[openrtm-commit:01906] r811 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 4月 20日 (水) 20:29:38 JST
Author: win-ei
Date: 2016-04-20 20:29:38 +0900 (Wed, 20 Apr 2016)
New Revision: 811
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
Log:
Added findManager_by_name() and create_component_by_mgrname() to ManagerServant. refs #3398
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java 2016-04-12 03:20:07 UTC (rev 810)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java 2016-04-20 11:29:38 UTC (rev 811)
@@ -18,6 +18,7 @@
import org.omg.CORBA.ORB;
import org.omg.CORBA.Object;
+
import RTC.ComponentProfile;
import RTC.ComponentProfileListHolder;
import RTC.RTCListHolder;
@@ -1289,7 +1290,649 @@
= (RTObject[])crtcs.toArray(new RTObject[0]);
return arr;
}
+
/**
+ * {@.ja 指定名のマネージャを取得}
+ * {@.en Get the manager specified by the name.}
+ *
+ * <p>
+ * {@.ja マネージャがマスターの場合は
+ * 登録されているスレーブマネージャから検索する。
+ * マネージャがスレーブの場合は
+ * 登録されているマスターマネージャからスレーブマネージャを検索する}
+ *
+ * @param manager_name
+ * {@.ja マネージャ名}
+ * {@.en manager name}
+ *
+ * @return
+ * {@.ja マネージャ}
+ * {@.en Manager}
+ *
+ * RTC::Manager_ptr findManager_by_name(string manager_name)
+ *
+ */
+ public RTM.Manager findManager_by_name(String manager_name){
+ rtcout.println(Logbuf.TRACE, "findManager_by_name(manager_name = "
+ + manager_name +")");
+ Properties prop = m_mgr.getConfig();
+ String name = prop.getProperty("manager.instance_name");
+ if(name.equals(manager_name)){
+ return getObjRef();
+ }
+ if(m_isMaster){
+ synchronized (m_slaveMutex) {
+ for (int ic=0; ic < m_slaves.length; ++ic) {
+ _SDOPackage.NameValue[] prof
+ = m_slaves[ic]. get_configuration();
+ NVListHolder nvholder =
+ new NVListHolder(prof);
+ Properties proper = new Properties();
+ NVUtil.copyToProperties(proper, nvholder);
+ String i_name = proper.getProperty("manager.instance_name");
+ if(i_name.equals(manager_name)){
+ return m_slaves[ic];
+ }
+ }
+ }
+ }
+ else{
+ synchronized (m_masterMutex) {
+ for (int ic=0; ic < m_masters.length; ++ic) {
+ RTM.Manager[] slaves = m_masters[ic].get_slave_managers();
+ for (int icc=0; icc < slaves.length; ++icc) {
+ _SDOPackage.NameValue[] prof
+ = m_slaves[ic]. get_configuration();
+ NVListHolder nvholder =
+ new NVListHolder(prof);
+ Properties proper = new Properties();
+ NVUtil.copyToProperties(proper, nvholder);
+ String i_name
+ = proper.getProperty("manager.instance_name");
+ if(i_name.equals(manager_name)){
+ return m_slaves[icc];
+ }
+ }
+ _SDOPackage.NameValue[] prof
+ = m_masters[ic].get_configuration();
+ NVListHolder nvholder =
+ new NVListHolder(prof);
+ Properties proper = new Properties();
+ NVUtil.copyToProperties(proper, nvholder);
+ String i_name = proper.getProperty("manager.instance_name");
+ if(i_name.equals(manager_name)){
+ return m_masters[ic];
+ }
+ }
+ }
+ }
+ return null;
+ }
+/*
+ prop = self._mgr.getConfig()
+ name = prop.getProperty("manager.instance_name")
+ if name == manager_name:
+ return self.getObjRef()
+ if self._isMaster:
+ guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
+ for slave in self._slaves[:]:
+ try:
+ prof = slave.get_configuration()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
+ name = prop.getProperty("manager.instance_name")
+ if name == manager_name:
+ return slave
+
+ except:
+ self._rtcout.RTC_ERROR("Unknown exception cought.")
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+ self.remove_slave_manager(slave)
+ del guard
+ else:
+ guard = OpenRTM_aist.ScopedLock(self._masterMutex)
+ for master in self._masters:
+ slaves = master.get_slave_managers()
+ for slave in slaves[:]:
+ try:
+ prof = slave.get_configuration()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
+ name = prop.getProperty("manager.instance_name")
+ if name == manager_name:
+ return slave
+ except:
+ self._rtcout.RTC_ERROR("Unknown exception cought.")
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+ master.remove_slave_manager(slave)
+ try:
+ prof = master.get_configuration()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
+ name = prop.getProperty("manager.instance_name")
+ if name == manager_name:
+ return master
+ except:
+ self._rtcout.RTC_ERROR("Unknown exception cought.")
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+ del guard
+
+ return RTM.Manager._nil
+*/
+
+
+ /**
+ * {@.ja モジュール名からパラメータを取り出す}
+ * {@.en Get a parameter by a specified module name.}
+ *
+ * <p>
+ * {@.ja ¶m_name=value もしくは ?param_name=value
+ * のvalueを取り出す}
+ *
+ * @param param_name
+ * {@.ja パラメータ名}
+ * {@.en parameter name}
+ *
+ * @param module_name
+ * {@.ja モジュール名}
+ * {@.en module name}
+ *
+ * @return
+ * {@.ja パラメータ}
+ * {@.en parameter}
+ *
+ * RTC::RTObject_ptr get_parameter_by_modulename(string param_name,
+ * string &module_name)
+ *
+ */
+ public String get_parameter_by_modulename(String param_name,
+ String[] module_name){
+
+ String arg = module_name[0];
+ int pos = arg.indexOf("&"+param_name+"=");
+ if(pos == -1){
+ pos = arg.indexOf("?"+param_name+"=");
+ if(pos==-1){
+ return null;
+ }
+ }
+ int endpos = arg.indexOf('&', pos + 1);
+ String paramstr;
+ if(endpos == -1){
+ paramstr = arg.substring(pos + 1);
+ }
+ else{
+ paramstr = arg.substring(pos + 1, endpos);
+ }
+ rtcout.println(Logbuf.VERBOSE, param_name+" arg: "+ paramstr);
+ int eqpos = paramstr.indexOf("=");
+ if(eqpos==-1){
+ rtcout.println(Logbuf.WARN, "Invalid argument: "+module_name);
+ return null;
+ }
+ paramstr = paramstr.substring(eqpos + 1);
+ rtcout.println(Logbuf.DEBUG, param_name + " is "+paramstr);
+
+
+ if(endpos == -1){
+ arg = arg.substring(0,pos);
+ }
+ else{
+ arg = arg.substring(0,pos) + arg.substring(endpos);
+ }
+
+ module_name[0] = arg;
+ return paramstr;
+
+
+ }
+/*
+ def get_parameter_by_modulename(self, param_name, module_name):
+ arg = module_name[0]
+ pos0 = arg.find("&"+param_name+"=")
+ pos1 = arg.find("?"+param_name+"=")
+
+
+
+ if pos0 == -1 and pos1 == -1:
+ return ""
+
+ if pos0 == -1:
+ pos = pos1
+ else:
+ pos = pos0
+
+ endpos = arg.find('&', pos + 1)
+ if endpos == -1:
+ paramstr = arg[(pos + 1):]
+ else:
+ paramstr = arg[(pos + 1): endpos]
+ self._rtcout.RTC_VERBOSE("%s arg: %s", (param_name, paramstr))
+
+
+
+ eqpos = paramstr.find("=")
+ if eqpos == -1:
+ self._rtcout.RTC_WARN("Invalid argument: %s", module_name)
+ return ""
+
+ paramstr = paramstr[eqpos + 1:]
+ self._rtcout.RTC_DEBUG("%s is %s",(param_name, paramstr))
+
+ if endpos == -1:
+ arg = arg[:pos]
+ else:
+ arg = arg[:pos] + arg[endpos:]
+
+ module_name[0] = arg
+
+ return paramstr
+
+*/
+
+
+
+
+ /**
+ * {@.ja 指定のマネージャでRTCを起動する}
+ * {@.en Starts RTC by a specified manager.}
+ *
+ * <p>
+ * {@.ja comp&manager_name=mgr
+ * のようにRTC名&manager_name=マネージャ名と指定する}
+ * {@.en How to specify: RTCName&manager_name=ManageName
+ * Example:comp&manager_name=mgr}
+ *
+ * @param module_name
+ * {@.ja 起動するRTC、マネージャ名}
+ * {@.en RTCNrame ManagerName}
+ *
+ *
+ * @return
+ * {@.ja RTC}
+ * {@.en RTC}
+ *
+ * RTC::RTObject_ptr create_component_by_mgrname(string module_name)
+ *
+ */
+ public RTC.RTObject create_component_by_mgrname(String module_name) {
+ String arg = module_name;
+ String[] tmp = new String[1];
+ tmp[0] = arg;
+ String mgrstr = get_parameter_by_modulename("manager_name",tmp);
+ arg = tmp[0];
+
+ if(mgrstr.isEmpty()){
+ return null;
+ }
+
+ RTM.Manager mgrobj = findManager_by_name(mgrstr);
+
+ tmp[0] = arg;
+ String language = get_parameter_by_modulename("language",tmp);
+ arg = tmp[0];
+
+ if(language.isEmpty()){
+ language = "Java";
+ }
+
+ if(mgrobj == null){
+ rtcout.println(Logbuf.WARN, mgrstr +" cannot be found.");
+ Properties config = m_mgr.getConfig();
+ String rtcd_cmd =
+ config.getProperty("manager.modules."+language+".manager_cmd");
+ if(rtcd_cmd.isEmpty()){
+ rtcd_cmd = "rtcd_java";
+ }
+ List<String> cmd = new ArrayList();
+ cmd.add(rtcd_cmd);
+ cmd.add("-o");
+ cmd.add("manager.is_master:NO");
+ cmd.add("-o");
+ cmd.add("manager.corba_servant:YES");
+ cmd.add("-o");
+ String corba_master = config.getProperty("corba.master_manager");
+ cmd.add("corba.master_manager:"+corba_master);
+ cmd.add("-o");
+ String man_name = config.getProperty("manger.name");
+ cmd.add("manger.name:"+man_name);
+ cmd.add("-o");
+ cmd.add("manager.instance_name:"+mgrstr);
+/*
+ String cmd = rtcd_cmd;
+ cmd += " -o " + "manager.is_master:NO";
+ cmd += " -o " + "manager.corba_servant:YES";
+ cmd += " -o " + "corba.master_manager:"
+ + config.getProperty("corba.master_manager");
+ cmd += " -o " + "manger.name:" + config.getProperty("manger.name");
+ cmd += " -o " + "manager.instance_name:" + mgrstr;
+*/
+
+ rtcout.println(Logbuf.DEBUG, "Invoking command: "+ cmd + ".");
+ try{
+ ProcessBuilder pb = new ProcessBuilder(cmd);
+ Process p = pb.start();
+ }
+ catch(Exception ex){
+ rtcout.println(Logbuf.DEBUG, cmd + ": failed");
+ return null;
+ }
+
+ try{
+ Thread.sleep(10); //10ms
+ }
+ catch(InterruptedException ex){
+ //do nothing
+ }
+ int count = 0;
+ while (mgrobj == null) {
+ mgrobj = findManager_by_name(mgrstr);
+ ++count;
+ if (count > 1000) {
+ break;
+ }
+ try{
+ Thread.sleep(10); //10ms
+ }
+ catch(InterruptedException ex){
+ //do nothing
+ }
+ }
+ if (mgrobj == null) {
+ rtcout.println(Logbuf.WARN, "Manager cannot be found.");
+ return null;
+ }
+ }
+ rtcout.println(Logbuf.DEBUG, "Creating component on "+mgrstr);
+ rtcout.println(Logbuf.DEBUG, "arg: "+arg);
+ try {
+ RTObject rtobj;
+ rtobj = mgrobj.create_component(arg);
+ rtcout.println(Logbuf.DEBUG, "Component created "+arg);
+ return rtobj;
+ }
+ catch (org.omg.CORBA.SystemException e) {
+ rtcout.println(Logbuf.DEBUG,
+ "Exception was caught while creating component.");
+ return null;
+ }
+ }
+/*
+ arg = module_name
+
+ tmp = [arg]
+ mgrstr = self.get_parameter_by_modulename("manager_name",tmp)
+ arg = tmp[0]
+
+ if not mgrstr:
+ return RTC.RTObject._nil
+
+
+
+ mgrobj = self.findManager_by_name(mgrstr)
+
+ tmp = [arg]
+ language = self.get_parameter_by_modulename("language",tmp)
+ arg = tmp[0]
+ if not language:
+ language = "Python"
+
+
+
+
+
+ if CORBA.is_nil(mgrobj):
+ self._rtcout.RTC_WARN("%s cannot be found.", mgrstr)
+ config = copy.deepcopy(self._mgr.getConfig())
+ rtcd_cmd = config.getProperty("manager.modules."+language+".manager_cmd")
+
+ if not rtcd_cmd:
+ rtcd_cmd = "rtcd_python"
+
+ cmd = rtcd_cmd
+ cmd += " -o " + "manager.is_master:NO"
+ cmd += " -o " + "manager.corba_servant:YES"
+ cmd += " -o " + "corba.master_manager:" + config.getProperty("corba.master_manager")
+ cmd += " -o " + "manger.name:" + config.getProperty("manger.name")
+ cmd += " -o " + "manager.instance_name:" + mgrstr
+ #cmd += " -o " + "manager.supported_languages:" + language
+
+
+
+ self._rtcout.RTC_DEBUG("Invoking command: %s.", cmd)
+ ret = OpenRTM_aist.launch_shell(cmd)
+
+ if ret == -1:
+ self._rtcout.RTC_DEBUG("%s: failed", cmd)
+ return RTC.RTObject._nil
+ time.sleep(0.01)
+ count = 0
+ while CORBA.is_nil(mgrobj):
+ mgrobj = self.findManager_by_name(mgrstr)
+ count += 1
+ if count > 1000:
+ break
+ time.sleep(0.01)
+
+ if CORBA.is_nil(mgrobj):
+ self._rtcout.RTC_WARN("Manager cannot be found.")
+ return RTC.RTObject._nil
+
+
+
+
+
+
+
+
+
+
+ self._rtcout.RTC_DEBUG("Creating component on %s", mgrstr)
+ self._rtcout.RTC_DEBUG("arg: %s", arg)
+
+
+ try:
+ rtobj = mgrobj.create_component(arg)
+
+ return rtobj
+ except CORBA.SystemException:
+ self._rtcout.RTC_DEBUG("Exception was caught while creating component.")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return RTC.RTObject._nil
+ except:
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+ return RTC.RTObject._nil
+ return RTC.RTObject._nil
+
+*/
+
+ /**
+ * {@.ja 指定のマネージャでRTCを起動する}
+ * {@.en Starts RTC by a specified manager.}
+ *
+ * <p>
+ * {@.ja comp&manager_address=localhost:2810
+ * のようにRTC名&manager_address=マネージャのホスト名、ポート番号を
+ * 指定する}
+ * {@.en How to specify: RTCName&manager_address=ManageHostName
+ * Example:comp&manager_address=localhost:2810}
+ *
+ * @param module_name
+ * {@.ja 起動するRTC、マネージャのホストアドレス}
+ * {@.en RTCNrame ManagerHostAdress}
+ *
+ *
+ * @return
+ * {@.ja RTC}
+ * {@.en RTC}
+ *
+ * RTC::RTObject_ptr create_component_by_address(string module_name)
+ *
+ */
+ public RTC.RTObject create_component_by_address(String module_name) {
+ String arg = module_name;
+ String[] tmp = new String[1];
+ tmp[0] = arg;
+ String mgrstr = get_parameter_by_modulename("manager_address",tmp);
+ arg = tmp[0];
+
+ if(mgrstr.isEmpty()){
+ return null;
+ }
+
+ String[] mgrvstr = mgrstr.split(":");
+ if(mgrvstr.length != 2){
+ rtcout.println(Logbuf.WARN, "Invalid manager name: "+mgrstr);
+ return null;
+ }
+
+ RTM.Manager mgrobj = findManager(mgrstr);
+
+ tmp[0] = arg;
+ String language = get_parameter_by_modulename("language",tmp);
+ arg = tmp[0];
+
+ if(language.isEmpty()){
+ language = "Java";
+ }
+
+ if(mgrobj == null){
+ Properties config = m_mgr.getConfig();
+ String rtcd_cmd =
+ config.getProperty("manager.modules."+language+".manager_cmd");
+
+ if(rtcd_cmd.isEmpty()){
+ rtcd_cmd = "rtcd_java";
+ }
+
+ List<String> cmd = new ArrayList();
+ cmd.add(rtcd_cmd);
+ cmd.add("-p");
+ cmd.add(mgrvstr[1]);
+
+ rtcout.println(Logbuf.DEBUG, "Invoking command: "+ cmd + ".");
+
+ try{
+ ProcessBuilder pb = new ProcessBuilder(cmd);
+ Process p = pb.start();
+ }
+ catch(Exception ex){
+ rtcout.println(Logbuf.DEBUG, cmd + ": failed");
+ return null;
+ }
+ try{
+ Thread.sleep(10); //10ms
+ }
+ catch(InterruptedException ex){
+ //do nothing
+ }
+ int count = 0;
+ while (mgrobj == null) {
+ mgrobj = findManager(mgrstr);
+ ++count;
+ if (count > 1000) {
+ break;
+ }
+ try{
+ Thread.sleep(10); //10ms
+ }
+ catch(InterruptedException ex){
+ //do nothing
+ }
+ }
+ }
+ if (mgrobj == null) {
+ rtcout.println(Logbuf.WARN, "Manager cannot be found.");
+ return null;
+ }
+ rtcout.println(Logbuf.DEBUG, "Creating component on "+mgrstr);
+ rtcout.println(Logbuf.DEBUG, "arg: "+arg);
+ try {
+ RTObject rtobj;
+ rtobj = mgrobj.create_component(arg);
+ rtcout.println(Logbuf.DEBUG, "Component created "+arg);
+ return rtobj;
+ }
+ catch (org.omg.CORBA.SystemException e) {
+ rtcout.println(Logbuf.DEBUG,
+ "Exception was caught while creating component.");
+ return null;
+ }
+ }
+/*
+ arg = module_name
+ tmp = [arg]
+ mgrstr = self.get_parameter_by_modulename("manager_address",tmp)
+ arg = tmp[0]
+
+ if not mgrstr:
+ return RTC.RTObject._nil
+
+ mgrvstr = mgrstr.split(":")
+ if len(mgrvstr) != 2:
+ self._rtcout.RTC_WARN("Invalid manager name: %s", mgrstr)
+ return RTC.RTObject._nil
+
+
+ # find manager
+ mgrobj = self.findManager(mgrstr)
+
+ tmp = [arg]
+ language = self.get_parameter_by_modulename("language",tmp)
+ arg = tmp[0]
+ if not language:
+ language = "Python"
+
+
+ if CORBA.is_nil(mgrobj):
+ config = copy.deepcopy(self._mgr.getConfig())
+ rtcd_cmd = config.getProperty("manager.modules."+language+".manager_cmd")
+ if not rtcd_cmd:
+ rtcd_cmd = "rtcd_python"
+
+ cmd = rtcd_cmd
+ cmd = " -p "
+ cmd += mgrvstr[1] # port number
+
+ self._rtcout.RTC_DEBUG("Invoking command: %s.", cmd)
+ ret = OpenRTM_aist.launch_shell(cmd)
+ if ret == -1:
+ self._rtcout.RTC_DEBUG("%s: failed", cmd)
+ return RTC.RTObject._nil
+
+ # find manager
+ time.sleep(0.01)
+ count = 0
+ while CORBA.is_nil(mgrobj):
+ mgrobj = self.findManager(mgrstr)
+ count += 1
+ if count > 1000:
+ break
+ time.sleep(0.01)
+
+ if CORBA.is_nil(mgrobj):
+ self._rtcout.RTC_WARN("Manager cannot be found.")
+ return RTC.RTObject._nil
+
+
+ self._rtcout.RTC_DEBUG("Creating component on %s", mgrstr)
+ self._rtcout.RTC_DEBUG("arg: %s", arg)
+ try:
+ rtobj = mgrobj.create_component(arg)
+ self._rtcout.RTC_DEBUG("Component created %s", arg)
+ return rtobj
+ except CORBA.SystemException:
+ self._rtcout.RTC_DEBUG("Exception was caught while creating component.")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return RTC.RTObject._nil
+ except:
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+
+ return RTC.RTObject._nil
+*/
+
+
+ /**
* <p></p>
*/
private jp.go.aist.rtm.RTC.Manager m_mgr;
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