[openrtm-commit:02857] r1054 - trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 10月 4日 (水) 10:33:33 JST
Author: win-ei
Date: 2017-10-04 10:33:33 +0900 (Wed, 04 Oct 2017)
New Revision: 1054
Modified:
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerConfig.java
trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ModuleManager.java
Log:
[compat,newfunc->releng_1_2] The master manager can start RTC (slave manager) of other languages. refs #4203
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java 2017-09-25 00:49:47 UTC (rev 1053)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/DefaultConfiguration.java 2017-10-04 01:33:33 UTC (rev 1054)
@@ -73,9 +73,16 @@
"sdo.service.provider.enabled_services", "ALL",
"sdo.service.consumer.enabled_services", "ALL",
"manager.local_service.enabled_services","ALL",
- "manager.modules.C++.load_paths", "./",
+ "manager.modules.C++.load_paths", "./",
"manager.modules.Python.load_paths", "./",
- "manager.modules.Java.load_paths", "./",
+ "manager.modules.Java.load_paths", "./",
+ "manager.supported_languages", "C++, Python, Java",
+ "manager.modules.C++.suffixes", "",
+ "manager.modules.Python.suffixes", "py",
+ "manager.modules.Java.suffixes", "class",
+ "manager.modules.C++.profile_cmd", "rtcprof",
+ "manager.modules.Python.profile_cmd", "rtcprof_python",
+ "manager.modules.Java.profile_cmd", "rtcprof_java",
""
};
}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerConfig.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerConfig.java 2017-09-25 00:49:47 UTC (rev 1053)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ManagerConfig.java 2017-10-04 01:33:33 UTC (rev 1054)
@@ -397,6 +397,7 @@
* <li> os.arch : OSアーキテクチャ
* <li> os.hostname: ホスト名
* <li> manager.pid : プロセスID
+ * <li> manager.modules.C++.suffixes: ライブラリの拡張子
* </ul>}
* {@.en Get the following system info. and set them to Manager's
* properties.
@@ -407,6 +408,7 @@
* <li> os.arch : OS architecture
* <li> os.hostname: Hostname
* <li> manager.pid : process ID
+ * <li> manager.modules.C++.suffixes: The suffix of library
* </ul>}
*
*
@@ -423,6 +425,7 @@
String osArch = "UNKNOWN";
String hostName = "UNKNOWN";
String pid = "UNKNOWN";
+ String suffix = "UNKNOWN";
try {
java.util.Properties sysInfo = System.getProperties();
@@ -429,6 +432,15 @@
// OS名
osName = sysInfo.getProperty("os.name");
+ if(osName.toLowerCase().startsWith("windows")){
+ suffix = "dll";
+ }
+ else if(osName.toLowerCase().startsWith("linux")){
+ suffix = "so";
+ }
+ else{
+ suffix = "dylib";
+ }
// OSバージョン
osVersion = sysInfo.getProperty("os.version");
@@ -457,6 +469,7 @@
properties.setProperty("os.arch", osArch);
properties.setProperty("os.hostname", hostName);
properties.setProperty("manager.pid", pid);
+ properties.setProperty("manager.modules.C++.suffixes", suffix);
}
Modified: trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ModuleManager.java
===================================================================
--- trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ModuleManager.java 2017-09-25 00:49:47 UTC (rev 1053)
+++ trunk/OpenRTM-aist-Java/jp.go.aist.rtm.RTC/src/jp/go/aist/rtm/RTC/ModuleManager.java 2017-10-04 01:33:33 UTC (rev 1054)
@@ -1,6 +1,10 @@
package jp.go.aist.rtm.RTC;
+import java.io.BufferedReader;
+import java.io.InputStream;
+import java.io.InputStreamReader;
import java.io.File;
+import java.io.FilenameFilter;
import java.lang.reflect.Field;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
@@ -8,8 +12,13 @@
import java.net.URI;
import java.net.URL;
import java.net.URLClassLoader;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.Arrays;
import java.util.HashMap;
import java.util.Iterator;
+import java.util.List;
import java.util.Map;
import java.util.Set;
import java.util.Vector;
@@ -606,24 +615,382 @@
*/
public Vector<Properties> getLoadableModules() {
rtcout.println(Logbuf.TRACE, "getLoadableModules()");
- Vector<String> dlls = new Vector<String>();
- String separator = System.getProperty("file.separator");
- for (int i=0; i < m_loadPath.size(); ++i) {
- String loadpath = m_loadPath.elementAt(i);
- if(loadpath==null || loadpath.equals("")){
- continue;
+ //# getting loadable module file path list.
+
+ String[] langs =
+ m_properties.getProperty("manager.supported_languages").split(",");
+ rtcout.println(Logbuf.DEBUG,
+ "langs:"
+ +m_properties.getProperty("manager.supported_languages"));
+
+ for(int ic=0;ic<langs.length;++ic) {
+ String lang = langs[ic].trim();
+
+ ArrayList<String> modules = new ArrayList<String>();
+ getModuleList(lang, modules);
+ rtcout.println(Logbuf.TRACE, lang + ":" +modules.toString());
+
+ ArrayList<Properties> tmpprops = new ArrayList<Properties>();
+ getModuleProfiles(lang, modules, tmpprops);
+ rtcout.println(Logbuf.TRACE,
+ "Modile profile size: "
+ +tmpprops.size()
+ +" (newly founded modules)");
+ m_modprofs.addAll(tmpprops);
+ }
+
+ rtcout.println(Logbuf.DEBUG,
+ "Modile profile size: "
+ + m_modprofs.size());
+
+ removeInvalidModules();
+ rtcout.println(Logbuf.DEBUG,
+ "Modile profile size: "
+ + m_modprofs.size()
+ + " (invalid mod-profiles deleted)");
+
+ return new Vector<Properties>(m_modprofs);
+ }
+ /**
+ * {@.ja 無効なモジュールプロファイルを削除する}
+ * {@.en Removing incalid module profile}
+ */
+ protected void removeInvalidModules(){
+
+ Iterator it = m_modprofs.iterator();
+ while (it.hasNext()) {
+ Properties prop = (Properties)it.next();
+ File file = new File(prop.getProperty("module_file_path"));
+ if(!file.exists()){
+ it.remove();
}
- java.io.File dir = new java.io.File(loadpath);
- String[] flist = dir.list(new FileFilter());
- if(flist == null) {
+ }
+
+ }
+ /**
+ * {@.ja 指定言語におけるロードパス上のローダブルなファイルリストを返す}
+ * {@.en loadable file list on the loadpath for given language}
+ *
+ * void getModuleList(const std::string& lang, coil::vstring& modules);
+ */
+ protected void getModuleList(final String lang, ArrayList<String> modules) {
+ rtcout.println(Logbuf.PARANOID,
+ "getModuleList("+lang+","+modules.toString()+")");
+ String l = "manager.modules." + lang;
+ Properties lprop = Manager.instance().getConfig().getNode(l);
+
+ //load path: manager.modules.<lang>.load_path
+ // + manager.modules.load_path
+ rtcout.println(Logbuf.PARANOID,
+ "load_paths :"+lprop.getProperty("load_paths"));
+ String[] vstr = lprop.getProperty("load_paths").split(",");
+ ArrayList<String> paths = new ArrayList(Arrays.asList(vstr));
+
+ rtcout.println(Logbuf.PARANOID,
+ "m_loadPath :"+m_loadPath.toString());
+
+ paths.addAll(m_loadPath);
+ paths = deleteSamePath(paths);
+ rtcout.println(Logbuf.PARANOID,
+ "paths :"+paths.toString());
+
+ String[] vstr2 = lprop.getProperty("suffixes").split(",");
+ ArrayList<String> suffixes = new ArrayList(Arrays.asList(vstr2));
+ rtcout.println(Logbuf.DEBUG,
+ "suffixes: "
+ + suffixes.toString());
+
+ // for each load path list
+ for (String path : paths) {
+ if (path.isEmpty()) {
+ rtcout.println(Logbuf.WARN,"Given load path is empty");
continue;
}
- for (int ic=0; ic < flist.length; ++ic) {
- dlls.add(loadpath+separator+flist[ic]);
- }
+ rtcout.println(Logbuf.DEBUG,"Module load path: "+path);
+
+ // get file list for each suffixes
+ ArrayList<String> flist = new ArrayList<String>();
+ for (String suffix: suffixes) {
+ String glob = ".*\\.";
+ glob += suffix.trim();
+ rtcout.println(Logbuf.PARANOID,"glob: "+glob);
+ File dir = new File(path);
+ String[] files = dir.list(new FilePathFilter(glob));
+ ArrayList<String> tmp
+ = new ArrayList<String>(Arrays.asList(files));
+ rtcout.println(Logbuf.DEBUG,
+ "File list (path:"
+ +path
+ +", ext:"
+ +suffix
+ +"): "
+ +tmp.toString());
+ flist.addAll(tmp);
+ }
+
+ // reformat file path and remove cached files
+ for (String file : flist) {
+ if (!path.endsWith("/")) {
+ path += "/";
+ }
+ String fpath = path + file;
+ addNewFile(fpath, modules);
+ }
}
+ }
+ /**
+ * {@.ja 同じパスを削除}
+ * {@.en Deletes the same path.}
+ * <p>
+ * {@.ja 指定されたリスト内を走査して重複しているパス名を削除する。}
+ * {@.en Deletes the path a list overlaps.}
+ */
+ private ArrayList<String> deleteSamePath(ArrayList<String> paths){
+ rtcout.println(Logbuf.PARANOID,
+ "deleteSamePath("+paths.toString()+")");
- Vector<Properties> props = new Vector<Properties>();
+ ArrayList<String> tmp_paths = new ArrayList<String>();
+ for(String path_str : paths){
+ rtcout.println(Logbuf.PARANOID,
+ "path_str:"+path_str);
+ if(!path_str.isEmpty()){
+ Path path = Paths.get(path_str);
+ path = path.normalize();
+ Path absolutePath = path.toAbsolutePath();
+ rtcout.println(Logbuf.PARANOID,
+ "absolutePath:"+absolutePath);
+
+ ArrayList<Path> abs_tmp_paths = new ArrayList<Path>();
+ for(String tmp_path : tmp_paths){
+ Path abs_tmp_path = Paths.get(tmp_path);
+ abs_tmp_path = abs_tmp_path.normalize();
+ abs_tmp_paths.add(abs_tmp_path);
+ }
+ if(abs_tmp_paths.indexOf(absolutePath) == -1){
+ tmp_paths.add(path_str);
+ }
+ }
+ }
+ rtcout.println(Logbuf.PARANOID,
+ "tmp_paths:"+tmp_paths.toString());
+
+ return tmp_paths;
+ }
+ /**
+ * {@.ja キャッシュに無いパスだけmodulesに追加する}
+ * {@.en Adding file path not existing cache}
+ */
+ protected void addNewFile(final String fpath,
+ ArrayList<String> modules) {
+ rtcout.println(Logbuf.PARANOID,
+ "addNewFile("+fpath+")");
+ boolean exists = false;
+ for (Properties modprof : m_modprofs) {
+ rtcout.println(Logbuf.PARANOID,
+ "module_file_path:"
+ +modprof.getProperty("module_file_path"));
+ if (modprof.getProperty("module_file_path").equals(fpath)) {
+ exists = true;
+ rtcout.println(Logbuf.DEBUG,
+ "Module "+fpath+" already exists in cache.");
+ break;
+ }
+ }
+ if (!exists) {
+ rtcout.println(Logbuf.DEBUG, "New module: "+fpath);
+ modules.add(fpath);
+ }
+ }
+
+ /**
+ * {@.ja ファイルフィルタ用関数}
+ * {@.en The function for file filters}
+ * <p>
+ * {@.ja ファイル名にフィルタをかけるために使用される。}
+ * {@.en This class is used to filter directory listings
+ * in the list method of class File.}
+ */
+ private class FilePathFilter implements FilenameFilter{
+ private String m_regex = new String();
+ public FilePathFilter(String str) {
+ m_regex = str;
+ }
+ @Override
+ public boolean accept(File dir, String name) {
+ if(m_regex.isEmpty()){
+ return false;
+ }
+
+ if(name.matches(m_regex)){
+ return true;
+ }
+ return false;
+ }
+ }
+
+
+ /**
+ * {@.ja 指定言語、ファイルリストからモジュールのプロパティを返す}
+ * {@.en Getting module properties from given language and file list}
+ *
+ */
+ protected void getModuleProfiles(final String lang,
+ final ArrayList<String> modules,
+ final ArrayList<Properties> modprops) {
+ rtcout.println(Logbuf.PARANOID,
+ "getModuleProfiles("+lang+","+modules.toString()+")");
+
+ String l = "manager.modules." + lang;
+ Properties lprop = Manager.instance().getConfig().getNode(l);
+
+ String[] paths = lprop.getProperty("load_paths").split(",");
+
+ Properties prop = new Properties();
+
+ for (String module : modules) {
+ if(lang.equals("Java")){
+ prop = getRtcProfile(module);
+ if(prop!=null){
+ prop.setProperty("module_file_name",
+ new File(module).getName());
+ prop.setProperty("module_file_path", module);
+ modprops.add(prop);
+ }
+ }
+ else{
+ prop = new Properties();
+ String cmd = lprop.getProperty("profile_cmd");
+ rtcout.println(Logbuf.PARANOID,
+ "profile_cmd: "+cmd);
+ List<String> cmdlist = new ArrayList();
+ cmdlist.add(cmd);
+ cmdlist.add(module);
+ Process process;
+ InputStream input;
+ try{
+ rtcout.println(Logbuf.PARANOID,
+ "cmdlist :"+cmdlist.toString());
+ ProcessBuilder pb = new ProcessBuilder(cmdlist);
+ process = pb.start();
+ input = process.getInputStream();
+ process.waitFor();
+ }
+ catch(Exception ex){
+ rtcout.println(Logbuf.DEBUG, cmd + ": failed");
+ String crlf = System.getProperty("line.separator");
+ rtcout.println(Logbuf.PARANOID, crlf + ex.toString());
+ continue;
+ }
+
+ try{
+ BufferedReader br = new BufferedReader(
+ new InputStreamReader(input));
+
+ String line;
+
+ rtcout.println(Logbuf.PARANOID, "-----");
+ for (;;) {
+ line = br.readLine();
+ rtcout.println(Logbuf.PARANOID, line);
+ if(line == null){
+ break;
+ }
+ String[] vstr = line.split(":");
+ if(vstr.length != 1){
+ prop.setProperty(vstr[0],vstr[1]);
+ }
+ }
+ rtcout.println(Logbuf.PARANOID, "-----");
+
+ br.close();
+ input.close();
+ }
+ catch(Exception ex){
+ String crlf = System.getProperty("line.separator");
+ rtcout.println(Logbuf.DEBUG, crlf + ex.toString());
+ continue;
+ }
+ rtcout.println(Logbuf.PARANOID, "prop.size():"+prop.size());
+ if(prop.size()!=0){
+ prop.setProperty("module_file_name",
+ new File(module).getName());
+ prop.setProperty("module_file_path", module);
+ rtcout.println(Logbuf.PARANOID,
+ "module_file_name:"
+ +prop.getProperty("module_file_name"));
+ rtcout.println(Logbuf.PARANOID,
+ "module_file_path:"
+ +prop.getProperty("module_file_path"));
+ modprops.add(prop);
+ }
+ }
+ }
+ return;
+ }
+
+ private Properties getRtcProfile(String loadpath){
+ if(loadpath==null || loadpath.equals("")){
+ return null;
+ }
+ Properties prop = new Properties();
+ Class target = null;
+ File file = new File(loadpath);
+ if(file.isAbsolute()) {
+ URLClassLoader url = createURLClassLoader(file.getParent());
+ if(url!=null){
+ String name = file.getName();
+ name = getModuleName(name);
+ StringHolder packageModuleName = new StringHolder();
+ target = getClassFromName(url,name,packageModuleName);
+ }
+ }
+ else{
+ String separator = System.getProperty("file.separator");
+ String str[] = loadpath.split("\\.class");
+ str[0] = str[0].replace(separator,".");
+ str[0] = str[0].replace("..",".");
+ try {
+ target = Class.forName(str[0],
+ true,
+ this.getClass().getClassLoader());
+ }
+ catch(Exception e){
+ return null;
+ }
+ }
+ try {
+ if(target == null){
+ return null;
+ }
+ Field field = target.getField("component_conf");
+ String[] data = (String[])field.get(null);
+ java.util.ArrayList al
+ = new java.util.ArrayList(java.util.Arrays.asList(data));
+
+ prop = new Properties((String[])al.toArray(new String[]{}));
+ rtcout.println(Logbuf.TRACE,
+ "loadabe module:"+loadpath);
+ }
+ catch(Exception e){
+ return null;
+ }
+
+ return prop;
+ }
+/*
+ ArrayList<String> dlls = new ArrayList<String>();
+ String separator = System.getProperty("file.separator");
+ java.io.File dir = new java.io.File(loadpath);
+
+ String[] flist = dir.list(new FileFilter());
+ if(flist == null) {
+ return;
+ }
+ for (int ic=0; ic < flist.length; ++ic) {
+ dlls.add(loadpath+separator+flist[ic]);
+ }
+
+ ArrayList<Properties> props = new ArrayList<Properties>();
for (int ic=0; ic < dlls.size(); ++ic) {
Class target = null;
File file = new File(dlls.elementAt(ic));
@@ -658,10 +1025,10 @@
java.util.ArrayList al
= new java.util.ArrayList(java.util.Arrays.asList(data));
- al.add(0,"module_file_name");
- al.add(1,file.getName());
- al.add(2,"module_file_path");
- al.add(3,dlls.elementAt(ic));
+ //al.add(0,"module_file_name");
+ //al.add(1,file.getName());
+ //al.add(2,"module_file_path");
+ //al.add(3,dlls.elementAt(ic));
props.add(new Properties((String[])al.toArray(new String[]{})));
rtcout.println(Logbuf.TRACE,
"loadabe module:"+dlls.elementAt(ic));
@@ -672,7 +1039,7 @@
}
return props;
- }
+*/
/**
* {@.ja モジュールの絶対パス指定許可。}
@@ -795,4 +1162,5 @@
}
}
private Logbuf rtcout;
+ private ArrayList<Properties> m_modprofs = new ArrayList<Properties>();
}
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