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supports trunk version of OpenRTM-aist #104

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Jun 22, 2016
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3 changes: 3 additions & 0 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -268,6 +268,9 @@ set(OMNIORB_CFLAGS ${OMNIORB_CFLAGS} CACHE STRING "Compile flags for omniORB")

# OpenRTM-aist
find_package(OpenRTM REQUIRED)
if(EXISTS "${OPENRTM_DIR}/include/openrtm-1.1/rtm/RTObjectStateMachine.h")
add_definitions(-DOPENRTM_VERSION_TRUNK)
endif()
set(ADDITIONAL_SYMBOL "")
include_directories(${OPENRTM_INCLUDE_DIRS})
link_directories(${OPENRTM_LIBRARY_DIRS})
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4 changes: 2 additions & 2 deletions hrplib/hrpRTM/SimulationExecutionContext.cpp
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#include <rtm/CorbaNaming.h>
#if !defined(OPENRTM_VERSION042) && !defined(OPENRTM_VERSION110)
#if (!defined(OPENRTM_VERSION042) && !defined(OPENRTM_VERSION110)) || defined(OPENRTM_VERSION_TRUNK)
#include <rtm/Manager.h>
#endif
#include "SimulationExecutionContext.h"
Expand All @@ -21,7 +21,7 @@ namespace RTC

ReturnCode_t SimulationExecutionContext::stop() throw (CORBA::SystemException)
{
#if defined(OPENRTM_VERSION042) || defined(OPENRTM_VERSION110)
#if (defined(OPENRTM_VERSION042) || defined(OPENRTM_VERSION110)) && !defined(OPENRTM_VERSION_TRUNK)
if (!m_running) return RTC::PRECONDITION_NOT_MET;

OpenRTM::ExtTrigExecutionContextService_var extTrigExecContext =
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