[openrtm-commit:00766] r527 - in branches/work/OpenRTM-aist-Python/OpenRTM_aist: . test
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2012年 3月 13日 (火) 16:43:23 JST
Author: kurihara
Date: 2012-03-13 16:43:23 +0900 (Tue, 13 Mar 2012)
New Revision: 527
Modified:
branches/work/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py
branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_PeriodicExecutionContext.py
Log:
[incompatible] ExecutionContextBase's super classes have been moved to PeriodicExecutionContext class. refs #2323
[incomaptible API] Now ExecutionContextProfile management has been moved to ExecutionContextBase. getObjRef() is also moved to ExecutionContextBase.
[incompatible behavior] Now onExecute and onStateUpdate execution behavior has been changed when two or more RTCs attached to the EC. refs #2320
Old: A::onExecute, A::onStateUpdate, B::onExecute, B::onStateUpdate
New: A::onExecute, B::onExecute, A::onStateUpdate, B::onStateUpdate
Modified: branches/work/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py
===================================================================
--- branches/work/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py 2012-03-13 07:15:16 UTC (rev 526)
+++ branches/work/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py 2012-03-13 07:43:23 UTC (rev 527)
@@ -22,7 +22,7 @@
import OpenRTM_aist
import OpenRTM
-import RTC
+import RTC, RTC__POA
DEFAULT_PERIOD = 0.000001
@@ -40,383 +40,59 @@
# @brief PeriodicExecutionContext class
# @endif
class PeriodicExecutionContext(OpenRTM_aist.ExecutionContextBase,
+ RTC__POA.ExecutionContextService,
OpenRTM_aist.Task):
"""
"""
-
-
##
# @if jp
- # @class DFP
- # @brief DFP クラス
- #
- # 参加者リストに登録された DataFlowParticipant の関数を起動するための
- # 内部クラス。
- #
- # @param Object 管理対象コンポーネントの型
- #
- # @else
- #
- # @endif
- class DFP:
- """
- """
-
- ##
- # @if jp
- # @brief デフォルトコンストラクタ
- #
- # デフォルトコンストラクタ
- #
- # @param self
- # @param obj 管理対象コンポーネント
- # @param id_ 所属する ExecutionContext のID
- #
- # @else
- # @brief Constructor
- # @endif
- def __init__(self, obj, id_):
- self._obj = obj
- self._active = True
- self.ec_id = id_
- self._sm = OpenRTM_aist.StateMachine(4)
- self._sm.setListener(self)
- self._sm.setEntryAction (RTC.ACTIVE_STATE,
- self.on_activated)
- self._sm.setDoAction (RTC.ACTIVE_STATE,
- self.on_execute)
- self._sm.setPostDoAction(RTC.ACTIVE_STATE,
- self.on_state_update)
- self._sm.setExitAction (RTC.ACTIVE_STATE,
- self.on_deactivated)
- self._sm.setEntryAction (RTC.ERROR_STATE,
- self.on_aborting)
- self._sm.setDoAction (RTC.ERROR_STATE,
- self.on_error)
- self._sm.setExitAction (RTC.ERROR_STATE,
- self.on_reset)
- st = OpenRTM_aist.StateHolder()
- st.prev = RTC.INACTIVE_STATE
- st.curr = RTC.INACTIVE_STATE
- st.next = RTC.INACTIVE_STATE
- self._sm.setStartState(st)
- self._sm.goTo(RTC.INACTIVE_STATE)
-
-
- ##
- # @if jp
- # @brief ExecutionContext 実行開始時に呼ばれる関数
- #
- # 参加している ExecutionContext が実行を開始する時(Running状態へ遷移時)
- # に、管理対象コンポーネントの on_startup を呼びだす。
- #
- # @param self
- #
- # @else
- #
- # @brief
- #
- # @endif
- def on_startup(self):
- return self._obj.on_startup(self.ec_id)
-
-
- ##
- # @if jp
- # @brief ExecutionContext 停止時に呼ばれる関数
- #
- # 参加している ExecutionContext が実行を停止する時(Stopped状態へ遷移時)
- # に、管理対象コンポーネントの on_shutdown を呼びだす。
- #
- # @param self
- #
- # @else
- #
- # @endif
- def on_shutdown(self):
- return self._obj.on_shutdown(self.ec_id)
-
-
- ##
- # @if jp
- # @brief RTコンポーネントがアクティブ化された時に呼ばれる関数
- #
- # 管理対象のRTコンポーネントがアクティブ化された時(Active状態へ遷移時)
- # に、管理対象コンポーネントの on_activated を呼びだす。
- # 管理対象コンポーネントのアクティブ化が失敗した場合には、ステートマシン
- # を Error 状態に遷移させる。
- #
- # @param self
- # @param st 対象RTコンポーネントの現在の状態
- #
- # @else
- #
- # @endif
- def on_activated(self, st):
- if self._obj.on_activated(self.ec_id) != RTC.RTC_OK:
- self._sm.goTo(RTC.ERROR_STATE)
- return
- return
-
-
- ##
- # @if jp
- # @brief RTコンポーネントが非アクティブ化された時に呼ばれる関数
- #
- # 管理対象のRTコンポーネントが非アクティブ化された時
- # (Deactive状態へ遷移時)に、管理対象コンポーネントの on_deactivated を
- # 呼びだす。
- #
- # @param self
- # @param st 対象RTコンポーネントの現在の状態
- #
- # @else
- #
- # @endif
- def on_deactivated(self, st):
- self._obj.on_deactivated(self.ec_id)
-
-
- ##
- # @if jp
- # @brief RTコンポーネントでエラーが発生した時に呼ばれる関数
- #
- # 管理対象のRTコンポーネントにエラーが発生した時(Error状態へ遷移時)
- # に管理対象コンポーネントの on_aborting を呼びだす。
- #
- # @param self
- # @param st 対象RTコンポーネントの現在の状態
- #
- # @else
- #
- # @brief
- #
- # @endif
- def on_aborting(self, st):
- self._obj.on_aborting(self.ec_id)
-
-
- ##
- # @if jp
- # @brief RTコンポーネントがエラー状態の時に呼ばれる関数
- #
- # 管理対象のRTコンポーネントがエラー状態にいる間、
- # 管理対象コンポーネントの on_error を定期的に呼びだす。
- #
- # @param self
- # @param st 対象RTコンポーネントの現在の状態
- #
- # @else
- #
- # @brief
- #
- # @endif
- def on_error(self, st):
- self._obj.on_error(self.ec_id)
-
-
- ##
- # @if jp
- # @brief RTコンポーネントをリセットする時に呼ばれる関数
- #
- # 管理対象のRTコンポーネントをリセットする際に、管理対象コンポーネント
- # の on_reset を呼びだす。
- #
- # @param self
- # @param st 対象RTコンポーネントの現在の状態
- #
- # @else
- #
- # @endif
- def on_reset(self, st):
- if self._obj.on_reset(self.ec_id) != RTC.RTC_OK:
- self._sm.goTo(RTC.ERROR_STATE)
- return
- return
-
-
- ##
- # @if jp
- # @brief RTコンポーネント実行時に定期的に呼ばれる関数
- #
- # 管理対象のRTコンポーネントが Active 状態であるとともに、
- # ExecutionContext が Running 状態の場合に、設定された動作周期で定期的に
- # 管理対象コンポーネントの on_execute を呼びだす。
- # 関数の実行に失敗した場合(返値が RTC_OK 以外)、管理対象コンポーネントの
- # 状態を Error 状態に遷移させる。
- #
- # @param self
- # @param st 対象RTコンポーネントの現在の状態
- #
- # @else
- #
- # @endif
- def on_execute(self, st):
- if self._obj.on_execute(self.ec_id) != RTC.RTC_OK:
- self._sm.goTo(RTC.ERROR_STATE)
- return
- return
-
-
- ##
- # @if jp
- # @brief RTコンポーネント実行時に定期的に呼ばれる関数
- #
- # 管理対象のRTコンポーネントが Active 状態であるとともに、
- # ExecutionContext が Running 状態の場合に、設定された動作周期で定期的に
- # 管理対象コンポーネントの on_state_update を呼びだす。
- # 関数の実行に失敗した場合(返値が RTC_OK 以外)、管理対象コンポーネントの
- # 状態を Error 状態に遷移させる。
- #
- # @param self
- # @param st 対象RTコンポーネントの現在の状態
- #
- # @else
- #
- # @endif
- def on_state_update(self, st):
- if self._obj.on_state_update(self.ec_id) != RTC.RTC_OK:
- self._sm.goTo(RTC.ERROR_STATE)
- return
- return
-
-
- ##
- # @if jp
- # @brief ExecutionContext の実行周期変更時に呼ばれる関数
- #
- # 参加している ExecutionContext の実行周期が変更となった場合に、
- # 管理対象コンポーネントの on_rate_changed を呼びだす。
- #
- # @param self
- #
- # @else
- #
- # @endif
- def on_rate_changed(self):
- self._obj.on_rate_changed(self.ec_id)
-
-
- ##
- # @if jp
- # @brief 状態遷移を実行するワーカーを取得する
- #
- # 管理対象RTコンポーネントの状態遷移を実行するワーカーを取得する。
- #
- # @param self
- #
- # @return ワーカー
- #
- # @else
- #
- # @brief
- #
- # @endif
- def worker(self):
- return self._sm.worker()
-
-
- ##
- # @if jp
- # @brief 現在の状態を取得する
- #
- # 管理対象RTコンポーネントの現在の状態を取得する。
- #
- # @param self
- #
- # @return 現在状態
- #
- # @else
- #
- # @brief
- #
- # @endif
- def get_state(self):
- return self._sm.getState()
-
-
- ##
- # @if jp
# @brief コンストラクタ
#
# コンストラクタ
# 設定された値をプロファイルに設定する。
#
- # @param self
- # @param owner 当該 Executioncontext の owner(デフォルト値:None)
- # @param rate 動作周期(Hz)(デフォルト値:None)
- #
# @else
# @brief Constructor
# @endif
- def __init__(self, owner=None, rate=None):
+ def __init__(self):
self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.periodic_ec")
- self._rtcout.RTC_TRACE("PeriodicExecutionContext()")
-
+ self._rtcout.RTC_TRACE("PeriodicExecutionContext.__init__()")
+ OpenRTM_aist.ExecutionContextBase.__init__(self, "periodic_ec")
OpenRTM_aist.Task.__init__(self)
+ self._svc = False
self._nowait = False
- self._running = False
+ self._svcmutex = threading.RLock()
+ self._workerthread = self.WorkerThreadCtrl()
- self._worker = self.Worker()
-
global DEFAULT_PERIOD
-
- if rate is None:
- self._period = OpenRTM_aist.TimeValue(DEFAULT_PERIOD)
- else:
- if rate == 0:
- rate = 1.0 / DEFAULT_PERIOD
- self._period = OpenRTM_aist.TimeValue(1.0 / rate)
-
- if self._period.sec() == 0 and self._period.usec() < 0.000001:
- self._nowait = True
-
+ self.setObjRef(self._this())
+ self.setKind(RTC.PERIODIC)
+ self.setRate(1.0 / DEFAULT_PERIOD)
self._rtcout.RTC_DEBUG("Actual rate: %d [sec], %d [usec]",
- (self._period.sec(), self._period.usec()))
+ (self._profile.getPeriod().sec(), self._profile.getPeriod().usec()))
- self._comps = []
- self._profile = RTC.ExecutionContextProfile(RTC.PERIODIC, (1.0/self._period.toDouble()), None, [], [])
- self._ref = self._this()
- self._mutex_del = threading.RLock()
return
def __del__(self, Task=OpenRTM_aist.Task):
- self._rtcout.RTC_TRACE("~PeriodicExecutionContext()")
- self._worker._cond.acquire()
- self._worker._running = True
- self._worker._cond.notify()
- self._worker._cond.release()
- self._running = False
- #self.wait()
+ self._rtcout.RTC_TRACE("PeriodicExecutionContext.__del__()")
+ guard = OpenRTM_aist.ScopedLock(self._svcmutex)
+ self._svc = False
+ del guard
- self._profile.owner = None
- self._profile.paarticipants = []
- self._profile.properties = []
- guard = OpenRTM_aist.ScopedLock(self._mutex_del)
- Task.__del__(self)
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ self._workerthread._cond.acquire()
+ self._workerthread._running = True
+ self._workerthread._cond.notify()
+ self._workerthread._cond.release()
del guard
+ self.wait()
+ Task.__del__(self)
+ return
- ##
- # @if jp
- # @brief CORBA オブジェクト参照の取得
- #
- # 本オブジェクトの ExecutioncontextService としての CORBA オブジェクト参照
- # を取得する。
- #
- # @return CORBA オブジェクト参照
- #
- # @param self
- #
- # @else
- #
- # @endif
- def getObjRef(self):
- return self._ref
-
##
# @if jp
# @brief コンポーネントのアクティビティスレッド関数
@@ -434,38 +110,39 @@
# @endif
def svc(self):
self._rtcout.RTC_TRACE("svc()")
- flag = True
count_ = 0
- guard = OpenRTM_aist.ScopedLock(self._mutex_del)
- while flag:
- self._worker._cond.acquire()
- while not self._worker._running:
- self._worker._cond.wait()
+ while self.threadRunning():
+ OpenRTM_aist.ExecutionContextBase.invokeWorkerPreDo(self)
+ # Thread will stopped when all RTCs are INACTIVE.
+ # Therefore WorkerPreDo(updating state) have to be invoked
+ # before stopping thread.
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ while not self._workerthread._running:
+ self._workerthread._cond.wait()
+ del guard
t0_ = OpenRTM_aist.Time()
-
- if self._worker._running:
- for comp in self._comps:
- comp._sm.worker()
-
- self._worker._cond.release()
-
+ OpenRTM_aist.ExecutionContextBase.invokeWorkerDo(self)
+ OpenRTM_aist.ExecutionContextBase.invokeWorkerPostDo(self)
t1_ = OpenRTM_aist.Time()
+ period_ = self.getPeriod()
+
if count_ > 1000:
exctm_ = (t1_ - t0_).getTime().toDouble()
slptm_ = self._period.toDouble() - exctm_
- self._rtcout.RTC_PARANOID("Period: %f [s]", self._period.toDouble())
+ self._rtcout.RTC_PARANOID("Period: %f [s]", period_.toDouble())
self._rtcout.RTC_PARANOID("Execution: %f [s]", exctm_)
self._rtcout.RTC_PARANOID("Sleep: %f [s]", slptm_)
+
t2_ = OpenRTM_aist.Time()
- if not self._nowait and self._period.toDouble() > ((t1_ - t0_).getTime().toDouble()):
+ if not self._nowait and period_.toDouble() > ((t1_ - t0_).getTime().toDouble()):
if count_ > 1000:
self._rtcout.RTC_PARANOID("sleeping...")
- slptm_ = self._period.toDouble() - (t1_ - t0_).getTime().toDouble()
+ slptm_ = period_.toDouble() - (t1_ - t0_).getTime().toDouble()
time.sleep(slptm_)
if count_ > 1000:
@@ -473,13 +150,27 @@
self._rtcout.RTC_PARANOID("Slept: %f [s]", (t3_ - t2_).getTime().toDouble())
count_ = 0
count_ += 1
- flag = self._running
- del guard
+
+ self._rtcout.RTC_DEBUG("Thread terminated.")
return 0
##
# @if jp
+ # @brief ExecutionContext用アクティビティスレッドを生成する
+ # @else
+ # @brief Generate internal activity thread for ExecutionContext
+ # @endif
+ #
+ # int PeriodicExecutionContext::open(void *args)
+ def open(self, *args):
+ self._rtcout.RTC_TRACE("open()")
+ self.activate()
+ return 0
+
+
+ ##
+ # @if jp
# @brief ExecutionContext 用のスレッド実行関数
#
# ExecutionContext 用のスレッド終了時に呼ばれる。
@@ -530,7 +221,7 @@
# @endif
def is_running(self):
self._rtcout.RTC_TRACE("is_running()")
- return self._running
+ return OpenRTM_aist.ExecutionContextBase.isRunning(self)
##
@@ -561,34 +252,9 @@
#
# @endif
def start(self):
- self._rtcout.RTC_TRACE("start()")
- if self._running:
- return RTC.PRECONDITION_NOT_MET
+ return OpenRTM_aist.ExecutionContextBase.start(self)
- for comp in self._comps:
- comp._sm.on_startup()
- self._running = True
-
- self._worker._cond.acquire()
- self._worker._running = True
- self._worker._cond.notify()
- self._worker._cond.release()
-
- try:
- self.activate()
- except:
- self._running = False
-
- self._worker._cond.acquire()
- self._worker._running = False
- self._worker._cond.notify()
- self._worker._cond.release()
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- return RTC.RTC_OK
-
-
##
# @if jp
# @brief ExecutionContext の実行を停止
@@ -616,22 +282,9 @@
#
# @endif
def stop(self):
- self._rtcout.RTC_TRACE("stop()")
- if not self._running:
- return RTC.PRECONDITION_NOT_MET
+ return OpenRTM_aist.ExecutionContextBase.stop(self)
- self._running = False
- self._worker._cond.acquire()
- self._worker._running = False
- self._worker._cond.release()
- for comp in self._comps:
- comp._sm.on_shutdown()
-
- #self.wait()
- return RTC.RTC_OK
-
-
##
# @if jp
# @brief ExecutionContext の実行周期(Hz)を取得する
@@ -651,8 +304,7 @@
#
# @endif
def get_rate(self):
- self._rtcout.RTC_TRACE("get_rate()")
- return self._profile.rate
+ return OpenRTM_aist.ExecutionContextBase.getRate(self)
##
@@ -681,19 +333,9 @@
#
# @endif
def set_rate(self, rate):
- self._rtcout.RTC_TRACE("set_rate(%f)", rate)
- if rate > 0.0:
- self._profile.rate = rate
- self._period.set_time(1.0/rate)
- if self._period.toDouble() == 0.0:
- self._nowait = True
+ return OpenRTM_aist.ExecutionContextBase.setRate(self, rate)
- for comp in self._comps:
- comp._sm.on_rate_changed()
- return RTC.RTC_OK
- return RTC.BAD_PARAMETER
-
##
# @if jp
# @brief RTコンポーネントをアクティブ化する
@@ -724,17 +366,9 @@
#
# @endif
def activate_component(self, comp):
- self._rtcout.RTC_TRACE("activate_component()")
- for compIn in self._comps:
- if compIn._ref._is_equivalent(comp):
- if not compIn._sm._sm.isIn(RTC.INACTIVE_STATE):
- return RTC.PRECONDITION_NOT_MET
- compIn._sm._sm.goTo(RTC.ACTIVE_STATE)
- return RTC.RTC_OK
+ return OpenRTM_aist.ExecutionContextBase.activateComponent(self, comp)
- return RTC.BAD_PARAMETER
-
##
# @if jp
# @brief RTコンポーネントを非アクティブ化する
@@ -765,32 +399,9 @@
#
# @endif
def deactivate_component(self, comp):
- self._rtcout.RTC_TRACE("deactivate_component()")
- for compIn in self._comps:
- if compIn._ref._is_equivalent(comp):
- if not compIn._sm._sm.isIn(RTC.ACTIVE_STATE):
- return RTC.PRECONDITION_NOT_MET
- compIn._sm._sm.goTo(RTC.INACTIVE_STATE)
- count_ = 0
- usec_per_sec_ = 1.0e6
- sleeptime_ = usec_per_sec_ / float(self.get_rate())
- self._rtcout.RTC_PARANOID("Sleep time is %f [us]", sleeptime_)
- while compIn._sm._sm.isIn(RTC.ACTIVE_STATE):
- self._rtcout.RTC_TRACE("Waiting to be the INACTIVE state %d %f", (count_, float(time.time())))
- time.sleep(sleeptime_/usec_per_sec_)
- if count_ > 1000:
- self._rtcout.RTC_ERROR("The component is not responding.")
- break
- count_ += 1
- if compIn._sm._sm.isIn(RTC.INACTIVE_STATE):
- self._rtcout.RTC_TRACE("The component has been properly deactivated.")
- return RTC.RTC_OK
- self._rtcout.RTC_ERROR("The component could not be deactivated.")
- return RTC.RTC_ERROR
+ return OpenRTM_aist.ExecutionContextBase.deactivateComponent(self, comp)
- return RTC.BAD_PARAMETER
-
##
# @if jp
# @brief RTコンポーネントをリセットする
@@ -820,17 +431,9 @@
#
# @endif
def reset_component(self, comp):
- self._rtcout.RTC_TRACE("reset_component()")
- for compIn in self._comps:
- if compIn._ref._is_equivalent(comp):
- if not compIn._sm._sm.isIn(RTC.ERROR_STATE):
- return RTC.PRECONDITION_NOT_MET
- compIn._sm._sm.goTo(RTC.INACTIVE_STATE)
- return RTC.RTC_OK
+ return OpenRTM_aist.ExecutionContextBase.resetComponent(self, comp)
- return RTC.BAD_PARAMETER
-
##
# @if jp
# @brief RTコンポーネントの状態を取得する
@@ -853,14 +456,9 @@
#
# @endif
def get_component_state(self, comp):
- self._rtcout.RTC_TRACE("get_component_state()")
- for compIn in self._comps:
- if compIn._ref._is_equivalent(comp):
- return compIn._sm._sm.getState()
+ return OpenRTM_aist.ExecutionContextBase.getComponentState(self, comp)
- return RTC.CREATED_STATE
-
##
# @if jp
# @brief ExecutionKind を取得する
@@ -879,8 +477,7 @@
#
# @endif
def get_kind(self):
- self._rtcout.RTC_TRACE("get_kind()")
- return self._profile.kind
+ return OpenRTM_aist.ExecutionContextBase.getKind(self)
##
@@ -910,46 +507,9 @@
#
# @endif
def add_component(self, comp):
- self._rtcout.RTC_TRACE("add_component()")
- if CORBA.is_nil(comp):
- return RTC.BAD_PARAMETER
- try:
- dfp_ = comp._narrow(OpenRTM.DataFlowComponent)
- rtc_ = comp._narrow(RTC.RTObject)
- if CORBA.is_nil(dfp_) or CORBA.is_nil(rtc_):
- return RTC.BAD_PARAMETER
+ return OpenRTM_aist.ExecutionContextBase.addComponent(self, comp)
- id_ = dfp_.attach_context(self._ref)
- comp_ = self.Comp(ref=comp, dfp=dfp_, id=id_)
- self._comps.append(comp_)
- self._profile.participants.append(rtc_)
- return RTC.RTC_OK
- except CORBA.Exception:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return RTC.BAD_PARAMETER
- return RTC.RTC_OK
-
-
- def bindComponent(self, rtc):
- self._rtcout.RTC_TRACE("bindComponent()")
- if rtc is None:
- return RTC.BAD_PARAMETER
-
- comp_ = rtc.getObjRef()
- dfp_ = comp_._narrow(OpenRTM.DataFlowComponent)
- id_ = rtc.bindContext(self._ref)
- if id_ < 0 or id_ > OpenRTM_aist.ECOTHER_OFFSET:
- self._rtcout.RTC_ERROR("bindContext returns invalid id: %d", id_)
- return RTC.RTC_ERROR
-
- self._rtcout.RTC_DEBUG("bindContext returns id = %d", id_)
- # rtc is owner of this EC
- self._comps.append(self.Comp(ref=comp_, dfp=dfp_, id=id_))
- self._profile.owner = dfp_
- return RTC.RTC_OK
-
-
##
# @if jp
# @brief RTコンポーネントを参加者リストから削除する
@@ -975,24 +535,9 @@
#
# @endif
def remove_component(self, comp):
- self._rtcout.RTC_TRACE("remove_component()")
- len_ = len(self._comps)
- for i in range(len_):
- idx = (len_ - 1) - i
- if self._comps[idx]._ref._is_equivalent(comp):
- self._comps[idx]._ref.detach_context(self._comps[idx]._sm.ec_id)
- del self._comps[idx]
- rtcomp = comp._narrow(RTC.RTObject)
- if CORBA.is_nil(rtcomp):
- self._rtcout.RTC_ERROR("Invalid object reference.")
- return RTC.RTC_ERROR
- OpenRTM_aist.CORBA_SeqUtil.erase_if(self._profile.participants,
- self.find_participant(rtcomp))
- return RTC.RTC_OK
+ return OpenRTM_aist.ExecutionContextBase.removeComponent(self, comp)
- return RTC.BAD_PARAMETER
-
##
# @if jp
# @brief ExecutionContextProfile を取得する
@@ -1012,47 +557,161 @@
#
# @endif
def get_profile(self):
- self._rtcout.RTC_TRACE("get_profile()")
- return self._profile
+ return OpenRTM_aist.ExecutionContextBase.getProfile(self)
- class find_participant:
- def __init__(self, comp):
- self._comp = comp
- return
+ # virtual RTC::ReturnCode_t onStarted();
+ def onStarted(self):
+ # change EC thread state
+ guard = OpenRTM_aist.ScopedLock(self._svcmutex)
+ if not self._svc:
+ self._svc = True
+ self.open(0)
+ del guard
- def __call__(self, comp):
- return self._comp._is_equivalent(comp)
+ if self.isAllNextState(RTC.INACTIVE_STATE):
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ self._workerthread._running = False
+ del guard
+ else:
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ self._workerthread._running = True
+ self._workerthread._cond.signal()
+ del guard
+ return RTC.RTC_OK
-
- ##
- # @if jp
- # @class Comp
- # @brief コンポーネント管理用内部クラス
- # @else
- # @endif
- class Comp:
- def __init__(self, ref=None, dfp=None, id=None, comp=None):
- if comp is None:
- self._ref = ref
- self._sm = PeriodicExecutionContext.DFP(dfp,id)
- else:
- self._ref = comp._ref
- self._sm = PeriodicExecutionContext.DFP(comp._sm._obj,comp._sm.ec_id)
+ # virtual RTC::ReturnCode_t onStopping();
+ def onStopping(self):
+ # stop thread
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ self._workerthread._running = False
+ return RTC.RTC_OK
+
+
+ # virtual RTC::ReturnCode_t
+ # onWaitingActivated(RTC_impl::RTObjectStateMachine* comp, long int count);
+ def onWaitingActivated(self, comp, count):
+ self._rtcout.RTC_TRACE("onWaitingActivated(count = %d)", count)
+ self._rtcout.RTC_PARANOID("curr: %s, next: %s",
+ self.getStateString(comp.getStates().curr),
+ self.getStateString(comp.getStates().next))
+ # Now comp's next state must be ACTIVE state
+ # If worker thread is stopped, restart worker thread.
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == False:
+ self._workerthread._running = True
+ self._workerthread._cond.signal()
+ del guard
+ return RTC.RTC_OK
+
+
+ # virtual RTC::ReturnCode_t
+ # onActivated(RTC_impl::RTObjectStateMachine* comp, long int count);
+ def onActivated(self, comp, count):
+ self._rtcout.RTC_TRACE("onActivated(count = %d)", count)
+ self._rtcout.RTC_PARANOID("curr: %s, next: %s",
+ self.getStateString(comp.getStates().curr),
+ self.getStateString(comp.getStates().next))
+ # count = -1; Asynch mode. Since onWaitingActivated is not
+ # called, onActivated() have to send restart singnal to worker
+ # thread.
+ # count > 0: Synch mode.
+
+ # Now comp's next state must be ACTIVE state
+ # If worker thread is stopped, restart worker thread.
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == False:
+ self._workerthread._running = True
+ self._workerthread._cond.signal()
+ del guard
+ return RTC.RTC_OK
+
+
+ # virtual RTC::ReturnCode_t
+ # onWaitingDeactivated(RTC_impl::RTObjectStateMachine* comp, long int count);
+ def onWaitingDeactivated(self, comp, count):
+ self._rtcout.RTC_TRACE("onWaitingDeactivated(count = %d)", count)
+ self._rtcout.RTC_PARANOID("curr: %s, next: %s",
+ self.getStateString(comp.getStates().curr),
+ self.getStateString(comp.getStates().next))
+ if self.isAllNextState(RTC.INACTIVE_STATE):
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == True:
+ self._workerthread._running = False
+ self._rtcout.RTC_TRACE("All RTCs are INACTIVE. Stopping worker thread.")
+ del guard
+
+ return RTC.RTC_OK
+
+
+ # virtual RTC::ReturnCode_t
+ # onDeactivated(RTC_impl::RTObjectStateMachine* comp, long int count);
+ def onDeactivated(self, comp, count):
+ self._rtcout.RTC_TRACE("onDeactivated(count = %d)", count)
+ self._rtcout.RTC_PARANOID("curr: %s, next: %s",
+ self.getStateString(comp.getStates().curr),
+ self.getStateString(comp.getStates().next))
+ if self.isAllNextState(RTC.INACTIVE_STATE):
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == True:
+ self._workerthread._running = False
+ self._rtcout.RTC_TRACE("All RTCs are INACTIVE. Stopping worker thread.")
+ del guard
+
+ return RTC.RTC_OK
+
+
+ # virtual RTC::ReturnCode_t
+ # onWaitingReset(RTC_impl::RTObjectStateMachine* comp, long int count);
+ def onWaitingReset(self, comp, count):
+ self._rtcout.RTC_TRACE("onWaitingReset(count = %d)", count)
+ self._rtcout.RTC_PARANOID("curr: %s, next: %s",
+ self.getStateString(comp.getStates().curr),
+ self.getStateString(comp.getStates().next))
+ if self.isAllNextState(RTC.INACTIVE_STATE):
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == True:
+ self._workerthread._running = False
+ self._rtcout.RTC_TRACE("All RTCs are INACTIVE. Stopping worker thread.")
+ del guard
+
+ return RTC.RTC_OK
+
+
+ # virtual RTC::ReturnCode_t
+ # onReset(RTC_impl::RTObjectStateMachine* comp, long int count);
+ def onReset(self, comp, count):
+ self._rtcout.RTC_TRACE("onReset(count = %d)", count)
+ self._rtcout.RTC_PARANOID("curr: %s, next: %s",
+ self.getStateString(comp.getStates().curr),
+ self.getStateString(comp.getStates().next))
+ if self.isAllNextState(RTC.INACTIVE_STATE):
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == True:
+ self._workerthread._running = False
+ self._rtcout.RTC_TRACE("All RTCs are INACTIVE. Stopping worker thread.")
+ del guard
+
+ return RTC.RTC_OK
+ return
+
+ # bool threadRunning()
+ def threadRunning(self):
+ guard = OpenRTM_aist.ScopedLock(self._svcmutex)
+ return self._svc
+
+
##
# @if jp
- # @class Worker
- # @brief ExecutionContext 駆動クラス
+ # @class WorkerThreadCtrl
+ # @brief worker 用状態変数クラス
#
- # 実行処理に関する排他制御など、実際の処理を監視・制御するためのクラス。
- #
- # @since 0.4.0
- #
# @else
- #
+ # @class WorkerThreadCtrl
+ # @brief Condition variable class for worker
# @endif
- class Worker:
+ class WorkerThreadCtrl:
##
# @if jp
Modified: branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_PeriodicExecutionContext.py
===================================================================
--- branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_PeriodicExecutionContext.py 2012-03-13 07:15:16 UTC (rev 526)
+++ branches/work/OpenRTM-aist-Python/OpenRTM_aist/test/test_PeriodicExecutionContext.py 2012-03-13 07:43:23 UTC (rev 527)
@@ -165,7 +165,7 @@
self._dfp = DFP()
self._dfp._poa._get_the_POAManager().activate()
- self._pec = PeriodicExecutionContext(self._dfp._ref, 10)
+ self._pec = PeriodicExecutionContext()
self._pec.add_component(self._dfp.getRef())
self._pec.start()
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