[openrtm-commit:01755] r656 - trunk/OpenRTM-aist-Python/OpenRTM_aist

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2016-02-25 05:49:49 +0900 (Thu, 25 Feb 2016)
New Revision: 656

Modified:
   trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
Log:
[incompat,new_func,->RELENG_1_2] Direct data get mode has been implemented. ref #3407

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py	2016-02-24 19:31:57 UTC (rev 655)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py	2016-02-24 20:49:49 UTC (rev 656)
@@ -308,17 +308,14 @@
 
 
     if len(self._outPortConnectorList) > 0:
-      data = self._outPortConnectorList[0].read()
-      self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
-      #self._outPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
-      self._rtcout.RTC_TRACE("ON_BUFFER_READ(InPort,OutPort), ")
-      self._rtcout.RTC_TRACE("callback called in direct mode.")
-      self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
-      #self._outPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
-      self._rtcout.RTC_TRACE("ON_RECEIVED(InPort,OutPort), ")
-      self._rtcout.RTC_TRACE("callback called in direct mode.")
-      self._value = data
-      return self._value
+      ret, data = self._outPortConnectorList[0].read()
+      
+      if ret:
+        self._value = data
+        if self._OnReadConvert is not None:
+          self._value = self._OnReadConvert(self._value)
+          self._rtcout.RTC_TRACE("OnReadConvert for direct data called")
+        return self._value
 
     if len(self._connectors) == 0:
       self._rtcout.RTC_DEBUG("no connectors")

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py	2016-02-24 19:31:57 UTC (rev 655)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py	2016-02-24 20:49:49 UTC (rev 656)
@@ -1242,8 +1242,14 @@
           self._rtcout.RTC_TRACE("but a peer InPort servant could not be obtained.")
           del connector
           return 0
-        
-        connector.setInPort(inport)
+        if consumer_ is not None:
+          connector.setInPort(inport)
+        elif provider_ is not None:
+          connector.setPorts(inport, self)
+        #if consumer_ is not None:
+        #  connector.setInPort(inport)
+        #elif provider_ is not None:
+        #  connector.setInPort(inport)
 
 
       self._connectors.append(connector)

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py	2016-02-24 19:31:57 UTC (rev 655)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py	2016-02-24 20:49:49 UTC (rev 656)
@@ -189,26 +189,13 @@
   # virtual ReturnCode write(const cdrMemoryStream& data);
   def write(self, data):
     if self._directInPort is not None:
-      if self.isNew():
-        #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
-        self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
-        #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
-        self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
-        self._rtcout.RTC_TRACE("ONBUFFER_OVERWRITE(InPort,OutPort), ")
-        self._rtcout.RTC_TRACE("ON_RECEIVER_FULL(InPort,OutPort) ")
-        self._rtcout.RTC_TRACE("callback called in direct mode.")
-      #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
-      self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
-      self._rtcout.RTC_TRACE("ON_BUFFER_WRITE(InPort,OutPort), ")
-      self._rtcout.RTC_TRACE("callback called in direct mode.")
+      
       guard = OpenRTM_aist.ScopedLock(self._valueMutex)
       self._value = data
       self._directNewData = True
+      
       del guard
-      #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
-      self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
-      self._rtcout.RTC_TRACE("ON_RECEIVED(InPort,OutPort), ")
-      self._rtcout.RTC_TRACE("callback called in direct mode.")
+      
       return self.PORT_OK
     # data -> (conversion) -> CDR stream
     cdr_data = None
@@ -368,12 +355,13 @@
   # @return 
   # @endif
   #
-  # bool setInPort(InPortBase* directInPort);
-  def setInPort(self, directInPort):
+  # bool setPorts(InPortBase* directInPort, OutPortBase* outPort);
+  def setPorts(self, directInPort, outPort):
     if self._directInPort is not None:
       return False
     self._directInPort = directInPort
     self._inPortListeners = self._directInPort._listeners
+    self._outPortListeners = outPort._listeners
     self._directInPort.addOutPortConnector(self)
     return True
 
@@ -383,7 +371,7 @@
   # @brief データをダイレクトに読み込む
   #
   # @param self
-  # @return 読み込むデータ
+  # @return 判定(データが書き込まれていなければTrue)、読み込むデータ
   #
   # @else
   # @brief 
@@ -391,13 +379,37 @@
   # @param self
   # @param data 
   # @endif
-  # void write(const DataType& data)
+  # DataType* read()
   def read(self):
     guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+    if not self.isNew():
+        self._outPortListeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
+        self._inPortListeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
+        self._rtcout.RTC_TRACE("ON_BUFFER_EMPTY(OutPort), ")
+        self._rtcout.RTC_TRACE("ON_SENDER_EMPTY(InPort) ")
+        self._rtcout.RTC_TRACE("callback called in direct mode.")
+        return False, ""
+    
     data = self._value
+    ret = self._directNewData
     self._directNewData = False
     del guard
-    return data
+    
+    
+    self._outPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
+    self._rtcout.RTC_TRACE("ON_BUFFER_READ(OutPort), ")
+    self._rtcout.RTC_TRACE("callback called in direct mode.")
+    self._outPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
+    self._rtcout.RTC_TRACE("ON_SEND(OutPort), ")
+    self._rtcout.RTC_TRACE("callback called in direct mode.")
+    self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
+    self._rtcout.RTC_TRACE("ON_RECEIVED(InPort), ")
+    self._rtcout.RTC_TRACE("callback called in direct mode.")
+    self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
+    self._rtcout.RTC_TRACE("ON_BUFFER_WRITE(InPort), ")
+    self._rtcout.RTC_TRACE("callback called in direct mode.")
+    
+    return ret, data
 
   def isNew(self):
     return self._directNewData
\ No newline at end of file