IIOP通信以外でrtcname形式、rtcloc形式でRTCへアクセスできるようにする

src/ext/http/rtc.http.conf.in

@@ -7,6 +7,6 @@ naming.formats: %h.host_cxt/%n.rtc
 manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_HTTPTRANSPORT_DIR@
 manager.preload.modules: HTTPTransport@CMAKE_SHARED_LIBRARY_SUFFIX@
 
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http:///call
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http:///call -ORBendPoint giop:tcp::
 corba.nameservers: http://localhost:2809/call
 corba.master_manager: giop:http:http://localhost:2810/call

src/ext/http/rtc.https.conf.in

@@ -11,6 +11,6 @@ corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CE
 corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem
 corba.http.key_file_password:password
 
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https:///call
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https:///call -ORBendPoint giop:tcp::
 corba.nameservers: https://localhost:2809/call
 corba.master_manager: giop:http:https://localhost:2810/call

src/ext/http/rtc.ws.conf.in

@@ -7,6 +7,6 @@ naming.formats: %h.host_cxt/%n.rtc
 manager.modules.load_path: @CMAKE_INSTALL_PREFIX@/@INSTALL_HTTPTRANSPORT_DIR@
 manager.preload.modules: HTTPTransport@CMAKE_SHARED_LIBRARY_SUFFIX@
 
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:ws:///ws
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:ws:///ws -ORBendPoint giop:tcp::
 corba.nameservers: ws://localhost:2809/ws
 corba.master_manager: giop:http:ws://localhost:2810/ws

src/ext/http/rtc.wss.conf.in

@@ -11,6 +11,6 @@ corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CE
 corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem
 corba.http.key_file_password:password
 
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:wss:///ws
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:wss:///ws -ORBendPoint giop:tcp::
 corba.nameservers: wss://localhost:2809/ws
 corba.master_manager: giop:http:wss://localhost:2810/ws

src/ext/ssl/root-sample.crt

@@ -1,21 +1,22 @@
 -----BEGIN CERTIFICATE-----
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 -----END CERTIFICATE-----

src/ext/ssl/server-sample.pem

@@ -1,48 +1,109 @@
------BEGIN RSA PRIVATE KEY-----
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-fjgVr9jeCjkZo/ccNi3fklx6dpZIEQKo3vfSeKQPOrbD/wkLcXzd
------END RSA PRIVATE KEY-----
+-----BEGIN ENCRYPTED PRIVATE KEY-----
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+-----END ENCRYPTED PRIVATE KEY-----
+Certificate:
+    Data:
+        Version: 3 (0x2)
+        Serial Number: 1 (0x1)
+        Signature Algorithm: sha256WithRSAEncryption
+        Issuer: C=JP, ST=Ibaraki, L=Tsukuba, O=AIST, OU=ISRI, CN=Test CA
+        Validity
+            Not Before: Apr 14 06:38:19 2026 GMT
+            Not After : Apr 14 06:38:19 2027 GMT
+        Subject: C=JP, ST=Ibaraki, L=Tsukuba, O=AIST, OU=ISRI, CN=openrtm.org
+        Subject Public Key Info:
+            Public Key Algorithm: rsaEncryption
+                Public-Key: (2048 bit)
+                Modulus:
+                    00:d4:ca:ac:48:fc:9b:5c:7b:c6:40:82:1d:9f:e7:
+                    a4:52:9c:84:23:e5:26:39:86:9a:12:e8:4e:ee:9c:
+                    72:de:56:04:94:c7:76:13:5a:d1:1f:9e:42:9f:c4:
+                    db:09:9e:6f:69:a7:46:97:f3:e4:67:5c:35:c1:56:
+                    9a:29:1a:c3:5e:83:5c:9e:c3:6b:65:05:13:67:7c:
+                    d1:01:f1:a0:e9:9b:c1:1e:7e:29:ec:63:8f:a8:a0:
+                    33:ae:39:2a:50:3f:75:58:fc:39:ed:66:1b:9a:ca:
+                    94:b3:72:d2:9c:4c:53:c6:a5:cc:b8:46:1c:17:5c:
+                    4f:f2:21:b5:11:83:f3:01:cf:aa:ad:fa:22:3a:79:
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+                    f2:19:92:d2:19:01:c2:ca:57:13:02:88:57:80:dc:
+                    43:34:9c:25:64:01:ad:46:72:23:2f:b0:e3:c2:ad:
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+                    e0:78:44:4e:f1:4d:9f:ba:37:fa:77:42:3a:29:6f:
+                    86:a1
+                Exponent: 65537 (0x10001)
+        X509v3 extensions:
+            X509v3 Basic Constraints: 
+                CA:FALSE
+            X509v3 Subject Key Identifier: 
+                74:75:CD:40:68:74:6E:DE:93:BE:41:CC:75:B6:3D:58:18:30:59:55
+            X509v3 Authority Key Identifier: 
+                91:CF:32:80:C7:75:CC:C4:8C:CA:15:03:73:5F:E8:E6:48:0D:C2:6C
+    Signature Algorithm: sha256WithRSAEncryption
+    Signature Value:
+        21:6a:d4:4c:f4:41:d5:c2:ba:3a:7f:0f:c6:f7:34:c7:c2:0a:
+        41:b6:5a:02:df:1f:6e:b6:3a:e9:e9:3a:79:5c:28:70:6c:3a:
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+        b6:1d:77:32:7e:cc:0d:b8:79:10:96:b2:18:0d:0c:ed:04:2d:
+        bc:2c:32:2c:c0:5a:5c:0f:36:03:d0:f2:74:7a:56:9e:5a:7b:
+        e5:54:51:ec:51:31:92:bd:b8:db:14:e9:86:0f:27:83:04:7e:
+        45:7c:de:ae:8b:7a:6d:80:3e:4e:46:af:87:cf:fb:84:68:10:
+        08:c9:c8:aa:e9:58:7a:9b:12:7b:33:83:86:b6:e8:7c:64:e0:
+        fe:2e:ab:65:ae:54:80:f4:d0:0f:3e:6c:35:82:f0:ce:58:8d:
+        3f:8b:be:7d:7f:e5:7c:6b:3f:e7:e4:bf:16:6c:83:18:6c:ca:
+        42:32:1b:86:cd:b1:2d:de:1f:a5:49:d7:b8:c1:14:fd:ae:4d:
+        67:81:83:7e
 -----BEGIN CERTIFICATE-----
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-ZEOU2UqhW87x3SRLI6s4L1IMrdm4CUurpDbtVpdp32LNLC06+eEB6W6mYfY6npUX
-+kgKtRHnt2RNoo9zY99qn8xSLSqYtz0/LHfpsDHobEdqmAOwgzU2BpyQtNPzzYyp
-CciU/1hzhq+iHdD9u2PNUWWZdkqBfko22J4FlyFF+i6nf36hDDeHC5ZXXMnKZZdC
-UljZuvuE7pGRuyXJ3ss8ML1lxGFfyzXG1EyaOs+IjingW4aPTbIgabbjQfOPW1Dx
-+j5fP1F445Y7f/bi3+dXKeIi8fziKaPe7JUm0fl/E5JIAg==
+MIIDjjCCAnagAwIBAgIBATANBgkqhkiG9w0BAQsFADBhMQswCQYDVQQGEwJKUDEQ
+MA4GA1UECAwHSWJhcmFraTEQMA4GA1UEBwwHVHN1a3ViYTENMAsGA1UECgwEQUlT
+VDENMAsGA1UECwwESVNSSTEQMA4GA1UEAwwHVGVzdCBDQTAeFw0yNjA0MTQwNjM4
+MTlaFw0yNzA0MTQwNjM4MTlaMGUxCzAJBgNVBAYTAkpQMRAwDgYDVQQIDAdJYmFy
+YWtpMRAwDgYDVQQHDAdUc3VrdWJhMQ0wCwYDVQQKDARBSVNUMQ0wCwYDVQQLDARJ
+U1JJMRQwEgYDVQQDDAtvcGVucnRtLm9yZzCCASIwDQYJKoZIhvcNAQEBBQADggEP
+ADCCAQoCggEBANTKrEj8m1x7xkCCHZ/npFKchCPlJjmGmhLoTu6cct5WBJTHdhNa
+0R+eQp/E2wmeb2mnRpfz5GdcNcFWmikaw16DXJ7Da2UFE2d80QHxoOmbwR5+Kexj
+j6igM645KlA/dVj8Oe1mG5rKlLNy0pxMU8alzLhGHBdcT/IhtRGD8wHPqq36Ijp5
+x5KLfF+ILbXYmc/lKJLv8hmS0hkBwspXEwKIV4DcQzScJWQBrUZyIy+w48KtLt38
+mr7fPUgeUJnFJuYcW0YljklGA+hB4ecj8iBU9NEq45ZsKg89Q/vHKppxiyEvz1oe
+vTKh+Fz9E4/74HhETvFNn7o3+ndCOilvhqECAwEAAaNNMEswCQYDVR0TBAIwADAd
+BgNVHQ4EFgQUdHXNQGh0bt6TvkHMdbY9WBgwWVUwHwYDVR0jBBgwFoAUkc8ygMd1
+zMSMyhUDc1/o5kgNwmwwDQYJKoZIhvcNAQELBQADggEBACFq1Ez0QdXCujp/D8b3
+NMfCCkG2WgLfH262OunpOnlcKHBsOnxGZcTr+AqIbC5xKCkxZVYaclnZDkkfk6W8
+wMptuTRAFRo5TUac8jYWQXRSrfvI9pfaL7QPENa+9wkIyEyxRAR7Qj3f+YOqeLYd
+dzJ+zA24eRCWshgNDO0ELbwsMizAWlwPNgPQ8nR6Vp5ae+VUUexRMZK9uNsU6YYP
+J4MEfkV83q6Lem2APk5Gr4fP+4RoEAjJyKrpWHqbEnszg4a26Hxk4P4uq2WuVID0
+0A8+bDWC8M5YjT+Lvn1/5XxrP+fkvxZsgxhsykIyG4bNsS3eH6VJ17jBFP2uTWeB
+g34=
 -----END CERTIFICATE-----

src/lib/rtm/CORBA_RTCUtil.cpp

@@ -1858,22 +1858,28 @@ namespace CORBA_RTCUtil
       }
       else
       {
-        m_rtcpath = addrname;
+        hostport = addrname;
       }
 
-
-      if (protocol == "http" || protocol == "https" || protocol == "ws" || protocol == "wss")
+      if(hostport != "*")
       {
-        m_address = protocol;
-        m_address += "://";
-        m_address += hostport;
+        if (protocol == "http" || protocol == "https" || protocol == "ws" || protocol == "wss")
+        {
+          m_address = protocol;
+          m_address += "://";
+          m_address += hostport;
+        }
+        else
+        {
+          m_address = "corbaloc:";
+          m_address += protocol;
+          m_address += ":";
+          m_address += hostport;
+        }
       }
       else
       {
-        m_address = "corbaloc:";
-        m_address += protocol;
-        m_address += ":";
-        m_address += hostport;
+        m_address = hostport;
       }
 
     }

src/lib/rtm/CORBA_RTCUtil.h

@@ -1304,13 +1304,8 @@ namespace CORBA_RTCUtil
      * @brief 通信先のアドレスを取得する
      *
      * 
-     * context1.kind1/context2.kind2/..../RTC_name
      *
-     * rtcloc形式の場合はカテゴリ名/RTC名で取得できる。
-     * 
-     * category_name/RTC_name
-     *
-     * @return RTC名
+     * @return 通信先のアドレス
      *
      * @else
      *

src/lib/rtm/Manager.cpp

@@ -732,7 +732,7 @@ namespace RTC
       }
       // module loading
       RTC_INFO(("Loading module: %s", (*it)["module_file_path"].c_str()));
-      load((*it), "");
+      load((*it)["module_file_path"], "");
       factory = m_factory.find(comp_id);
       if (factory == nullptr)
       {
@@ -1670,7 +1670,7 @@ namespace RTC
    *
    * @endif
    */
-  bool Manager::isORBEndPoint(const std::string& endpoint)
+  bool Manager::isORBEndPoint(const std::string &endpoint)
   {
     const std::list<std::string> headers{ "giop:", "iiop://",
                                         "diop://", "uiop://",

src/lib/rtm/NamingManager.cpp

@@ -849,15 +849,7 @@ namespace RTC
     {
       try
       {
-        try
-        {
-          ns->bindObject(compName->name.c_str(), compName->rtobj);
-        }
-        catch(...)
-        {
-        }
-
-
+        ns->bindObject(compName->name.c_str(), compName->rtobj);
       }
       catch (...)
       {

utils/openrtmNames/NamingContext.cpp

@@ -738,6 +738,7 @@ namespace RTM
    */
   bool NamingContext::add_object(const CosNaming::Name& n, CosNaming::BindingType t, CORBA::Object_ptr obj)
   {
+    /*
     if(t == CosNaming::nobject && (strcmp(n[0].kind, RTOBJECT_KIND) == 0))
     {
       m_objects.push_back((ObjectBinding*)(new RTObjectBinding(n, t, obj, this)));
@@ -750,6 +751,8 @@ namespace RTM
     {
       m_objects.push_back(new ObjectBinding(n, t, obj, this));
     }
+    */
+    m_objects.push_back(new ObjectBinding(n, t, obj, this));
     return true;
   }
 

utils/openrtmNames/ObjectBinding.cpp

@@ -182,7 +182,11 @@ namespace RTM
    */
   CORBA::Object_ptr ObjectBinding::get_object()
   {
+#ifdef ORB_IS_RTORB
     return m_object.out();
+#else
+    return m_object.inout();
+#endif
   }
   /*!
    * @if jp

utils/openrtmNames/rtc.names.http.omniorb.conf.in

@@ -1 +1 @@
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http://localhost:2809/call
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http://:2809/call

utils/openrtmNames/rtc.names.https.omniorb.conf.in

@@ -1,4 +1,4 @@
 corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt
 corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem
 corba.http.key_file_password:password
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https://localhost:2809/call
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https://:2809/call

utils/openrtmNames/rtc.names.ssl.omniorb.conf.in

@@ -1,4 +1,4 @@
 corba.ssl.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt
 corba.ssl.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem
 corba.ssl.key_file_password:password
-corba.args:-ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl:localhost:2809
+corba.args:-ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl::2809

utils/openrtmNames/rtc.names.tcp.omniorb.conf.in

@@ -1 +1 @@
-corba.args: -ORBendPoint giop:tcp:localhost:2809
+corba.args: -ORBendPoint giop:tcp::2809

utils/openrtmNames/rtc.names.ws.omniorb.conf.in

@@ -1 +1 @@
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:ws://localhost:2809/ws
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:ws://:2809/ws

utils/openrtmNames/rtc.names.wss.omniorb.conf.in

@@ -1,4 +1,4 @@
 corba.http.certificate_authority_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/root-sample.crt
 corba.http.key_file:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_SSL_CERTIFICATE_DIR@/server-sample.pem
 corba.http.key_file_password:password
-corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:wss://localhost:2809/ws
+corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:wss://:2809/ws