[openrtm-commit:01776] r674 - trunk/OpenRTM-aist-Python/OpenRTM_aist

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2016-02-27 16:51:41 +0900 (Sat, 27 Feb 2016)
New Revision: 674

Modified:
   trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingManager.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py
Log:
[compat,bugfix,->RELENG_1_2] The bug of NamingOnCorba.string_to_component() has been fixed. refs #3401.

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingManager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingManager.py	2016-02-27 02:35:11 UTC (rev 673)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingManager.py	2016-02-27 07:51:41 UTC (rev 674)
@@ -22,6 +22,8 @@
 import OpenRTM_aist
 import CORBA
 import RTM
+import RTC
+import CosNaming
 
 
 ##
@@ -255,6 +257,42 @@
     return self._cosnaming.isAlive()
 
 
+  ##
+  # @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のリストを取得する
+  # 
+  # @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
+  # @param rtcs RTCのリスト
+  #
+  # @return
+  #
+  # @else
+  #
+  # @endif
+  def get_RTC_by_Name(self, context, name, rtcs):
+    length = 500
+    bl,bi = context.list(length)
+    for i in bl:
+      if i.binding_type == CosNaming.ncontext:
+        next_context = context.resolve(i.binding_name)
+        self.get_RTC_by_Name(next_context, name, rtcs)
+      elif i.binding_type == CosNaming.nobject:
+        
+        if i.binding_name[0].id == name and i.binding_name[0].kind == "rtc":
+          try:
+            cc = OpenRTM_aist.CorbaConsumer()
+            cc.setObject(context.resolve(i.binding_name))
+            obj = cc.getObject()._narrow(RTC.RTObject)
+            rtcs.append(obj)
+          except:
+            self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+    
 
   ##
   # @if jp
@@ -282,19 +320,28 @@
         r = url.split("/")
         if len(r) > 1:
           host = r[0]
-          rtc_name = url.replace(host+"/","")
+          
+          rtc_name = url[len(host)+1:]
+          
           try:
             if host == "*":
               cns = self._cosnaming
             else:
               orb = OpenRTM_aist.Manager.instance().getORB()
               cns = OpenRTM_aist.CorbaNaming(orb,host)
-            rtc_name += ".rtc"
-            obj = cns.resolveStr(rtc_name)
-            if CORBA.is_nil(obj):
-              return []
-            rtc_list.append(obj)
-            return rtc_list
+            names = rtc_name.split("/")
+            
+            if len(names) == 2 and names[0] == "*":
+              root_cxt = cns.getRootContext()
+              self.get_RTC_by_Name(root_cxt, names[1], rtc_list)
+              return rtc_list
+            else:
+              rtc_name += ".rtc"
+              obj = cns.resolveStr(rtc_name)
+              if CORBA.is_nil(obj):
+                return []
+              rtc_list.append(obj)
+              return rtc_list
           except:
             return []
 
@@ -455,7 +502,7 @@
         r = url.split("/")
         if len(r) > 1:
           host = r[0]
-          rtc_name = url.replace(host+"/","")
+          rtc_name = url[len(host)+1:]
           
           mgr = self.getManager(host)
           if mgr:

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py	2016-02-27 02:35:11 UTC (rev 673)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py	2016-02-27 07:51:41 UTC (rev 674)
@@ -10,13 +10,13 @@
 
 import string
 import OpenRTM_aist
-import CosNaming
 
 
 
 
 
 
+
 ##
 # @if jp
 #
@@ -94,35 +94,7 @@
   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
+  
         
     
 
@@ -143,19 +115,17 @@
   #
   # @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)
+    rtcs = []
+    rtc_name = "rtcname://*/*/"
+    rtc_name += name
+    rtcs = self._mgr._namingManager.string_to_component(rtc_name)
+    
+    if len(rtcs) > 0:
+      return True
+    else:
+      return False
 
 
-
 def NamingServiceNumberingPolicyInit():
   OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("ns_unique",
                                                       OpenRTM_aist.NamingServiceNumberingPolicy,