[openrtm-commit:03111] r928 - trunk/OpenRTM-aist-Python/OpenRTM_aist

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2018-01-23 14:05:14 +0900 (Tue, 23 Jan 2018)
New Revision: 928

Modified:
   trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py
Log:
[incompat, ->RELENG_1_2] refs #4429

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py	2018-01-23 04:13:33 UTC (rev 927)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPort.py	2018-01-23 05:05:14 UTC (rev 928)
@@ -105,6 +105,7 @@
     self._directNewData = False
     self._valueMutex = threading.RLock()
     
+    
 
   def __del__(self, OutPortBase=OpenRTM_aist.OutPortBase):
     OutPortBase.__del__(self)
@@ -182,11 +183,14 @@
 
     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:
+        self._directNewData = True
     del guard
 
     return result
@@ -316,7 +320,7 @@
       data[0] = self._OnWriteConvert(data[0])
     del guard
   def isEmpty(self):
-    return False
+    return (not self._directNewData)
     
 
 

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py	2018-01-23 04:13:33 UTC (rev 927)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortConnector.py	2018-01-23 05:05:14 UTC (rev 928)
@@ -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