change src1/common/modulecomm.

include/modulecomm.h

@@ -51,6 +51,12 @@ void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack
                                             ModuleComm_TYPE xmctype = ModuleComm_SHAREMEM,const char * strip = 0,const unsigned short = 5100);
 void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun,
                                                 ModuleComm_TYPE xmctype = ModuleComm_SHAREMEM,const char * strip = 0,const unsigned short = 5100);
+
+
+void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount);
+void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall);
+void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun);
+
 void MODULECOMMSHARED_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
 void MODULECOMMSHARED_EXPORT Unregister(void * pHandle);
 void MODULECOMMSHARED_EXPORT PauseComm(void * pHandle);

src1/common/modulecomm/modulecomm.cpp

@@ -18,6 +18,12 @@ struct ModeduleInfo
     ModuleComm_TYPE mmctype;
 };
 
+
+void * RegisterSend(const char *strcommname, const unsigned int nBufSize, const unsigned int nMsgBufCount)
+{
+    return RegisterSend(strcommname,nBufSize,nMsgBufCount,ModuleComm_SHAREMEM);
+}
+
 void *  RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount,
                      ModuleComm_TYPE xmctype,const unsigned short nport)
 {
@@ -64,6 +70,12 @@ void *  RegisterSend(const char * strcommname,const unsigned int nBufSize,const
     return pmi;
 }
 
+
+void * RegisterRecv(const char *strcommname, SMCallBack pCall)
+{
+    return RegisterRecv(strcommname,pCall,ModuleComm_SHAREMEM);
+}
+
 void  *  RegisterRecv(const char * strcommname,SMCallBack pCall,ModuleComm_TYPE xmctype,const char * strip,
                       const unsigned short nPort)
 {
@@ -109,6 +121,11 @@ void  *  RegisterRecv(const char * strcommname,SMCallBack pCall,ModuleComm_TYPE
     return pmi;
 }
 
+void * RegisterRecvPlus(const char *strcommname, ModuleFun xFun)
+{
+    return RegisterRecvPlus(strcommname,xFun,ModuleComm_SHAREMEM);
+}
+
 void *  RegisterRecvPlus(const char * strcommname,ModuleFun xFun,
                                                 ModuleComm_TYPE xmctype,const char * strip,
                          const unsigned short nPort)

src1/common/modulecomm/modulecomm.h

@@ -51,6 +51,12 @@ void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack
                                             ModuleComm_TYPE xmctype = ModuleComm_SHAREMEM,const char * strip = 0,const unsigned short = 5100);
 void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun,
                                                 ModuleComm_TYPE xmctype = ModuleComm_SHAREMEM,const char * strip = 0,const unsigned short = 5100);
+
+
+void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount);
+void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall);
+void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun);
+
 void MODULECOMMSHARED_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
 void MODULECOMMSHARED_EXPORT Unregister(void * pHandle);
 void MODULECOMMSHARED_EXPORT PauseComm(void * pHandle);

src1/common/modulecomm/modulecomm.pro

@@ -5,7 +5,7 @@ QT += dbus
 TEMPLATE = lib
 DEFINES += MODULECOMM_LIBRARY
 
-
+#DEFINES += USE_FASTRTPS
 DEFINES += USEDBUS
 
 CONFIG += c++11
@@ -49,9 +49,11 @@ unix {
     error( "Couldn't find the modulecomm_inter.pri file!" )
 }
 
+if(contains(DEFINES,USE_FASTRTPS)){
 !include(./fastrtps/modulecomm_fastrtps.pri ) {
     error( "Couldn't find the modulecomm_fastrtps.pri file!" )
 }
+}
 
 
 INCLUDEPATH += $$PWD/shm
@@ -59,7 +61,7 @@ INCLUDEPATH += $$PWD/fastrtps
 INCLUDEPATH += $$PWD/inter
 
 
-#DEFINES += USE_FASTRTPS
-#LIBS += -L$$PWD -lfastcdr -lfastrtps
-
+if(contains(DEFINES,USE_FASTRTPS)){
+LIBS += -L$$PWD -lfastcdr -lfastrtps
+}