[openrtm-commit:01757] r658 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 2月 25日 (木) 14:27:39 JST
Author: miyamoto
Date: 2016-02-25 14:27:39 +0900 (Thu, 25 Feb 2016)
New Revision: 658
Added:
trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicyBase.py
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py
Log:
[incompat,new_func,new_file,->RELENG_1_2] add NumberingPolicyBase.py, NodeNumberingPolicy.py, and NamingServiceNumberingPolicy.py. refs #3412
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py 2016-02-24 21:26:48 UTC (rev 657)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -77,6 +77,7 @@
"manager.command", "rtcd",
"manager.nameservers", "default",
"manager.language", "Python",
+ "manager.components.naming_policy", "process_unique",
"manager.local_service.enabled_services","ALL",
"sdo.service.provider.enabled_service", "ALL",
"sdo.service.consumer.enabled_service", "ALL",
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py 2016-02-24 21:26:48 UTC (rev 657)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -42,4 +42,6 @@
OpenRTM_aist.InPortSHMConsumerInit()
OpenRTM_aist.OutPortSHMProviderInit()
OpenRTM_aist.OutPortSHMConsumerInit()
-
+ OpenRTM_aist.DefaultNumberingPolicyInit()
+ OpenRTM_aist.NodeNumberingPolicyInit()
+ OpenRTM_aist.NamingServiceNumberingPolicyInit()
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2016-02-24 21:26:48 UTC (rev 657)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -650,7 +650,13 @@
def registerFactory(self, profile, new_func, delete_func):
self._rtcout.RTC_TRACE("Manager.registerFactory(%s)", profile.getProperty("type_name"))
try:
- factory = OpenRTM_aist.FactoryPython(profile, new_func, delete_func)
+ policy_name = self._config.getProperty("manager.components.naming_policy")
+
+ if not policy_name:
+ policy_name = "process_unique"
+ policy = OpenRTM_aist.NumberingPolicyFactory.instance().createObject(policy_name)
+
+ factory = OpenRTM_aist.FactoryPython(profile, new_func, delete_func, policy)
self._factory.registerObject(factory)
return True
except:
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -0,0 +1,162 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file NamingServiceNumberingPolicy.py
+# @brief Object numbering policy class
+# @date $Date: 2016/02/25$
+# @author Nobuhiko Miyamoto
+#
+
+import string
+import OpenRTM_aist
+import CosNaming
+
+
+
+
+
+
+##
+# @if jp
+#
+# @class NamingServiceNumberingPolicy
+# @brief オブジェクト生成時ネーミング・ポリシー(命名規則)管理用クラス
+# ネーミングサービスからRTCを検索してナンバリングを行う
+#
+#
+# @else
+#
+# @endif
+class NamingServiceNumberingPolicy(OpenRTM_aist.NumberingPolicy):
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief virtual destractor
+ #
+ # @endif
+ def __init__(self):
+ self._num = 0
+ self._objects = []
+ self._mgr = OpenRTM_aist.Manager.instance()
+
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト生成時の名称作成
+ #
+ #
+ #
+ # @param self
+ # @param obj 名称生成対象オブジェクト
+ #
+ # @return 生成したオブジェクト名称
+ #
+ # @else
+ #
+ # @endif
+ def onCreate(self, obj):
+ num = 0
+ while True:
+ num_str = OpenRTM_aist.otos(num)
+
+ name = obj.getTypeName() + num_str
+ if not self.find(name):
+ return num_str
+ else:
+ num += 1
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト削除時の名称解放
+ #
+ #
+ #
+ # @param self
+ # @param obj 名称解放対象オブジェクト
+ #
+ # @else
+ #
+ # @endif
+ def onDelete(self, obj):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief RTCの検索
+ #
+ # ネーミングサービスからRTCをインスタンス名から検索し、
+ # 一致するRTCがある場合はTrueを返す
+ #
+ # @param self
+ # @param context 現在検索中のコンテキスト
+ # @param name RTCのインスタンス名
+ #
+ # @return 判定
+ #
+ # @else
+ #
+ # @endif
+ def find_RTC_by_Name(self, context, name):
+ length = 500
+ bl,bi = context.list(length)
+ for i in bl:
+ if i.binding_type == CosNaming.ncontext:
+ next_context = context.resolve(i.binding_name)
+ if self.find_RTC_by_Name(next_context, name):
+ return True
+ elif i.binding_type == CosNaming.nobject:
+ if i.binding_name[0].id == name and i.binding_name[0].kind == "rtc":
+ return True
+ return False
+
+
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクトの検索
+ #
+ # 指定名のインスタンス名のRTCを検索し、
+ # 一致するRTCが存在する場合はTrueを返す
+ #
+ # @param self
+ # @param name RTCのインスタンス名
+ #
+ # @return 判定
+ #
+ # @else
+ #
+ # @endif
+ def find(self, name):
+ ns = self._mgr._namingManager._names
+ for n in ns:
+ noc = n.ns
+ if noc is None:
+ continue
+ cns = noc._cosnaming
+ if cns is None:
+ continue
+ root_cxt = cns.getRootContext()
+ return self.find_RTC_by_Name(root_cxt, name)
+
+
+
+def NamingServiceNumberingPolicyInit():
+ OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("ns_unique",
+ OpenRTM_aist.NamingServiceNumberingPolicy,
+ OpenRTM_aist.Delete)
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -0,0 +1,149 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file NodeNumberingPolicy.py
+# @brief Object numbering policy class
+# @date $Date: 2016/02/25$
+# @author Nobuhiko Miyamoto
+#
+
+import string
+import OpenRTM_aist
+
+
+
+
+
+##
+# @if jp
+#
+# @class NodeNumberingPolicy
+# @brief オブジェクト生成時ネーミング・ポリシー(命名規則)管理用クラス
+# マスターマネージャ、スレーブマネージャからRTCを検索してナンバリングを行う
+#
+#
+#
+# @since 0.4.0
+#
+# @else
+#
+# @endif
+class NodeNumberingPolicy(OpenRTM_aist.NumberingPolicy):
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief virtual destractor
+ #
+ # @endif
+ def __init__(self):
+ self._mgr = OpenRTM_aist.Manager.instance()
+
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト生成時の名称作成
+ #
+ #
+ # @param self
+ # @param obj 名称生成対象オブジェクト
+ #
+ # @return 生成したオブジェクト名称
+ #
+ # @else
+ #
+ # @endif
+ def onCreate(self, obj):
+ num = 0
+ while True:
+ num_str = OpenRTM_aist.otos(num)
+
+ name = obj.getTypeName() + num_str
+ if not self.find(name):
+ return num_str
+ else:
+ num += 1
+
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト削除時の名称解放
+ #
+ #
+ # @param self
+ # @param obj 名称解放対象オブジェクト
+ #
+ # @else
+ #
+ # @endif
+ def onDelete(self, obj):
+ pass
+
+
+
+
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクトの検索
+ #
+ # マスターマネージャ、およびスレーブマネージャに登録されたRTCを検索し、
+ # 名前が一致するRTCが存在する場合はTrueを返す
+ # このプロセスで起動したマネージャがマスターマネージャではなく、
+ # さらにマスターマネージャが1つも登録されていない場合はこのプロセスのマネージャから検索
+ #
+ # @param self
+ # @param name 検索対象オブジェクトの名前
+ #
+ # @return 判定
+ #
+ # @else
+ #
+ # @endif
+ def find(self, name):
+ rtcs = []
+ mgr_servant = self._mgr._mgrservant
+ master_mgr = None
+ if mgr_servant.is_master():
+ master_mgr = mgr_servant.getObjRef()
+ else:
+ masters = mgr_servant.get_master_managers()
+ if len(masters) > 0:
+ master_mgr = masters[0]
+ else:
+ master_mgr = mgr_servant.getObjRef()
+
+ rtcs = master_mgr.get_components_by_name(name)
+ if len(rtcs) > 0:
+ return True
+ slaves = master_mgr.get_slave_managers()
+ for ms in slaves:
+ rtcs = ms.get_components_by_name(name)
+ if len(rtcs) > 0:
+ return True
+
+
+
+ return False
+
+
+
+
+def NodeNumberingPolicyInit():
+ OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("node_unique",
+ OpenRTM_aist.NodeNumberingPolicy,
+ OpenRTM_aist.Delete)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py 2016-02-24 21:26:48 UTC (rev 657)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -17,6 +17,9 @@
import string
import OpenRTM_aist
+
+
+
##
# @if jp
#
@@ -34,7 +37,7 @@
# @else
#
# @endif
-class NumberingPolicy:
+class NumberingPolicy(OpenRTM_aist.NumberingPolicyBase):
"""
"""
@@ -87,8 +90,8 @@
def onDelete(self, obj):
pass
+
-
##
# @if jp
#
@@ -204,5 +207,10 @@
return i
i += 1
raise NumberingPolicy.ObjectNotFound()
-
+
+def DefaultNumberingPolicyInit():
+ OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("process_unique",
+ OpenRTM_aist.DefaultNumberingPolicy,
+ OpenRTM_aist.Delete)
+
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicyBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicyBase.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicyBase.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -0,0 +1,48 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file NumberingPolicyBase.py
+# @brief Object numbering policy base class
+# @date $Date: 2016/02/25$
+# @author Nobuhiko Miyamoto
+#
+
+
+import string
+import OpenRTM_aist
+
+
+##
+# @if jp
+#
+# @class NumberingPolicyBase
+# @brief オブジェクト生成時ネーミング・ポリシー(命名規則)管理用基底クラス
+#
+#
+#
+# @else
+#
+# @endif
+class NumberingPolicyBase:
+ def __init__(self):
+ pass
+ def onCreate(self, obj):
+ pass
+ def onDelete(self, obj):
+ pass
+
+
+
+numberingpolicyfactory = None
+
+class NumberingPolicyFactory(OpenRTM_aist.Factory):
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self)
+ def instance():
+ global numberingpolicyfactory
+ if numberingpolicyfactory is None:
+ numberingpolicyfactory = NumberingPolicyFactory()
+ return numberingpolicyfactory
+ instance = staticmethod(instance)
+
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py 2016-02-24 21:26:48 UTC (rev 657)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py 2016-02-25 05:27:39 UTC (rev 658)
@@ -30,7 +30,6 @@
from CdrBufferBase import *
from CdrRingBuffer import *
from DataPortStatus import *
-from NumberingPolicy import *
from Listener import *
from ListenerHolder import *
from LocalServiceBase import *
@@ -109,3 +108,8 @@
from OutPortSHMConsumer import *
from OutPortSHMProvider import *
from CORBA_RTCUtil import *
+from NumberingPolicyBase import *
+from NumberingPolicy import *
+from NodeNumberingPolicy import *
+from NamingServiceNumberingPolicy import *
+
More information about the openrtm-commit
mailing list