[openrtm-commit:00380] r465 - in branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils: . rtc_handle
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2011年 8月 30日 (火) 12:20:17 JST
Author: kurihara
Date: 2011-08-30 12:20:17 +0900 (Tue, 30 Aug 2011)
New Revision: 465
Added:
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle.py
branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle10_11.py
Log:
First commit.
The rtc_handle was implemented by Professor Takashi Suehiro
Added: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle.py
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle.py (rev 0)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle.py 2011-08-30 03:20:17 UTC (rev 465)
@@ -0,0 +1,365 @@
+#/usr/bin/env python
+# -*- coding: utf-8 -*-
+# -*- Python -*-
+
+import sys
+from omniORB import CORBA, URI
+from omniORB import any
+
+import OpenRTM_aist
+import RTC
+
+
+from CorbaNaming import *
+import SDOPackage
+
+# class RtmEnv :
+# rtm environment manager
+# orb, naming service, rtc proxy list
+#
+class RtmEnv :
+
+ def __init__(self, orb_args, nserver_names=["localhost"],
+ orb=None, naming=None):
+ if not orb :
+ orb = CORBA.ORB_init(orb_args)
+ self.orb = orb
+ self.name_space = {}
+ if naming : # naming can specify only one naming service
+ self.name_space['default']=NameSpace(orb, naming=naming)
+ else :
+ for ns in nserver_names :
+ self.name_space[ns]=NameSpace(orb, server_name=ns)
+
+ def __del__(self):
+ self.orb.shutdown(wait_for_completion=CORBA.FALSE)
+ self.orb.destroy()
+#
+# class NameSpace :
+# rtc_handles and object list in naming service
+#
+class NameSpace :
+ def __init__(self, orb, server_name=None, naming=None):
+ self.orb = orb
+ self.name = server_name
+ if naming :
+ self.naming = naming
+ else :
+ self.naming = CorbaNaming(self.orb, server_name)
+
+ self.b_len = 10 # iteration cut off no.
+ self.rtc_handles = {}
+ self.obj_list = {}
+
+ def get_object_by_name(self, name, cl=RTC.RTObject):
+ ref = self.naming.resolveStr(name)
+ if ref is None: return None # return CORBA.nil ?
+ if cl :
+ return ref._narrow(cl)
+ else :
+ return ref
+
+ def list_obj(self) :
+ self.rtc_handes = {}
+ self.obj_list = {}
+ return self.list_obj1(self.naming._rootContext, "")
+
+ def list_obj1(self, name_context, parent) :
+ if not name_context :
+ name_context = self.naming._rootContext
+ rslt = []
+ b_list = name_context.list(self.b_len)
+ for bd in b_list[0] :
+ rslt = rslt + self.proc_bd(bd, name_context, parent)
+ if b_list[1] : # iterator : there exists remaining.
+ t_list = b_list[1].next_n(self.b_len)
+ while t_list[0] :
+ for bd in t_list[1] :
+ rslt = rslt + self.proc_bd(bd, name_context, parent)
+ t_list = b_list[1].next_n(self.b_len)
+ return rslt
+
+ def proc_bd(self, bd, name_context, parent) :
+# print '-------------------------------------------------------------------'
+# print 'bd= ', bd
+# print 'name_context= ', name_context
+# print 'parent= ', parent
+ rslt = []
+ pre = ""
+ if parent :
+ pre = parent + "/"
+ nam = pre + URI.nameToString(bd.binding_name)
+ if bd.binding_type == CosNaming.nobject :
+ tmp = name_context.resolve(bd.binding_name)
+ self.obj_list[nam]=tmp
+ print 'objcet '+nam+' was listed.'
+ try :
+ tmp = tmp._narrow(RTC.RTObject)
+ except :
+ print nam+' is not RTC.'
+ tmp = None
+ try :
+ if tmp :
+ rslt = [[nam, tmp]]
+ self.rtc_handles[nam]=RtcHandle(nam,self,tmp)
+ print 'handle for '+nam+' was created.'
+ else :
+ pass
+ except :
+ print nam+' is not alive.'
+ pass
+ else :
+ tmp = name_context.resolve(bd.binding_name)
+ tmp = tmp._narrow(CosNaming.NamingContext)
+ rslt = self.list_obj1(tmp, nam)
+ return rslt
+
+#
+# data conversion
+#
+def nvlist2dict(nvlist) :
+ rslt = {}
+ for tmp in nvlist :
+ rslt[tmp.name]=tmp.value.value() # nv.value and any.value()
+ return rslt
+def dict2nvlist(dict) :
+ rslt = []
+ for tmp in dict.keys() :
+ rslt.append(SDOPackage.NameValue(tmp, any.to_any(dict[tmp])))
+ return rslt
+#
+# connector, port, inport, outport, service
+#
+
+class Connector :
+ def __init__(self, plist, name = None, id="", prop_dict={}) :
+ self.plist = plist
+ self.port_reflist = [tmp.port_profile.port_ref for tmp in plist]
+ if name :
+ self.name = name
+ else :
+ self.name = string.join([tmp.name for tmp in plist],'_')
+ self.prop_dict = prop_dict
+ self.prop_nvlist = dict2nvlist(self.prop_dict)
+ self.profile = RTC.ConnectorProfile(self.name, id, self.port_reflist, self.prop_nvlist)
+ self.nego_prop()
+
+ def nego_prop(self) :
+ self.possible = True
+ for kk in self.def_prop :
+ if kk in self.prop_dict :
+ if not self.prop_dict[kk] :
+ self.prop_dict[kk]=self.def_prop[kk]
+ else :
+ self.prop_dict[kk]=self.def_prop[kk]
+ for pp in self.plist :
+ if not ((self.prop_dict[kk] in pp.prop[kk]) or
+ ('Any' in pp.prop[kk])) :
+ self.prop_dict[kk] = ""
+ self.possible = False
+ self.prop_nvlist = dict2nvlist(self.prop_dict)
+ self.profile.properties = self.prop_nvlist
+ return self.possible
+
+ def connect(self) :
+#
+# out and inout parameters are retuned as a tuple
+#
+ ret, self.profile = self.port_reflist[0].connect(self.profile)
+ self.prop_nvlist = self.profile.properties
+ self.prop_dict = nvlist2dict(self.prop_nvlist)
+ return ret
+
+ def disconnect(self) :
+ ret = self.port_reflist[0].disconnect(self.profile.connector_id)
+ return ret
+
+class IOConnector(Connector) :
+ def __init__(self, plist, name = None, id="", prop_dict={}) :
+# self.def_prop = {'dataport.dataflow_type':'Push' ,
+# 'dataport.interface_type':'CORBA_Any' ,
+# 'dataport.subscription_type':'Flush'}
+ self.def_prop = {'dataport.dataflow_type':'push' ,
+ 'dataport.interface_type':'corba_cdr' ,
+ 'dataport.subscription_type':'flush'}
+ Connector.__init__(self, plist, name, id, prop_dict)
+
+class ServiceConnector(Connector) :
+ def __init__(self, plist, name = None, id="", prop_dict={}) :
+ self.def_prop = {'port.port_type':'CorbaPort' }
+ Connector.__init__(self, plist, name, id, prop_dict)
+
+
+class Port :
+ def __init__(self, profile,nv_dict=None) :
+ self.name=profile.name
+ self.port_profile = profile
+ if not nv_dict :
+ nv_dict = nvlist2dict(profile.properties)
+ self.prop = nv_dict
+ self.con = None # this must be set in each subclasses
+ def get_info(self) :
+ self.con.connect()
+ tmp1 = self.get_connections()
+ tmp2 = [pp.connector_id for pp in tmp1]
+ if self.con.profile.connector_id in tmp2 :
+ self.con.disconnect()
+
+ def get_connections(self) :
+ return self.port_profile.port_ref.get_connector_profiles()
+
+class CorbaServer :
+ def __init__(self, profile, port) :
+ self.profile = profile
+ self.port = port
+ self.name = profile.instance_name
+ self.type = profile.type_name
+ self.ref = None
+ ref_key = 'port.' + self.type + '.' + self.name
+ self.ref=self.port.con.prop_dict[ref_key]
+#
+# if we import stubs before we create instances,
+# we rarely need to narrow the object references.
+# we need to specify global symbol table to evaluate class symbols.
+#
+ def narrow_ref(self, gls) :
+ if self.type.find('::') == -1 :
+ self.narrow_sym = eval('_GlobalIDL.' + self.type, gls)
+ else :
+ self.narrow_sym = eval(self.type.replace('::','.'), gls)
+ self.ref = self.ref._narrow(self.narrow_sym)
+
+class CorbaClient :
+ def __init__(self, profile) :
+ self.profile = profile
+ self.name = profile.instance_name
+ self.type = profile.type_name
+#
+# to connect to an outside corba client,
+# we need an implementation of the corresponding corba server.
+# but ....
+#
+
+class RtcService(Port) :
+ def __init__(self, profile,nv_dict=None) :
+ Port.__init__(self, profile, nv_dict)
+ self.con = ServiceConnector([self])
+ self.get_info()
+ self.provided={}
+ self.required={}
+ tmp = self.port_profile.interfaces
+ for itf in tmp :
+ if itf.polarity == RTC.PROVIDED :
+ self.provided[itf.instance_name] = CorbaServer(itf,self)
+ elif itf.polarity == RTC.REQUIRED :
+ self.required[itf.instance_name] = CorbaClient(itf)
+
+class RtcInport(Port) :
+ def __init__(self, profile, nv_dict=None) :
+ Port.__init__(self, profile, nv_dict)
+ self.con = IOConnector([self])
+ self.get_info()
+# self.ref = self.con.prop_dict['dataport.corba_any.inport_ref']
+ self.ref = self.con.prop_dict['dataport.corba_cdr.inport_ref']
+ self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
+ self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
+ def write(self,data) :
+ self.ref.put(CORBA.Any(self.data_tc,
+ self.data_class(RTC.Time(0,0),data)))
+
+class RtcOutport(Port) :
+ def __init__(self, profile,nv_dict=None) :
+ Port.__init__(self, profile, nv_dict)
+ self.con = IOConnector([self])
+ self.get_info()
+ if 'dataport.corba_any.outport_ref' in self.con.prop_dict :
+ self.ref = self.con.prop_dict['dataport.corba_cdr.outport_ref']
+# self.ref = self.con.prop_dict['dataport.corba_any.outport_ref']
+ else :
+ self.ref=None
+ self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
+ self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
+
+ def read(self) :
+ if self.ref :
+ return self.ref.get().value()
+ else :
+ print "not supported"
+ return None
+#
+# RtcHandle
+#
+class RtcHandle :
+ def __init__(self, name, env, ref=None) :
+ self.name = name
+ self.env = env
+ if ref :
+ self.rtc_ref = ref
+ else :
+ self.rtc_ref = env.naming.resolve(name)._narrow(RTC.RTObject)
+ self.conf_ref = None
+ self.retrieve_info()
+
+ def retrieve_info(self) :
+ self.conf_set={}
+ self.conf_set_data={}
+ self.port_refs = []
+ self.execution_contexts =[]
+ if self.rtc_ref :
+ self.conf_ref = self.rtc_ref.get_configuration()
+ conf_set = self.conf_ref.get_configuration_sets()
+ for cc in conf_set :
+ self.conf_set[cc.id]=cc
+ self.conf_set_data[cc.id]=nvlist2dict(cc.configuration_data)
+ self.profile = self.rtc_ref.get_component_profile()
+ self.prop = nvlist2dict(self.profile.properties)
+ #self.execution_contexts = self.rtc_ref.get_contexts()
+ self.execution_contexts = self.rtc_ref.get_owned_contexts()
+ self.port_refs = self.rtc_ref.get_ports()
+ # this includes inports, outports and service ports
+ self.ports = {}
+ self.services = {}
+ self.inports = {}
+ self.outports = {}
+ for pp in self.port_refs :
+ tmp = pp.get_port_profile()
+ tmp_prop = nvlist2dict(tmp.properties)
+# self.ports[tmp.name]=Port(tmp, tmp_prop)
+ if tmp_prop['port.port_type']=='DataInPort' :
+ self.inports[tmp.name]=RtcInport(tmp,tmp_prop)
+# self.inports[tmp.name]=Port(tmp, tmp_prop)
+ elif tmp_prop['port.port_type']=='DataOutPort' :
+ self.outports[tmp.name]=RtcOutport(tmp, tmp_prop)
+# self.outports[tmp.name]=Port(tmp, tmp_prop)
+ elif tmp_prop['port.port_type']=='CorbaPort' :
+ self.services[tmp.name]=RtcService(tmp, tmp_prop)
+# self.services[tmp.name]=Port(tmp, tmp_prop)
+
+ def set_conf(self,conf_set_name,param_name,value) :
+ conf_set=self.conf_set[conf_set_name]
+ conf_set_data=self.conf_set_data[conf_set_name]
+ conf_set_data[param_name]=value
+ conf_set.configuration_data=dict2nvlist(conf_set_data)
+ self.conf_ref.set_configuration_set_values(conf_set_name,conf_set)
+ def set_conf_activate(self,conf_set_name,param_name,value) :
+ self.set_conf(conf_set_name,param_name,value)
+ self.conf_ref.activate_configuration_set(conf_set_name)
+ def activate(self):
+ return self.execution_contexts[0].activate_component(self.rtc_ref)
+ def deactivate(self):
+ return self.execution_contexts[0].deactivate_component(self.rtc_ref)
+#
+# pipe
+# a pipe is an port (interface & implementation)
+# whhich corresponds to an outside port interface.
+# you can subscribe and communicate to the outside port with the pipe.
+# you need an rtc implementation to use pipes.
+#
+class Pipe :
+ pass
+
+class PipeOut(Pipe):
+ def __init__(self, name, data_buf, size=8) :
+ self.name = name
+ self.data = data_buf
+ self.OpenRTM_aist.InPort(name,data_buf,OpenRTM_aist.RingBuffer(size))
Added: branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle10_11.py
===================================================================
--- branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle10_11.py (rev 0)
+++ branches/RELENG_1_1/OpenRTM-aist-Python/OpenRTM_aist/utils/rtc_handle/rtc_handle10_11.py 2011-08-30 03:20:17 UTC (rev 465)
@@ -0,0 +1,483 @@
+#/usr/bin/env python
+# -*- coding: utf-8 -*-
+# -*- Python -*-
+
+# import sys
+from omniORB import CORBA, URI
+# from omniORB import any
+from omniORB import any, cdrMarshal, cdrUnmarshal
+
+import OpenRTM_aist
+import RTC
+
+
+from CorbaNaming import *
+import SDOPackage
+# from EmbryonicRtc import *
+
+# class RtmEnv :
+# rtm environment manager
+# orb, naming service, rtc proxy list
+#
+class RtmEnv :
+
+ def __init__(self, orb_args, nserver_names=["localhost"],
+ orb=None, naming=None):
+ if not orb :
+ orb = CORBA.ORB_init(orb_args)
+ self.orb = orb
+ self.name_space = {}
+ if naming : # naming can specify only one naming service
+ self.name_space['default']=NameSpace(orb, naming=naming)
+ else :
+ for ns in nserver_names :
+ self.name_space[ns]=NameSpace(orb, server_name=ns)
+
+ def __del__(self):
+ self.orb.shutdown(wait_for_completion=CORBA.FALSE)
+ self.orb.destroy()
+#
+# class NameSpace :
+# rtc_handles and object list in naming service
+#
+class NameSpace :
+ def __init__(self, orb, server_name=None, naming=None):
+ self.orb = orb
+ self.name = server_name
+ if naming :
+ self.naming = naming
+ else :
+ self.naming = CorbaNaming(self.orb, server_name)
+
+ self.b_len = 10 # iteration cut off no.
+ self.rtc_handles = {}
+ self.obj_list = {}
+
+ def get_object_by_name(self, name, cl=RTC.RTObject):
+ ref = self.naming.resolveStr(name)
+ if ref is None: return None # return CORBA.nil ?
+ if cl :
+ return ref._narrow(cl)
+ else :
+ return ref
+
+ def list_obj(self) :
+ self.rtc_handes = {}
+ self.obj_list = {}
+ return self.list_obj1(self.naming._rootContext, "")
+
+ def list_obj1(self, name_context, parent) :
+ if not name_context :
+ name_context = self.naming._rootContext
+ rslt = []
+ b_list = name_context.list(self.b_len)
+ for bd in b_list[0] :
+ rslt = rslt + self.proc_bd(bd, name_context, parent)
+ if b_list[1] : # iterator : there exists remaining.
+ t_list = b_list[1].next_n(self.b_len)
+ while t_list[0] :
+ for bd in t_list[1] :
+ rslt = rslt + self.proc_bd(bd, name_context, parent)
+ t_list = b_list[1].next_n(self.b_len)
+ return rslt
+
+ def proc_bd(self, bd, name_context, parent) :
+# print '-------------------------------------------------------------------'
+# print 'bd= ', bd
+# print 'name_context= ', name_context
+# print 'parent= ', parent
+ rslt = []
+ pre = ""
+ if parent :
+ pre = parent + "/"
+ nam = pre + URI.nameToString(bd.binding_name)
+ if bd.binding_type == CosNaming.nobject :
+ tmp = name_context.resolve(bd.binding_name)
+ self.obj_list[nam]=tmp
+ print 'objcet '+nam+' was listed.'
+ try :
+ tmp = tmp._narrow(RTC.RTObject)
+ except :
+ print nam+' is not RTC.'
+ tmp = None
+ try :
+ if tmp :
+ rslt = [[nam, tmp]]
+ self.rtc_handles[nam]=RtcHandle(nam,self,tmp)
+ print 'handle for '+nam+' was created.'
+ else :
+ pass
+ except :
+ print nam+' is not alive.' , sys.exc_info()[0]
+ pass
+ else :
+ tmp = name_context.resolve(bd.binding_name)
+ tmp = tmp._narrow(CosNaming.NamingContext)
+ rslt = self.list_obj1(tmp, nam)
+ return rslt
+
+#
+# data conversion
+#
+def nvlist2dict(nvlist) :
+ rslt = {}
+ for tmp in nvlist :
+ rslt[tmp.name]=tmp.value.value() # nv.value and any.value()
+ return rslt
+def dict2nvlist(dict) :
+ rslt = []
+ for tmp in dict.keys() :
+ rslt.append(SDOPackage.NameValue(tmp, any.to_any(dict[tmp])))
+ return rslt
+#
+# connector, port, inport, outport, service
+#
+
+class Connector :
+ def __init__(self, plist, name = None, id="", prop_dict={}) :
+ self.connectp=False
+ self.plist = plist
+ self.port_reflist = [tmp.port_profile.port_ref for tmp in plist]
+ if name :
+ self.name = name
+ else :
+ self.name = string.join([tmp.name for tmp in plist],'_')
+ self.prop_dict_req = prop_dict
+ self.prop_nvlist_req = dict2nvlist(self.prop_dict_req)
+ self.profile_req = RTC.ConnectorProfile(self.name, id, self.port_reflist,
+ self.prop_nvlist_req)
+ self.nego_prop()
+
+ def nego_prop(self) :
+ self.possible = True
+ for kk in self.def_prop :
+ if kk in self.prop_dict_req :
+ if not self.prop_dict_req[kk] :
+ self.prop_dict_req[kk]=self.def_prop[kk]
+ else :
+ self.prop_dict_req[kk]=self.def_prop[kk]
+ for pp in self.plist :
+ if not ((self.prop_dict_req[kk] in pp.prop[kk]) or
+ ('Any' in pp.prop[kk])) :
+ print kk, self.prop_dict_req[kk]
+ self.prop_dict_req[kk] = ""
+ self.possible = False
+ self.prop_nvlist_req = dict2nvlist(self.prop_dict_req)
+ self.profile_req.properties = self.prop_nvlist_req
+ return self.possible
+
+ def connect(self) :
+#
+# out and inout parameters are retuned as a tuple
+#
+ if self.connectp == False :
+ ret, self.profile = self.port_reflist[0].connect(self.profile_req)
+ self.prop_nvlist = self.profile.properties
+ self.prop_dict = nvlist2dict(self.prop_nvlist)
+ if ret == RTC.RTC_OK :
+ self.connectp=True
+ else :
+ ret = "?"
+ return ret
+
+ def disconnect(self) :
+ if self.connectp == True :
+ ret = self.port_reflist[0].disconnect(self.profile.connector_id)
+ else :
+ ret = "?"
+ self.connectp = False
+ return ret
+
+class IOConnector(Connector) :
+ def __init__(self, plist, name = None, id="", prop_dict={}) :
+# self.def_prop = {'dataport.dataflow_type':'Push' ,
+# 'dataport.interface_type':'CORBA_Any' ,
+# 'dataport.subscription_type':'Flush'}
+ self.def_prop = {'dataport.dataflow_type':'push',
+ 'dataport.interface_type':'corba_cdr' ,
+ 'dataport.subscription_type':'flush'}
+ Connector.__init__(self, plist, name, id, prop_dict)
+
+class ServiceConnector(Connector) :
+ def __init__(self, plist, name = None, id="", prop_dict={}) :
+ self.def_prop = {'port.port_type':'CorbaPort' }
+ Connector.__init__(self, plist, name, id, prop_dict)
+
+
+class Port :
+ def __init__(self, profile,nv_dict=None,handle=None) :
+ self.handle=handle
+ self.name=profile.name
+ self.port_profile = profile
+ if not nv_dict :
+ nv_dict = nvlist2dict(profile.properties)
+ self.prop = nv_dict
+ self.con = None # this must be set in each subclasses
+ def get_info(self) :
+ self.con.connect()
+ tmp1 = self.get_connections()
+ tmp2 = [pp.connector_id for pp in tmp1]
+ if self.con.profile.connector_id in tmp2 :
+ print "connecting"
+ self.con.disconnect()
+
+ def get_connections(self) :
+ return self.port_profile.port_ref.get_connector_profiles()
+
+class CorbaServer :
+ def __init__(self, profile, port) :
+ self.profile = profile
+ self.port = port
+ self.name = profile.instance_name
+ self.type = profile.type_name
+ self.ref = None
+ ref_key = 'port.' + self.type + '.' + self.name
+ self.ref=self.port.con.prop_dict[ref_key]
+ if isinstance(self.ref,str) :
+ self.ref=port.handle.env.orb.string_to_object(self.ref)
+#
+# if we import stubs before we create instances,
+# we rarely need to narrow the object references.
+# we need to specify global symbol table to evaluate class symbols.
+#
+ def narrow_ref(self, gls) :
+ if self.type.find('::') == -1 :
+ self.narrow_sym = eval('_GlobalIDL.' + self.type, gls)
+ else :
+ self.narrow_sym = eval(self.type.replace('::','.'), gls)
+ self.ref = self.ref._narrow(self.narrow_sym)
+
+class CorbaClient :
+ def __init__(self, profile) :
+ self.profile = profile
+ self.name = profile.instance_name
+ self.type = profile.type_name
+#
+# to connect to an outside corba client,
+# we need an implementation of the corresponding corba server.
+# but ....
+#
+
+class RtcService(Port) :
+ def __init__(self, profile,nv_dict=None, handle=None) :
+ Port.__init__(self, profile, nv_dict, handle)
+ self.con = ServiceConnector([self])
+ self.get_info()
+ self.provided={}
+ self.required={}
+ tmp = self.port_profile.interfaces
+ for itf in tmp :
+ if itf.polarity == RTC.PROVIDED :
+ self.provided[itf.instance_name] = CorbaServer(itf,self)
+ elif itf.polarity == RTC.REQUIRED :
+ self.required[itf.instance_name] = CorbaClient(itf)
+
+# def open(self) :
+# self.con.connect()
+# self.provided={}
+# self.required={}
+# tmp = self.port_profile.interfaces
+# for itf in tmp :
+# if itf.polarity == RTC.PROVIDED :
+# self.provided[itf.instance_name] = CorbaServer(itf,self)
+# elif itf.polarity == RTC.REQUIRED :
+# self.required[itf.instance_name] = CorbaClient(itf)
+
+# def close(self) :
+# return self.con.disconnect()
+def strip_data_class(data_class_str) :
+ tmp = data_class_str.split(':')
+ if len(tmp) == 1 :
+ return data_class_str
+ else :
+ tmp = tmp[1].split('/')
+ return tmp[1]
+
+class RtcInport(Port) :
+ def __init__(self, profile, nv_dict=None, handle=None) :
+ Port.__init__(self, profile, nv_dict, handle)
+ self.con = IOConnector([self], prop_dict={'dataport.dataflow_type':'push'})
+ self.get_info()
+# self.ref = self.con.prop_dict['dataport.corba_any.inport_ref']
+ self.ref = self.con.prop_dict['dataport.corba_cdr.inport_ref']
+# self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
+# self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
+ tmp=strip_data_class(self.prop['dataport.data_type'])
+ print tmp
+ self.data_class = eval('RTC.' + tmp)
+ self.data_tc = eval('RTC._tc_' + tmp)
+ def write(self,data) :
+# self.ref.put(CORBA.Any(self.data_tc,
+# self.data_class(RTC.Time(0,0),data)))
+ self.ref.put(cdrMarshal(self.data_tc,
+ self.data_class(RTC.Time(0,0),data), 1))
+ def open(self) :
+ self.con.connect()
+ self.ref = self.con.prop_dict['dataport.corba_cdr.inport_ref']
+
+ def close(self) :
+ return self.con.disconnect()
+
+class RtcOutport(Port) :
+ def __init__(self, profile,nv_dict=None, handle=None) :
+ Port.__init__(self, profile, nv_dict, handle)
+ con_prop_dict={'dataport.dataflow_type':'pull',
+ 'dataport.buffer.type':'ringbuffer',
+ 'dataport.buffer.read.empty_policy':'last',
+ 'dataport.buffer.length':'1'}
+ self.con = IOConnector([self], prop_dict=con_prop_dict)
+ self.get_info()
+# if 'dataport.corba_any.outport_ref' in self.con.prop_dict :
+# self.ref = self.con.prop_dict['dataport.corba_any.outport_ref']
+ if 'dataport.corba_cdr.outport_ref' in self.con.prop_dict :
+ self.ref = self.con.prop_dict['dataport.corba_cdr.outport_ref']
+ else :
+ self.ref=None
+# self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
+# self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
+ tmp=strip_data_class(self.prop['dataport.data_type'])
+ self.data_class = eval('RTC.' + tmp)
+ self.data_tc = eval('RTC._tc_' + tmp)
+
+ def read(self) :
+ if self.ref :
+ try :
+ tmp1=self.ref.get()
+ tmp2= cdrUnmarshal(self.data_tc,tmp1[1], 1)
+# return tmp2.data
+ return tmp2
+ except :
+ return None
+ else :
+ print "not supported"
+ return None
+
+ def open(self) :
+ self.con.connect()
+ if 'dataport.corba_cdr.outport_ref' in self.con.prop_dict :
+ self.ref = self.con.prop_dict['dataport.corba_cdr.outport_ref']
+
+ def close(self) :
+ return self.con.disconnect()
+
+#
+# RtcHandle
+#
+class RtcHandle :
+ def __init__(self, name, env, ref=None) :
+ self.name = name
+ self.env = env
+ if ref :
+ self.rtc_ref = ref
+ else :
+ self.rtc_ref = env.naming.resolve(name)._narrow(RTC.RTObject)
+ self.conf_ref = None
+ self.retrieve_info()
+
+ def retrieve_info(self) :
+ self.conf_set={}
+ self.conf_set_data={}
+ self.port_refs = []
+ self.execution_contexts =[]
+ if self.rtc_ref :
+ self.conf_ref = self.rtc_ref.get_configuration()
+ conf_set = self.conf_ref.get_configuration_sets()
+ for cc in conf_set :
+ self.conf_set[cc.id]=cc
+ self.conf_set_data[cc.id]=nvlist2dict(cc.configuration_data)
+ self.profile = self.rtc_ref.get_component_profile()
+ self.prop = nvlist2dict(self.profile.properties)
+ #self.execution_contexts = self.rtc_ref.get_contexts()
+ self.execution_contexts = self.rtc_ref.get_owned_contexts()
+ self.port_refs = self.rtc_ref.get_ports()
+ # this includes inports, outports and service ports
+ self.ports = {}
+ self.services = {}
+ self.inports = {}
+ self.outports = {}
+ for pp in self.port_refs :
+ tmp = pp.get_port_profile()
+ tmp_prop = nvlist2dict(tmp.properties)
+ tmp_name = tmp.name.lstrip(self.name.split('.')[0]).lstrip('.')
+ print 'port_name:', tmp_name
+# self.ports[tmp.name]=Port(tmp, tmp_prop)
+ if tmp_prop['port.port_type']=='DataInPort' :
+ self.inports[tmp_name]=RtcInport(tmp,tmp_prop, self)
+# self.inports[tmp.name]=Port(tmp, tmp_prop)
+ elif tmp_prop['port.port_type']=='DataOutPort' :
+ self.outports[tmp_name]=RtcOutport(tmp, tmp_prop, self)
+# self.outports[tmp.name]=Port(tmp, tmp_prop)
+ elif tmp_prop['port.port_type']=='CorbaPort' :
+ self.services[tmp_name]=RtcService(tmp, tmp_prop, self)
+# self.services[tmp.name]=Port(tmp, tmp_prop)
+
+ def set_conf(self,conf_set_name,param_name,value) :
+ conf_set=self.conf_set[conf_set_name]
+ conf_set_data=self.conf_set_data[conf_set_name]
+ conf_set_data[param_name]=value
+ conf_set.configuration_data=dict2nvlist(conf_set_data)
+# self.conf_ref.set_configuration_set_values(conf_set_name,conf_set)
+ self.conf_ref.set_configuration_set_values(conf_set)
+ def set_conf_activate(self,conf_set_name,param_name,value) :
+ self.set_conf(conf_set_name,param_name,value)
+ self.conf_ref.activate_configuration_set(conf_set_name)
+ def activate(self):
+ return self.execution_contexts[0].activate_component(self.rtc_ref)
+ def deactivate(self):
+ return self.execution_contexts[0].deactivate_component(self.rtc_ref)
+ def reset(self):
+ return self.execution_contexts[0].reset_component(self.rtc_ref)
+ def get_state(self):
+ return self.execution_contexts[0].get_component_state(self.rtc_ref)
+
+#
+# pipe
+# a pipe is an port (interface & implementation)
+# for a port(an RtcInport or RtcOutport object) of an outside rtc.
+# you need an empty rtc (comp) to create pipes.
+# you can subscribe and communicate to the outside port with the pipe.
+#
+#
+class InPipe() :
+ def __init__(self,comp, port) :
+ self.comp=comp
+ self.port=port
+ self.pname=port.name.replace('.','_')
+ self.pipe=comp.makeOutPort(self.pname,port.data_class(RTC.Time(0,0),[]),OpenRTM_aist.RingBuffer(1))
+ self.buf=getattr(comp,'_d_'+self.pname)
+ tmp = self.pipe.getPortProfile()
+ self.pipe_port = RtcOutport(tmp, nvlist2dict(tmp.properties))
+ self.con = IOConnector([self.pipe_port,self.port])
+ def connect(self):
+ return self.con.connect()
+ def disconnect(self):
+ return self.con.disconnect()
+ def write(self, data) :
+ self.buf.data=data
+ self.pipe.write()
+class OutPipe() :
+ def __init__(self,comp, port) :
+ self.comp=comp
+ self.port=port
+ self.pname=port.name.replace('.','_')
+ self.pipe=comp.makeInPort(self.pname,port.data_class(RTC.Time(0,0),[]),OpenRTM_aist.RingBuffer(1))
+ self.buf=getattr(comp,'_d_'+self.pname)
+ tmp = self.pipe.getPortProfile()
+ self.pipe_port = RtcInport(tmp, nvlist2dict(tmp.properties))
+ self.con = IOConnector([self.pipe_port,self.port])
+ def connect(self):
+ return self.con.connect()
+ def disconnect(self):
+ return self.con.disconnect()
+ def read(self) :
+ return self.pipe.read().data
+#
+#
+#
+def make_pipe(comp, handle) :
+ handle.in_pipe={}
+ for i_port in handle.inports :
+ handle.in_pipe[i_port]=InPipe(comp, handle.inports[i_port])
+ handle.out_pipe={}
+ for o_port in handle.outports :
+ handle.out_pipe[o_port]=OutPipe(comp, handle.outports[o_port])
openrtm-commit メーリングリストの案内