Merge pull request #1151 from Nobu19800/bugs/nvproperties

データポート接続時にコネクタプロファイルからプロバイダのオブジェクトリファレンスが消えるバグの修正
OpenRTM · Jul 1, 2024 · 6e0cadc · 6e0cadc
2 parents ca504f9 + d1ad364
commit 6e0cadc
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Showing 4 changed files with 81 additions and 2 deletions.
diff --git a/src/lib/rtm/InPortBase.cpp b/src/lib/rtm/InPortBase.cpp
@@ -1136,7 +1136,7 @@ namespace RTC
 
       node << portprop;
 
-      NVUtil::copyFromProperties(connector_profile.properties, prop);
+      NVUtil::mergeFromProperties(connector_profile.properties, prop);
 
       std::string _str = node["fan_in"];
       unsigned int value = 100;

diff --git a/src/lib/rtm/NVUtil.cpp b/src/lib/rtm/NVUtil.cpp
@@ -113,6 +113,56 @@ namespace NVUtil
       }
   }
 
+
+  /*!
+   * @if jp
+   * @brief Properties を NVList へマージする
+   * @else
+   * @brief Merge the properties to NVList
+   * @endif
+   */
+#ifndef ORB_IS_RTORB
+  void mergeFromProperties(SDOPackage::NVList& nv, const coil::Properties& prop)
+#else  // ORB_IS_RTORB
+  void mergeFromProperties(SDOPackage_NVList& nv, const coil::Properties& prop)
+#endif  // ORB_IS_RTORB
+  {
+    std::vector<std::string> keys;
+    keys = prop.propertyNames();
+#ifndef ORB_IS_RTORB
+    SDOPackage::NVList nve;
+#else  // ORB_IS_RTORB
+    SDOPackage_NVList nve;
+#endif  // ORB_IS_RTORB
+    nve.length(static_cast<CORBA::ULong>(keys.size()));
+
+    CORBA::ULong nsize(0);
+    for (CORBA::ULong i = 0; i < nv.length(); ++i)
+      {
+        if (prop.findNode(static_cast<const char*>(nv[i].name)) == nullptr)
+          {
+            nve[nsize] = nv[i];
+            nsize++;
+          }
+      }
+
+    CORBA::ULong ksize(static_cast<CORBA::ULong>(keys.size()));
+    CORBA::ULong len(ksize + nsize);
+    nv.length(len);
+
+    for (CORBA::ULong i = 0; i < ksize; ++i)
+      {
+        nv[i].name = CORBA::string_dup(keys[i].c_str());
+        nv[i].value <<= prop[keys[i]].c_str();
+      }
+
+    for (CORBA::ULong i = 0; i < nsize; ++i)
+      {
+        nv[i+ ksize] = nve[i];
+      }
+
+  }
+
   /*!
    * @if jp
    * @brief NVList を Properties へコピーする

diff --git a/src/lib/rtm/NVUtil.h b/src/lib/rtm/NVUtil.h
@@ -259,6 +259,35 @@ namespace NVUtil
   void copyFromProperties(SDOPackage_NVList& nv, const coil::Properties& prop);
 #endif  // ORB_IS_RTORB
 
+  /*!
+   * @if jp
+   *
+   * @brief Properties を NVList にマージする
+   *
+   * このオペレーションは Properties を NVList へマージする。
+   * NVList の value は全て CORBA::string 型としてマージする。
+   *
+   * @param nv Properties の値を格納する NVList
+   * @param prop コピー元の Properties
+   *
+   * @else
+   *
+   * @brief Merge the properties to NVList
+   *
+   * This operation merges the properties into NVList.
+   * All NVList's values are copied as CORBA::string.
+   *
+   * @param nv NVList to store properties values
+   * @param prop Properties that is merged from
+   *
+   * @endif
+   */
+#ifndef ORB_IS_RTORB
+  void mergeFromProperties(SDOPackage::NVList& nv, const coil::Properties& prop);
+#else  // ORB_IS_RTORB
+  void mergeFromProperties(SDOPackage_NVList& nv, const coil::Properties& prop);
+#endif  // ORB_IS_RTORB
+
   /*!
    * @if jp
    *

diff --git a/src/lib/rtm/OutPortBase.cpp b/src/lib/rtm/OutPortBase.cpp
@@ -1154,7 +1154,7 @@ namespace RTC
     node << portprop;
 
 
-    NVUtil::copyFromProperties(connector_profile.properties, prop);
+    NVUtil::mergeFromProperties(connector_profile.properties, prop);
 
     std::string _str = node["fan_out"];
     unsigned int value = 100;