle_i::dispose (

// Implementation skeleton constructor
RTT_corba_COperationInterface_i::RTT_corba_COperationInterface_i (OperationInterface* gmf, PortableServer::POA_ptr the_poa)
:mfact(gmf), mpoa( PortableServer::POA::_duplicate(the_poa))
: mfact(gmf), mpoa( PortableServer::POA::_duplicate(the_poa)),
loadPluginOperation("loadPlugin", &RTT_corba_COperationInterface_i::loadPlugin, this),
loadPluginOperationPart(&loadPluginOperation)
{
loadPluginOperation.doc("Loads a RTT plugin.").arg("plugin_path", "The path to the shared library containing the plugin.");
}

PortableServer::POA_ptr RTT_corba_COperationInterface_i::_default_POA()
Expand All @@ -235,6 +239,7 @@ ::RTT::corba::COperationInterface::COperationList * RTT_corba_COperationInterfac
RTT::corba::COperationInterface::COperationList_var rlist = new RTT::corba::COperationInterface::COperationList();

vector<string> flist = mfact->getNames();
flist.push_back(loadPluginOperationPart.getName());
rlist->length( flist.size() );
size_t drops=0;
for (size_t i=0; i != flist.size(); ++i)
Expand All @@ -251,10 +256,9 @@ ::RTT::corba::CDescriptions * RTT_corba_COperationInterface_i::getArguments (
const char * operation)
{
CDescriptions_var ret = new CDescriptions();
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)))
throw ::RTT::corba::CNoSuchNameException( operation );
OperationInterfacePart* mofp = findOperation(operation);
// operation found, convert args:
OperationInterface::Descriptions args = mfact->getArgumentList( string(operation) );
OperationInterface::Descriptions args = mofp->getArgumentList();
ret->length( args.size() );
for (size_t i =0; i != args.size(); ++i) {
ret[i].name = CORBA::string_dup( args[i].name.c_str() );
Expand All @@ -267,82 +271,75 @@ ::RTT::corba::CDescriptions * RTT_corba_COperationInterface_i::getArguments (
char * RTT_corba_COperationInterface_i::getResultType (
const char * operation)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
return CORBA::string_dup( mfact->getResultType( string(operation) ).c_str() );
OperationInterfacePart* mofp = findOperation(operation);
return CORBA::string_dup( mofp->resultType().c_str() );
}

char* RTT_corba_COperationInterface_i::getArgumentType(
const char* operation,
CORBA::UShort nbr)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
if ( nbr > mfact->getPart(operation)->arity() )
throw ::RTT::corba::CWrongArgumentException( nbr, mfact->getPart(operation)->arity() );
return CORBA::string_dup( mfact->getPart( operation )->getArgumentType(nbr)->getTypeName().c_str() );
OperationInterfacePart* mofp = findOperation(operation);
if ( nbr > mofp->arity() )
throw ::RTT::corba::CWrongArgumentException( nbr, mofp->arity() );
return CORBA::string_dup( mofp->getArgumentType(nbr)->getTypeName().c_str() );
}

char* RTT_corba_COperationInterface_i::getCollectType(
const char* operation,
CORBA::UShort nbr)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
if ( nbr > mfact->getPart(operation)->collectArity() )
throw ::RTT::corba::CWrongArgumentException( nbr, mfact->getPart(operation)->collectArity() );
return CORBA::string_dup( mfact->getPart( operation )->getCollectType(nbr)->getTypeName().c_str() );
OperationInterfacePart* mofp = findOperation(operation);
if ( nbr > mofp->collectArity() )
throw ::RTT::corba::CWrongArgumentException( nbr, mofp->collectArity() );
return CORBA::string_dup( mofp->getCollectType(nbr)->getTypeName().c_str() );

}

::CORBA::UShort RTT_corba_COperationInterface_i::getArity (
const char * operation)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
return mfact->getPart(operation)->arity();
OperationInterfacePart* mofp = findOperation(operation);
return mofp->arity();
}

::CORBA::UShort RTT_corba_COperationInterface_i::getCollectArity (
const char * operation)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
return mfact->getPart(operation)->collectArity();
OperationInterfacePart* mofp = findOperation(operation);
return mofp->collectArity();
}

char * RTT_corba_COperationInterface_i::getDescription (
const char * operation)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
return CORBA::string_dup( mfact->getDescription( string(operation) ).c_str() );
OperationInterfacePart* mofp = findOperation(operation);
return CORBA::string_dup( mofp->description().c_str() );
}

void RTT_corba_COperationInterface_i::checkOperation (
const char * operation,
const ::RTT::corba::CAnyArguments & args)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
OperationInterfacePart* mofp = findOperation(operation);

try {
OperationInterfacePart* mofp = mfact->getPart(operation);
OperationCallerC mc(mofp, operation, internal::GlobalEngine::Instance());
for (unsigned int i = 0; i < mofp->arity() && i < args.length(); ++i) {
const TypeInfo* ti = mofp->getArgumentType(i+1);
assert(ti);
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*> (ti->getProtocol(ORO_CORBA_PROTOCOL_ID));
if (ctt) {
DataSourceBase::shared_ptr ds = ctt->createDataSource(&args[i]);
if (ds)
mc.arg(ds);
else {
log(Error) << "Registered transport for type "<< ti->getTypeName()
<< " could not create data source from Any (argument "<< i+1
<<"): calling operation '"<< operation <<"' will fail." <<endlog();
}
DataSourceBase::shared_ptr ds = ctt->createDataSource(&args[i]);
if (ds)
mc.arg(ds);
else {
log(Error) << "Registered transport for type "<< ti->getTypeName()
<< " could not create data source from Any (argument "<< i+1
<<"): calling operation '"<< operation <<"' will fail." <<endlog();
}
} else {
throw wrong_types_of_args_exception(i+1,"type known to CORBA", ti->getTypeName());
throw wrong_types_of_args_exception(i+1,"type known to CORBA", ti->getTypeName());
}
}
mc.check();
Expand All @@ -361,14 +358,14 @@ ::CORBA::Any * RTT_corba_COperationInterface_i::callOperation (
const char * operation,
::RTT::corba::CAnyArguments & args)
{
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
OperationInterfacePart* mofp = findOperation(operation);

// convert Corba args to C++ args.
try {
OperationCallerC orig(mfact->getPart(operation), operation, internal::GlobalEngine::Instance());
OperationCallerC orig(mofp, operation, internal::GlobalEngine::Instance());
vector<DataSourceBase::shared_ptr> results;
for (size_t i =0; i != args.length(); ++i) {
const TypeInfo* ti = mfact->getPart(operation)->getArgumentType( i + 1);
const TypeInfo* ti = mofp->getArgumentType( i + 1);
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*> ( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
// we need to store the results for returning them to caller (args is inout!) after the call()
results.push_back( ctt->createDataSource( &args[i] ) );
Expand All @@ -391,7 +388,7 @@ ::CORBA::Any * RTT_corba_COperationInterface_i::callOperation (

// Return results into args:
for (size_t i =0; i != args.length(); ++i) {
const TypeInfo* ti = mfact->getPart(operation)->getArgumentType( i + 1);
const TypeInfo* ti = mofp->getArgumentType( i + 1);
CorbaTypeTransporter* ctta = dynamic_cast<CorbaTypeTransporter*> ( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
ctta->updateAny(results[i], args[i]);
}
Expand All @@ -418,13 +415,13 @@ ::RTT::corba::CSendHandle_ptr RTT_corba_COperationInterface_i::sendOperation (
const ::RTT::corba::CAnyArguments & args)
{
// This implementation is 90% identical to callOperation above, only deviating in the orig.ready() part.
if ( mfact->hasMember( string( operation ) ) == false || mfact->isSynchronous(string(operation)) )
throw ::RTT::corba::CNoSuchNameException( operation );
OperationInterfacePart* mofp = findOperation(operation);

// convert Corba args to C++ args.
try {
OperationCallerC orig(mfact->getPart(operation), operation, internal::GlobalEngine::Instance());
OperationCallerC orig(mofp, operation, internal::GlobalEngine::Instance());
for (size_t i =0; i != args.length(); ++i) {
const TypeInfo* ti = mfact->getPart(operation)->getArgumentType( i + 1);
const TypeInfo* ti = mofp->getArgumentType( i + 1);
CorbaTypeTransporter* ctt = dynamic_cast<CorbaTypeTransporter*> ( ti->getProtocol(ORO_CORBA_PROTOCOL_ID) );
orig.arg( ctt->createDataSource( &args[i] ));
}
Expand All @@ -433,7 +430,7 @@ ::RTT::corba::CSendHandle_ptr RTT_corba_COperationInterface_i::sendOperation (
// we may not destroy the SendHandle, before the operation completes:
resulthandle.setAutoCollect(true);
// our resulthandle copy makes sure that the resulthandle can return.
RTT_corba_CSendHandle_i* ret_i = new RTT_corba_CSendHandle_i( resulthandle, mfact->getPart(operation) );
RTT_corba_CSendHandle_i* ret_i = new RTT_corba_CSendHandle_i( resulthandle, mofp );
CSendHandle_var ret = ret_i->_this();
ret_i->_remove_ref(); // if POA drops this, it gets cleaned up.
return ret._retn();
Expand All @@ -451,3 +448,18 @@ ::RTT::corba::CSendHandle_ptr RTT_corba_COperationInterface_i::sendOperation (
}
return CSendHandle::_nil();
}

RTT::OperationInterfacePart *RTT_corba_COperationInterface_i::findOperation( const char *operation )
{
string operation_str(operation);
OperationInterfacePart* mofp = mfact->getPart(operation_str);
if ( !mofp && (operation_str == "loadPlugin") )
mofp = &loadPluginOperationPart;
if ( !mofp || mfact->isSynchronous(operation_str) )
throw ::RTT::corba::CNoSuchNameException( operation );
return mofp;
}

bool RTT_corba_COperationInterface_i::loadPlugin(const string &pluginPath) {
return RTT::plugin::PluginLoader::Instance()->loadPlugin(pluginPath, "");
}
8 changes: 8 additions & 0 deletions rtt/transports/corba/OperationInterfaceI.h
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Expand Up @@ -77,6 +77,7 @@
#endif
#include "../../OperationInterface.hpp"
#include "../../internal/SendHandleC.hpp"
#include "../../internal/OperationInterfacePartFused.hpp"

#if !defined (ACE_LACKS_PRAGMA_ONCE)
#pragma once
Expand Down Expand Up @@ -125,6 +126,9 @@ class RTT_corba_COperationInterface_i
{
RTT::OperationInterface* mfact;
PortableServer::POA_var mpoa;
RTT::Operation<bool(std::string)> loadPluginOperation;
RTT::internal::OperationInterfacePartFused<bool(std::string)> loadPluginOperationPart;

public:
//Constructor
RTT_corba_COperationInterface_i(RTT::OperationInterface* mfact, PortableServer::POA_ptr the_poa);
Expand Down Expand Up @@ -180,6 +184,10 @@ class RTT_corba_COperationInterface_i
::RTT::corba::CSendHandle_ptr sendOperation (
const char * operation,
const ::RTT::corba::CAnyArguments & args);

private:
RTT::OperationInterfacePart *findOperation ( const char *operation );
bool loadPlugin ( const std::string& pluginPath );
};


Expand Down