[openrtm-commit:02289] r789 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 1月 21日 (土) 17:41:43 JST
Author: n-ando
Date: 2017-01-21 17:41:43 +0900 (Sat, 21 Jan 2017)
New Revision: 789
Added:
trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_IORUtil.py
Log:
[incompat,newfunc] Now corba.endpoint is depricated. corba.endpoints property now has actual endpoint information. refs #3873
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_IORUtil.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_IORUtil.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_IORUtil.py 2017-01-21 08:41:43 UTC (rev 789)
@@ -0,0 +1,285 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file CORBA_IORUtil.py
+# @brief CORBA IOR utility
+# @date $Date$
+# @author Noriaki Ando
+#
+
+from omniORB import CORBA
+from omniORB import *
+from omniORB import any
+from IORProfile_idl import *
+from IORProfile_idl import _0__GlobalIDL
+endian = True
+class IOP:
+ TAG_INTERNET_IOP = 0;
+ TAG_MULTIPLE_COMPONENTS = 1;
+ TAG_SCCP_IOP = 2;
+ DEFAULT_CORBALOC_PORT = 2809;
+
+ ProfileID = { TAG_INTERNET_IOP: "TAG_INTERNET_IOP",
+ TAG_MULTIPLE_COMPONENTS: "TAG_MULTIPLE_COMPONENTS",
+ TAG_SCCP_IOP: "TAG_SCCP_IOP",
+ DEFAULT_CORBALOC_PORT: "DEFAULT_CORBALOC_PORT"
+ }
+ # ComponentId
+ TAG_ORB_TYPE = 0;
+ TAG_CODE_SETS = 1;
+ TAG_POLICIES = 2;
+ TAG_ALTERNATE_IIOP_ADDRESS = 3;
+ TAG_COMPLETE_OBJECT_KEY = 5;
+ TAG_ENDPOINT_ID_POSITION = 6;
+ TAG_LOCATION_POLICY = 12;
+ TAG_ASSOCIATION_OPTIONS = 13;
+ TAG_SEC_NAME = 14;
+ TAG_SPKM_1_SEC_MECH = 15;
+ TAG_SPKM_2_SEC_MECH = 16;
+ TAG_KERBEROSV5_SEC_MECH = 17;
+ TAG_CSI_ECMA_SECRET_SEC_MECH = 18;
+ TAG_CSI_ECMA_HYBRID_SEC_MECH = 19;
+ TAG_SSL_SEC_TRANS = 20;
+ TAG_CSI_ECMA_PUBLIC_SEC_MECH = 21;
+ TAG_GENERIC_SEC_MECH = 22;
+ TAG_FIREWALL_TRANS = 23;
+ TAG_SCCP_CONTACT_INFO = 24;
+ TAG_JAVA_CODEBASE = 25;
+ TAG_CSI_SEC_MECH_LIST = 33;
+ TAG_NULL_TAG = 34;
+ TAG_TLS_SEC_TRANS = 36;
+ TAG_DCE_STRING_BINDING = 100;
+ TAG_DCE_BINDING_NAME = 101;
+ TAG_DCE_NO_PIPES = 102;
+ TAG_DCE_SEC_MECH = 103;
+ TAG_INET_SEC_TRANS = 123;
+ TAG_GROUP = 90001; # XXX NEED THE REAL CONSTANT !!
+ TAG_PRIMARY = 90002; # XXX NEED THE REAL CONSTANT!
+ TAG_HEARTBEAT_ENABLED = 90003; # XXX NEED THE REAL CONSTANT !
+ # omniORB specific IDs
+ TAG_OMNIORB_BIDIR = 0x41545401;
+ TAG_OMNIORB_UNIX_TRANS = 0x41545402;
+ TAG_OMNIORB_PERSISTENT_ID = 0x41545403;
+ TAG_OMNIORB_RESTRICTED_CONNECTION = 0x41545404;
+ ComponentID = { TAG_ORB_TYPE: "TAG_ORB_TYPE",
+ TAG_CODE_SETS: "TAG_CODE_SETS",
+ TAG_POLICIES: "TAG_POLICIES",
+ TAG_ALTERNATE_IIOP_ADDRESS: "TAG_ALTERNATE_IIOP_ADDRESS",
+ TAG_COMPLETE_OBJECT_KEY: "TAG_COMPLETE_OBJECT_KEY",
+ TAG_ENDPOINT_ID_POSITION: "TAG_ENDPOINT_ID_POSITION",
+ TAG_LOCATION_POLICY: "TAG_LOCATION_POLICY",
+ TAG_ASSOCIATION_OPTIONS: "TAG_ASSOCIATION_OPTIONS",
+ TAG_SEC_NAME: "TAG_SEC_NAME",
+ TAG_SPKM_1_SEC_MECH: "TAG_SPKM_1_SEC_MECH",
+ TAG_SPKM_2_SEC_MECH: "TAG_SPKM_2_SEC_MECH",
+ TAG_KERBEROSV5_SEC_MECH: "TAG_KERBEROSV5_SEC_MECH",
+ TAG_CSI_ECMA_SECRET_SEC_MECH: "TAG_CSI_ECMA_SECRET_SEC_MECH",
+ TAG_CSI_ECMA_HYBRID_SEC_MECH: "TAG_CSI_ECMA_HYBRID_SEC_MECH",
+ TAG_SSL_SEC_TRANS: "TAG_SSL_SEC_TRANS",
+ TAG_CSI_ECMA_PUBLIC_SEC_MECH: "TAG_CSI_ECMA_PUBLIC_SEC_MECH",
+ TAG_GENERIC_SEC_MECH: "TAG_GENERIC_SEC_MECH",
+ TAG_FIREWALL_TRANS: "TAG_FIREWALL_TRANS",
+ TAG_SCCP_CONTACT_INFO: "TAG_SCCP_CONTACT_INFO",
+ TAG_JAVA_CODEBASE: "TAG_JAVA_CODEBASE",
+ TAG_CSI_SEC_MECH_LIST: "TAG_CSI_SEC_MECH_LIST",
+ TAG_NULL_TAG: "TAG_NULL_TAG",
+ TAG_TLS_SEC_TRANS: "TAG_TLS_SEC_TRANS",
+ TAG_DCE_STRING_BINDING: "TAG_DCE_STRING_BINDING",
+ TAG_DCE_BINDING_NAME: "TAG_DCE_BINDING_NAME",
+ TAG_DCE_NO_PIPES: "TAG_DCE_NO_PIPES",
+ TAG_DCE_SEC_MECH: "TAG_DCE_SEC_MECH",
+ TAG_INET_SEC_TRANS: "TAG_INET_SEC_TRANS",
+ TAG_GROUP: "TAG_GROUP",
+ TAG_PRIMARY: "TAG_PRIMARY",
+ TAG_HEARTBEAT_ENABLED: "TAG_HEARTBEAT_ENABLED",
+ TAG_OMNIORB_BIDIR: "TAG_OMNIORB_BIDIR",
+ TAG_OMNIORB_UNIX_TRANS: "TAG_OMNIORB_UNIX_TRANS",
+ TAG_OMNIORB_PERSISTENT_ID: "TAG_OMNIORB_PERSISTENT_ID",
+ TAG_OMNIORB_RESTRICTED_CONNECTION: "TAG_OMNIORB_RESTRICTED_CONNECTION",
+ }
+
+ codesets = { 0x00010001: "ISO-8859-1",
+ 0x00010002: "ISO-8859-2",
+ 0x00010003: "ISO-8859-3",
+ 0x00010004: "ISO-8859-4",
+ 0x00010005: "ISO-8859-5",
+ 0x00010006: "ISO-8859-6",
+ 0x00010007: "ISO-8859-7",
+ 0x00010008: "ISO-8859-8",
+ 0x00010009: "ISO-8859-9",
+ 0x0001000a: "ISO-8859-10",
+ 0x0001000b: "ISO-8859-11",
+ 0x0001000d: "ISO-8859-13",
+ 0x0001000e: "ISO-8859-14",
+ 0x0001000f: "ISO-8859-15",
+ 0x00010010: "ISO-8859-16",
+ 0x00010020: "ISO-646",
+ 0x00010100: "UCS-2-level-1",
+ 0x00010101: "UCS-2-level-2",
+ 0x00010102: "UCS-2-level-3",
+ 0x00010106: "UCS-4",
+ 0x05010001: "UTF-8",
+ 0x00010109: "UTF-16",
+ 0x100204e2: "windows-1250",
+ 0x100204e3: "windows-1251",
+ 0x100204e4: "windows-1252",
+ 0x100204e5: "windows-1253",
+ 0x100204e6: "windows-1254",
+ 0x100204e7: "windows-1255",
+ 0x100204e8: "windows-1256",
+ 0x100204e9: "windows-1257",
+ 0x100204ea: "windows-1258",
+ 0x10020025: "IBM-037",
+ 0x100201f8: "IBM-500",
+ 0x10040366: "SNI-EDF-4",
+ 0x10020567: "GBK"
+ }
+ orb_type = { 0x41545400: "omniORB",
+ 0x48500000: "HP",
+ 0x4e534400: "HP",
+ 0x49424d00: "IBM",
+ 0x53554e00: "Sun",
+ 0x4f424200: "BEA",
+ 0x42454100: "BEA",
+ 0x574C5300: "BEA",
+ 0x494c5500: "Xerox",
+ 0x58505300: "PrismTech",
+ 0x50544300: "PrismTech",
+ 0x49534900: "AdNovum Informatik",
+ 0x56495300: "Borland",
+ 0x4f495300: "Object Interface Systems",
+ 0x46420000: "FloorBoard Software",
+ 0x4e4e4e00: "Rogue Wave",
+ 0x4e550000: "Nihon Unisys",
+ 0x4a424b00: "SilverStream Software",
+ 0x54414f00: "TAO",
+ 0x4c434200: "2AB",
+ 0x41505800: "Univ. of Erlangen-Nuernberg",
+ 0x4f425400: "ORBit",
+ 0x47534900: "GemStone Systems",
+ 0x464a0000: "Fujitsu",
+ 0x4f425f00: "TIBCO",
+ 0x4f414b00: "Camros Corporation",
+ 0x4f4f4300: "IONA (Orbacus)",
+ 0x49545f00: "IONA (Orbix)",
+ 0x4e454300: "NEC",
+ 0x424c5500: "Berry Software",
+ 0x56495400: "Vitria",
+ 0x444f4700: "Exoffice Technologies",
+ 0xcb0e0000: "Chicago Board of Exchange",
+ 0x4a414300: "JacORB",
+ 0x58545200: "Xtradyne Technologies",
+ 0x54475800: "Top Graph'X",
+ 0x41646100: "AdaOS Project",
+ 0x4e4f4b00: "Nokia",
+ 0x45524900: "Ericsson",
+ 0x52415900: "RayORB",
+ 0x53414e00: "Sankhya Technologies",
+ 0x414e4400: "Androsoft",
+ 0x42424300: "Bionic Buffalo",
+ 0x522e4300: "Remoting.Corba",
+ 0x504f0000: "PolyORB",
+ 0x54494400: "Telefonica",
+ }
+##
+# @if jp
+#
+# @brief コンポーネントのプロパティ取得
+#
+#
+# @param rtc RTコンポーネント
+# @return コンポーネントのプロパティ
+#
+# @else
+#
+# @brief
+# @param rtc
+# @return
+#
+# @endif
+# coil::Properties get_component_profile(const RTC::RTObject_ptr rtc)
+class cdrStream:
+ def __init__(self, cdrdata):
+ self.pos = 0
+ self.cdrdata = cdrdata
+ return
+ def data(self, length):
+ return self.iordata[self.pos:self.pos+length]
+ def pos(self):
+ return self.pos
+ def rewind(self):
+ self.pos = 0
+ def incr(self, count = 1):
+ self.pos += count
+
+def unmarshalBoolean(cdr):
+ cdrUnmarshal(CORBA.TC_boolean, "".join(cdr.data(2)))
+
+TAGS=("IOP::TAG_INTERNET_IOP",
+ "IOP::TAG_MULTIPLE_COMPONENTS",
+ "IOP::TAG_SCCP_IOP")
+
+
+def toIOR(iorstr):
+ global endian
+ if len(iorstr) < 4: return
+ if iorstr[0:4] != 'IOR:': return
+
+ pos = len("IOR:")
+ iorvalue = [chr(int(i + j, 16))
+ for (i, j) in zip(iorstr[pos::2], iorstr[(pos + 1)::2])]
+ # Endian flag
+ pos = 0
+ endian = (iorvalue[pos] != 0)
+ pos += 4
+ ior = cdrUnmarshal(_0__GlobalIDL._tc_IOR,
+ "".join(iorvalue[pos:]), endian)
+ return ior
+
+def getEndpoints(ior):
+ global endian
+ addr = []
+ for p in ior.profiles:
+ # TAG_INTERNET_IOP
+ if p.tag == IOP.TAG_INTERNET_IOP:
+ pbody = cdrUnmarshal(_0__GlobalIDL._tc_ProfileBody,
+ "".join(p.profile_data), endian)
+ addr.append(pbody.address_)
+ addr += extractAddrs(pbody.components)
+
+ # TAG_MULTIPLE_COMPONENTS
+ elif p.tag == IOP.TAG_MULTIPLE_COMPONENTS:
+ profiles = cdrUnmarshal(_0__GlobalIDL._tc_MultipleComponentProfile,
+ "".join(p.profile_data, endian))
+ addr += extractAddrs(profiles.components)
+ else:
+ print "Other Profile"
+ return addr
+
+def extractAddrs(comps):
+ addr = []
+ for c in comps:
+ # print "TAG component type: ", IOP.ComponentID[c.tag]
+ if c.tag == IOP.TAG_ALTERNATE_IIOP_ADDRESS:
+ size = cdrUnmarshal(CORBA.TC_ulong,
+ "".join(c.component_data[0:4]), endian)
+ address = cdrUnmarshal(_0__GlobalIDL._tc_Address,
+ "".join(c.component_data[4:]), endian)
+ addr.append(address)
+ elif c.tag == IOP.TAG_ORB_TYPE:
+ size = cdrUnmarshal(CORBA.TC_ulong,
+ "".join(c.component_data[0:4]), endian)
+ orb_type = cdrUnmarshal(CORBA.TC_ulong,
+ "".join(c.component_data[4:8]), endian)
+ return addr
+
+iorstr = "IOR:000000000000003549444c3a6f70656e72746d2e616973742e676f2e6a702f4f70656e52544d2f44617461466c6f77436f6d706f6e656e743a312e3000000000000000010000000000000064000102000000000d31302e3231312e35352e31350000ffa90000000efed593815800002090000000000100000000000200000000000000080000000041545400000000010000001c00000000000100010000000105010001000101090000000100010109"
+
+iorstr = "IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e300000010000000000000070000000010102000c00000031302e3231312e35352e3400f90a00000b0000004e616d6553657276696365000300000000000000080000000100000000545441010000001c0000000100000001000100010000000100010509010100010000000901010003545441080000006158825801000c55"
+
+iorstr = "IOR:010000002b00000049444c3a6f6d672e6f72672f436f734e616d696e672f4e616d696e67436f6e746578744578743a312e3000000100000000000000b0010000010102000c00000031302e3231312e35352e3400f90a00000b0000004e616d6553657276696365000a00000000000000080000000100000000545441010000001c000000010000000100010001000000010001050901010001000000090101000300000016000000010000000c00000031302e33372e3132392e3400f90a00000300000018000000010000000d0000003139322e3136382e302e31350000f90a0300000018000000010000000e0000003139322e3136382e3132322e3100f90a03000000300000000100000025000000666462323a326332363a663465343a303a646434643a363731393a383431353a323262340000f90a030000002e0000000100000024000000666462323a326332363a663465343a303a3231633a343266663a666565343a3265656300f90a000003000000300000000100000025000000666462323a326332363a663465343a313a633465383a313565343a336232383a343530380000f90a030000002e0000000100000024000000666462323a326332363a663465343a313a3231633a343266663a666566353a6437653900f90a00000354544108000000385a82580100125b"
+
+# orb = CORBA.ORB_init()
+# ior = toIOR(iorstr)
+# print getEndpoints(ior)
Property changes on: trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_IORUtil.py
___________________________________________________________________
Added: svn:executable
+ *
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