[openrtm-commit:02652] r850 - branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 6月 21日 (水) 13:47:04 JST
Author: kawauchi
Date: 2017-06-21 13:47:04 +0900 (Wed, 21 Jun 2017)
New Revision: 850
Modified:
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
Log:
[merge] r845-849 have been merged from trunk.
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py 2017-06-21 04:38:40 UTC (rev 849)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py 2017-06-21 04:47:04 UTC (rev 850)
@@ -495,10 +495,55 @@
connector_profile.properties.append(OpenRTM_aist.NVUtil.newNV("dataport.serializer.cdr.endian","little,big"))
return OpenRTM_aist.PortBase.connect(self, connector_profile)
-
+
+
+
+
##
# @if jp
#
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @endif
+ #
+ def notify_connect(self, connector_profile):
+
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
+
+ _str = self._properties.getProperty("dataport.fan_in")
+ _type = [int(100)]
+
+ OpenRTM_aist.stringTo(_type, _str)
+
+
+
+ _str = prop.getProperty("dataport.fan_in")
+ OpenRTM_aist.stringTo(_type, _str)
+
+ value = _type[0]
+
+ if value <= len(self._connectors):
+ return (RTC.PRECONDITION_NOT_MET, connector_profile)
+
+ return OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
+
+
+ ##
+ # @if jp
+ #
# @brief InPort¤ò activates ¤¹¤ë
#
# InPort¤ò activate ¤¹¤ë¡£
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-06-21 04:38:40 UTC (rev 849)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-06-21 04:47:04 UTC (rev 850)
@@ -971,7 +971,8 @@
"sdo.service.provider.available_services",
"sdo.service.consumer.available_services",
"sdo.service.provider.enabled_services",
- "sdo.service.consumer.enabled_services"]
+ "sdo.service.consumer.enabled_services",
+ "manager.instance_name"]
prop_ = prop.getNode("port")
prop_.mergeProperties(self._config.getNode("port"))
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-06-21 04:38:40 UTC (rev 849)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-06-21 04:47:04 UTC (rev 850)
@@ -352,8 +352,10 @@
#module_name = module_name.split("&")[0]
module_name = [module_name]
self.get_parameter_by_modulename("manager_address",module_name)
- self.get_parameter_by_modulename("manager_name",module_name)
+ manager_name = self.get_parameter_by_modulename("manager_name",module_name)
module_name = module_name[0]
+ tmp = [module_name]
+ language = self.get_parameter_by_modulename("language",tmp)
if self._isMaster:
@@ -360,20 +362,25 @@
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
+ prof = slave.get_configuration()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
+ slave_lang = prop.getProperty("manager.language")
+ if slave_lang == language:
+ 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())
self._slaves.remove(slave)
del guard
+ if not manager_name:
+ module_name = module_name + "&manager_name=manager_%p"
+
+ rtc = self.create_component_by_mgrname(module_name)
+ return rtc
- module_name = module_name + "&manager_name=manager_%p"
-
- rtc = self.create_component_by_mgrname(module_name)
- return rtc
-
else:
# create on this manager
rtc = self._mgr.createComponent(module_name)
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-06-21 04:38:40 UTC (rev 849)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-06-21 04:47:04 UTC (rev 850)
@@ -637,7 +637,7 @@
OpenRTM_aist.eraseHeadBlank(tmp)
key = tmp[0]
- value = r[pos:]
+ value = r[pos+1:]
tmp = [value]
OpenRTM_aist.eraseHeadBlank(tmp)
value = tmp[0]
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2017-06-21 04:38:40 UTC (rev 849)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2017-06-21 04:47:04 UTC (rev 850)
@@ -408,6 +408,48 @@
##
# @if jp
+ #
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @endif
+ #
+ def notify_connect(self, connector_profile):
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
+
+ _str = self._properties.getProperty("dataport.fan_out")
+ _type = [int(100)]
+
+ OpenRTM_aist.stringTo(_type, _str)
+
+
+
+ _str = prop.getProperty("dataport.fan_out")
+ OpenRTM_aist.stringTo(_type, _str)
+
+ value = _type[0]
+
+ if value <= len(self._connectors):
+ return (RTC.PRECONDITION_NOT_MET, connector_profile)
+
+
+ return OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
+
+
+ ##
+ # @if jp
# @brief ¥×¥í¥Ñ¥Æ¥£¤ò¼èÆÀ¤¹¤ë
#
# OutPort¤Î¥×¥í¥Ñ¥Æ¥£¤ò¼èÆÀ¤¹¤ë¡£
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py 2017-06-21 04:38:40 UTC (rev 849)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py 2017-06-21 04:47:04 UTC (rev 850)
@@ -688,6 +688,21 @@
def notify_connect(self, connector_profile):
self._rtcout.RTC_TRACE("notify_connect()")
+
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
+
+ default_value = OpenRTM_aist.toBool(self._properties.getProperty("dataport.allow_dup_connection"), "YES","NO",False)
+
+ if not OpenRTM_aist.toBool(prop.getProperty("dataport.allow_dup_connection"), "YES","NO",default_value):
+ for port in connector_profile.ports:
+ if not port._is_equivalent(self._objref):
+ ret = OpenRTM_aist.CORBA_RTCUtil.already_connected(port, self._objref)
+ if ret:
+ return (RTC.PRECONDITION_NOT_MET, connector_profile)
+
+
+
guard_connection = OpenRTM_aist.ScopedLock(self._connection_mutex)
# publish owned interface information to the ConnectorProfile
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py 2017-06-21 04:38:40 UTC (rev 849)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py 2017-06-21 04:47:04 UTC (rev 850)
@@ -2793,7 +2793,7 @@
self._rtcout.RTC_ERROR("addInPort() failed.")
return ret
- inport.init(self._properties.getNode(propkey))
+ inport.init(prop_)
self._inports.append(inport)
return ret
@@ -2837,7 +2837,7 @@
self._rtcout.RTC_ERROR("addOutPort() failed.")
return ret
- outport.init(self._properties.getNode(propkey))
+ outport.init(prop_)
self._outports.append(outport)
return ret
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