chore: provide a way to manage RTT component networks when hosts "disappear" (on top of #15)

rtt/CMakeLists.txt

@@ -16,6 +16,7 @@ OPTION(OS_HAVE_STREAMS "Use C++ streams library." ON)
 OPTION(OS_HAVE_MAIN "Provide main() function in rtt library, which sets up the OS. The user implements ORO_main()." ON)
 OPTION(ORO_OS_USE_BOOST_THREAD "Use the Boost.Thread library. Currently only the mutex implementation is used." OFF)
 set(ROCK_USE_SANITIZERS "" CACHE STRING "Which sanitizers to enable during the build (comma separated, compiler specific)")
+option(ORO_NO_DISCONNECT_DATAFLOW_ON_DESTRUCTION "Disable disconnecting dataflow on task context or port destruction" OFF)
 
 if (ROCK_USE_SANITIZERS)
   add_compile_options("-fsanitize=${ROCK_USE_SANITIZERS}")

rtt/base/OutputPortInterface.cpp

@@ -36,6 +36,7 @@
  ***************************************************************************/
 
 
+#include "../rtt-config.h"
 #include "PortInterface.hpp"
 #include "OutputPortInterface.hpp"
 #include "InputPortInterface.hpp"
@@ -52,7 +53,9 @@ OutputPortInterface::OutputPortInterface(std::string const& name)
 
 OutputPortInterface::~OutputPortInterface()
 {
+#ifndef ORO_NO_DISCONNECT_DATAFLOW_ON_DESTRUCTION
     cmanager.disconnect();
+#endif
 }
 
 /** Returns true if this port is connected */

rtt/internal/ConnectionManager.cpp

@@ -43,6 +43,7 @@
  *      Author: kaltan
  */
 
+#include "../rtt-config.h"
 #include "ConnectionManager.hpp"
 #include <boost/bind.hpp>
 #include <boost/scoped_ptr.hpp>
@@ -66,7 +67,9 @@ namespace RTT
 
         ConnectionManager::~ConnectionManager()
         {
+#ifndef ORO_NO_DISCONNECT_DATAFLOW_ON_DESTRUCTION
             this->disconnect();
+#endif
         }
 
         /**

rtt/rtt-config.h.in

@@ -52,6 +52,7 @@
 #define RTT_HAS_STATE_CHANGE_HOOK
 
 #cmakedefine ORO_DISABLE_PORT_DATA_SCRIPTING
+#cmakedefine ORO_NO_DISCONNECT_DATAFLOW_ON_DESTRUCTION
 
 // if not defined, show an error
 #ifndef OROCOS_TARGET

rtt/transports/corba/DataFlow.idl

@@ -92,6 +92,14 @@ module RTT
          */
         void remoteDisconnect(in boolean writer_to_reader);
 
+        /** Disconnect the local channel that includes this element
+         *
+         * Unlike disconnect, which calls the remote side internally, this
+         * method explicitly restricts itself to the local part of the channel
+         * The caller will be responsible to cleanup the other side.
+         */
+         void disconnectHalf();
+
     };
 
     /** Emitted when information is requested on a port that does not exist */
@@ -100,6 +108,13 @@ module RTT
      * for the data type of the given ports
      */
     exception CNoCorbaTransport {};
+    /** Emitted when the system is expected to create a local connection, but one
+     * of the ports is remote
+     */
+    exception CNotLocalConnection {};
+    /** Emitted when a call refers to a corba channel that we can't find internally
+     */
+    exception CNoSuchCorbaChannel {};
 
     enum CPortType { CInput, COutput };
 
@@ -169,6 +184,34 @@ module RTT
       CChannelElement buildChannelOutput(in string input_port, inout CConnPolicy policy)
             raises(CNoCorbaTransport,CNoSuchPortException);
 
+      /**
+       * Create the half of a connection, from an output port to a CORBA channel element
+       *
+       * Unlike with buildChannelInput, the channel is not yet connected to the output
+       * port. You need to call connectChannelInputHalf to do so, once the whole channel
+       * is fully setup.
+       */
+      CChannelElement buildChannelInputHalf(in string output_port, inout CConnPolicy policy)
+            raises(CNoCorbaTransport,CNoSuchPortException);
+
+      /**
+       * Connect the input half of the channel to its port
+       */
+      boolean connectChannelInputHalf(in string output_port, in CChannelElement channel, in CConnPolicy policy)
+            raises(CNoCorbaTransport, CNoSuchPortException, CNoSuchCorbaChannel);
+
+      /**
+       * Create the output half of a channel, not yet connected to the input port
+       */
+      CChannelElement buildChannelOutputHalf(in string input_port, in CConnPolicy policy)
+            raises(CNoCorbaTransport,CNoSuchPortException);
+
+      /**
+       * Create the output half of a channel, not yet connected to the input port
+       */
+      boolean connectChannelOutputHalf(in string input_port, in CChannelElement channel, in CConnPolicy policy)
+            raises(CNoCorbaTransport,CNoSuchPortException);
+
       /**
        * Use this to read from an output port with
        * the given policy.
@@ -178,6 +221,16 @@ module RTT
       CChannelElement buildChannelInput(in string output_port, inout CConnPolicy policy)
             raises(CNoCorbaTransport,CNoSuchPortException);
 
+      /**
+       * Connect two ports when they are both within the same process
+       *
+       * The local port needs to be the output, while the remote port is the
+       * input.
+       */
+      boolean createLocalConnection(in string local_port, in CDataFlowInterface remote_ports,
+            in string remote_port, inout CConnPolicy policy)
+            raises(CNoSuchPortException, CNotLocalConnection);
+
       /**
        * Connect the given named port to the given remote port.
        * Use this method to connect two Orocos data flow ports.
@@ -235,7 +288,7 @@ module RTT
        * @return false if the connection could not be used.
        */
 	boolean channelReady(in string input_port,in CChannelElement channel, in CConnPolicy cp)
-            raises(CNoSuchPortException);
+            raises(CNoSuchPortException, CNoSuchCorbaChannel);
     };
   };
 };