[openrtm-commit:01907] r812 - 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 21日 (木) 16:07:46 JST
Author: win-ei
Date: 2016-04-21 16:07:46 +0900 (Thu, 21 Apr 2016)
New Revision: 812
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 2016-04-20 11:29:38 UTC (rev 811)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerServant.java 2016-04-21 07:07:46 UTC (rev 812)
@@ -553,123 +553,44 @@
public RTC.RTObject create_component(final String module_name) {
rtcout.println(Logbuf.TRACE, "create_component("+module_name+")");
- String arg = module_name;
- int pos0 = arg.indexOf("&manager=");
- int pos1 = arg.indexOf("?manager=");
-
- if (pos0 < 0 && pos1 < 0){
- if (false) { //is_master()
- rtcout.println(Logbuf.TRACE,
- "Master manager cannot create component: "+module_name);
- return null;
- }
- // create on this manager
- RTObject_impl rtc = m_mgr.createComponent(module_name);
- if (rtc == null) {
- return null;
- }
- return rtc.getObjRef();
+ RTC.RTObject rtc = create_component_by_address(module_name);
+ if(rtc != null){
+ return rtc;
}
-
- // create other manager
- // extract manager's location
- int pos;
- if(! (pos0 < 0) ){
- pos = pos0;
+ rtc = create_component_by_mgrname(module_name);
+ if(rtc != null){
+ return rtc;
}
- else{
- pos = pos1;
- }
-
- int endpos;
- endpos = arg.indexOf('&', pos + 1);
- if(endpos<0){
- endpos = arg.length();
- }
- String mgrstr = arg.substring(pos + 1, endpos);
- rtcout.println(Logbuf.VERBOSE, "Manager arg: "+mgrstr);
- String[] mgrvstr = mgrstr.split(":");
- if (mgrvstr.length != 2) {
- rtcout.println(Logbuf.WARN, "Invalid manager name: "+mgrstr);
- return null;
- }
- int eqpos = mgrstr.indexOf("=");
- if (eqpos < 0) {
- rtcout.println(Logbuf.WARN, "Invalid argument: "+module_name);
- return null;
- }
- mgrstr = mgrstr.substring(eqpos + 1);
- rtcout.println(Logbuf.DEBUG, "Manager is : "+mgrstr);
- // find manager
- RTM.Manager mgrobj = findManager(mgrstr);
- if (mgrobj==null) {
- List<String> cmd = new ArrayList();
-/*
- cmd.add("java");
- cmd.add("-jar");
- String rtm_java_root = System.getenv("RTM_JAVA_ROOT");
- String rtcd = rtm_java_root+"/jar/rtcd.jar";
- cmd.add(rtcd);
-*/
- cmd.add("rtcd_java");
- cmd.add("-p");
- cmd.add(mgrvstr[1]); // port number
-
- 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;
- }
-
- // find manager
- try{
- Thread.sleep(10); //10ms
- }
- catch(InterruptedException ex){
- //do nothing
- }
- int count = 0;
- while (mgrobj == null) {
- mgrobj = findManager(mgrstr);
- ++count;
- if (count > 1000) {
- break;
+ if(m_isMaster){
+ synchronized(m_slaveMutex) {
+ for (int ic=0; ic < m_slaves.length; ++ic) {
+ try {
+ rtc = m_slaves[ic].create_component(module_name);
+ if(rtc != null){
+ return rtc;
+ }
+ }
+ catch (org.omg.CORBA.SystemException ex) {
+ rtcout.println(Logbuf.ERROR,
+ "Unknown exception cought.");
+ rtcout.println(Logbuf.DEBUG, ex.toString());
+ }
}
- try{
- Thread.sleep(10); //10ms
- }
- catch(InterruptedException ex){
- //do nothing
- }
}
}
- if (mgrobj == null) {
- rtcout.println(Logbuf.WARN, "Manager cannot be found.");
- return null;
- }
+
+ // create on this manager
- // create component on the manager
- arg = arg.substring(0, pos);
- 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;
+ RTObject_impl rtobj = m_mgr.createComponent(module_name);
+ if(rtobj != null){
+ return rtobj.getObjRef();
}
- catch (org.omg.CORBA.SystemException e) {
- rtcout.println(Logbuf.DEBUG,
- "Exception was caught while creating component.");
- return null;
- }
+
+ return null;
+
}
/**
@@ -1368,59 +1289,7 @@
}
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.}
@@ -1486,53 +1355,10 @@
}
-/*
- 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.}
@@ -1657,95 +1483,7 @@
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.}
@@ -1859,79 +1597,8 @@
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>
*/
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