[openrtm-commit:03291] r971 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 3月 28日 (水) 10:17:48 JST
Author: miyamoto
Date: 2018-03-28 10:17:48 +0900 (Wed, 28 Mar 2018)
New Revision: 971
Added:
trunk/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.py
Log:
[merge] r837,851-858,861 have been merged from FSM4RTC.
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/EventPort_pyfsm.py 2018-03-28 01:17:48 UTC (rev 971)
@@ -0,0 +1,221 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file EventPort_pyfsm.py
+# @brief EventInPort template class
+# @date $Date: $
+# @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
+#
+# Copyright (C) 2017
+# Intelligent Systems Research Institute,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+
+import OpenRTM_aist
+import OpenRTM_aist.StaticFSM_pyfsm
+import pyfsm
+
+
+class EventBinder0(OpenRTM_aist.ConnectorDataListener):
+ 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:
+ 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
+
+
+
+class EventBinder1(OpenRTM_aist.ConnectorDataListenerT):
+ 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):
+ 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:
+ 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
+
+
+
+
+
+
+##
+# @if jp
+#
+# @class EventInPort
+#
+# @brief EventInPort ¥Æ¥ó¥×¥ì¡¼¥È¥¯¥é¥¹
+#
+# EventInPort ¤Î¼ÂÁõ¤Ç¤¢¤ë EventInPort<T> ¤Î¥Æ¥ó¥×¥ì¡¼¥È¥¯¥é¥¹¡£
+# <T> ¤ÏBasicDataType.idl ¤Ë¤ÆÄêµÁ¤µ¤ì¤Æ¤¤¤ë·¿¤Ç¡¢¥á¥ó¥Ð¤È¤·¤Æ
+# Time ·¿¤Î tm , ¤ª¤è¤Ó T·¿¤Î data ¤ò»ý¤Ä¹½Â¤ÂΤǤʤ¯¤Æ¤Ï¤Ê¤é¤Ê¤¤¡£
+# EventInPort ¤ÏÆâÉô¤Ë¥ê¥ó¥°¥Ð¥Ã¥Õ¥¡¤ò»ý¤Á¡¢³°Éô¤«¤éÁ÷¿®¤µ¤ì¤¿¥Ç¡¼¥¿¤ò½ç¼¡
+# ¤³¤Î¥ê¥ó¥°¥Ð¥Ã¥Õ¥¡¤Ë³ÊǼ¤¹¤ë¡£¥ê¥ó¥°¥Ð¥Ã¥Õ¥¡¤Î¥µ¥¤¥º¤Ï¥Ç¥Õ¥©¥ë¥È¤Ç64¤È
+# ¤Ê¤Ã¤Æ¤¤¤ë¤¬¡¢¥³¥ó¥¹¥È¥é¥¯¥¿°ú¿ô¤Ë¤è¤ê¥µ¥¤¥º¤ò»ØÄꤹ¤ë¤³¤È¤¬¤Ç¤¤ë¡£
+# ¥Ç¡¼¥¿¤Ï¥Õ¥é¥°¤Ë¤è¤Ã¤Æ̤ÆÉ¡¢´ûÆɾõÂÖ¤¬´ÉÍý¤µ¤ì¡¢isNew(), write(), read(),
+# isFull(), isEmpty() Åù¤Î¥á¥½¥Ã¥É¤Ë¤è¤ê¥Ï¥ó¥É¥ê¥ó¥°¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£
+#
+# OnRead·Ï¥³¡¼¥ë¥Ð¥Ã¥¯ (Æɤ߽Ф·¤Ëµ¯°ø¤¹¤ë¥¤¥Ù¥ó¥È¤Ë¤è¤ê¥³¡¼¥ë¤µ¤ì¤ë)
+#
+# - void OnRead::operator():
+# EventInPort::read() ¤ò¸Æ¤Ó½Ð¤·Æɤ߽Ф·¤ò¹Ô¤¦ºÝ¤Ë¥³¡¼¥ë¤µ¤ì¤ë¡£
+#
+# - DataType OnReadConvert::operator(DataType):
+# EventInPort::read() ¤ò¸Æ¤Ó½Ð¤·¡¢¥Ç¡¼¥¿¤ò¥Ð¥Ã¥Õ¥¡¤«¤éÆɤߤÀ¤¹ºÝ¤Ë¸Æ¤Ð¤ì
+# ¥Ç¡¼¥¿¤ÎÊÑ´¹¤ò¹Ô¤¦¡£°ú¿ô¤Ë¤Ï¥Ð¥Ã¥Õ¥¡¤«¤éÆɤ߽Фµ¤ì¤¿Ãͤ¬Í¿¤¨¤é¤ì¡¢
+# ÊÑ´¹¸å¤Î¥Ç¡¼¥¿¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹¡£¤³¤ÎÃͤ¬read()¤ÎÊÖ¤¹ÃͤȤʤ롣
+#
+# @since 0.2.0
+#
+# @else
+#
+# @class EventInPort
+#
+# @brief EventInPort template class
+#
+# This is a template class that implements EventInPort. <T> is the type
+# defined in BasicDataType.idl and must be the structure which has
+# both Time type tm and type-T data as a member. EventInPort has a ring
+# buffer internally, and stores the received data externally in
+# this buffer one by one. The size of ring buffer can be specified
+# according to the argument of constructor, though the default size
+# is 64. Unread data and data which is already read are managed
+# with the flag, and the data can be handled by the isNew(),
+# write(), read(), isFull() and isEmpty() method etc.
+#
+# @since 0.2.0
+#
+# @endif
+#
+class EventInPort(OpenRTM_aist.InPortBase):
+ ##
+ # @if jp
+ #
+ # @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ #
+ # ¥³¥ó¥¹¥È¥é¥¯¥¿¡£
+ # ¥Ñ¥é¥á¡¼¥¿¤È¤·¤ÆÍ¿¤¨¤é¤ì¤ë T ·¿¤ÎÊÑ¿ô¤Ë¥Ð¥¤¥ó¥É¤µ¤ì¤ë¡£
+ #
+ # @param name EventInPort ̾¡£EventInPortBase:name() ¤Ë¤è¤ê»²¾È¤µ¤ì¤ë¡£
+ # @param value ¤³¤Î EventInPort ¤Ë¥Ð¥¤¥ó¥É¤µ¤ì¤ë T ·¿¤ÎÊÑ¿ô
+ # @param bufsize EventInPort ÆâÉô¤Î¥ê¥ó¥°¥Ð¥Ã¥Õ¥¡¤Î¥Ð¥Ã¥Õ¥¡Ä¹(¥Ç¥Õ¥©¥ë¥ÈÃÍ:64)
+ # @param read_block Æɹþ¥Ö¥í¥Ã¥¯¥Õ¥é¥°¡£
+ # ¥Ç¡¼¥¿Æɹþ»þ¤Ë̤Æɥǡ¼¥¿¤¬¤Ê¤¤¾ì¹ç¡¢¼¡¤Î¥Ç¡¼¥¿¼õ¿®¤Þ¤Ç¥Ö¥í¥Ã¥¯¤¹¤ë
+ # ¤«¤É¤¦¤«¤òÀßÄê(¥Ç¥Õ¥©¥ë¥ÈÃÍ:false)
+ # @param write_block ½ñ¹þ¥Ö¥í¥Ã¥¯¥Õ¥é¥°¡£
+ # ¥Ç¡¼¥¿½ñ¹þ»þ¤Ë¥Ð¥Ã¥Õ¥¡¤¬¥Õ¥ë¤Ç¤¢¤Ã¤¿¾ì¹ç¡¢¥Ð¥Ã¥Õ¥¡¤Ë¶õ¤¤¬¤Ç¤¤ë
+ # ¤Þ¤Ç¥Ö¥í¥Ã¥¯¤¹¤ë¤«¤É¤¦¤«¤òÀßÄê(¥Ç¥Õ¥©¥ë¥ÈÃÍ:false)
+ # @param read_timeout Æɹþ¥Ö¥í¥Ã¥¯¤ò»ØÄꤷ¤Æ¤¤¤Ê¤¤¾ì¹ç¤Î¡¢¥Ç¡¼¥¿Æɼ西¥¤¥à
+ # ¥¢¥¦¥È»þ´Ö(¥ß¥êÉÃ)(¥Ç¥Õ¥©¥ë¥ÈÃÍ:0)
+ # @param write_timeout ½ñ¹þ¥Ö¥í¥Ã¥¯¤ò»ØÄꤷ¤Æ¤¤¤Ê¤¤¾ì¹ç¤Î¡¢¥Ç¡¼¥¿½ñ¹þ¥¿¥¤¥à
+ # ¥¢¥¦¥È»þ´Ö(¥ß¥êÉÃ)(¥Ç¥Õ¥©¥ë¥ÈÃÍ:0)
+ #
+ # @else
+ #
+ # @brief A constructor.
+ #
+ # constructor.
+ # This is bound to type-T variable given as a parameter.
+ #
+ # @param name A name of the EventInPort. This name is referred by
+ # EventInPortBase::name().
+ # @param value type-T variable that is bound to this EventInPort.
+ # @param bufsize Buffer length of internal ring buffer of EventInPort
+ # (The default value:64)
+ # @param read_block Flag of reading block.
+ # When there are not unread data at reading data,
+ # set whether to block data until receiving the next
+ # data. (The default value:false)
+ # @param write_block Flag of writing block.
+ # If the buffer was full at writing data, set whether
+ # to block data until the buffer has space.
+ # (The default value:false)
+ # @param read_timeout Data reading timeout time (millisecond)
+ # when not specifying read blocking.
+ # (The default value:0)
+ # @param write_timeout Data writing timeout time (millisecond)
+ # when not specifying writing block.
+ # (The default value:0)
+ #
+ # @endif
+ #
+ def __init__(self, name, fsm, bufsize=64, read_block=False, write_block=False, read_timeout=0, write_timeout=0):
+ super(EventInPort, self).__init__(name, "any")
+ self._name = name
+ self._fsm = fsm
+ ##
+ # @if jp
+ #
+ # @brief ¥Ç¥¹¥È¥é¥¯¥¿
+ #
+ # ¥Ç¥¹¥È¥é¥¯¥¿¡£
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self):
+ pass
+ ##
+ # @if jp
+ #
+ # @brief ¥Ý¡¼¥È̾¾Î¤ò¼èÆÀ¤¹¤ë¡£
+ #
+ # ¥Ý¡¼¥È̾¾Î¤ò¼èÆÀ¤¹¤ë¡£
+ #
+ # @return ¥Ý¡¼¥È̾¾Î
+ #
+ # @else
+ #
+ # @brief Get port name
+ #
+ # Get port name.
+ #
+ # @return The port name
+ #
+ # @endif
+ #
+ def name(self):
+ return self._name
+
+ def bindEvent0(self, name, handler, ptask=False):
+ self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
+ EventBinder0(self._fsm, name, handler, ptask))
+
+ def bindEvent1(self, name, handler, data_type, ptask=False):
+ self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
+ EventBinder1(self._fsm, name, handler, data_type, ptask))
+
+
+
+
+
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/StaticFSM_pyfsm.py 2018-03-28 01:17:48 UTC (rev 971)
@@ -0,0 +1,130 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file StaticFSM_pyfsm.py
+# @brief Static FSM framework based on pyfsm
+# @date $Date: $
+# @author Nobuhiko Miyamoto <n-miyamoto at aist.go.jp>
+#
+# Copyright (C) 2017
+# Intelligent Systems Research Institute,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+
+import OpenRTM_aist
+import pyfsm
+import RTC
+
+
+def fsm_topstate(TOP):
+ ret = pyfsm.topstate(TOP)
+ class STATE(ret):
+ def __init__(self, instance):
+ ret.__init__(self, instance)
+ def on_entry(self, *argv):
+ ret.call_entry(self, ret, *argv)
+ def on_exit(self, *argv):
+ ret.call_exit(self, ret, *argv)
+ def on_init(self, *argv):
+ ret.call_init(self, ret, *argv)
+ return STATE
+
+
+def fsm_substate(superstate):
+ def _fsm_substate(cls):
+ ret = pyfsm.substate(superstate)(cls)
+ class STATE(ret):
+ def __init__(self, instance):
+ ret.__init__(self, instance)
+ def on_entry(self, *argv):
+ ret.call_entry(self, cls, *argv)
+ def on_exit(self, *argv):
+ ret.call_exit(self, cls, *argv)
+ def on_init(self, *argv):
+ ret.call_init(self, cls, *argv)
+
+ return STATE
+ return _fsm_substate
+
+
+
+def FSM_TOPSTATE(TOP):
+ return fsm_topstate(TOP)
+
+
+def FSM_SUBSTATE(SUPERSTATE):
+ return fsm_substate(SUPERSTATE)
+
+
+
+class Machine(pyfsm.Machine):
+ def __init__(self, TOP, comp):
+ self._rtComponent = comp
+ super(Machine,self).__init__(TOP)
+
+
+
+ def __del__(self):
+ pass
+ def init_other(self, other):
+ pass
+ def equal(self, snapshot):
+ pass
+ def getComp(self):
+ return self._rtComponent
+
+
+
+class Link(pyfsm.StateDef):
+ def __init__(self):
+ super(Link,self).__init__()
+ self._rtComponent = None
+ def __del__(self):
+ pass
+ def setrtc(self):
+ if self._rtComponent:
+ return
+ machine = self._myStateInstance.machine()
+ if machine:
+ self._rtComponent = machine.getComp()
+
+ def call_entry(self, cls, *argv):
+ self.setrtc()
+ if not self._rtComponent:
+ self.onEntry(*argv)
+ else:
+ self._rtComponent.postOnFsmStateChange(self._state_name(), RTC.RTC_OK)
+ self._rtComponent.preOnFsmEntry(self._state_name())
+ self._rtComponent.postOnFsmEntry(self._state_name(),cls.onEntry(self, *argv))
+
+ def call_init(self, cls, *argv):
+ self.setrtc()
+ if not self._rtComponent:
+ self.onInit(*argv)
+ else:
+ self._rtComponent.preOnFsmInit(self._state_name())
+ self._rtComponent.postOnFsmInit(self._state_name(), cls.onInit(self, *argv))
+
+
+ def call_exit(self, cls, *argv):
+ self.setrtc()
+ if not self._rtComponent:
+ self.onExit(*argv)
+ else:
+ self._rtComponent.preOnFsmExit(self._state_name())
+ self._rtComponent.postOnFsmExit(self._state_name(), cls.onExit(self, *argv))
+ self._rtComponent.preOnFsmStateChange(self._state_name())
+
+ def onEntry(self):
+ return RTC.RTC_OK
+ def onInit(self):
+ return RTC.RTC_OK
+ def onExit(self):
+ return RTC.RTC_OK
+
+
+State = pyfsm.State
+deephistory = pyfsm.deephistory
+Event = pyfsm.Event
\ No newline at end of file
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