[openrtm-commit:02630] r838 - trunk/OpenRTM-aist-Python/OpenRTM_aist

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2017-06-12 17:59:43 +0900 (Mon, 12 Jun 2017)
New Revision: 838

Added:
   trunk/OpenRTM-aist-Python/OpenRTM_aist/SimulatorExecutionContext.py
Modified:
   trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py
Log:
[incompat, Choreonoid] add SimulatorExecutionContext

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py	2017-06-12 06:33:33 UTC (rev 837)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py	2017-06-12 08:59:43 UTC (rev 838)
@@ -2024,6 +2024,7 @@
     OpenRTM_aist.PeriodicExecutionContextInit(self)
     OpenRTM_aist.ExtTrigExecutionContextInit(self)
     OpenRTM_aist.OpenHRPExecutionContextInit(self)
+    OpenRTM_aist.SimulatorExecutionContextInit(self)
     self.initCpuAffinity()
     return True
 

Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/SimulatorExecutionContext.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/SimulatorExecutionContext.py	                        (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/SimulatorExecutionContext.py	2017-06-12 08:59:43 UTC (rev 838)
@@ -0,0 +1,202 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file SimulatorExecutionContext.py
+# @brief SimulatorExecutionContext class
+# @date $Date: 2017/06/12$
+# @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp> and Shinji Kurihara
+#
+# Copyright (C) 2017
+#     Intelligent Systems Research Institute,
+#     National Institute of
+#         Advanced Industrial Science and Technology (AIST), Japan
+#     All rights reserved.
+
+import threading
+import time
+
+import OpenRTM_aist
+import OpenRTM__POA, RTC
+
+
+class SimulatorExecutionContext(OpenRTM_aist.OpenHRPExecutionContext):
+  """
+  """
+
+  ##
+  # @if jp
+  # @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+  #
+  # ¥³¥ó¥¹¥È¥é¥¯¥¿
+  #
+  # @param self
+  #
+  # @else
+  # @brief Constructor
+  #
+  # Constructor
+  #
+  # @param self
+  #
+  # @endif
+  #
+  def __init__(self):
+    OpenRTM_aist.OpenHRPExecutionContext.__init__(self)
+    return
+
+  ##
+  # @if jp
+  # @brief ¥Ç¥¹¥È¥é¥¯¥¿
+  #
+  # ¥Ç¥¹¥È¥é¥¯¥¿
+  #
+  # @param self
+  #
+  # @else
+  # @brief Destructor
+  #
+  # Destructor
+  #
+  # @param self
+  # @endif
+  #
+  def __del__(self):
+    return
+
+
+  ##
+  # @if jp
+  # @brief ÂоݤÎRTC¤ò¥¢¥¯¥Æ¥£¥Ö²½¤¹¤ë
+  # ÆâÉô¤ÇinvokeWorkerPreDo´Ø¿ô¤ò¸Æ¤Ö¤¿¤á¡¢Â¨ºÂ¤Ë
+  # ¾õÂÖ¤òÁ«°Ü¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¡£
+  # ¸½ºßtick¼Â¹ÔÃæ¤Î¾ì¹ç¤Ï¼Â¹Ô½ªÎ»¤Þ¤ÇÂÔ¤Ä
+  #
+  # @param self
+  # @param comp ¥¢¥¯¥Æ¥£¥Ö²½ÂоÝRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
+  # @return ReturnCode_t ·¿¤Î¥ê¥¿¡¼¥ó¥³¡¼¥É
+  #
+  # @else
+  # @brief Activate an RT-component
+  #
+  #
+  # @param self
+  # @param comp The target RT-Component for activation
+  # @return The return code of ReturnCode_t type
+  #
+  # @endif
+  #
+  def activate_component(self, comp):
+    guard = OpenRTM_aist.ScopedLock(self._tickmutex)
+    rtobj = self._worker.findComponent(comp)
+    if not rtobj:
+      return RTC.BAD_PARAMETER
+    if not rtobj.isCurrentState(RTC.INACTIVE_STATE):
+      return RTC.PRECONDITION_NOT_MET
+      
+    self._syncActivation = False
+    OpenRTM_aist.ExecutionContextBase.activateComponent(self, comp)
+    
+    self.invokeWorkerPreDo()
+
+    if rtobj.isCurrentState(RTC.ACTIVE_STATE):
+      return RTC.RTC_OK
+
+    return RTC.RTC_ERROR
+    
+
+  ##
+  # @if jp
+  # @brief ÂоݤÎRTC¤òÈó¥¢¥¯¥Æ¥£¥Ö²½¤¹¤ë
+  # ÆâÉô¤ÇinvokeWorkerPreDo´Ø¿ô¤ò¸Æ¤Ö¤¿¤á¡¢Â¨ºÂ¤Ë
+  # ¾õÂÖ¤òÁ«°Ü¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¡£
+  # ¸½ºßtick¼Â¹ÔÃæ¤Î¾ì¹ç¤Ï¼Â¹Ô½ªÎ»¤Þ¤ÇÂÔ¤Ä
+  #
+  # @param self
+  # @param comp Èó¥¢¥¯¥Æ¥£¥Ö²½ÂоÝRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
+  # @return ReturnCode_t ·¿¤Î¥ê¥¿¡¼¥ó¥³¡¼¥É
+  #
+  # @else
+  # @brief Deactivate an RT-component
+  #
+  #
+  # @param self
+  # @param comp The target RT-Component for deactivation
+  # @return The return code of ReturnCode_t type
+  #
+  # @endif
+  #
+  def deactivate_component(self, comp):
+    guard = OpenRTM_aist.ScopedLock(self._tickmutex)
+    rtobj = self._worker.findComponent(comp)
+    if not rtobj:
+      return RTC.BAD_PARAMETER
+    if not rtobj.isCurrentState(RTC.ACTIVE_STATE):
+      return RTC.PRECONDITION_NOT_MET
+      
+    self._syncActivation = False
+    OpenRTM_aist.ExecutionContextBase.deactivateComponent(self, comp)
+    
+    self.invokeWorkerPreDo()
+    self.invokeWorkerDo()
+    self.invokeWorkerPostDo()
+
+    if rtobj.isCurrentState(RTC.INACTIVE_STATE):
+      return RTC.RTC_OK
+
+    return RTC.RTC_ERROR
+
+  ##
+  # @if jp
+  # @brief ÂоݤÎRTC¤ò¥ê¥»¥Ã¥È²½¤¹¤ë
+  # ÆâÉô¤ÇinvokeWorkerPreDo´Ø¿ô¤ò¸Æ¤Ö¤¿¤á¡¢Â¨ºÂ¤Ë
+  # ¾õÂÖ¤òÁ«°Ü¤µ¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¡£
+  # ¸½ºßtick¼Â¹ÔÃæ¤Î¾ì¹ç¤Ï¼Â¹Ô½ªÎ»¤Þ¤ÇÂÔ¤Ä
+  #
+  # @param self
+  # @param comp ¥ê¥»¥Ã¥ÈÂоÝRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
+  # @return ReturnCode_t ·¿¤Î¥ê¥¿¡¼¥ó¥³¡¼¥É
+  #
+  # @else
+  # @brief Reset an RT-component
+  #
+  #
+  # @param self
+  # @param comp The target RT-Component for reset
+  # @return The return code of ReturnCode_t type
+  #
+  # @endif
+  #
+  def reset_component(self, comp):
+    guard = OpenRTM_aist.ScopedLock(self._tickmutex)
+    rtobj = self._worker.findComponent(comp)
+    if not rtobj:
+      return RTC.BAD_PARAMETER
+    if not rtobj.isCurrentState(RTC.ERROR_STATE):
+      return RTC.PRECONDITION_NOT_MET
+      
+    self._syncActivation = False
+    OpenRTM_aist.ExecutionContextBase.activateComponent(self, comp)
+    
+    self.invokeWorkerPreDo()
+    self.invokeWorkerDo()
+    self.invokeWorkerPostDo()
+
+    if rtobj.isCurrentState(RTC.INACTIVE_STATE):
+      return RTC.RTC_OK
+
+    return RTC.RTC_ERROR
+
+
+##
+# @if jp
+# @brief ECFactory¤Ø¤ÎÅÐÏ¿¤Î¤¿¤á¤Î½é´ü²½´Ø¿ô
+# @else
+# @brief Initialization function to register to ECFactory
+# @endif
+#
+def SimulatorExecutionContextInit(manager):
+  OpenRTM_aist.ExecutionContextFactory.instance().addFactory("SimulatorExecutionContext",
+                                                             OpenRTM_aist.SimulatorExecutionContext,
+                                                             OpenRTM_aist.ECDelete)
+  return

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py	2017-06-12 06:33:33 UTC (rev 837)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py	2017-06-12 08:59:43 UTC (rev 838)
@@ -116,5 +116,5 @@
 from CPUAffinity import *
 from LogstreamBase import *
 from LogstreamFile import *
+from SimulatorExecutionContext import *
 
-