[openrtm-commit:00681] r2322 - trunk/OpenRTM-aist/src/ext/ec/logical_time/example
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 2月 8日 (水) 10:58:14 JST
Author: n-ando
Date: 2012-02-08 10:58:14 +0900 (Wed, 08 Feb 2012)
New Revision: 2322
Modified:
trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am
trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py
trunk/OpenRTM-aist/src/ext/ec/logical_time/example/run.sh
Log:
[compat,Makefile/scripts,bugfix] TriggerApp vcproj entry has been removed. TickApp.py has been updated. run.sh has been updated just to run TickApp.py.
Modified: trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am
===================================================================
--- trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am 2012-02-07 18:52:38 UTC (rev 2321)
+++ trunk/OpenRTM-aist/src/ext/ec/logical_time/example/Makefile.am 2012-02-08 01:58:14 UTC (rev 2322)
@@ -82,15 +82,6 @@
--source LTTSample.cpp \
--header LTTSample.h
qkc -sm $(win32_builddir)/LTTSampleDll_vc8.vcproj
- $(top_builddir)/build/vcprojtool.py vcproj \
- --type EXE \
- --vcversion "8.00" \
- --projectname "TriggerApp" \
- --version $(RTM_VERSION) \
- --out $(win32_builddir)/TriggerApp_vc8.vcproj \
- --yaml ../rtc.vcproj.yaml \
- --source TriggerApp.cpp
- qkc -sm $(win32_builddir)/TriggerApp_vc8.vcproj
vc9proj:
$(top_builddir)/build/vcprojtool.py vcproj \
@@ -113,15 +104,6 @@
--source LTTSample.cpp \
--header LTTSample.h
qkc -sm $(win32_builddir)/LTTSampleDll_vc9.vcproj
- $(top_builddir)/build/vcprojtool.py vcproj \
- --type EXE \
- --vcversion "9.00" \
- --projectname "TriggerAppComp" \
- --version $(RTM_VERSION) \
- --out $(win32_builddir)/TriggerApp_vc9.vcproj \
- --yaml ../rtc.vcproj.yaml \
- --source TriggerApp.cpp
- qkc -sm $(win32_builddir)/TriggerApp_vc9.vcproj
vc10proj:
$(top_builddir)/build/vcxprojtool.py vcxproj \
@@ -144,20 +126,11 @@
--source LTTSample.cpp \
--header LTTSample.h
qkc -sm $(win32_builddir)/LTTSampleDll_vc10.vcxproj
- $(top_builddir)/build/vcxprojtool.py vcxproj \
- --type EXE \
- --vcversion "10.00" \
- --projectname "TriggerAppComp" \
- --version $(RTM_VERSION) \
- --out $(win32_builddir)/TriggerApp_vc10.vcxproj \
- --yaml ../rtc.vcxproj.yaml \
- --source TriggerApp.cpp
- qkc -sm $(win32_builddir)/TriggerApp_vc10.vcxproj
dist-hook: lst
clean-local:
- rm -f \
- *.bak *.rpo *.sym lib*.*_pure_* *.lst \
- Makefile.old *core *~ *.so *.log
+ rm -f *.bak *.rpo *.sym lib*.*_pure_* *.lst
+ rm -f Makefile.old *core *~ *.so *.log
rm -f $(example_PROGRAMS)
+ rm -rf idl
Modified: trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py
===================================================================
--- trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py 2012-02-07 18:52:38 UTC (rev 2321)
+++ trunk/OpenRTM-aist/src/ext/ec/logical_time/example/TickApp.py 2012-02-08 01:58:14 UTC (rev 2322)
@@ -1,19 +1,45 @@
#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+##
+# @file TickApp.py
+# @brief Example application for LogicalTimeTriggeredEC
+# @date$
+# @author Noriaki Ando <n-ando at aist.go.jp>
+#
+# Copyright (C) 2012
+# Noriaki Ando
+# Intelligent Systems Research Institute,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+#
+# Usage:
+# $ python TickApp.py
+#
+# This python script
+# - Launches LTTSampleComp component,
+# - Gets its object reference from LTTSample.rtc file in the current directory,
+# - Obtains EC from RTC
+# - When tick button is pushed, tick() operation of the EC is called
+# - And then call gettime() operation of the EC is called
+# - print current time
+# - When X button is pushed, tryp to terminate LTTSampleComp
+# - And kill all the process LTTSampleComp (and lt-LTTSampleComp)
+#
+# Requirement:
+# - LogicalTimeTriggeredEC.so as EC
+# - FileNameservice.so as local service
+# - SDOPackage.idl, RTC.idl and LogicalTimeTriggeredEC.idl in idl dir
+#
+# See details in rtc.conf
+#
import Tkinter as Tk
-class SendTick:
- def __init__(self):
- pass
-
-def hoge():
- print "hoge"
-
class Frame(Tk.Frame):
def __init__(self, master = None):
self.lttsample = LTTSample()
self.time = 0.0
-# self.protocol("WM_DELETE_WINDOW", self.closeEvent)
Tk.Frame.__init__(self, master)
self.master.title('Tick Application')
@@ -93,8 +119,8 @@
import time
time.sleep(1.0)
import os
- os.system("killall LTTSampleComp")
- os.system("killall lt-LTTSampleComp")
+ os.popen("killall -q LTTSampleComp")
+ os.popen("killall -q lt-LTTSampleComp")
import CORBA
@@ -106,11 +132,21 @@
except:
print "LTTSample0.rtc not found"
import os
- import time
- print "Launching LTTSampleComp..."
+ import time, sys
+ write = sys.stdout.write
+ write("Launching LTTSampleComp...")
+ sys.stdout.flush()
os.system("./LTTSampleComp&")
- time.sleep(1.0)
- self.ior = open("LTTSample0.rtc").read()
+ while True:
+ try:
+ self.ior = open("LTTSample0.rtc").read()
+ break;
+ except:
+ write(".")
+ sys.stdout.flush()
+ time.sleep(0.01)
+ pass
+ print "done"
obj = self.orb.string_to_object(self.ior)
if CORBA.is_nil(obj):
print "Object in LTTSample0.rtc is nil. Restarting LTTSampleComp..."
@@ -126,7 +162,8 @@
self.sdo_idl = omniORB.importIDL("idl/SDOPackage.idl")
self.rtc_idl = omniORB.importIDL("idl/RTC.idl", ["-Iidl"])
- self.ltt_idl = omniORB.importIDL("idl/LogicalTimeTriggeredEC.idl", ["-Iidl"])
+ self.ltt_idl = omniORB.importIDL("idl/LogicalTimeTriggeredEC.idl",
+ ["-Iidl"])
RTC = sys.modules["RTC"]
OpenRTM = sys.modules["OpenRTM"]
@@ -145,7 +182,20 @@
cxts = self.rtobj.get_owned_contexts()
self.lttcxt = cxts[0]._narrow(OpenRTM.LogicalTimeTriggeredEC)
profile = self.lttcxt.get_profile()
- print profile
+ p = {}
+ p["kind"] = profile.kind
+ p["rate"] = profile.rate
+ p["owner"] = profile.owner
+ from omniORB import any
+ for prop in profile.properties:
+ p[prop.name] = any.from_any(prop.value)
+ print "ExecutionContext:"
+ print " type:", p.pop("type")
+ print " name:", p.pop("name")
+ print " kind:", p.pop("kind")
+ print " rate:", p.pop("rate")
+ print " owner:", p.pop("owner")
+ print "properties:", p
def tick(self, ticktime):
sec = int(ticktime)
@@ -157,11 +207,20 @@
def shutdown(self):
self.rtobj.exit()
+ import time, sys
+ write = sys.stdout.write
+ write("Waiting RTC termination.")
+ try:
+ while True:
+ self.rtobj._non_existent()
+ write(".")
+ sys.stdout.flush()
+ time.sleep(0.01)
+ except:
+ pass
+ print "done"
-
if __name__ == '__main__':
-# root = Tk.Tk()
-# root.protocol("WM_DELETE_WINDOW", on_close(root))
f = Frame()
f.pack()
f.mainloop()
Modified: trunk/OpenRTM-aist/src/ext/ec/logical_time/example/run.sh
===================================================================
--- trunk/OpenRTM-aist/src/ext/ec/logical_time/example/run.sh 2012-02-07 18:52:38 UTC (rev 2321)
+++ trunk/OpenRTM-aist/src/ext/ec/logical_time/example/run.sh 2012-02-08 01:58:14 UTC (rev 2322)
@@ -1,56 +1,3 @@
#!/bin/sh
-#
-# @file run.sh
-# @brief SimpleIO example startup script
-# @date $Date: 2007-04-27 06:12:53 $
-#
-# Copyright (c) 2003-2007 Noriaki Ando <n-ando at aist.go.jp>
-# Task-intelligence Research Group,
-# Intelligent System Research Institute,
-# National Institute of Industrial Science (AIST), Japan
-# All rights reserved.
-#
-# $Id: run.sh 1421 2009-07-01 07:19:36Z hakuta $
-#
-nsport='9876'
-hostname=`hostname`
-
-
-term=`which kterm`
-
-if test "x$term" = "x" ; then
- term=`which xterm`
-fi
-
-if test "x$term" = "x" ; then
- term=`which uxterm`
-fi
-
-if test "x$term" = "x" ; then
- term=`which gnome-terminal`
-fi
-
-if test "x$term" = "x" ; then
- echo "No terminal program (kterm/xterm/gnome-terminal) exists."
- exit
-fi
-
-../../utils/rtm-naming/rtm-naming $nsport
-
-echo 'corba.nameservers: '$hostname':'$nsport > ./rtc.conf
-echo 'naming.formats: %n.rtc' >> ./rtc.conf
-echo 'logger.log_level: TRACE' >> ./rtc.conf
-echo 'exec_cxt.periodic.type: ExtTrigExecutionContext' >> ./rtc.conf
-echo 'exec_cxt.periodic.rate: 1000' >> ./rtc.conf
-
-$term -e ./ConsoleInCompExt &
-$term -e ./ConsoleOutCompExt &
-
-sleep 5
-./ConnectorCompExt
-
-#sleep 10
-#nspid=`ps -ax | grep 9876 | awk '{print $1}'`
-#kill $nspid
-#echo 'Naming service was stopped.'
+python TickApp.py
openrtm-commit メーリングリストの案内