[openrtm-commit:01818] r684 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 3月 6日 (日) 23:34:07 JST
Author: miyamoto
Date: 2016-03-06 23:34:07 +0900 (Sun, 06 Mar 2016)
New Revision: 684
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
Log:
[incompat,new_func,->RELENG_1_2] add findManager_by_name() and create_component_by_mgrname() to ManagerServant. refs #3413
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2016-03-06 13:25:33 UTC (rev 683)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2016-03-06 14:34:07 UTC (rev 684)
@@ -295,92 +295,45 @@
def create_component(self, module_name):
self._rtcout.RTC_TRACE("create_component(%s)", module_name)
- arg = module_name
- pos0 = arg.find("&manager=")
- pos1 = arg.find("?manager=")
+
+ rtc = self.create_component_by_address(module_name)
+ if not CORBA.is_nil(rtc):
+ return rtc
+
+ rtc = self.create_component_by_mgrname(module_name)
+
+ if not CORBA.is_nil(rtc):
+ return rtc
+
- if pos0 == -1 and pos1 == -1:
- # create on this manager
- rtc = self._mgr.createComponent(module_name)
- if not rtc:
- return RTC.RTObject._nil
- return rtc.getObjRef()
- # create other manager
-
- # extract manager's location
- # since Python2.5
- # pos = (lambda x: pos0 if x == -1 else pos1)(pos0)
- if pos0 == -1:
- pos = pos1
- else:
- pos = pos0
- endpos = arg.find('&', pos + 1)
- if endpos == -1:
- mgrstr = arg[(pos + 1):]
- else:
- mgrstr = arg[(pos + 1): endpos]
- self._rtcout.RTC_VERBOSE("Manager arg: %s", mgrstr)
- mgrvstr = mgrstr.split(":")
- if len(mgrvstr) != 2:
- self._rtcout.RTC_WARN("Invalid manager name: %s", mgrstr)
- return RTC.RTObject._nil
+ if self._isMaster:
+ guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
+ for slave in self._slaves:
+ try:
+ rtc = slave.create_component(module_name)
+ if not CORBA.is_nil(rtc):
+ return rtc
+ except:
+ self._rtcout.RTC_ERROR("Unknown exception cought.")
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+ del guard
- eqpos = mgrstr.find("=")
- if eqpos == -1:
- self._rtcout.RTC_WARN("Invalid argument: %s", module_name)
- return RTC.RTObject._nil
- mgrstr = mgrstr[eqpos + 1:]
- self._rtcout.RTC_DEBUG("Manager is %s", mgrstr)
+ # create on this manager
+
+ rtc = self._mgr.createComponent(module_name)
+ if rtc:
+ return rtc.getObjRef()
+
- # find manager
- mgrobj = self.findManager(mgrstr)
- if CORBA.is_nil(mgrobj):
- cmd = "rtcd_python -p "
- cmd += mgrvstr[1] # port number
+
+ return RTC.RTObject._nil
- 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
- # create component on the manager
- if endpos == -1:
- arg = arg[:pos]
- else:
- arg = arg[:pos] + arg[endpos:]
- 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
-
##
# @if jp
@@ -921,6 +874,7 @@
return True
+
##
# @if jp
# @brief Managerのリファレンスを検索する。
@@ -992,8 +946,281 @@
return crtcs
+ ##
+ # @if jp
+ # @brief 指定名のマネージャを取得
+ # 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 self
+ # @param manager_name マネージャ名
+ # @return マネージャ
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param manager_name
+ # @return
+ # @endif
+ # RTC::Manager_ptr findManager_by_name(string manager_name)
+ def findManager_by_name(self, manager_name):
+ self._rtcout.RTC_TRACE("findManager_by_name(manager_name = %s)", manager_name)
+ 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())
+ del guard
+ else:
+ guard = OpenRTM_aist.ScopedLock(self._masterMutex)
+ for master in self._masters:
+ for slave in master.get_slave_managers():
+ 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())
+ 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
+
+ ##
+ # @if jp
+ # @brief 指定のマネージャでRTCを起動する
+ # comp&manager_name=mgr
+ # のようにRTC名&manager_name=マネージャ名と指定する
+ # @param self
+ # @param module_name 起動するRTC、マネージャ名
+ # @return RTC
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param module_name
+ # @return
+ # @endif
+ # RTC::RTObject_ptr create_component_by_mgrname(string module_name)
+ def create_component_by_mgrname(self, module_name):
+ arg = module_name
+ pos0 = arg.find("&manager_name=")
+ pos1 = arg.find("?manager_name=")
+
+ if pos0 == -1 and pos1 == -1:
+ return RTC.RTObject._nil
+
+ if pos0 == -1:
+ pos = pos1
+ else:
+ pos = pos0
+
+ endpos = arg.find('&', pos + 1)
+ if endpos == -1:
+ mgrstr = arg[(pos + 1):]
+ else:
+ mgrstr = arg[(pos + 1): endpos]
+ self._rtcout.RTC_VERBOSE("Manager arg: %s", mgrstr)
+
+
+ eqpos = mgrstr.find("=")
+ if eqpos == -1:
+ self._rtcout.RTC_WARN("Invalid argument: %s", module_name)
+ return RTC.RTObject._nil
+
+ mgrstr = mgrstr[eqpos + 1:]
+ self._rtcout.RTC_DEBUG("Manager is %s", mgrstr)
+
+ mgrobj = self.findManager_by_name(mgrstr)
+
+ if CORBA.is_nil(mgrobj):
+ self._rtcout.RTC_WARN("%s cannot be found.", mgrstr)
+ config = copy.deepcopy(self._mgr.getConfig())
+ cmd = "rtcd_python"
+ 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
+
+
+
+ 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
+
+
+
+
+
+ if endpos == -1:
+ arg = arg[:pos]
+ else:
+ arg = arg[:pos] + arg[endpos:]
+
+ 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
+
+
+
+ ##
+ # @if jp
+ # @brief 指定のマネージャでRTCを起動する
+ # 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
+ # @param self
+ # @param module_name 起動するRTC、マネージャのホストアドレス
+ # @return RTC
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param module_name
+ # @return
+ # @endif
+ # RTC::RTObject_ptr create_component_by_address(string module_name)
+ def create_component_by_address(self, module_name):
+
+ arg = module_name
+ pos0 = arg.find("&manager_address=")
+ pos1 = arg.find("?manager_address=")
+
+ if pos0 == -1 and pos1 == -1:
+ return RTC.RTObject._nil
+
+ # create other manager
+
+ # extract manager's location
+ # since Python2.5
+ # pos = (lambda x: pos0 if x == -1 else pos1)(pos0)
+ if pos0 == -1:
+ pos = pos1
+ else:
+ pos = pos0
+
+ endpos = arg.find('&', pos + 1)
+ if endpos == -1:
+ mgrstr = arg[(pos + 1):]
+ else:
+ mgrstr = arg[(pos + 1): endpos]
+ self._rtcout.RTC_VERBOSE("Manager arg: %s", mgrstr)
+ mgrvstr = mgrstr.split(":")
+ if len(mgrvstr) != 2:
+ self._rtcout.RTC_WARN("Invalid manager name: %s", mgrstr)
+ return RTC.RTObject._nil
+
+ eqpos = mgrstr.find("=")
+ if eqpos == -1:
+ self._rtcout.RTC_WARN("Invalid argument: %s", module_name)
+ return RTC.RTObject._nil
+
+ mgrstr = mgrstr[eqpos + 1:]
+ self._rtcout.RTC_DEBUG("Manager is %s", mgrstr)
+
+ # find manager
+ mgrobj = self.findManager(mgrstr)
+ if CORBA.is_nil(mgrobj):
+ cmd = "rtcd_python -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
+
+ # create component on the manager
+ if endpos == -1:
+ arg = arg[:pos]
+ else:
+ arg = arg[:pos] + arg[endpos:]
+ 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
+
+
+
class is_equiv:
def __init__(self, mgr):
self._mgr = mgr
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