[openrtm-commit:03165] r940 - in branches/RELENG_1_2/OpenRTM-aist-Python: . OpenRTM_aist OpenRTM_aist/ext/sdo/observer OpenRTM_aist/utils/rtcprof
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openrtm ＠ openrtm.org
2018年 2月 8日 (木) 10:13:55 JST
Author: kawauchi
Date: 2018-02-08 10:13:55 +0900 (Thu, 08 Feb 2018)
New Revision: 940
Modified:
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CPUAffinity.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ConfigAdmin.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Factory.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPort.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.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/NamingManager.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Properties.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/rtc.conf
branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/utils/rtcprof/rtcprof.py
branches/RELENG_1_2/OpenRTM-aist-Python/setup.py
Log:
[merge] r915-939 have been merged from trunk.
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -242,7 +242,7 @@
# @param rtc ÂоݤÎRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
# @param ec_id ¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È¤ÎID
# @return RTC¡¢EC¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤¬nil¤Î¾ì¹ç¤ÏBAD_PARAMETER¤òÊÖ¤¹
-# nil¤Ç¤Ï¤Ê¤¤¾ì¹ç¤Ïdeactivate_component´Ø¿ô¤ÎÌá¤êÃͤòÊÖ¤¹¡£RTC_OK¤Î¾ì¹ç¤Ï¥ê¥»¥Ã¥È¤¬À®¸ù
+# nil¤Ç¤Ï¤Ê¤¤¾ì¹ç¤Ïreset_component´Ø¿ô¤ÎÌá¤êÃͤòÊÖ¤¹¡£RTC_OK¤Î¾ì¹ç¤Ï¥ê¥»¥Ã¥È¤¬À®¸ù
#
# @else
#
@@ -267,29 +267,28 @@
# @brief ÂоݤÎRT¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î»ØÄꤷ¤¿¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È¤Ç¤Î¾õÂÖ¤ò¼èÆÀ
#
#
-# @param state RTC¤Î¾õÂÖ
# @param rtc ÂоݤÎRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
# @param ec_id ¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È¤ÎID
-# @return rtc¡¢ec¤¬nil¤Î¾ì¹ç¤ÏFalse¤òÊÖ¤¹¡£
-# nil¤Ç¤Ï¤Ê¤¤¾ì¹ç¤Ïstate[0]¤Ë¾õÂÖ¤òÂåÆþ¤·¤ÆTrue¤òÊÖ¤¹¡£
+# @return 1ÈÖÌܤÎÌá¤êÃͤȤ·¤Ærtc¡¢ec¤¬nil¤Î¾ì¹ç¤ÏFalse¤òÊÖ¤·¡¢¤½¤ì°Ê³°¤Î¾ì¹ç¤ÏTrue¤òÊÖ¤¹¡£
+# 2ÈÖÌܤÎÌá¤êÃͤȤ·¤Æ¾õÂÖ¤òÊÖ¤¹¡£
+#
#
# @else
#
# @brief
-# @param state
# @param rtc
# @param ec_id
# @return
#
# @endif
-def get_state(state, rtc, ec_id=0):
+def get_state(rtc, ec_id=0):
if CORBA.is_nil(rtc):
- return False
+ return False, RTC.CREATED_STATE
ec = get_actual_ec(rtc, ec_id)
if CORBA.is_nil(ec):
- return False
- state[0] = ec.get_component_state(rtc)
- return True
+ return False, RTC.CREATED_STATE
+ state = ec.get_component_state(rtc)
+ return True, state
##
# @if jp
@@ -311,9 +310,9 @@
#
# @endif
def is_in_inactive(rtc, ec_id=0):
- state = [None]
- if get_state(state, rtc, ec_id):
- if state[0] == RTC.INACTIVE_STATE:
+ ret, state = get_state(rtc, ec_id)
+ if ret:
+ if state == RTC.INACTIVE_STATE:
return True
return False
@@ -337,9 +336,9 @@
#
# @endif
def is_in_active(rtc, ec_id=0):
- state = [None]
- if get_state(state, rtc, ec_id):
- if state[0] == RTC.ACTIVE_STATE:
+ ret, state = get_state(rtc, ec_id)
+ if ret:
+ if state == RTC.ACTIVE_STATE:
return True
return False
@@ -363,9 +362,9 @@
#
# @endif
def is_in_error(rtc, ec_id=0):
- state = [None]
- if get_state(state,rtc, ec_id):
- if state[0] == RTC.ERROR_STATE:
+ ret, state = get_state(rtc, ec_id)
+ if ret:
+ if state == RTC.ERROR_STATE:
return True
return False
@@ -439,11 +438,12 @@
##
# @if jp
#
-# @brief RTC¤Î»ØÄêID¤Î¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È¤Î¼þ´ü¤ò¼èÆÀ
+# @brief RTC¤Î»ØÄêID¤Î¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È¤Î¼þ´ü¤òÀßÄê
#
#
# @param rtc ÂоݤÎRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
# @param ec_id »ØÄê¤Î¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È¤ÎID
+# @param rate ¼Â¹Ô¼þ´ü
# @return set_rate´Ø¿ô¤ÎÌá¤êÃͤòÊÖ¤¹¡£
# RTC_OK¤ÇÀßÄ꤬À®¸ù
#
@@ -493,7 +493,7 @@
# @param localcomp ÂоݤÎRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
# @param othercomp ¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È¤È¤Î´ØÏ¢ÉÕ¤±¤ò²ò½ü¤¹¤ëRT¥³¥ó¥Ý¡¼¥Í¥ó¥È
# @return ec¤Î¼èÆÀ¤Ë¼ºÇÔ¤·¤¿¾ì¹ç¤ÏBAD_PARAMETER¤òÊÖ¤¹
-# ¤½¤¦¤Ç¤Ê¤¤¾ì¹ç¤ÏremoveComponent´Ø¿ô¤ÎÌá¤êÃͤòÊÖ¤¹¡£RTC_OK¤ÇÀܳÀ®¸ù¡£
+# ¤½¤¦¤Ç¤Ê¤¤¾ì¹ç¤ÏremoveComponent´Ø¿ô¤ÎÌá¤êÃͤòÊÖ¤¹¡£RTC_OK¤Ç²ò½üÀ®¸ù¡£
#
# @else
#
@@ -895,7 +895,7 @@
# @param prop ÀßÄê
# @param port0 ÂоݤΥݡ¼¥È1
# @param port1 ÂоݤΥݡ¼¥È2
-# @return RTC¡¢EC¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤¬nil¤Î¾ì¹ç¤ÏBAD_PARAMETER¤òÊÖ¤¹
+# @return ¥Ý¡¼¥È¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤¬nil¤Î¾ì¹ç¤ÏBAD_PARAMETER¤òÊÖ¤¹
# nil¤Ç¤Ï¤Ê¤¤¾ì¹ç¤Ïport0.connect´Ø¿ô¤ÎÌá¤êÃͤòÊÖ¤¹¡£RTC_OK¤Î¾ì¹ç¤ÏÀܳ¤¬À®¸ù
#
# @else
@@ -929,8 +929,8 @@
#
# @param name ¥³¥Í¥¯¥¿Ì¾
# @param prop ÀßÄê
-# @param port0 ÂоݤΥݡ¼¥È
-# @param port1 ÂоݤΥݡ¼¥È¤Î¥ê¥¹¥È
+# @param port ÂоݤΥݡ¼¥È
+# @param target_ports ÂоݤΥݡ¼¥È¤Î¥ê¥¹¥È
# @return Á´¤Æ¤ÎÀܳ¤¬À®¸ù¤·¤¿¾ì¹ç¤ÏRTC_OK¤òÊÖ¤¹¡£
# connect´Ø¿ô¤¬RTC_OK°Ê³°¤òÊÖ¤·¤¿¾ì¹ç¤ÏBAD_PARAMETER¤òÊÖ¤¹¡£
#
@@ -970,7 +970,7 @@
#
# @else
# @class find_port
-# @brief ¥Ý¡¼¥È¤ò̾Á°¤«¤é¸¡º÷
+# @brief
#
# @endif
#
@@ -1135,7 +1135,7 @@
# @endif
def disconnect_by_portname_connector_name(port_name, conn_name):
port_ref = get_port_by_url(port_name)
- if port_ref == RTC.PortService._nil:
+ if CORBA.is_nil(port_ref):
return RTC.BAD_PARAMETER
conprof = port_ref.get_connector_profiles()
@@ -1177,7 +1177,7 @@
#
# @param port_name ÂоݤΥݡ¼¥È̾
# @param name ¥³¥Í¥¯¥¿ID
-# @return port¤¬nil¤Î¾ì¹ç¤ÏBAD_PARAMETER¤òÊÖ¤¹
+# @return port¤¬Â¸ºß¤·¤Ê¤¤¾ì¹ç¤ÏBAD_PARAMETER¤òÊÖ¤¹
# nil¤Ç¤Ï¤Ê¤¤¾ì¹ç¤Ïdisconnect´Ø¿ô¤ÎÌá¤êÃͤòÊÖ¤¹¡£RTC_OK¤Î¾ì¹ç¤ÏÀÚÃǤ¬À®¸ù
#
# @else
@@ -1343,7 +1343,7 @@
# @brief »ØÄꤷ¤¿¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¥»¥Ã¥È̾¡¢¥Ñ¥é¥á¡¼¥¿Ì¾¤Î¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¥Ñ¥é¥á¡¼¥¿¤ò¼èÆÀ
#
#
-# @param conf ¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó
+# @param rtc RT¥³¥ó¥Ý¡¼¥Í¥ó¥È
# @param confset_name ¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¥»¥Ã¥È̾
# @param value_name ¥Ñ¥é¥á¡¼¥¿Ì¾
# @return ¥Ñ¥é¥á¡¼¥¿
@@ -1351,7 +1351,7 @@
# @else
#
# @brief
-# @param conf
+# @param rtc
# @param confset_name
# @param value_name
# @param ret
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CPUAffinity.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CPUAffinity.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/CPUAffinity.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -130,8 +130,8 @@
h = ctypes.windll.kernel32.GetCurrentThread()
result = ctypes.windll.kernel32.SetThreadAffinityMask(h, cpu_num)
- result = ctypes.windll.kernel32.SetThreadAffinityMask(h, cpu_num)
+
if result != cpu_num:
return False
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ConfigAdmin.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ConfigAdmin.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ConfigAdmin.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -633,7 +633,7 @@
# update(const char* config_set)
if config_set and config_param is None:
- if self._configsets.hasKey(config_set) == False:
+ if self._configsets.hasKey(config_set) is None:
return
self._changedParam = []
prop = self._configsets.getNode(config_set)
@@ -803,7 +803,7 @@
# @endif
# bool haveConfig(const char* config_id);
def haveConfig(self, config_id):
- if self._configsets.hasKey(config_id) == False:
+ if self._configsets.hasKey(config_id) is None:
return False
else:
return True
@@ -1142,7 +1142,7 @@
# @endif
# bool activateConfigurationSet(const char* config_id);
def activateConfigurationSet(self, config_id):
- if config_id == "":
+ if config_id == "" or config_id is None:
return False
# '_<conf_name>' is special configuration set name
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -44,7 +44,6 @@
"manager.name", "manager",
"manager.naming_formats", "%h.host_cxt/%n.mgr",
"manager.pid", "",
- "manager.refstring_path", "/var/log/rtcmanager.ref",
"os.name", "",
"os.release", "",
"os.version", "",
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Factory.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Factory.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Factory.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -239,7 +239,7 @@
FactoryBase.__init__(self, profile)
if policy is None:
- self._policy = OpenRTM_aist.DefaultNumberingPolicy()
+ self._policy = OpenRTM_aist.ProcessUniquePolicy()
else:
self._policy = policy
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -16,6 +16,7 @@
#
import OpenRTM_aist
+from OpenRTM_aist.ext.sdo.observer import ComponentObserverConsumer
def FactoryInit():
# Buffers
@@ -42,7 +43,8 @@
OpenRTM_aist.InPortSHMConsumerInit()
OpenRTM_aist.OutPortSHMProviderInit()
OpenRTM_aist.OutPortSHMConsumerInit()
- OpenRTM_aist.DefaultNumberingPolicyInit()
+ OpenRTM_aist.ProcessUniquePolicyInit()
OpenRTM_aist.NodeNumberingPolicyInit()
OpenRTM_aist.NamingServiceNumberingPolicyInit()
OpenRTM_aist.LogstreamFileInit()
+ ComponentObserverConsumer.ComponentObserverConsumerInit()
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPort.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPort.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPort.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -109,7 +109,6 @@
self._directNewData = False
self._valueMutex = threading.RLock()
- self._outPortConnectorList = []
def __del__(self, InPortBase=OpenRTM_aist.InPortBase):
@@ -307,16 +306,8 @@
del guard
- if len(self._outPortConnectorList) > 0:
- ret, data = self._outPortConnectorList[0].read()
-
- if ret:
- self._value = data
- if self._OnReadConvert is not None:
- self._value = self._OnReadConvert(self._value)
- self._rtcout.RTC_TRACE("OnReadConvert for direct data called")
- return self._value
+
if len(self._connectors) == 0:
self._rtcout.RTC_DEBUG("no connectors")
return self._value
@@ -426,40 +417,5 @@
self._directNewData = True
del guard
- ##
- # @if jp
- # @brief ¥À¥¤¥ì¥¯¥ÈÄÌ¿®ÍѤÎOutPortPullConnector¤òÄɲÃ
- # @param self
- # @param outPortConnector outPortPullConnector
- # @return OutPort¤Î¥µ¡¼¥Ð¥ó¥È(¼èÆÀ¤Ë¼ºÇÔ¤·¤¿¾ì¹ç¤ÏNone)
- # @else
- # @brief Getting local peer InPort if available
- # @param self
- # @param profile
- # @return
- # @endif
- #
- # OutPortBase*
- # setOutPortConnector(const OutPortPullConnector_impl outPortConnector)
- def addOutPortConnector(self, outPortConnector):
- self._outPortConnectorList.append(outPortConnector)
-
-
- ##
- # @if jp
- # @brief ¥À¥¤¥ì¥¯¥ÈÄÌ¿®ÍѤÎOutPortPullConnector¤òºï½ü
- # @param self
- # @param outPortConnector outPortPullConnector
- # @else
- # @brief Getting local peer InPort if available
- # @param self
- # @param profile
- # @return
- # @endif
- #
- # OutPortBase*
- # setOutPortConnector(const OutPortPullConnector_impl outPortConnector)
- def removeOutPortConnector(self, outPortConnector):
- self._outPortConnectorList.remove(outPortConnector)
\ No newline at end of file
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -1274,6 +1274,18 @@
elif consumer_ is not None:
self._rtcout.RTC_TRACE("InPortPullConnector created")
+ if OpenRTM_aist.StringUtil.normalize([prop.getProperty("interface_type")]) == "direct":
+ if consumer_ is not None:
+ outport = self.getLocalOutPort(profile)
+
+ if outport is None:
+ self._rtcout.RTC_TRACE("interface_type is direct, ")
+ self._rtcout.RTC_TRACE("but a peer OutPort servant could not be obtained.")
+ del connector
+ return None
+ connector.setOutPort(outport)
+
+
# guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
self._connectors.append(connector)
self._rtcout.RTC_PARANOID("connector push backed: %d", len(self._connectors))
@@ -1284,3 +1296,35 @@
return None
+ ##
+ # @if jp
+ # @brief ¥í¡¼¥«¥ë¤Î¥Ô¥¢OutPort¤ò¼èÆÀ
+ # @param self
+ # @param profile ¥³¥Í¥¯¥¿¥×¥í¥Õ¥¡¥¤¥ë
+ # @return OutPort¤Î¥µ¡¼¥Ð¥ó¥È(¼èÆÀ¤Ë¼ºÇÔ¤·¤¿¾ì¹ç¤ÏNone)
+ # @else
+ # @brief Getting local peer OutPort if available
+ # @param self
+ # @param profile
+ # @return
+ # @endif
+ #
+ # OutPortBase*
+ # getLocalOutPort(const ConnectorInfo& profile)
+ def getLocalOutPort(self, profile):
+ self._rtcout.RTC_DEBUG("Trying direct port connection.")
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ self._rtcout.RTC_DEBUG("Current connector profile: name=%s, id=%s" % (profile.name, profile.id))
+ for p in profile.ports:
+ obj = orb.string_to_object(p)
+ if self.getPortRef()._is_equivalent(obj):
+ continue
+ self._rtcout.RTC_DEBUG("Peer port found: %s." % p)
+ try:
+ poa = OpenRTM_aist.Manager.instance().getPOA()
+ outport = poa.reference_to_servant(obj)
+ self._rtcout.RTC_DEBUG("OutPortBase servant pointer is obtained.")
+ return outport
+ except:
+ self._rtcout.RTC_DEBUG("Peer port might be a remote port")
+ return None
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -124,16 +124,18 @@
# OutPortConsumer* consumer,
# ConnectorListeners& listeners,
# CdrBufferBase* buffer = 0);
- def __init__(self, info, consumer, listeners, buffer = 0):
+ def __init__(self, info, consumer, listeners, buffer = None):
OpenRTM_aist.InPortConnector.__init__(self, info, buffer)
self._consumer = consumer
self._listeners = listeners
+ self._directOutPort = None
+ self._outPortListeners = None
- if buffer == 0:
+ if buffer is None:
self._buffer = self.createBuffer(self._profile)
- if self._buffer == 0 or not self._consumer:
+ if not self._buffer or not self._consumer:
raise
self._buffer.init(info.properties.getNode("buffer"))
@@ -197,6 +199,32 @@
# virtual ReturnCode read(cdrMemoryStream& data);
def read(self, data):
self._rtcout.RTC_TRACE("InPortPullConnector.read()")
+
+ if self._directOutPort is not None:
+ if self._directOutPort.isEmpty():
+ self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
+ self._outPortListeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
+ self._rtcout.RTC_TRACE("ON_BUFFER_EMPTY(InPort,OutPort), ")
+ self._rtcout.RTC_TRACE("ON_SENDER_EMPTY(InPort,OutPort) ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+
+ self._directOutPort.read(data)
+ #self._outPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data[0])
+ self._rtcout.RTC_TRACE("ON_BUFFER_READ(OutPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ #self._outPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data[0])
+ self._rtcout.RTC_TRACE("ON_SEND(OutPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data[0])
+ self._rtcout.RTC_TRACE("ON_RECEIVED(InPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data[0])
+ self._rtcout.RTC_TRACE("ON_BUFFER_WRITE(InPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ return self.PORT_OK
+
+
+
if not self._consumer:
return self.PORT_ERROR
@@ -325,6 +353,29 @@
self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
return
-
+ ##
+ # @if jp
+ # @brief ¥Ç¡¼¥¿¤ò¥À¥¤¥ì¥¯¥È¤Ë½ñ¤¹þ¤à¤¿¤á¤ÎOutPort¤Î¥µ¡¼¥Ð¥ó¥È¤òÀßÄꤹ¤ë
+ #
+ # @param self
+ # @param directOutPort OutPort¤Î¥µ¡¼¥Ð¥ó¥È
+ # @return True: ÀßÄê¤ËÀ®¸ù False: ´û¤ËÀßÄêºÑ¤ß¤Î¤¿¤á¼ºÇÔ
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param directOutPort
+ # @return
+ # @endif
+ #
+ # bool setOutPort(setOutPort* directOutPort);
+ def setOutPort(self, directOutPort):
+ if self._directOutPort is not None:
+ return False
+ self._directOutPort = directOutPort
+ self._outPortListeners = self._directOutPort._listeners
+ return True
+
+
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -119,7 +119,7 @@
#
# InPortPushConnector(ConnectorInfo info, InPortProvider* provider,
# ConnectorListeners listeners, CdrBufferBase* buffer = 0);
- def __init__(self, info, provider, listeners, buffer = 0):
+ def __init__(self, info, provider, listeners, buffer = None):
OpenRTM_aist.InPortConnector.__init__(self, info, buffer)
self._provider = provider
self._listeners = listeners
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -450,10 +450,8 @@
for i in range(len(mods)):
if mods[i] is None or mods[i] == "":
continue
- tmp = [mods[i]]
- OpenRTM_aist.eraseHeadBlank(tmp)
- OpenRTM_aist.eraseTailBlank(tmp)
- mods[i] = tmp[0]
+ mods[i] = mods[i].strip()
+
basename = os.path.basename(mods[i]).split(".")[0]
basename += "Init"
@@ -467,9 +465,9 @@
sdofactory_ = OpenRTM_aist.SdoServiceConsumerFactory.instance()
self._config.setProperty("sdo.service.consumer.available_services",
OpenRTM_aist.flatten(sdofactory_.getIdentifiers()))
- if self._initProc:
- self._initProc(self)
+
+ self.invokeInitProc()
self.initPreCreation()
self.initPreConnection()
@@ -987,9 +985,9 @@
prop_ = prop.getNode("port")
prop_.mergeProperties(self._config.getNode("port"))
+
comp = factory.create(self)
- if self._config.getProperty("corba.endpoints_ipv4") == "":
- self.setEndpointProperty(comp.getObjRef())
+
for i in range(len(inherit_prop)):
if self._config.findNode(inherit_prop[i]):
@@ -999,6 +997,10 @@
self._rtcout.RTC_ERROR("createComponent: RTC creation failed: %s",
comp_id.getProperty("implementation_id"))
return None
+
+ if self._config.getProperty("corba.endpoints_ipv4") == "":
+ self.setEndpointProperty(comp.getObjRef())
+
self._rtcout.RTC_TRACE("RTC Created: %s", comp_id.getProperty("implementation_id"))
self._listeners.rtclifecycle_.postCreate(comp)
@@ -1032,6 +1034,7 @@
if comp.exit() != RTC.RTC_OK:
self._rtcout.RTC_DEBUG("%s finalization was failed.",
comp_id.getProperty("implementation_id"))
+ comp.exit()
return None
self._rtcout.RTC_TRACE("RTC initialization succeeded: %s",
@@ -1452,10 +1455,6 @@
lmpm_ = [s.strip() for s in self._config.getProperty("manager.preload.modules").split(",")]
for mpm_ in lmpm_:
- tmp = [mpm_]
- OpenRTM_aist.eraseHeadBlank(tmp)
- OpenRTM_aist.eraseTailBlank(tmp)
- mpm_ = tmp[0]
if len(mpm_) == 0:
continue
basename_ = mpm_.split(".")[0]+"Init"
@@ -1730,7 +1729,15 @@
def initORB(self):
self._rtcout.RTC_TRACE("Manager.initORB()")
try:
- args = OpenRTM_aist.split(self.createORBOptions(), " ")
+ tmp_args = self.createORBOptions().split("\"")
+ args = []
+ for i in range(len(tmp_args)):
+ if i%2 == 0:
+ args.extend(tmp_args[i].split(" "))
+ else:
+ args.append(tmp_args[i])
+
+
args.insert(0,"manager")
argv = OpenRTM_aist.toArgv(args)
@@ -2317,26 +2324,14 @@
tm.set_time(duration)
if self._timer:
self._timer.registerListenerObj(self._mgrservant,
- OpenRTM_aist.ManagerServant.update_master_manager,
+ OpenRTM_aist.ManagerServant.updateMasterManager,
tm)
otherref = None
- try:
- otherref = open(self._config.getProperty("manager.refstring_path"),'r')
- #refstring = otherref.readline()
- otherref.close()
- except:
- try:
- reffile = open(self._config.getProperty("manager.refstring_path"),'w')
- except:
- self._rtcout.RTC_WARN(OpenRTM_aist.Logger.print_exception())
- return False
- else:
- reffile.write(self._orb.object_to_string(self._mgrservant.getObjRef()))
- reffile.close()
+
return True
@@ -3070,7 +3065,7 @@
# @if jp
# @brief µ¯Æ°»þ¤Ërtc.conf¤Ç»ØÄꤷ¤¿¥Ý¡¼¥È¤òÀܳ¤¹¤ë
# Îã:
- # manager.components.preconnect: RTC0.port0:RTC0.port1(interface_type=corba_cdr&dataflow_type=pull&~),~
+ # manager.components.preconnect: RTC0.port0?port=RTC0.port1&interface_type=corba_cdr&dataflow_type=pull&~,~
# @param self
# @else
#
@@ -3083,26 +3078,47 @@
connectors = str(self._config.getProperty("manager.components.preconnect")).split(",")
for c in connectors:
- tmp = [c]
- OpenRTM_aist.eraseHeadBlank(tmp)
- OpenRTM_aist.eraseTailBlank(tmp)
- c = tmp[0]
+ c = c.strip()
if len(c) == 0:
continue
- conn_prop = c.split("(")
- if len(conn_prop) < 2:
+ port0_str = c.split("?")[0]
+ param = OpenRTM_aist.urlparam2map(c)
+
+
+
+ ports = []
+ configs = {}
+ for k,p in param.items():
+ if k == "port":
+ ports.append(p)
+ continue
+ tmp = k.replace("port","")
+ v = [0]
+ if OpenRTM_aist.stringTo(v, tmp):
+ ports.append(p)
+ continue
+ configs[k] = p
+
+ if len(ports) == 0:
self._rtcout.RTC_ERROR("Invalid format for pre-connection.")
+ self._rtcout.RTC_ERROR("Format must be Comp0.port0?port=Comp1.port1")
continue
- conn_prop[1] = conn_prop[1].replace(")","")
- comp_ports = conn_prop[0].split(":")
- if len(comp_ports) != 2:
- self._rtcout.RTC_ERROR("Invalid format for pre-connection.")
- self._rtcout.RTC_ERROR("Format must be Comp0.port0:Comp1.port1()")
- continue
+
+ if not ("dataflow_type" in configs.keys()):
+ configs["dataflow_type"] = "push"
+ if not ("interface_type" in configs.keys()):
+ configs["interface_type"] = "corba_cdr"
- comp0_name = comp_ports[0].split(".")[0]
- port0_name = comp_ports[0]
+
+ tmp = port0_str.split(".")
+ tmp.pop()
+ comp0_name = OpenRTM_aist.flatten(tmp,".")
+
+
+ port0_name = port0_str
+
+
if comp0_name.find("://") == -1:
comp0 = self.getComponent(comp0_name)
if comp0 is None:
@@ -3116,61 +3132,57 @@
self._rtcout.RTC_ERROR("%s not found." % comp0_name)
continue
comp0_ref = rtcs[0]
- port0_name = comp_ports[0].split("/")[-1]
+ port0_name = port0_str.split("/")[-1]
-
port0_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(comp0_ref, port0_name)
+
if CORBA.is_nil(port0_var):
- self._rtcout.RTC_DEBUG("port %s found: " % comp_ports[0])
+ self._rtcout.RTC_DEBUG("port %s found: " % port0_str)
continue
- comp1_name = comp_ports[1].split(".")[0]
- port1_name = comp_ports[1]
+ for port_str in ports:
+ tmp = port_str.split(".")
+ tmp.pop()
+ comp_name = OpenRTM_aist.flatten(tmp,".")
+ port_name = port_str
+
- if comp1_name.find("://") == -1:
- comp1 = self.getComponent(comp1_name)
- if comp1 is None:
- self._rtcout.RTC_ERROR("%s not found." % comp1_name)
- continue
- comp1_ref = comp1.getObjRef()
- else:
- rtcs = self._namingManager.string_to_component(comp1_name)
-
- if len(rtcs) == 0:
- self._rtcout.RTC_ERROR("%s not found." % comp1_name)
- continue
- comp1_ref = rtcs[0]
- port1_name = comp_ports[1].split("/")[-1]
+ if comp_name.find("://") == -1:
+ comp = self.getComponent(comp_name)
+ if comp is None:
+ self._rtcout.RTC_ERROR("%s not found." % comp_name)
+ continue
+ comp_ref = comp.getObjRef()
+ else:
+ rtcs = self._namingManager.string_to_component(comp_name)
+
+ if len(rtcs) == 0:
+ self._rtcout.RTC_ERROR("%s not found." % comp_name)
+ continue
+ comp_ref = rtcs[0]
+ port_name = port_str.split("/")[-1]
+
-
- port1_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(comp1_ref, port1_name)
+ port_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(comp_ref, port_name)
- if CORBA.is_nil(port1_var):
- self._rtcout.RTC_DEBUG("port %s found: " % comp_ports[1])
- continue
+ if CORBA.is_nil(port_var):
+ self._rtcout.RTC_DEBUG("port %s found: " % port_str)
+ continue
- prop = OpenRTM_aist.Properties()
- opt_props = conn_prop[1].split("&")
- for o in opt_props:
- temp = o.split("=")
- if len(temp) == 2:
- s = [temp[0]]
- OpenRTM_aist.eraseHeadBlank(s)
- OpenRTM_aist.eraseTailBlank(s)
- temp[0] = s[0]
- s = [temp[1]]
- OpenRTM_aist.eraseHeadBlank(s)
- OpenRTM_aist.eraseTailBlank(s)
- temp[1] = s[0]
- prop.setProperty("dataport."+temp[0],temp[1])
+ prop = OpenRTM_aist.Properties()
+
+ for k,v in configs.items():
+ k = k.strip()
+ v = v.strip()
+ prop.setProperty("dataport."+k,v)
- if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(c, prop, port0_var, port1_var):
- self._rtcout.RTC_ERROR("Connection error: %s" % c)
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(c, prop, port0_var, port_var):
+ self._rtcout.RTC_ERROR("Connection error: %s" % c)
@@ -3192,11 +3204,9 @@
self._rtcout.RTC_TRACE("Components pre-activation: %s" % str(self._config.getProperty("manager.components.preactivation")))
comps = str(self._config.getProperty("manager.components.preactivation")).split(",")
for c in comps:
- tmp = [c]
- OpenRTM_aist.eraseHeadBlank(tmp)
- OpenRTM_aist.eraseTailBlank(tmp)
- c = tmp[0]
+ c = c.strip()
if c:
+ comp_ref = None
if c.find("://") == -1:
comp = self.getComponent(c)
if comp is None:
@@ -3233,12 +3243,23 @@
for i in range(len(comps)):
if comps[i] is None or comps[i] == "":
continue
- tmp = [comps[i]]
- OpenRTM_aist.eraseHeadBlank(tmp)
- OpenRTM_aist.eraseTailBlank(tmp)
- comps[i] = tmp[0]
+ comps[i] = comps[i].strip()
self.createComponent(comps[i])
+
+
+ ##
+ # @if jp
+ # @brief
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void initPreCreation()
+ def invokeInitProc(self):
+ if self._initProc:
+ self._initProc(self)
##
# @if jp
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -81,7 +81,6 @@
class ManagerConfig :
"""
"""
-
##
# @if jp
# @brief Manager ¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¤Î¥Ç¥Õ¥©¥ë¥È¡¦¥Õ¥¡¥¤¥ë¡¦¥Ñ¥¹
@@ -88,14 +87,21 @@
# @else
# @brief The default configuration file path for manager
# @endif
- config_file_path = ["./rtc.conf",
- "/etc/rtc.conf",
- "/etc/rtc/rtc.conf",
- "/usr/local/etc/rtc.conf",
- "/usr/local/etc/rtc/rtc.conf",
- None]
+ if sys.platform == 'win32':
+ config_file_path = ["./rtc.conf",
+ "${RTM_ROOT}bin/${RTM_VC_VERSION}/rtc.conf",
+ "C:/Python"+str(sys.version_info[0])+str(sys.version_info[1])+"/rtc.conf",
+ None]
+ else:
+ config_file_path = ["./rtc.conf",
+ "/etc/rtc.conf",
+ "/etc/rtc/rtc.conf",
+ "/usr/local/etc/rtc.conf",
+ "/usr/local/etc/rtc/rtc.conf",
+ None]
+
##
# @if jp
# @brief ¥Ç¥Õ¥©¥ë¥È¡¦¥³¥ó¥Õ¥£¥®¥å¥ì¡¼¥·¥ç¥ó¤Î¥Õ¥¡¥¤¥ë¡¦¥Ñ¥¹¤ò¼±Ê̤¹¤ë
@@ -339,6 +345,7 @@
i = 0
while (self.config_file_path[i]):
+ self.config_file_path[i] = OpenRTM_aist.replaceEnv(self.config_file_path[i])
if self.fileExist(self.config_file_path[i]):
self._configFile = self.config_file_path[i]
return True
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -481,11 +481,11 @@
self._rtcout.RTC_TRACE("create_component(%s)", module_name)
- rtc = self.create_component_by_address(module_name)
+ rtc = self.createComponentByAddress(module_name)
if not CORBA.is_nil(rtc):
return rtc
- rtc = self.create_component_by_mgrname(module_name)
+ rtc = self.createComponentByManagerName(module_name)
if not CORBA.is_nil(rtc):
return rtc
@@ -494,8 +494,8 @@
#module_name = module_name.split("&")[0]
module_name = [module_name]
- self.get_parameter_by_modulename("manager_address",module_name)
- manager_name = self.get_parameter_by_modulename("manager_name",module_name)
+ self.getParameterByModulename("manager_address",module_name)
+ manager_name = self.getParameterByModulename("manager_name",module_name)
module_name = module_name[0]
comp_param = CompParam(module_name)
@@ -522,7 +522,7 @@
if not manager_name:
module_name = module_name + "&manager_name=manager_%p"
- rtc = self.create_component_by_mgrname(module_name)
+ rtc = self.createComponentByManagerName(module_name)
return rtc
else:
@@ -1178,9 +1178,9 @@
# @param manager_name
# @return
# @endif
- # RTC::Manager_ptr findManager_by_name(string manager_name)
- def findManager_by_name(self, manager_name):
- self._rtcout.RTC_TRACE("findManager_by_name(manager_name = %s)", manager_name)
+ # RTC::Manager_ptr findManagerByName(string manager_name)
+ def findManagerByName(self, manager_name):
+ self._rtcout.RTC_TRACE("findManagerByName(manager_name = %s)", manager_name)
prop = self._mgr.getConfig()
name = prop.getProperty("manager.instance_name")
if name == manager_name:
@@ -1252,8 +1252,8 @@
# @param module_name
# @return
# @endif
- # std::string get_parameter_by_modulename(string param_name, string &module_name)
- def get_parameter_by_modulename(self, param_name, module_name):
+ # std::string getParameterByModulename(string param_name, string &module_name)
+ def getParameterByModulename(self, param_name, module_name):
arg = module_name[0]
pos0 = arg.find("&"+param_name+"=")
pos1 = arg.find("?"+param_name+"=")
@@ -1263,11 +1263,13 @@
if pos0 == -1 and pos1 == -1:
return ""
+ pos = 0
if pos0 == -1:
pos = pos1
else:
pos = pos0
+ paramstr = ""
endpos = arg.find('&', pos + 1)
if endpos == -1:
endpos = arg.find('?', pos + 1)
@@ -1316,14 +1318,14 @@
# @param module_name
# @return
# @endif
- # RTC::RTObject_ptr create_component_by_mgrname(string module_name)
- def create_component_by_mgrname(self, module_name):
+ # RTC::RTObject_ptr createComponentByManagerName(string module_name)
+ def createComponentByManagerName(self, module_name):
arg = module_name
tmp = [arg]
- mgrstr = self.get_parameter_by_modulename("manager_name",tmp)
+ mgrstr = self.getParameterByModulename("manager_name",tmp)
arg = tmp[0]
if not mgrstr:
@@ -1333,7 +1335,7 @@
if mgrstr == "manager_%p":
mgrobj = RTM.Manager._nil
else:
- mgrobj = self.findManager_by_name(mgrstr)
+ mgrobj = self.findManagerByName(mgrstr)
@@ -1373,16 +1375,7 @@
self._rtcout.RTC_DEBUG("Invoking command: %s.", cmd)
-
- ret = OpenRTM_aist.launch_shell(cmd)
-
- if ret == -1:
- self._rtcout.RTC_DEBUG("%s: failed", cmd)
- return RTC.RTObject._nil
- time.sleep(0.01)
- count = 0
-
slaves_names = []
regex = r'manager_[0-9]+'
if mgrstr == "manager_%p":
@@ -1402,6 +1395,19 @@
del guard_slave
+
+
+ ret = OpenRTM_aist.launch_shell(cmd)
+
+
+ if ret == -1:
+ self._rtcout.RTC_DEBUG("%s: failed", cmd)
+ return RTC.RTObject._nil
+ time.sleep(0.01)
+ count = 0
+
+
+
t0_ = OpenRTM_aist.Time()
while CORBA.is_nil(mgrobj):
@@ -1425,7 +1431,7 @@
del guard_slave
else:
- mgrobj = self.findManager_by_name(mgrstr)
+ mgrobj = self.findManagerByName(mgrstr)
count += 1
if count > 1000:
break
@@ -1482,12 +1488,12 @@
# @param module_name
# @return
# @endif
- # RTC::RTObject_ptr create_component_by_address(string module_name)
- def create_component_by_address(self, module_name):
+ # RTC::RTObject_ptr createComponentByAddress(string module_name)
+ def createComponentByAddress(self, module_name):
arg = module_name
tmp = [arg]
- mgrstr = self.get_parameter_by_modulename("manager_address",tmp)
+ mgrstr = self.getParameterByModulename("manager_address",tmp)
arg = tmp[0]
if not mgrstr:
@@ -1495,7 +1501,7 @@
mgrvstr = mgrstr.split(":")
if len(mgrvstr) != 2:
- self._rtcout.RTC_WARN("Invalid manager name: %s", mgrstr)
+ self._rtcout.RTC_WARN("Invalid manager address: %s", mgrstr)
return RTC.RTObject._nil
@@ -1579,8 +1585,8 @@
# @brief
# @param self
# @endif
- # void update_master_manager()
- def update_master_manager(self):
+ # void updateMasterManager()
+ def updateMasterManager(self):
if not self._isMaster and self._objref:
guard = OpenRTM_aist.ScopedLock(self._masterMutex)
if len(self._masters) > 0:
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -282,6 +282,13 @@
if not self.fileExist(file_path):
raise ModuleManager.FileNotFound(file_name)
+
+ with open(str(file_path)) as f:
+ if init_func is not None:
+ if f.read().find(init_func) == -1:
+ raise ModuleManager.FileNotFound(file_name)
+
+
if not pathChanged:
splitted_name = os.path.split(file_path)
sys.path.append(splitted_name[0])
@@ -474,7 +481,13 @@
# for new
comp_spec_name = classname+"_spec"
+
+
+
try:
+ with open(str(fullname)) as f:
+ if f.read().find(comp_spec_name) == -1:
+ return None
imp_file = __import__(basename.split(".")[0])
except:
return None
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NamingManager.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NamingManager.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NamingManager.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -256,7 +256,11 @@
self._rtcout.RTC_TRACE("isAlive()")
return self._cosnaming.isAlive()
+ def getCorbaNaming(self):
+ self._rtcout.RTC_TRACE("getCorbaNaming()")
+ return self._cosnaming
+
##
# @if jp
#
@@ -275,13 +279,13 @@
# @else
#
# @endif
- def get_RTC_by_Name(self, context, name, rtcs):
+ def getComponentByName(self, context, name, rtcs):
length = 500
bl,bi = context.list(length)
for i in bl:
if i.binding_type == CosNaming.ncontext:
next_context = context.resolve(i.binding_name)
- self.get_RTC_by_Name(next_context, name, rtcs)
+ self.getComponentByName(next_context, name, rtcs)
elif i.binding_type == CosNaming.nobject:
if i.binding_name[0].id == name and i.binding_name[0].kind == "rtc":
@@ -289,7 +293,8 @@
cc = OpenRTM_aist.CorbaConsumer()
cc.setObject(context.resolve(i.binding_name))
obj = cc.getObject()._narrow(RTC.RTObject)
- rtcs.append(obj)
+ if not obj._non_existent():
+ rtcs.append(obj)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
@@ -325,6 +330,7 @@
rtc_name = url[len(host)+1:]
try:
+ cns = None
if host == "*":
cns = self._cosnaming
else:
@@ -334,7 +340,7 @@
if len(names) == 2 and names[0] == "*":
root_cxt = cns.getRootContext()
- self.get_RTC_by_Name(root_cxt, names[1], rtc_list)
+ self.getComponentByName(root_cxt, names[1], rtc_list)
return rtc_list
else:
rtc_name += ".rtc"
@@ -341,6 +347,8 @@
obj = cns.resolveStr(rtc_name)
if CORBA.is_nil(obj):
return []
+ if obj._non_existent():
+ return []
rtc_list.append(obj)
return rtc_list
except:
@@ -379,10 +387,14 @@
#
# @param self
# @param orb ORB
- # @param names NamingServer ̾¾Î
+ # @param mgr ¥Þ¥Í¡¼¥¸¥ã
#
# @else
#
+ # @param self
+ # @param orb ORB
+ # @param mgr
+ #
# @endif
def __init__(self, orb, mgr):
self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf('manager.namingonmanager')
@@ -478,7 +490,7 @@
#
# @param name rtcloc·Á¼°¤Ç¤ÎRTC̾
# rtcloc://localhost:2809/example/ConsoleIn
- # @return RTC¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹
+ # @return RTC¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤Î¥ê¥¹¥È
#
# @else
#
@@ -503,7 +515,7 @@
rtc_name = url[len(host)+1:]
mgr = self.getManager(host)
- if mgr:
+ if not CORBA.is_nil(mgr):
rtc_list = mgr.get_components_by_name(rtc_name)
slaves = mgr.get_slave_managers()
@@ -521,6 +533,8 @@
# @if jp
#
# @brief »ØÄê¥Û¥¹¥È̾¡¢¥Ý¡¼¥È̾¤ÇManager¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹¤ò¼èÆÀ
+ #
+ # @param name ¥Û¥¹¥È̾¡¢¥Ý¡¼¥È̾
#
# @return Manager¤Î¥ª¥Ö¥¸¥§¥¯¥È¥ê¥Õ¥¡¥ì¥ó¥¹
#
@@ -536,6 +550,7 @@
def getManager(self, name):
if name == "*":
mgr_sev = self._mgr.getManagerServant()
+ mgr = None
if mgr_sev.is_master():
mgr = mgr_sev.getObjRef()
else:
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NamingServiceNumberingPolicy.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -77,6 +77,7 @@
return num_str
else:
num += 1
+ return OpenRTM_aist.otos(num)
##
# @if jp
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NodeNumberingPolicy.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -74,6 +74,7 @@
return num_str
else:
num += 1
+ return OpenRTM_aist.otos(num)
##
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/NumberingPolicy.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -95,7 +95,7 @@
##
# @if jp
#
-# @class DefaultNumberingPolicy
+# @class ProcessUniquePolicy
# @brief ¥ª¥Ö¥¸¥§¥¯¥ÈÀ¸À®»þ¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)´ÉÍýÍÑ¥¯¥é¥¹
#
# ¥ª¥Ö¥¸¥§¥¯¥È¤òÀ¸À®¤¹¤ëºÝ¤Î¥Í¡¼¥ß¥ó¥°¡¦¥Ý¥ê¥·¡¼(̿̾µ¬Â§)¤ò´ÉÍý¤¹¤ë¤¿¤á¤Î
@@ -106,7 +106,7 @@
# @else
#
# @endif
-class DefaultNumberingPolicy(NumberingPolicy):
+class ProcessUniquePolicy(NumberingPolicy):
"""
"""
@@ -209,8 +209,11 @@
raise NumberingPolicy.ObjectNotFound()
-def DefaultNumberingPolicyInit():
+def ProcessUniquePolicyInit():
+ OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("default",
+ OpenRTM_aist.ProcessUniquePolicy,
+ OpenRTM_aist.Delete)
OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("process_unique",
- OpenRTM_aist.DefaultNumberingPolicy,
+ OpenRTM_aist.ProcessUniquePolicy,
OpenRTM_aist.Delete)
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -21,6 +21,7 @@
from omniORB import any
import OpenRTM_aist
+import threading
##
@@ -101,7 +102,11 @@
#self._OnUnderflow = None
#self._OnConnect = None
#self._OnDisconnect = None
+ self._directNewData = False
+ self._valueMutex = threading.RLock()
+ self._directValue = value
+
def __del__(self, OutPortBase=OpenRTM_aist.OutPortBase):
OutPortBase.__del__(self)
@@ -178,11 +183,17 @@
guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
for con in self._connectors:
- ret = con.write(value)
- if ret != self.PORT_OK:
- result = False
- if ret == self.CONNECTION_LOST:
- self.disconnect(con.id())
+ if not con.directMode():
+ ret = con.write(value)
+ if ret != self.PORT_OK:
+ result = False
+ if ret == self.CONNECTION_LOST:
+ self.disconnect(con.id())
+ else:
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ self._directValue = value
+ self._directNewData = True
+ del guard
return result
@@ -288,7 +299,33 @@
return str(val.typecode().name())
+ ##
+ # @if jp
+ #
+ # @brief ¥Ç¡¼¥¿¤ò¥À¥¤¥ì¥¯¥È¤ËÆɤ߹þ¤à
+ #
+ # @param self
+ # @param data Æɤ߹þ¤à¥Ç¡¼¥¿
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @endif
+ # void read(const DataType& data)
+ def read(self, data):
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ self._directNewData = False
+ data[0] = self._directValue
+ if self._OnWriteConvert:
+ data[0] = self._OnWriteConvert(data[0])
+ del guard
+ def isEmpty(self):
+ return (not self._directNewData)
+
+
class subscribe:
def __init__(self, prof, subs = None):
if subs:
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -579,7 +579,7 @@
return self._connectors[i]
self._rtcout.RTC_WARN("ConnectorProfile with the id(%s) not found.", id)
- return 0
+ return None
##
# @if jp
@@ -610,7 +610,7 @@
return self._connectors[i]
self._rtcout.RTC_WARN("ConnectorProfile with the name(%s) not found.", name)
- return 0
+ return None
##
@@ -1193,7 +1193,7 @@
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
self._rtcout.RTC_DEBUG("interface_types: %s",
OpenRTM_aist.flatten(self._providerTypes))
- return 0
+ return None
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
provider = OpenRTM_aist.OutPortProviderFactory.instance().createObject(prop.getProperty("interface_type"))
@@ -1205,12 +1205,12 @@
if not provider.publishInterface(cprof.properties):
self._rtcout.RTC_ERROR("publishing interface information error")
OpenRTM_aist.OutPortProviderFactory.instance().deleteObject(provider)
- return 0
+ return None
return provider
self._rtcout.RTC_ERROR("provider creation failed")
- return 0
+ return None
##
@@ -1229,7 +1229,7 @@
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
self._rtcout.RTC_DEBUG("interface_types: %s",
OpenRTM_aist.flatten(self._consumerTypes))
- return 0
+ return None
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
consumer = OpenRTM_aist.InPortConsumerFactory.instance().createObject(prop.getProperty("interface_type"))
@@ -1247,7 +1247,7 @@
return consumer
self._rtcout.RTC_ERROR("consumer creation failed")
- return 0
+ return None
##
@@ -1277,7 +1277,7 @@
else:
self._rtcout.RTC_ERROR("provider or consumer is not passed. returned 0;")
- return 0
+ return None
#if connector is None:
# self._rtcout.RTC_ERROR("OutPortConnector creation failed")
@@ -1290,20 +1290,23 @@
if OpenRTM_aist.StringUtil.normalize([prop.getProperty("interface_type")]) == "direct":
+ if consumer_ is not None:
+ inport = self.getLocalInPort(profile)
- inport = self.getLocalInPort(profile)
-
- if inport is None:
- self._rtcout.RTC_TRACE("interface_type is direct, ")
- self._rtcout.RTC_TRACE("but a peer InPort servant could not be obtained.")
- del connector
- return 0
+ if inport is None:
+ self._rtcout.RTC_TRACE("interface_type is direct, ")
+ self._rtcout.RTC_TRACE("but a peer InPort servant could not be obtained.")
+ del connector
+ return None
- connector.setInPort(inport)
+ connector.setInPort(inport)
#if consumer_ is not None:
# connector.setInPort(inport)
#elif provider_ is not None:
# connector.setInPort(inport)
+ else:
+ connector.setDirectMode()
+
self._connectors.append(connector)
@@ -1313,7 +1316,7 @@
except:
self._rtcout.RTC_ERROR("Exeption: OutPortPushConnector creation failed")
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return 0
+ return None
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -57,6 +57,7 @@
self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortConnector")
self._profile = info
self._endian = True
+ self._directMode = False
return
##
@@ -150,3 +151,36 @@
self._endian = True # little endian
return RTC.RTC_OK
+
+ ##
+ # @if jp
+ # @brief ¥À¥¤¥ì¥¯¥ÈÀܳ¥â¡¼¥É¤ËÀßÄê
+ #
+ #
+ # @else
+ # @brief
+ #
+ # This
+ #
+ # @endif
+ #
+ # const char* name();
+ def setDirectMode(self):
+ self._directMode = True
+
+ ##
+ # @if jp
+ # @brief ¥À¥¤¥ì¥¯¥ÈÀܳ¥â¡¼¥É¤«¤ÎȽÄê
+ #
+ # @return True¡§¥À¥¤¥ì¥¯¥ÈÀܳ¥â¡¼¥É,false¡§¤½¤ì°Ê³°
+ #
+ # @else
+ # @brief
+ #
+ # @return
+ #
+ # @endif
+ #
+ # const char* name();
+ def directMode(self):
+ return self._directMode
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -123,18 +123,14 @@
# OutPortProvider* provider,
# ConnectorListeners& listeners,
# CdrBufferBase* buffer = 0);
- def __init__(self, info, provider, listeners, buffer = 0):
+ def __init__(self, info, provider, listeners, buffer = None):
OpenRTM_aist.OutPortConnector.__init__(self, info)
self._provider = provider
self._listeners = listeners
self._buffer = buffer
+ self._directMode = False
- self._directInPort = None
- self._inPortListeners = None
- self._directNewData = False
- self._valueMutex = threading.RLock()
- self._value = None
if not self._buffer:
self._buffer = self.createBuffer(info)
@@ -189,14 +185,7 @@
#
# virtual ReturnCode write(const cdrMemoryStream& data);
def write(self, data):
- if self._directInPort is not None:
-
- guard = OpenRTM_aist.ScopedLock(self._valueMutex)
- self._value = data
- self._directNewData = True
-
- del guard
-
+ if self._directMode:
return self.PORT_OK
# data -> (conversion) -> CDR stream
cdr_data = None
@@ -242,10 +231,8 @@
OpenRTM_aist.CdrBufferFactory.instance().deleteObject(self._buffer)
self._buffer = 0
- if self._directInPort:
- self._directInPort.removeOutPortConnector(self)
- self._directInPort = None
+
return self.PORT_OK
@@ -343,77 +330,15 @@
self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
return
-
##
# @if jp
- # @brief ¥Ç¡¼¥¿¤ò¥À¥¤¥ì¥¯¥È¤Ë½ñ¤¹þ¤à¤¿¤á¤ÎInPort¤Î¥µ¡¼¥Ð¥ó¥È¤òÀßÄꤹ¤ë
- #
- # @param self
- # @param directInPort InPort¤Î¥µ¡¼¥Ð¥ó¥È
- # @return True: ÀßÄê¤ËÀ®¸ù False: ´û¤ËÀßÄêºÑ¤ß¤Î¤¿¤á¼ºÇÔ
+ # @brief ¥À¥¤¥ì¥¯¥ÈÀܳ¥â¡¼¥É¤ËÀßÄê
# @else
# @brief
- #
- # @param self
- # @param directInPort
- # @return
# @endif
- #
- # bool setPorts(InPortBase* directInPort, OutPortBase* outPort);
- def setInPort(self, directInPort):
- if self._directInPort is not None:
- return False
- self._directInPort = directInPort
- self._inPortListeners = self._directInPort._listeners
-
- self._directInPort.addOutPortConnector(self)
- return True
+ # void onDisconnect()
+ def setDirectMode(self):
+ self._directMode = True
+
- ##
- # @if jp
- #
- # @brief ¥Ç¡¼¥¿¤ò¥À¥¤¥ì¥¯¥È¤ËÆɤ߹þ¤à
- #
- # @param self
- # @return ȽÄê(¥Ç¡¼¥¿¤¬½ñ¤¹þ¤Þ¤ì¤Æ¤¤¤Ê¤±¤ì¤ÐTrue)¡¢Æɤ߹þ¤à¥Ç¡¼¥¿
- #
- # @else
- # @brief
- #
- # @param self
- # @param data
- # @endif
- # DataType* read()
- def read(self):
- guard = OpenRTM_aist.ScopedLock(self._valueMutex)
- if not self.isNew():
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
- self._inPortListeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
- self._rtcout.RTC_TRACE("ON_BUFFER_EMPTY(OutPort), ")
- self._rtcout.RTC_TRACE("ON_SENDER_EMPTY(InPort) ")
- self._rtcout.RTC_TRACE("callback called in direct mode.")
- return False, ""
-
- data = self._value
- ret = self._directNewData
- self._directNewData = False
- del guard
-
-
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- self._rtcout.RTC_TRACE("ON_BUFFER_READ(OutPort), ")
- self._rtcout.RTC_TRACE("callback called in direct mode.")
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- self._rtcout.RTC_TRACE("ON_SEND(OutPort), ")
- self._rtcout.RTC_TRACE("callback called in direct mode.")
- self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- self._rtcout.RTC_TRACE("ON_RECEIVED(InPort), ")
- self._rtcout.RTC_TRACE("callback called in direct mode.")
- self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- self._rtcout.RTC_TRACE("ON_BUFFER_WRITE(InPort), ")
- self._rtcout.RTC_TRACE("callback called in direct mode.")
-
- return ret, data
- def isNew(self):
- return self._directNewData
\ No newline at end of file
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -239,20 +239,20 @@
if self._directInPort is not None:
if self._directInPort.isNew():
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
- self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
+ #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
+ #self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
+ #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
+ #self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
self._rtcout.RTC_TRACE("ONBUFFER_OVERWRITE(InPort,OutPort), ")
self._rtcout.RTC_TRACE("ON_RECEIVER_FULL(InPort,OutPort) ")
self._rtcout.RTC_TRACE("callback called in direct mode.")
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
+ #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
+ #self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
self._rtcout.RTC_TRACE("ON_BUFFER_WRITE(InPort,OutPort), ")
self._rtcout.RTC_TRACE("callback called in direct mode.")
self._directInPort.write(data)
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
+ #self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
+ #self._inPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
self._rtcout.RTC_TRACE("ON_RECEIVED(InPort,OutPort), ")
self._rtcout.RTC_TRACE("callback called in direct mode.")
return self.PORT_OK
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Properties.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Properties.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/Properties.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -780,11 +780,11 @@
key = []
value = []
self.splitKeyValue(pline, key, value)
- key[0] = OpenRTM_aist.unescape(key)
+ key[0] = OpenRTM_aist.unescape(key[0])
OpenRTM_aist.eraseHeadBlank(key)
OpenRTM_aist.eraseTailBlank(key)
- value[0] = OpenRTM_aist.unescape(value)
+ value[0] = OpenRTM_aist.unescape(value[0])
OpenRTM_aist.eraseHeadBlank(value)
OpenRTM_aist.eraseTailBlank(value)
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -14,6 +14,7 @@
# Advanced Industrial Science and Technology (AIST), Japan
# All rights reserved.
+import os
import sys
if sys.version_info[0] == 3:
long = int
@@ -171,7 +172,7 @@
#
# @endif
def escape(_str):
- return for_each(_str[0], escape_functor())._str
+ return for_each(_str, escape_functor())._str
##
@@ -199,7 +200,7 @@
# "\"" -> " <br>
# @endif
def unescape(_str):
- return for_each(_str[0], unescape_functor())._str
+ return for_each(_str, unescape_functor())._str
##
@@ -651,3 +652,92 @@
# @endif
def toArgv(args):
return args
+
+
+
+
+##
+# @if jp
+# @brief URL¥Ñ¥é¥á¡¼¥¿¤òmapstring¤Ëʬ²ò¤·¤ÆÊÖ¤¹
+#
+# URL¥Ñ¥é¥á¡¼¥¿É½¸½ something?key0=value0&key1=value1.... ¤Î¤¦¤Á
+# '?' °Ê¹ß¤ÎÉôʬ¤òʬ²ò¤·¤Æ¡¢std::map<std::string, std::string> ·Á¼°
+# ¤ËÊÑ´¹¤¹¤ë¡£Í¿¤¨¤é¤ì¤¿Ê¸»úÎó¤òº¸¤«¤é¥µ¡¼¥Á¤·¡¢'?' ¤è¤ê±¦Â¦¤ÎÉôʬ¤Ë
+# ¤Ä¤¤¤Æ²òÀϤò¹Ô¤¦¡£'&'¤Çʬ³ä¤·¡¢º¸¤«¤é '=' ¤ò¸¡º÷¤·¡¢ºÇ½é¤Î '=' ¤Î
+# ±¦ÊդȺ¸ÊÕ¤ò¤½¤ì¤¾¤ì¡¢key ¤È value ¤È¤·¤Æ map ¤Ë³ÊǼ¤¹¤ë¡£
+#
+# @param str ʬ²òÂоÝʸ»úÎó
+# @return mapstring ·¿¤Î key/value¥Ç¡¼¥¿
+#
+#
+# @else
+# @brief Investigate whether the given string is URL or not
+#
+# URL parameter description such as
+# something?key0=value0&key1=value1.... is analyzed. Right hand
+# side string of '?' character is decomposed and it is converted
+# into std::map<std::string, std::string> type.The following string
+# are devided by '&' and then '=' character is
+# searched. Right-hand-side value and left-hand-side value of '='
+# are stored as key and value in the map.
+#
+# @param str The target string for decomposed
+#
+# @return decomposed key-values in map
+#
+# @endif
+def urlparam2map(_str):
+ qpos = _str.find("?")
+ if qpos == -1:
+ qpos = 0
+ else:
+ qpos+=1
+ tmp = _str[qpos:].split("&")
+ retmap = {}
+ for v in tmp:
+ pos = v.find("=")
+ if pos != -1:
+ retmap[v[0:pos]] = v[pos+1:]
+ else:
+ retmap[v] = ""
+ return retmap
+
+##
+# @if jp
+# @brief ʸ»úÎóÃæ¤Î´Ä¶ÊÑ¿ô¤òÃÖ¤´¹¤¨¤ë
+#
+# ʸ»úÎóÃæ¤Ë${}¤Ç°Ï¤Þ¤ì¤¿Ê¸»úÎ󤬤¢¤ë¾ì¹ç¤Ë¡¢´Ä¶ÊÑ¿ô¤ÈÃÖ¤´¹¤¨¤ë
+# Î㡧${RTM_ROOT}\bin -> C:\Program Files (x86)\OpenRTM-aist\1.1.2\
+#
+# @param _str ÃÖ¤´¹¤¨Á°¤Îʸ»úÎó
+# @return ÃÖ¤´¹¤¨¸å¤Îʸ»úÎó
+#
+#
+# @else
+# @brief
+#
+# @param _str
+#
+# @return
+#
+# @endif
+def replaceEnv(_str):
+ tmp = _str.split("${")
+ if len(tmp) < 2:
+ return _str
+ ret = []
+ for v in tmp:
+ tmp2 = v.split("}")
+ if len(tmp2) == 2:
+ if tmp2[0] in os.environ:
+ ret.append(os.environ[tmp2[0]])
+ ret.append(tmp2[1])
+
+ else:
+ ret.append(v)
+ ret_str = ""
+ for s in ret:
+ ret_str = ret_str + s
+ return ret_str
+
+
\ No newline at end of file
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/rtc.conf
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/rtc.conf 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/ext/sdo/observer/rtc.conf 2018-02-08 01:13:55 UTC (rev 940)
@@ -5,4 +5,4 @@
#logger.file_name: rtc%p.log, STDOUT
#manager.naming_formats: %n.mgr
manager.modules.load_path: .
-manager.modules.preload: ComponentObserverConsumer
+#manager.modules.preload: ComponentObserverConsumer
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/utils/rtcprof/rtcprof.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/utils/rtcprof/rtcprof.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/utils/rtcprof/rtcprof.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -61,6 +61,9 @@
# for new
comp_spec_name = classname+"_spec"
+ with open(str(fullname)) as f:
+ if f.read().find(comp_spec_name) == -1:
+ return
try:
imp_file = __import__(basename.split(".")[0])
except:
Modified: branches/RELENG_1_2/OpenRTM-aist-Python/setup.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/setup.py 2018-02-06 02:53:04 UTC (rev 939)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/setup.py 2018-02-08 01:13:55 UTC (rev 940)
@@ -213,7 +213,8 @@
"RTC.idl",
"SDOPackage.idl",
"SharedMemory.idl",
- "IORProfile.idl"
+ "IORProfile.idl",
+ "../ext/sdo/observer/ComponentObserver.idl"
]
baseidl_mods = ["RTM", "RTC", "SDOPackage", "OpenRTM"]
baseidl_path = os.path.normpath(current_dir + "/" + baseidl_dir)
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