[openrtm-commit:02633] r841 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 6月 13日 (火) 14:46:58 JST
Author: miyamoto
Date: 2017-06-13 14:46:58 +0900 (Tue, 13 Jun 2017)
New Revision: 841
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
Log:
[compat,->RELENG_1_2] bug fix.
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2017-06-13 05:44:42 UTC (rev 840)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2017-06-13 05:46:58 UTC (rev 841)
@@ -211,20 +211,37 @@
if not self._buffer:
return self.PRECONDITION_NOT_MET
- if type(data) == list:
- ret = self._buffer.read(data)
+ cdr = [""]
+ if self._buffer:
+ ret = self._buffer.read(cdr)
else:
- tmp = [data]
- ret = self._buffer.read(tmp)
+ return self.PRECONDITION_NOT_MET
+
+
+ if not self._dataType:
+ return self.PRECONDITION_NOT_MET
+ if self._endian is not None:
+ _data = cdrUnmarshal(any.to_any(self._dataType).typecode(),cdr[0],self._endian)
+ if type(data) == list:
+ data[0] = _data
+ else:
+ self._rtcout.RTC_ERROR("unknown endian from connector")
+ return self.PRECONDITION_NOT_MET
+
+
+
+
-
if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ self.onBufferRead(cdr[0])
return self.PORT_OK
elif ret == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ self.onBufferEmpty(cdr[0])
return self.BUFFER_EMPTY
elif ret == OpenRTM_aist.BufferStatus.TIMEOUT:
+ self.onBufferReadTimeout(cdr[0])
return self.BUFFER_TIMEOUT
elif ret == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
@@ -369,19 +386,7 @@
#
# ReturnCode write(const OpenRTM::CdrData& data);
def write(self, data):
- if not self._dataType:
- return OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET
-
- _data = None
- # CDR -> (conversion) -> data
- if self._endian is not None:
- _data = cdrUnmarshal(any.to_any(self._dataType).typecode(),data,self._endian)
-
- else:
- self._rtcout.RTC_ERROR("unknown endian from connector")
- return OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET
-
- return self._buffer.write(_data)
+ return self._buffer.write(data)
##
@@ -407,3 +412,18 @@
if self._listeners and self._profile:
self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
return
+
+
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
+ return
+ def onBufferEmpty(self, data):
+ if self._listeners and self._profile:
+ self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_EMPTY].notify(self._profile, data)
+ return
+ def onBufferReadTimeout(self, data):
+ if self._listeners and self._profile:
+ self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile, data)
+ return
+
\ No newline at end of file
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-06-13 05:44:42 UTC (rev 840)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-06-13 05:46:58 UTC (rev 841)
@@ -1170,6 +1170,7 @@
# @endif
# RTC::RTObject_ptr create_component_by_mgrname(string module_name)
def create_component_by_mgrname(self, module_name):
+
arg = module_name
@@ -1220,10 +1221,12 @@
cmd += " -o " + "manager.name:" + config.getProperty("manager.name")
cmd += " -o " + "manager.instance_name:" + mgrstr
cmd += " -o " + "\"manager.modules.load_path:" + load_path + "\""
- #cmd += " -o " + "manager.supported_languages:" + language
+ cmd += " -o " + "manager.supported_languages:" + language
+ cmd += " -o " + "manager.shutdown_auto:NO"
+
self._rtcout.RTC_DEBUG("Invoking command: %s.", cmd)
ret = OpenRTM_aist.launch_shell(cmd)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-06-13 05:44:42 UTC (rev 840)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-06-13 05:46:58 UTC (rev 841)
@@ -580,7 +580,7 @@
def addNewFile(self, fpath, modules):
exists = False
for modprof in self._modprofs:
- if modprof == fpath:
+ if modprof.getProperty("module_file_path") == fpath:
exists = True
self._rtcout.RTC_DEBUG("Module %s already exists in cache.",fpath)
break
@@ -627,9 +627,11 @@
try:
ret = OpenRTM_aist.popen(cmd).split("\r\n")
+ count = 0
for r in ret:
pos = r.find(":")
if r.find(":") != -1:
+ count += 1
key = r[0:pos]
tmp = [key]
OpenRTM_aist.eraseHeadBlank(tmp)
@@ -641,10 +643,11 @@
value = tmp[0]
prop.setProperty(key, value)
- self._rtcout.RTC_DEBUG("rtcprof cmd sub process done.")
- prop.setProperty("module_file_name",os.path.basename(mod_))
- prop.setProperty("module_file_path", mod_)
- modprops.append(prop)
+ if count > 0:
+ self._rtcout.RTC_DEBUG("rtcprof cmd sub process done.")
+ prop.setProperty("module_file_name",os.path.basename(mod_))
+ prop.setProperty("module_file_path", mod_)
+ modprops.append(prop)
except:
@@ -722,6 +725,7 @@
modules_ = []
self.getModuleList(lang, modules_)
self._rtcout.RTC_DEBUG("%s: %s", (lang, OpenRTM_aist.flatten(modules_)))
+
tmpprops = []
self.getModuleProfiles(lang, modules_, tmpprops)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py 2017-06-13 05:44:42 UTC (rev 840)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py 2017-06-13 05:46:58 UTC (rev 841)
@@ -205,8 +205,10 @@
else:
self._rtcout.RTC_ERROR("write(): endian %s is not support.",self._endian)
return self.UNKNOWN_ERROR
-
- self._buffer.write(cdr_data)
+ if self._buffer:
+ self._buffer.write(cdr_data)
+ else:
+ return self.UNKNOWN_ERROR
return self.PORT_OK
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