ネームサーバーをマネージャで起動するプラグインの追加

utils/openrtmNames/CMakeLists.txt

@@ -5,6 +5,7 @@ if(POLICY CMP0144)
 endif()
 
 set(target openrtmNames)
+set(targetDLL OpenrtmNamesPlugin)
 project (${target}
 	VERSION ${RTM_VERSION}
 	LANGUAGES CXX)
@@ -20,14 +21,22 @@ if(WIN32)
 	add_definitions(-DRTM_SKEL_IMPORT_SYMBOL)
 endif()
 
-add_executable(${target} openrtmNames.cpp NamingContext.h NamingContext.cpp
-				BindingIterator.h BindingIterator.cpp ObjectBinding.h ObjectBinding.cpp
-				RTObjectBinding.h RTObjectBinding.cpp ManagerBinding.h ManagerBinding.cpp)
+set(OPENRTMNAMES_FILES NamingContext.h NamingContext.cpp
+		BindingIterator.h BindingIterator.cpp ObjectBinding.h ObjectBinding.cpp
+		RTObjectBinding.h RTObjectBinding.cpp ManagerBinding.h ManagerBinding.cpp)
 
+add_executable(${target} openrtmNames.cpp ${OPENRTMNAMES_FILES})
 openrtm_common_set_compile_props(${target})
 openrtm_set_link_props_shared(${target})
 openrtm_include_rtm(${target})
 
+add_library(${targetDLL} SHARED OpenrtmNamesPlugin.cpp OpenrtmNamesPlugin.h ${OPENRTMNAMES_FILES})
+set_target_properties(${targetDLL} PROPERTIES PREFIX "")
+openrtm_common_set_compile_props(${targetDLL})
+openrtm_set_link_props_shared(${targetDLL})
+openrtm_include_rtm(${targetDLL})
+
+
 set(libs ${RTM_PROJECT_NAME} ${ORB_LIBRARIES} ${DATATYPE_FACTORIES})
 if(CORBA STREQUAL "TAO")
 	if(VXWORKS)
@@ -59,6 +68,8 @@ endif(SSL_ENABLE)
 
 target_link_libraries(${target} ${libs} ${RTM_LINKER_OPTION})
 
+target_link_libraries(${targetDLL} ${libs} ${RTM_LINKER_OPTION})
+
 
 
 if(VXWORKS)
@@ -74,11 +85,20 @@ if(WIN32)
 			ARCHIVE DESTINATION ${INSTALL_RTM_LIB_DIR}
 			RUNTIME DESTINATION ${INSTALL_RTM_LIB_DIR}
 			COMPONENT utils)
+	install(TARGETS ${targetDLL} LIBRARY DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			ARCHIVE DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			RUNTIME DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			COMPONENT utils)
 else(WIN32)
 	install(TARGETS ${target} LIBRARY DESTINATION ${INSTALL_RTM_LIB_DIR}
 			ARCHIVE DESTINATION ${INSTALL_RTM_LIB_DIR}
 			RUNTIME DESTINATION ${INSTALL_RTM_BIN_DIR}
 			COMPONENT utils)
+
+	install(TARGETS ${targetDLL} LIBRARY DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			ARCHIVE DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			RUNTIME DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			COMPONENT utils)
 endif(WIN32)
 
 if(SSL_ENABLE)

utils/openrtmNames/OpenrtmNamesPlugin.cpp

@@ -0,0 +1,142 @@
+// -*- C++ -*-
+/*!
+ * @file  OpenrtmNamesPlugin.cpp
+ * @brief OpenrtmNamesPlugin class
+ * @date  $Date: 2025-10-17 03:08:03 $
+ * @author Nobuhiko Miyamoto <n-miyamoto@aist.go.jp>
+ *
+ * Copyright (C) 2025
+ *     Nobuhiko Miyamoto
+ *     Intelligent Systems Research Institute,
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *
+ *     All rights reserved.
+ *
+ *
+ */
+
+#include "OpenrtmNamesPlugin.h"
+#include <rtm/ManagerConfig.h>
+#include <coil/stringutil.h>
+#include <iostream>
+
+namespace OpenRTMNames
+{
+  ManagerActionListener::ManagerActionListener(RTC::Manager* manager)
+  {
+    m_manager = manager;
+    PortableServer::POA_var root_poa = manager->getPOA();
+    CORBA::ORB_var orb = manager->getORB();
+#ifndef ORB_IS_TAO
+    PortableServer::POA_var ins_poa;
+#else
+    IORTable::Table_var adapter;
+#endif
+    try {
+      m_nameservice = new RTM::NamingContext(root_poa);
+      CosNaming::NamingContextExt_var nameserviceref = m_nameservice->_this();
+      CORBA::String_var sior(orb->object_to_string(nameserviceref));
+      std::cout << sior << std::endl;
+
+#ifndef ORB_IS_TAO
+      CORBA::Object_var ins_obj = orb->resolve_initial_references("omniINSPOA");
+
+      ins_poa = PortableServer::POA::_narrow(ins_obj);
+      ins_poa->the_POAManager()->activate();
+
+      PortableServer::ObjectId_var id = PortableServer::string_to_ObjectId("NameService");
+      ins_poa->activate_object_with_id(id.in(), m_nameservice);
+#else
+      CORBA::Object_var obj = orb->resolve_initial_references("IORTable");
+      adapter = IORTable::Table::_narrow(obj.in());
+
+      CORBA::String_var ior = orb->object_to_string(nameservice->_this());
+      adapter->bind("NameService", ior.in());
+#endif
+    }
+    catch (const CORBA::INITIALIZE& ex) {
+#ifdef ORB_IS_OMNIORB
+      std::cerr << "Failed to initialise: " << ex.NP_minorString() << std::endl;
+#elif defined(ORB_IS_TAO)
+      std::cerr << "Failed to initialise: " << ex.minor() << std::endl;
+#endif
+      return;
+    }
+    catch (CORBA::SystemException& ex) {
+      std::cerr << "Caught CORBA::" << ex._name() << std::endl;
+      return;
+    }
+    catch (CORBA::Exception& ex) {
+      std::cerr << "Caught CORBA::Exception: " << ex._name() << std::endl;
+      return;
+    }
+
+
+  }
+  ManagerActionListener::~ManagerActionListener()
+  {
+
+  }
+  void ManagerActionListener::preShutdown()
+  {
+    m_nameservice->destroy();
+    PortableServer::POA_var root_poa = m_manager->getPOA();
+
+
+    PortableServer::ObjectId_var oid = root_poa->servant_to_id(m_nameservice);
+    root_poa->deactivate_object(oid);
+
+
+#ifndef ORB_IS_TAO
+    CORBA::Object_var obj = m_manager->theORB()->resolve_initial_references("omniINSPOA");
+
+    PortableServer::POA_var ins_poa = PortableServer::POA::_narrow(obj);
+    PortableServer::ObjectId_var id;
+    id = ins_poa->servant_to_id(m_nameservice);
+
+    ins_poa->deactivate_object(id.in());
+#else
+    CORBA::Object_var obj = m_manager.theORB()->resolve_initial_references("IORTable");
+    IORTable::Table_var adapter = IORTable::Table::_narrow(obj.in());
+
+
+    coil::Properties config(m_manager.getConfig());
+
+    adapter->unbind("NameService");
+#endif
+
+  }
+  void ManagerActionListener::postShutdown()
+  {
+  }
+  void ManagerActionListener::postReinit()
+  {
+
+  }
+
+  void ManagerActionListener::preReinit()
+  {
+
+  }
+
+}
+
+extern "C"
+{
+  /*!
+   * @if jp
+   * @brief モジュール初期化関数
+   * @else
+   * @brief Module initialization
+   * @endif
+   */
+  void OpenrtmNamesPluginInit(RTC::Manager* manager)
+  {
+    OpenRTMNames::ManagerActionListener* listener = new OpenRTMNames::ManagerActionListener(manager);
+    manager->addManagerActionListener(listener);
+  }
+
+}
+
+

utils/openrtmNames/OpenrtmNamesPlugin.h

@@ -0,0 +1,62 @@
+// -*- C++ -*-
+/*!
+ * @file  OpenrtmNamesPlugin.h
+ * @brief OpenrtmNamesPlugin class
+ * @date  $Date: 2025-10-17 03:08:03 $
+ * @author Nobuhiko Miyamoto <n-miyamoto@aist.go.jp>
+ *
+ * Copyright (C) 2018
+ *     Nobuhiko Miyamoto
+ *     Intelligent Systems Research Institute,
+ *     National Institute of
+ *         Advanced Industrial Science and Technology (AIST), Japan
+ *
+ *     All rights reserved.
+ *
+ *
+ */
+
+#ifndef RTC_OPENRTMNAMESPLUGIN_H
+#define RTC_OPENRTMNAMESPLUGIN_H
+
+#include <rtm/RTC.h>
+#include <rtm/Manager.h>
+#include "NamingContext.h"
+
+namespace OpenRTMNames
+{
+  class ManagerActionListener : public RTM::ManagerActionListener
+  {
+  public:
+    ManagerActionListener(RTC::Manager* manager);
+    ~ManagerActionListener() override;
+    void preShutdown() override;
+    void postShutdown() override;
+    void postReinit() override;
+    void preReinit() override;
+  private:
+    PortableServer::Servant_var<RTM::NamingContext> m_nameservice;
+    RTC::Manager* m_manager;
+  };
+}
+
+extern "C"
+{
+  /*!
+   * @if jp
+   * @brief モジュール初期化関数
+   *
+   * ネーミングサービスの初期化関数。
+   *
+   * @else
+   * @brief Module initialization
+   *
+   * 
+   *
+   * @endif
+   */
+  DLL_EXPORT void OpenrtmNamesPluginInit(RTC::Manager* manager);
+}
+
+#endif // RTC_OPENRTMNAMESPLUGIN_H
+