RtORB対応のための修正

src/lib/coil/common/coil/Properties.cpp

@@ -90,8 +90,7 @@ namespace coil
     : name(prop.name), value(prop.value),
       default_value(prop.default_value), set_value(prop.set_value), root(nullptr), m_empty("")
   {
-    std::vector<std::string> keys;
-    keys = prop.propertyNames();
+    const std::vector<std::string> keys(prop.propertyNames());
     for (const auto & key : keys)
       {
         const Properties* node(nullptr);
@@ -121,8 +120,7 @@ namespace coil
     default_value = prop.default_value;
     set_value = prop.set_value;
 
-    std::vector<std::string> keys;
-    keys = prop.propertyNames();
+    const std::vector<std::string> keys(prop.propertyNames());
     for (const auto & key : keys)
       {
         const Properties* node(prop.findNode(key));
@@ -569,8 +567,7 @@ namespace coil
    */
   Properties& Properties::operator<<(const Properties& prop)
   {
-    std::vector<std::string> keys;
-    keys = prop.propertyNames();
+    const std::vector<std::string> keys(prop.propertyNames());
     for (size_t i(0), len(prop.size()); i < len; ++i)
       {
         (*this)[keys[i]] = prop[keys[i]];

src/lib/rtm/CMakeLists.txt

@@ -397,7 +397,8 @@ else(VXWORKS)
 		if(CORBA MATCHES "RtORB")
 			add_library(${PROJECT_NAME}-static STATIC
 				$<TARGET_OBJECTS:${PROJECT_NAME}_objlib>
-				$<TARGET_OBJECTS:${COIL_PROJECT_NAME}_objlib>)
+				$<TARGET_OBJECTS:${COIL_PROJECT_NAME}_objlib>
+				${RTM_IDL_OBJECTS})
 			add_library(${PROJECT_NAME} SHARED
 				$<TARGET_OBJECTS:${PROJECT_NAME}_objlib>
 				$<TARGET_OBJECTS:${COIL_PROJECT_NAME}_objlib>)

src/lib/rtm/CORBA_RTCUtil.cpp

@@ -818,7 +818,11 @@ namespace CORBA_RTCUtil
                                              const RTC::PortService_ptr port1)
   {
     coil::Properties prop = prop_arg;
+#ifndef ORB_IS_RTORB
     RTC::ConnectorProfile_var conn_prof = new RTC::ConnectorProfile();
+#else  // ORB_IS_RTORB
+    RTC::ConnectorProfile_var conn_prof = RTC_ConnectorProfile__calloc();
+#endif  // ORB_IS_RTORB
     std::string prof_name;
     conn_prof->name = CORBA::string_dup(name.c_str());
     conn_prof->connector_id = CORBA::string_dup("");

src/lib/rtm/Manager.cpp

@@ -1795,8 +1795,19 @@ namespace RTC
           opt += "-ORBIIOPAddr " + endpoint;
         }
       }
+      else if (corba == "RtORB")
+      {
+        opt += " -ORBListenEndpoints " + endpoint;
+        std::vector<std::string> addr_port(coil::split(endpoint, ":"));
+        if(addr_port.size() > 1)
+        {
+          opt += " -ORBServerPort " + addr_port.back();
+        }
+        std::cerr << opt << std::endl;
+      }
       else
       {
+        std::cout << corba << std::endl;
       }
     }
   }

src/lib/rtm/NVUtil.cpp

@@ -97,19 +97,22 @@ namespace NVUtil
 #ifndef ORB_IS_RTORB
   void copyFromProperties(SDOPackage::NVList& nv, const coil::Properties& prop)
 #else  // ORB_IS_RTORB
-    void copyFromProperties(SDOPackage_NVList& nv, const coil::Properties& prop)
+  void copyFromProperties(SDOPackage_NVList& nv, const coil::Properties& prop)
 #endif  // ORB_IS_RTORB
   {
-    std::vector<std::string> keys;
-    keys = prop.propertyNames();
+    const std::vector<std::string> keys(prop.propertyNames());
     CORBA::ULong len(static_cast<CORBA::ULong>(keys.size()));
     nv.length(len);
 
     for (CORBA::ULong i = 0; i < len; ++i)
       {
 // Why RtORB does not copy string to Properties.
         nv[i].name = CORBA::string_dup(keys[i].c_str());
+#ifndef ORB_IS_RTORB
         nv[i].value <<= prop[keys[i]].c_str();
+#else  // ORB_IS_RTORB
+        nv[i].value <<= CORBA::string_dup(prop[keys[i]].c_str());
+#endif  // ORB_IS_RTORB
       }
   }
 
@@ -127,8 +130,7 @@ namespace NVUtil
   void mergeFromProperties(SDOPackage_NVList& nv, const coil::Properties& prop)
 #endif  // ORB_IS_RTORB
   {
-    std::vector<std::string> keys;
-    keys = prop.propertyNames();
+    const std::vector<std::string> keys(prop.propertyNames());
 #ifndef ORB_IS_RTORB
     SDOPackage::NVList nve;
 #else  // ORB_IS_RTORB
@@ -153,7 +155,11 @@ namespace NVUtil
     for (CORBA::ULong i = 0; i < ksize; ++i)
       {
         nv[i].name = CORBA::string_dup(keys[i].c_str());
+#ifndef ORB_IS_RTORB
         nv[i].value <<= prop[keys[i]].c_str();
+#else  // ORB_IS_RTORB
+        nv[i].value <<= CORBA::string_dup(prop[keys[i]].c_str());
+#endif  // ORB_IS_RTORB
       }
 
     for (CORBA::ULong i = 0; i < nsize; ++i)
@@ -178,7 +184,11 @@ namespace NVUtil
         if (nv[i].value >>= value)
           {
             const char* name(nv[i].name);
+#ifndef ORB_IS_RTORB
             prop[name] = value;
+#else  // ORB_IS_RTORB
+            prop[std::string(name)] = std::string(value);
+#endif  // ORB_IS_RTORB
           }
       }
   }

src/lib/rtm/PortAdmin.cpp

@@ -50,7 +50,6 @@ namespace RTC
           PortProfile *pp;
           pp = p->get_port_profile();
           std::string name(pp->name);
-          delete pp;
 #endif  // ORB_IS_RTORB
           return m_name == name;
         }
@@ -121,7 +120,13 @@ namespace RTC
   PortServiceList* PortAdmin::getPortServiceList() const
   {
     PortServiceList_var ports;
+#ifndef ORB_IS_RTORB
     ports = new PortServiceList(m_portRefs);
+#else  // ORB_IS_RTORB
+    RTC_PortServiceList* _ports = RTC_PortServiceList__calloc();
+    *_ports = m_portRefs;
+    ports = _ports;
+#endif  // ORB_IS_RTORB
     return ports._retn();
   }
 
@@ -151,7 +156,11 @@ namespace RTC
           {
             pp = m_portRefs[i]->get_port_profile();
             port_profs[i] = *(pp);
+#ifndef ORB_IS_RTORB
             delete pp;
+#else  // ORB_IS_RTORB
+            RtORB_free_by_typecode_cpp(TC_RTC_PortProfile, pp, 0);
+#endif  // ORB_IS_RTORB
           }
         catch (...)
           {

src/lib/rtm/PortBase.cpp

@@ -101,7 +101,13 @@ namespace RTC
     updateConnectors();
     std::lock_guard<std::mutex> guard(m_profile_mutex);
     PortProfile_var prof;
+#ifndef ORB_IS_RTORB
     prof = new PortProfile(m_profile);
+#else  // ORB_IS_RTORB
+    PortProfile* _prof = RTC_PortProfile__calloc();
+    *_prof = m_profile;
+    prof = _prof;
+#endif  // ORB_IS_RTORB
     return prof._retn();
   }
 
@@ -134,7 +140,13 @@ namespace RTC
 
     std::lock_guard<std::mutex> guard(m_profile_mutex);
     ConnectorProfileList_var conn_prof;
+#ifndef ORB_IS_RTORB
     conn_prof = new ConnectorProfileList(m_profile.connector_profiles);
+#else  // ORB_IS_RTORB
+    RTC_ConnectorProfileList* _conn_prof = RTC_ConnectorProfileList__calloc();
+    *_conn_prof = m_profile.connector_profiles;
+    conn_prof = _conn_prof;
+#endif  // ORB_IS_RTORB
     return conn_prof._retn();
   }
 
@@ -157,11 +169,21 @@ namespace RTC
     if (index < 0)
       {
         ConnectorProfile_var conn_prof;
+#ifndef ORB_IS_RTORB
         conn_prof = new ConnectorProfile();
+#else  // ORB_IS_RTORB
+        conn_prof = RTC_ConnectorProfile__calloc();
+#endif  // ORB_IS_RTORB
         return conn_prof._retn();
       }
     ConnectorProfile_var conn_prof;
+#ifndef ORB_IS_RTORB
     conn_prof = new ConnectorProfile(m_profile.connector_profiles[index]);
+#else  // ORB_IS_RTORB
+    RTC_ConnectorProfile* _conn_prof = RTC_ConnectorProfile__calloc();
+    *_conn_prof = m_profile.connector_profiles[index];
+    conn_prof = _conn_prof;
+#endif  // ORB_IS_RTORB
     return conn_prof._retn();
   }
 
@@ -930,8 +952,10 @@ namespace RTC
             }
         }
 #else  // ORB_IS_RTORB
-      ConnectorProfileList* clist;
-      clist = new ConnectorProfileList(m_profile.connector_profiles);
+      ConnectorProfileList_var clist;
+      RTC_ConnectorProfileList* _clist = RTC_ConnectorProfileList__calloc();
+      *_clist = m_profile.connector_profiles;
+      clist = _clist;
 
       for (CORBA::ULong i(0); i < clist->length(); ++i)
         {
@@ -942,7 +966,6 @@ namespace RTC
               RTC_WARN(("Dead connection: %s", id));
             }
         }
-      delete clist;
 #endif  // ORB_IS_RTORB
     }
 

src/lib/rtm/RTObject.cpp

@@ -654,9 +654,10 @@ namespace RTC
     RTC_TRACE(("get_component_profile()"));
     try
       {
+#ifndef ORB_IS_RTORB
         ComponentProfile_var profile
           = new ComponentProfile();
-#ifndef ORB_IS_RTORB
+
         profile->instance_name =
           CORBA::string_dup(m_properties["instance_name"].c_str());
         profile->type_name     =
@@ -671,6 +672,8 @@ namespace RTC
           CORBA::string_dup(m_properties["category"].c_str());
         profile->port_profiles = m_portAdmin.getPortProfileList();
 #else  // ORB_IS_RTORB
+        ComponentProfile_var profile
+          = RTC_ComponentProfile__calloc();
         profile->instance_name =
           CORBA::string_dup(m_properties["instance_name"].c_str());
         profile->type_name     =

src/lib/rtm/SystemLogger.cpp

@@ -279,8 +279,8 @@ namespace RTC
   {
       if (ostream_type != nullptr)
       {
-          std::vector<std::string> vec(prop);
-          for (auto & str : vec)
+          const std::vector<std::string>& vec(prop);
+          for (const auto & str : vec)
           {
               ostream_type->write(level, m_name, getDate(), str);
           }

src/lib/rtm/idl/CMakeLists.txt

@@ -38,9 +38,11 @@ link_directories(${ORB_LINK_DIR})
 if(CORBA MATCHES "RtORB")
 	foreach(IDLSOURCE ${${PROJECT_NAME}_IDLSKEL};${${PROJECT_NAME}_IDLSTUB})
 		get_filename_component(IDLNAME ${IDLSOURCE} NAME_WE)
-		add_library(${IDLNAME} SHARED ${IDLSOURCE})
+		add_library(${IDLNAME}_objlib OBJECT ${IDLSOURCE})
+		add_library(${IDLNAME} SHARED $<TARGET_OBJECTS:${IDLNAME}_objlib>)
+		openrtm_gencode_set_compile_props(${IDLNAME}_objlib)
 		openrtm_gencode_set_compile_props(${IDLNAME})
-		target_include_directories(${IDLNAME} SYSTEM
+		target_include_directories(${IDLNAME}_objlib SYSTEM
 			PUBLIC ${PROJECT_BINARY_DIR}
 			PRIVATE ${CMAKE_BINARY_DIR}/src/lib
 			${CMAKE_SOURCE_DIR}/src/lib
@@ -50,9 +52,12 @@ if(CORBA MATCHES "RtORB")
 					ARCHIVE DESTINATION ${INSTALL_RTM_LIB_DIR}
 					RUNTIME DESTINATION ${INSTALL_RTM_BIN_DIR}
 					COMPONENT openrtm)
+
 		set(RTM_IDL_LIBS ${RTM_IDL_LIBS};${IDLNAME})
+		set(RTM_IDL_OBJECTS ${RTM_IDL_OBJECTS};$<TARGET_OBJECTS:${IDLNAME}_objlib>)
 	endforeach()
 	set(RTM_IDL_LIBS ${RTM_IDL_LIBS} PARENT_SCOPE)
+	set(RTM_IDL_OBJECTS ${RTM_IDL_OBJECTS} PARENT_SCOPE)
 else()
 	add_library(${PROJECT_NAME}_objlib OBJECT ${${PROJECT_NAME}_IDLSKEL})
 	openrtm_gencode_set_compile_props(${PROJECT_NAME}_objlib)

utils/openrtmNames/CMakeLists.txt

@@ -25,17 +25,30 @@ 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 ${OPENRTMNAMES_FILES})
+add_library(${target}_objlib OBJECT ${OPENRTMNAMES_FILES})
+openrtm_common_set_compile_props(${target}_objlib)
+openrtm_set_link_props_shared(${target}_objlib)
+openrtm_include_rtm(${target}_objlib)
+
+add_executable(${target} openrtmNames.cpp $<TARGET_OBJECTS:${target}_objlib>)
 openrtm_common_set_compile_props(${target})
 openrtm_set_link_props_shared(${target})
 openrtm_include_rtm(${target})
 
-add_library(${targetDLL} SHARED OpenrtmNamesPlugin.cpp OpenrtmNamesPlugin.h ${OPENRTMNAMES_FILES})
+add_library(${targetDLL} SHARED OpenrtmNamesPlugin.cpp OpenrtmNamesPlugin.h $<TARGET_OBJECTS:${target}_objlib>)
 set_target_properties(${targetDLL} PROPERTIES PREFIX "")
 openrtm_common_set_compile_props(${targetDLL})
 openrtm_set_link_props_shared(${targetDLL})
 openrtm_include_rtm(${targetDLL})
 
+if(NOT WIN32)
+	add_library(${targetDLL}-static STATIC OpenrtmNamesPlugin.cpp OpenrtmNamesPlugin.h $<TARGET_OBJECTS:${target}_objlib>)
+	set_target_properties(${targetDLL}-static PROPERTIES OUTPUT_NAME ${targetDLL} CLEAN_DIRECT_OUTPUT 1)
+	openrtm_common_set_compile_props(${targetDLL}-static)
+	openrtm_set_link_props_shared(${targetDLL}-static)
+	openrtm_include_rtm(${targetDLL}-static)
+endif()
+
 
 set(libs ${RTM_PROJECT_NAME} ${ORB_LIBRARIES} ${DATATYPE_FACTORIES})
 if(CORBA STREQUAL "TAO")
@@ -99,6 +112,12 @@ else(WIN32)
 			ARCHIVE DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
 			RUNTIME DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
 			COMPONENT utils)
+
+	install(TARGETS ${targetDLL}-static LIBRARY DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			ARCHIVE DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			RUNTIME DESTINATION ${INSTALL_RTM_EXT_DIR}/naming
+			COMPONENT utils)
+	install(FILES  OpenrtmNamesPlugin.h DESTINATION ${INSTALL_RTM_EXT_DIR}/naming COMPONENT headers)
 endif(WIN32)
 
 if(SSL_ENABLE)