[openrtm-commit:02613] r829 - trunk/OpenRTM-aist-Python/OpenRTM_aist

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2017-05-26 13:48:21 +0900 (Fri, 26 May 2017)
New Revision: 829

Modified:
   trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.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	2017-05-26 03:26:13 UTC (rev 828)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py	2017-05-26 04:48:21 UTC (rev 829)
@@ -967,7 +967,11 @@
                     "logger.log_level",
                     "naming.enable",
                     "naming.type",
-                    "naming.formats"]
+                    "naming.formats",
+                    "sdo.service.provider.available_services",
+                    "sdo.service.consumer.available_services",
+                    "sdo.service.provider.enabled_services",
+                    "sdo.service.consumer.enabled_services"]
 
     prop_ = prop.getNode("port")
     prop_.mergeProperties(self._config.getNode("port"))
@@ -991,6 +995,7 @@
     # The property("instance_name") specified by the parameter of createComponent()
     # must be merged here.
     prop.mergeProperties(comp_prop)
+    
 
     #------------------------------------------------------------
     # Load configuration file specified in "rtc.conf"
@@ -1023,6 +1028,7 @@
     self._listeners.rtclifecycle_.postInitialize()
     self.registerComponent(comp)
     
+    
     return comp
 
 

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py	2017-05-26 03:26:13 UTC (rev 828)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py	2017-05-26 04:48:21 UTC (rev 829)
@@ -515,7 +515,9 @@
       ec_.start()
 
     # ret must be RTC_OK
-    assert(ret_ == RTC.RTC_OK)
+    #assert(ret_ == RTC.RTC_OK)
+    self._sdoservice.init(self)
+    
     return ret_
 
 
@@ -4925,7 +4927,10 @@
     
     return ret_
 
+
+
     
+    
   ##
   # @if jp
   # @class svc_name

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py	2017-05-26 03:26:13 UTC (rev 828)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py	2017-05-26 04:48:21 UTC (rev 829)
@@ -137,7 +137,37 @@
     # @brief logger
     # @endif
     self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("SdoServiceAdmin")
+    
+    return
 
+
+  ##
+  # @if jp
+  # @brief ²¾Áۥǥ¹¥È¥é¥¯¥¿
+  # ²¾Áۥǥ¹¥È¥é¥¯¥¿¡£
+  # 
+  # @else
+  # @brief Virtual destractor
+  # Virtual destractor.
+  # @endif
+  def __del__(self):
+    pass
+
+
+  ##
+  # @if jp
+  # @brief ½é´ü²½
+  # @param self
+  # @param rtobj
+  # 
+  # @else
+  # @brief 
+  # @param self
+  # @param rtobj
+  #
+  def init(self, rtobj):
+
+
     self._rtcout.RTC_TRACE("SdoServiceAdmin::SdoServiceAdmin(%s)",
                            rtobj.getProperties().getProperty("instance_name"))
 
@@ -189,6 +219,7 @@
     # SDO service consumer
     # getting consumer types from RTC's properties
     constypes = prop.getProperty("sdo.service.consumer.enabled_services")
+    
     self._consumerTypes = [s.strip() for s in constypes.split(",")]
     self._rtcout.RTC_DEBUG("sdo.service.consumer.enabled_services: %s",
                            str(constypes))
@@ -209,18 +240,16 @@
     return
 
 
+
   ##
   # @if jp
-  # @brief ²¾Áۥǥ¹¥È¥é¥¯¥¿
-  # ²¾Áۥǥ¹¥È¥é¥¯¥¿¡£
+  # @brief ½ªÎ»½èÍý
+  # @param self
   # 
   # @else
-  # @brief Virtual destractor
-  # Virtual destractor.
-  # @endif
-  def __del__(self):
-    pass
-
+  # @brief 
+  # @param self
+  #
   def exit(self):
     len_ = len(self._providers)
     for i in range(len_):
@@ -352,7 +381,7 @@
     self._rtcout.RTC_TRACE("addSdoServiceConsumer(IFR = %s)",
                            sProfile.interface_type)
     profile = copy.deepcopy(sProfile)
-
+    
     # Not supported consumer type -> error return
     if not self.isEnabledConsumerType(sProfile):
       self._rtcout.RTC_ERROR("Not supported consumer type. %s", profile.id)