[openrtm-commit:02099] r733 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 11月 1日 (火) 17:54:06 JST
Author: miyamoto
Date: 2016-11-01 17:54:06 +0900 (Tue, 01 Nov 2016)
New Revision: 733
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
Log:
[compat,bugfix,->RELENG_1_2] fixed bug.
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2016-11-01 08:26:42 UTC (rev 732)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2016-11-01 08:54:06 UTC (rev 733)
@@ -26,6 +26,7 @@
import OpenRTM_aist
import RTC
import SDOPackage
+import CosNaming
#------------------------------------------------------------
@@ -437,17 +438,10 @@
if self._initProc:
self._initProc(self)
- comps = [s.strip() for s in self._config.getProperty("manager.components.precreate").split(",")]
- for i in range(len(comps)):
- if comps[i] is None or comps[i] == "":
- continue
- tmp = [comps[i]]
- OpenRTM_aist.eraseHeadBlank(tmp)
- OpenRTM_aist.eraseTailBlank(tmp)
- comps[i] = tmp[0]
+ self.initPreCreation()
+ self.initPreActivation()
+ self.initPreConnection()
- self.createComponent(comps[i])
-
return True
@@ -656,7 +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:
@@ -714,13 +714,6 @@
# @endif
def registerECFactory(self, name, new_func, delete_func):
self._rtcout.RTC_TRACE("Manager.registerECFactory(%s)", name)
- """try:
- self._ecfactory.registerObject(OpenRTM_aist.ECFactoryPython(name, new_func, delete_func))
- return True
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return False
- """
try:
OpenRTM_aist.ExecutionContextFactory.instance().addFactory(name,
new_func,
@@ -729,7 +722,7 @@
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
return False
-
+
return False
@@ -912,6 +905,10 @@
if self._config.findNode(inherit_prop[i]):
prop.setProperty(inherit_prop[i],self._config.getProperty(inherit_prop[i]))
+ prop_ = prop.getNode("port")
+ prop_.mergeProperties(self._config.getNode("port"))
+
+
comp = factory.create(self)
if comp is None:
@@ -956,13 +953,6 @@
comp_id.getProperty("implementation_id"))
self._listeners.rtclifecycle_.postInitialize()
self.registerComponent(comp)
-
- poa = self._orb.resolve_initial_references("omniINSPOA")
- poa._get_the_POAManager().activate()
- id = comp.getCategory()+"/"+comp.getInstanceName()
-
- poa.activate_object_with_id(id, comp)
-
return comp
@@ -994,6 +984,20 @@
self._namingManager.bindObject(name, comp)
self._listeners.naming_.postBind(comp, names)
+ self.publishPorts(comp)
+ self.subscribePorts(comp)
+
+ try:
+ poa = self._orb.resolve_initial_references("omniINSPOA")
+ poa._get_the_POAManager().activate()
+ id = comp.getCategory() + "/" + comp.getInstanceName()
+ poa.activate_object_with_id(id, comp)
+
+ except:
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+
+
+
return True
@@ -1022,6 +1026,16 @@
self._namingManager.unbindObject(name)
self._listeners.naming_.postUnbind(comp, names)
+ try:
+ poa = self._orb.resolve_initial_references("omniINSPOA")
+ poa._get_the_POAManager().activate()
+ id = comp.getCategory() + "/" + comp.getInstanceName()
+ poa.deactivate_object(id)
+ except:
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+
+
+
return True
@@ -1049,17 +1063,13 @@
if not self.procContextArgs(ec_args, ec_id, ec_prop):
return None
- #factory = self._ecfactory.find(ec_id[0])
-
avail_ec_ = OpenRTM_aist.ExecutionContextFactory.instance().getIdentifiers()
-
- #if factory == None:
if not ec_id[0] in avail_ec_:
self._rtcout.RTC_ERROR("Factory not found: %s", ec_id[0])
return None
- #ec = factory.create()
+
ec = OpenRTM_aist.ExecutionContextFactory.instance().createObject(ec_id[0])
ec.init(ec_prop)
return ec
@@ -1351,6 +1361,21 @@
OpenRTM_aist.Manager.cleanupComponents,
tm)
+
+ lmpm_ = [s.strip() for s in self._config.getProperty("manager.preload.modules").split(",")]
+ for mpm_ in lmpm_:
+ tmp = [mpm_]
+ OpenRTM_aist.eraseHeadBlank(tmp)
+ OpenRTM_aist.eraseTailBlank(tmp)
+ mpm_ = tmp[0]
+ if len(mpm_) == 0:
+ continue
+ basename_ = mpm_.split(".")[0]+"Init"
+ try:
+ self._module.load(mpm_, basename_)
+ except:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
return
@@ -1514,6 +1539,7 @@
args = OpenRTM_aist.split(self.createORBOptions(), " ")
args.insert(0,"manager")
argv = OpenRTM_aist.toArgv(args)
+
self._orb = CORBA.ORB_init(argv)
self._poa = self._orb.resolve_initial_references("RootPOA")
@@ -1782,6 +1808,7 @@
def shutdownNaming(self):
self._rtcout.RTC_TRACE("Manager.shutdownNaming()")
comps = self.getComponents()
+
for comp in comps:
names = comp.getNamingNames()
self._listeners.naming_.preUnbind(comp, names)
@@ -1958,7 +1985,6 @@
#
# @endif
def shutdownComponents(self):
-
self._rtcout.RTC_TRACE("Manager.shutdownComponents()")
comps = self._namingManager.getObjects()
for comp in comps:
@@ -1976,7 +2002,6 @@
except:
self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
pass
-
##
@@ -2018,7 +2043,6 @@
guard = OpenRTM_aist.ScopedLock(self._finalized.mutex)
self._rtcout.RTC_VERBOSE("%d components are marked as finalized.",
len(self._finalized.comps))
-
for _comp in self._finalized.comps:
self.deleteComponent(comp=_comp)
@@ -2415,9 +2439,435 @@
return
+
+
+
+ ##
+ # @if jp
+ #
+ # @brief 指定したRTコンポーネントの保持するポートをNamingServiceにバインドする
+ # ポートのpublish_topicというプロパティでトピック名を設定し、トピック名のコンテキストの下に登録
+ #
+ #
+ # @param self
+ # @param comp RTコンポーネント
+ #
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param comp
+ #
+ # @endif
+ # void publishPorts(RTObject_impl* comp)
+ def publishPorts(self, comp):
+ ports = comp.get_ports()
+ for p in ports:
+ prof = p.get_port_profile()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
+
+ if (prop.hasKey("publish_topic") is None or not str(prop.getProperty("publish_topic"))) and (prop.hasKey("subscribe_topic") is None or not str(prop.getProperty("subscribe_topic"))) and (prop.hasKey("rendezvous_point") is None or not str(prop.getProperty("rendezvous_point"))):
+ continue
+
+
+ if prop.getProperty("port.port_type") == "DataOutPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
+ name += prof.name
+ name += ".outport"
+ elif prop.getProperty("port.port_type") == "DataInPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
+ name += prof.name
+ name += ".inport"
+ elif prop.getProperty("port.port_type") == "CorbaPort":
+ name = "svcports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
+ name += prof.name
+ name += ".svc"
+
+ else:
+
+ self._rtcout.RTC_WARN("Unknown port type: %s" % str(prop.getProperty("port.port_type")))
+ continue
+
+
+ port = self._poa.reference_to_servant(p)
+
+ self._namingManager.bindPortObject(name, port)
+
+ ##
+ # @if jp
+ #
+ # @brief 指定したRTコンポーネントの保持するポートを同じトピック名以下の接続可能なポートと接続
+ #
+ #
+ # @param self
+ # @param comp RTコンポーネント
+ #
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param comp
+ #
+ # @endif
+ # void subscribePorts(RTObject_impl* comp)
+ def subscribePorts(self, comp):
+ ports = comp.get_ports()
+
+ for p in ports:
+
+ prof = p.get_port_profile()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
+
+ if (prop.hasKey("publish_topic") is None or not str(prop.getProperty("publish_topic"))) and (prop.hasKey("subscribe_topic") is None or not str(prop.getProperty("subscribe_topic"))) and (prop.hasKey("rendezvous_point") is None or not str(prop.getProperty("rendezvous_point"))):
+ continue
+
+
+
+
+ if prop.getProperty("port.port_type") == "DataOutPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
+
+ nsports = self.getPortsOnNameServers(name, "inport")
+
+ self.connectDataPorts(p, nsports)
+
+ elif prop.getProperty("port.port_type") == "DataInPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
+ nsports = self.getPortsOnNameServers(name, "outport")
+ self.connectDataPorts(p, nsports)
+
+ elif prop.getProperty("port.port_type") == "CorbaPort":
+ name = "svcports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
+ nsports = self.getPortsOnNameServers(name, "svc")
+ self.connectServicePorts(p, nsports)
+
+ ##
+ # @if jp
+ #
+ # @brief 与えられたパス以下の指定されたkindのポートを取得する
+ #
+ # @param self
+ # @param nsname パス
+ # @param kind kind
+ # @return ポートのオブジェクトリファレンスのリスト
+ #
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param nsname
+ # @param kind
+ # @return
+ #
+ # @endif
+ # PortServiceList_var getPortsOnNameServers(std::string nsname,std::string kind)
+ def getPortsOnNameServers(self, nsname, kind):
+ ports = []
+ ns = self._namingManager.getNameServices()
+ for n in ns:
+ noc = n.ns
+ if noc is None:
+ continue
+ cns = noc._cosnaming
+ if cns is None:
+ continue
+
+ bl = cns.listByKind(nsname,kind)
+
+ for b in bl:
+ if b.binding_type != CosNaming.nobject:
+ continue
+ tmp = b.binding_name[0].id + "." + b.binding_name[0].kind
+
+ nspath = "/" + nsname + "/" + tmp
+ nspath.replace("\\","")
+
+ obj = cns.resolveStr(nspath)
+ portsvc = obj
+
+ if CORBA.is_nil(portsvc):
+ continue
+
+ try:
+ p = portsvc.get_port_profile()
+
+ except:
+ continue
+ ports.append(portsvc)
+
+ return ports
+
+ ##
+ # @if jp
+ # @brief 指定したデータポートを指定したリスト内のデータポート全てと接続する
+ # @param self
+ # @param port 対象のデータポート
+ # @param target_ports 接続対象のデータポートのリスト
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param port
+ # @param target_ports
+ # @endif
+ # void connectDataPorts(PortService_ptr port,PortServiceList_var& target_ports)
+ def connectDataPorts(self, port, target_ports):
+ for p in target_ports:
+ if port._is_equivalent(p):
+ continue
+ con_name = ""
+ p0 = port.get_port_profile()
+ p1 = p.get_port_profile()
+ con_name += p0.name
+ con_name += ":"
+ con_name += p1.name
+ prop = OpenRTM_aist.Properties()
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(con_name,prop,port,p):
+ self._rtcout.RTC_ERROR("Connection error in topic connection.")
+
+
+ ##
+ # @if jp
+ # @brief 指定したサービスポートを指定したリスト内のサービスポート全てと接続する
+ # @param self
+ # @param port 対象のサービスポート
+ # @param target_ports 接続対象のサービスポートのリスト
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param port
+ # @param target_ports
+ # @endif
+ # void connectServicePorts(PortService_ptr port,PortServiceList_var& target_ports)
+ def connectServicePorts(self, port, target_ports):
+ for p in target_ports:
+ if port._is_equivalent(p):
+ continue
+ con_name = ""
+ p0 = port.get_port_profile()
+ p1 = p.get_port_profile()
+ con_name += p0.name
+ con_name += ":"
+ con_name += p1.name
+ prop = OpenRTM_aist.Properties()
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(con_name,prop,port,p):
+ self._rtcout.RTC_ERROR("Connection error in topic connection.")
+
+
+ ##
+ # @if jp
+ # @brief 起動時にrtc.confで指定したポートを接続する
+ # 例:
+ # manager.components.preconnect: RTC0.port0^RTC0.port1(interface_type=corba_cdr&dataflow_type=pull&~),~
+ # @param self
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void initPreConnection()
+ def initPreConnection(self):
+ self._rtcout.RTC_TRACE("Connection pre-creation: %s" % str(self._config.getProperty("manager.components.preconnect")))
+ connectors = str(self._config.getProperty("manager.components.preconnect")).split(",")
+
+ for c in connectors:
+ tmp = [c]
+ OpenRTM_aist.eraseHeadBlank(tmp)
+ OpenRTM_aist.eraseTailBlank(tmp)
+ c = tmp[0]
+ if len(c) == 0:
+ continue
+ conn_prop = c.split("(")
+ if len(conn_prop) < 2:
+ self._rtcout.RTC_ERROR("Invalid format for pre-connection.")
+ continue
+ conn_prop[1] = conn_prop[1].replace(")","")
+ comp_ports = conn_prop[0].split("^")
+ if len(comp_ports) != 2:
+ self._rtcout.RTC_ERROR("Invalid format for pre-connection.")
+ self._rtcout.RTC_ERROR("Format must be Comp0.port0:Comp1.port1")
+ continue
+
+ comp0_name = comp_ports[0].split(".")[0]
+ port0_name = comp_ports[0]
+
+ if comp0_name.find("://") == -1:
+ comp0 = self.getComponent(comp0_name)
+ if comp0 is None:
+ self._rtcout.RTC_ERROR("%s not found." % comp0_name)
+ continue
+ comp0_ref = comp0.getObjRef()
+ else:
+ rtcs = self._namingManager.string_to_component(comp0_name)
+
+ if len(rtcs) == 0:
+ self._rtcout.RTC_ERROR("%s not found." % comp0_name)
+ continue
+ comp0_ref = rtcs[0]
+ port0_name = comp_ports[0].split("/")[-1]
+
+
+
+ port0_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(comp0_ref, port0_name)
+
+ if CORBA.is_nil(port0_var):
+ self._rtcout.RTC_DEBUG("port %s found: " % comp_ports[0])
+ continue
+
+ comp1_name = comp_ports[1].split(".")[0]
+ port1_name = comp_ports[1]
+
+
+
+
+ if comp1_name.find("://") == -1:
+ comp1 = self.getComponent(comp1_name)
+ if comp1 is None:
+ self._rtcout.RTC_ERROR("%s not found." % comp1_name)
+ continue
+ comp1_ref = comp1.getObjRef()
+ else:
+ rtcs = self._namingManager.string_to_component(comp1_name)
+
+ if len(rtcs) == 0:
+ self._rtcout.RTC_ERROR("%s not found." % comp1_name)
+ continue
+ comp1_ref = rtcs[0]
+ port1_name = comp_ports[1].split("/")[-1]
+
+
+ port1_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(comp1_ref, port1_name)
+
+ if CORBA.is_nil(port1_var):
+ self._rtcout.RTC_DEBUG("port %s found: " % comp_ports[1])
+ continue
+
+ prop = OpenRTM_aist.Properties()
+ opt_props = conn_prop[1].split("&")
+ for o in opt_props:
+ temp = o.split("=")
+ if len(temp) == 2:
+ prop.setProperty("dataport."+temp[0],temp[1])
+
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(c, prop, port0_var, port1_var):
+ self._rtcout.RTC_ERROR("Connection error: %s" % c)
+
+
+
+
+ ##
+ # @if jp
+ # @brief 起動時にrtc.confで指定したRTCをアクティベーションする
+ # 例:
+ # manager.components.preactivation: RTC1,RTC2~
+ # @param self
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void initPreActivation()
+ def initPreActivation(self):
+
+ self._rtcout.RTC_TRACE("Components pre-activation: %s" % str(self._config.getProperty("manager.components.preactivation")))
+ comps = str(self._config.getProperty("manager.components.preactivation")).split(",")
+ for c in comps:
+ tmp = [c]
+ OpenRTM_aist.eraseHeadBlank(tmp)
+ OpenRTM_aist.eraseTailBlank(tmp)
+ c = tmp[0]
+ if c:
+ if c.find("://") == -1:
+ comp = self.getComponent(c)
+ if comp is None:
+ self._rtcout.RTC_ERROR("%s not found." % c)
+ continue
+ comp_ref = comp.getObjRef()
+ else:
+ rtcs = self._namingManager.string_to_component(c)
+ if len(rtcs) == 0:
+ self._rtcout.RTC_ERROR("%s not found." % c)
+ continue
+ comp_ref = rtcs[0]
+ ret = OpenRTM_aist.CORBA_RTCUtil.activate(comp_ref)
+ if ret != RTC.RTC_OK:
+ self._rtcout.RTC_ERROR("%s activation filed." % c)
+ else:
+ self._rtcout.RTC_INFO("%s activated." % c)
+
+
+ ##
+ # @if jp
+ # @brief 起動時にrtc.confで指定したRTCを生成する
+ # 例:
+ # manager.components.precreate RTC1,RTC2~
+ # @param self
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void initPreCreation()
+ def initPreCreation(self):
+ comps = [s.strip() for s in self._config.getProperty("manager.components.precreate").split(",")]
+ for i in range(len(comps)):
+ if comps[i] is None or comps[i] == "":
+ continue
+ tmp = [comps[i]]
+ OpenRTM_aist.eraseHeadBlank(tmp)
+ OpenRTM_aist.eraseTailBlank(tmp)
+ comps[i] = tmp[0]
+
+ self.createComponent(comps[i])
+
+ ##
+ # @if jp
+ # @brief ManagerServantを取得する
+ #
+ #
+ # @param self
+ # @return ManagerServant
+ # @else
+ #
+ # @brief
+ # @param self
+ # @return
+ # @endif
+ # ManagerServant* getManagerServant()
+ def getManagerServant(self):
+ self._rtcout.RTC_TRACE("Manager.getManagerServant()")
+ return self._mgrservant
+
+
+ ##
+ # @if jp
+ # @brief NamingManagerを取得する
+ #
+ #
+ # @param self
+ # @return NamingManager
+ # @else
+ #
+ # @brief
+ # @param self
+ # @return
+ # @endif
+ # NamingManager* getNaming()
def getNaming(self):
+ self._rtcout.RTC_TRACE("Manager.getNaming()")
return self._namingManager
+
+
#============================================================
# コンポーネントマネージャ
#============================================================
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