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接続相手のポートとの通信でCOMM_FAILURE_WaitingForReply例外が発生した場合に接続をリトライする #1043

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Merged
n-ando merged 3 commits into from
Mar 31, 2026
Merged

接続相手のポートとの通信でCOMM_FAILURE_WaitingForReply例外が発生した場合に接続をリトライする #1043

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5c087b0
[compat] implemented retry access port function.
Nobu19800 Apr 5, 2022
f535c73
[compat] fixed bugs.
Nobu19800 Apr 5, 2022
bdc014f
Merge branch 'master' into feature/retryaccess
Nobu19800 Sep 13, 2024
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25 changes: 25 additions & 0 deletions src/lib/rtm/InPortCorbaCdrConsumer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,10 @@
#include <rtm/NVUtil.h>
#include <rtm/InPortCorbaCdrConsumer.h>

#if defined(minor)
#undef minor
#endif

namespace RTC
{
/*!
Expand Down Expand Up @@ -83,6 +87,27 @@ namespace RTC
// (IDL)OpenRTM::DataPort::ReturnCode_t -> DataPortStatus
return convertReturnCode(_ptr()->put(m_data));
}
#ifdef ORB_IS_OMNIORB
catch (const CORBA::COMM_FAILURE& ex)
{
if (ex.minor() == omni::COMM_FAILURE_WaitingForReply)
{
RTC_DEBUG(("Retry put message"));
try
{
return convertReturnCode(_ptr()->put(m_data));
}
catch (...)
{
return DataPortStatus::CONNECTION_LOST;
}
}
else
{
return DataPortStatus::CONNECTION_LOST;
}
}
#endif
catch (...)
{
return DataPortStatus::CONNECTION_LOST;
Expand Down
25 changes: 25 additions & 0 deletions src/lib/rtm/InPortDSConsumer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,10 @@
#include <rtm/NVUtil.h>
#include <rtm/InPortDSConsumer.h>

#if defined(minor)
#undef minor
#endif

namespace RTC
{
/*!
Expand Down Expand Up @@ -82,6 +86,27 @@ namespace RTC
// (IDL)OpenRTM::DataPort::ReturnCode_t -> DataPortStatus
return convertReturnCode(_ptr()->push(m_data));
}
#ifdef ORB_IS_OMNIORB
catch (const CORBA::COMM_FAILURE& ex)
{
if (ex.minor() == omni::COMM_FAILURE_WaitingForReply)
{
RTC_DEBUG(("Retry push message"));
try
{
return convertReturnCode(_ptr()->push(m_data));
}
catch (...)
{
return DataPortStatus::CONNECTION_LOST;
}
}
else
{
return DataPortStatus::CONNECTION_LOST;
}
}
#endif
catch (...)
{
return DataPortStatus::CONNECTION_LOST;
Expand Down
31 changes: 30 additions & 1 deletion src/lib/rtm/InPortSHMConsumer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,10 @@
#include <mutex>
#include <memory>

#if defined(minor)
#undef minor
#endif


namespace RTC
{
Expand Down Expand Up @@ -109,15 +113,40 @@ namespace RTC
{
RTC_PARANOID(("put()"));

std::lock_guard<std::mutex> guard(m_mutex);
try
{
std::lock_guard<std::mutex> guard(m_mutex);
m_shmem.setEndian(m_endian);
m_shmem.create_memory(m_memory_size, m_shm_address.c_str());
m_shmem.write(data);

return convertReturnCode(_ptr()->put());
}
#ifdef ORB_IS_OMNIORB
catch (const CORBA::COMM_FAILURE& ex)
{
if (ex.minor() == omni::COMM_FAILURE_WaitingForReply)
{
RTC_DEBUG(("Retry put message"));
try
{
m_shmem.setEndian(m_endian);
m_shmem.create_memory(m_memory_size, m_shm_address.c_str());
m_shmem.write(data);

return convertReturnCode(_ptr()->put());
}
catch (...)
{
return DataPortStatus::CONNECTION_LOST;
}
}
else
{
return DataPortStatus::CONNECTION_LOST;
}
}
#endif
catch (...)
{
return DataPortStatus::CONNECTION_LOST;
Expand Down
28 changes: 27 additions & 1 deletion src/lib/rtm/OutPortCorbaCdrConsumer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,10 @@
#include <rtm/OutPortCorbaCdrConsumer.h>
#include <rtm/NVUtil.h>

#if defined(minor)
#undef minor
#endif

namespace RTC
{
/*!
Expand Down Expand Up @@ -99,7 +103,29 @@ namespace RTC

try
{
::OpenRTM::PortStatus ret(_ptr()->get(cdr_data.out()));
::OpenRTM::PortStatus ret(::OpenRTM::PortStatus::PORT_ERROR);
try
{
ret = _ptr()->get(cdr_data.out());
}
#ifdef ORB_IS_OMNIORB
catch (const CORBA::COMM_FAILURE& ex)
{
if (ex.minor() == omni::COMM_FAILURE_WaitingForReply)
{
RTC_DEBUG(("Retry get message"));
ret = _ptr()->get(cdr_data.out());
}
else
{
throw;
}
}
#endif
catch (...)
{
throw;
}

if (ret == ::OpenRTM::PORT_OK)
{
Expand Down
28 changes: 27 additions & 1 deletion src/lib/rtm/OutPortDSConsumer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,10 @@
#include <rtm/OutPortDSConsumer.h>
#include <rtm/NVUtil.h>

#if defined(minor)
#undef minor
#endif

namespace RTC
{
/*!
Expand Down Expand Up @@ -97,7 +101,29 @@ namespace RTC

try
{
::RTC::PortStatus ret(_ptr()->pull(cdr_data.out()));
::RTC::PortStatus ret(::RTC::PortStatus::PORT_ERROR);
try
{
ret = _ptr()->pull(cdr_data.out());
}
#ifdef ORB_IS_OMNIORB
catch (const CORBA::COMM_FAILURE& ex)
{
if (ex.minor() == omni::COMM_FAILURE_WaitingForReply)
{
RTC_DEBUG(("Retry pull message"));
ret = _ptr()->pull(cdr_data.out());
}
else
{
throw;
}
}
#endif
catch (...)
{
throw;
}

if (ret == ::RTC::PORT_OK)
{
Expand Down
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