[openrtm-commit:02848] r875 - branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 9月 29日 (金) 15:01:19 JST
Author: miyamoto
Date: 2017-09-29 15:01:19 +0900 (Fri, 29 Sep 2017)
New Revision: 875
Modified:
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py
branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py
Log:
[incompat,2.0,FSM4RTC] bug fix.
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py 2017-09-29 05:59:45 UTC (rev 874)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort.py 2017-09-29 06:01:19 UTC (rev 875)
@@ -17,16 +17,25 @@
import OpenRTM_aist.Macho
+
+
+
+
class EventBinder0(OpenRTM_aist.ConnectorDataListener):
- def __init__(self, fsm, event_name, handler):
+ def __init__(self, fsm, event_name, handler, ptask=False):
self._fsm = fsm
self._eventName = event_name
self._handler = handler
+ self._ptask = ptask
def __del__(self):
pass
def __call__(self, info, data):
if info.properties.getProperty("fsm_event_name") == self._eventName or info.name == self._eventName:
- self._fsm.dispatch(OpenRTM_aist.Macho.Event(self._handler))
+ if not self._ptask:
+ self._fsm.dispatch(OpenRTM_aist.Macho.Event(self._handler))
+ else:
+ task = OpenRTM_aist.Async_tInvoker(self._fsm, OpenRTM_aist.Macho.Machine.dispatch, OpenRTM_aist.Macho.Event(self._handler))
+ task.invoke()
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
@@ -33,11 +42,12 @@
class EventBinder1(OpenRTM_aist.ConnectorDataListenerT):
- def __init__(self, fsm, event_name, handler, data_type):
+ def __init__(self, fsm, event_name, handler, data_type, ptask=False):
self._fsm = fsm
self._eventName = event_name
self._handler = handler
self._data_type = data_type
+ self._ptask = ptask
def __del__(self):
pass
def __call__(self, info, data):
@@ -44,7 +54,11 @@
data_ = OpenRTM_aist.ConnectorDataListenerT.__call__(self, info, data, self._data_type)
if info.properties.getProperty("fsm_event_name") == self._eventName or info.name == self._eventName:
- self._fsm.dispatch(OpenRTM_aist.Macho.Event(self._handler, data_))
+ if not self._ptask:
+ self._fsm.dispatch(OpenRTM_aist.Macho.Event(self._handler, data_))
+ else:
+ task = OpenRTM_aist.Async_tInvoker(self._fsm, OpenRTM_aist.Macho.Machine.dispatch, OpenRTM_aist.Macho.Event(self._handler, data_))
+ task.invoke()
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
@@ -196,13 +210,13 @@
def name(self):
return self._name
- def bindEvent0(self, name, handler):
+ def bindEvent0(self, name, handler, ptask=False):
self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder0(self._fsm, name, handler))
+ EventBinder0(self._fsm, name, handler, ptask))
- def bindEvent1(self, name, handler, data_type):
+ def bindEvent1(self, name, handler, data_type, ptask=False):
self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder1(self._fsm, name, handler, data_type))
+ EventBinder1(self._fsm, name, handler, data_type, ptask))
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py 2017-09-29 05:59:45 UTC (rev 874)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py 2017-09-29 06:01:19 UTC (rev 875)
@@ -19,15 +19,20 @@
class EventBinder0(OpenRTM_aist.ConnectorDataListener):
- def __init__(self, fsm, event_name, handler):
+ def __init__(self, fsm, event_name, handler, ptask=False):
self._fsm = fsm
self._eventName = event_name
self._handler = handler
+ self._ptask = ptask
def __del__(self):
pass
def __call__(self, info, data):
if info.properties.getProperty("fsm_event_name") == self._eventName or info.name == self._eventName:
- self._fsm.dispatch(pyfsm.Event(self._handler))
+ if not self._ptask:
+ self._fsm.dispatch(pyfsm.Event(self._handler))
+ else:
+ task = OpenRTM_aist.Async_tInvoker(self._fsm, pyfsm.Machine.dispatch, pyfsm.Event(self._handler))
+ task.invoke()
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
@@ -34,11 +39,12 @@
class EventBinder1(OpenRTM_aist.ConnectorDataListenerT):
- def __init__(self, fsm, event_name, handler, data_type):
+ def __init__(self, fsm, event_name, handler, data_type, ptask=False):
self._fsm = fsm
self._eventName = event_name
self._handler = handler
self._data_type = data_type
+ self._ptask = ptask
def __del__(self):
pass
def __call__(self, info, data):
@@ -45,7 +51,11 @@
data_ = OpenRTM_aist.ConnectorDataListenerT.__call__(self, info, data, self._data_type)
if info.properties.getProperty("fsm_event_name") == self._eventName or info.name == self._eventName:
- self._fsm.dispatch(pyfsm.Event(self._handler, data_))
+ if not self._ptask:
+ self._fsm.dispatch(pyfsm.Event(self._handler, data_))
+ else:
+ task = OpenRTM_aist.Async_tInvoker(self._fsm, pyfsm.Machine.dispatch, pyfsm.Event(self._handler, data_))
+ task.invoke()
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
@@ -197,13 +207,13 @@
def name(self):
return self._name
- def bindEvent0(self, name, handler):
+ def bindEvent0(self, name, handler, ptask=False):
self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder0(self._fsm, name, handler))
+ EventBinder0(self._fsm, name, handler, ptask))
- def bindEvent1(self, name, handler, data_type):
+ def bindEvent1(self, name, handler, data_type, ptask=False):
self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder1(self._fsm, name, handler, data_type))
+ EventBinder1(self._fsm, name, handler, data_type, ptask))
Modified: branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py
===================================================================
--- branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py 2017-09-29 05:59:45 UTC (rev 874)
+++ branches/FSM4RTC/OpenRTM-aist-Python/OpenRTM_aist/Macho.py 2017-09-29 06:01:19 UTC (rev 875)
@@ -18,6 +18,8 @@
import types
import OpenRTM_aist
+import threading
+
class _EmptyBox:
def __init__(self):
pass
@@ -237,6 +239,11 @@
def _saveHistory(self,instance,shallow,deep):
self._setHistorySuper(instance,deep)
def __getitem__(self, class_):
+ if isinstance(class_, str):
+ if self.__class__.__name__ == class_:
+ return self
+ elif type(self) == class_:
+ return self
obj = self
while hasattr(obj, "super_obj"):
obj = obj.super_obj
@@ -925,9 +932,11 @@
self.TOP = TOP
self.TopBase = TOP.SUPER(TOP._state_name)
self.init(box=None, initial_state=initial_state, args=args)
+ self._mutex = threading.RLock()
def __del__(self):
pass
def shutdown(self):
+ guard = OpenRTM_aist.ScopedLock(self._mutex)
self.myCurrentState.shutdown()
self.free(Machine.theStateCount)
Machine.theStateCount = 1
@@ -964,6 +973,7 @@
def __call__(self):
return AfterAdvice(self)
def dispatch(self, event, destroy=True):
+ guard = OpenRTM_aist.ScopedLock(self._mutex)
event.dispatch(self.myCurrentState)
if destroy:
del event
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