From a9fe836b66aedbfbf9dd5a15f0b059c8505754b7 Mon Sep 17 00:00:00 2001
From: Bogdan Popescu <68062990+bopopescu@users.noreply.github.com>
Date: Sun, 26 Jul 2020 07:09:33 +0300
Subject: [PATCH] Discard master-slave language
---
OpenRTM_aist/DefaultConfiguration.py | 10 +-
OpenRTM_aist/Manager.py | 28 +-
OpenRTM_aist/ManagerConfig.py | 12 +-
OpenRTM_aist/ManagerServant.py | 394 +++++++++---------
OpenRTM_aist/NamingManager.py | 16 +-
OpenRTM_aist/PortBase.py | 6 +-
.../TkMobileRobotSimulator.py | 20 +-
.../examples/Slider_and_Motor/slider.py | 4 +-
.../examples/Slider_and_Motor/tkmotor.py | 4 +-
.../examples/TkJoyStick/TkJoyStickComp.py | 2 +-
.../examples/TkJoyStick/tkjoystick.py | 4 +-
.../examples/TkLRFViewer/TkLRFViewer.py | 6 +-
OpenRTM_aist/ext/ssl/SSLTransport.py | 2 +-
.../transport/ROSTransport/ROSTopicManager.py | 6 +-
14 files changed, 257 insertions(+), 257 deletions(-)
diff --git a/OpenRTM_aist/DefaultConfiguration.py b/OpenRTM_aist/DefaultConfiguration.py
index 496c728e..8f68473f 100644
--- a/OpenRTM_aist/DefaultConfiguration.py
+++ b/OpenRTM_aist/DefaultConfiguration.py
@@ -59,7 +59,7 @@
"logger.date_format", "%b %d %H:%M:%S",
"logger.log_level", "INFO",
"logger.stream_lock", "NO",
- "logger.master_logger", "",
+ "logger.main_logger", "",
"module.conf_path", "",
"module.load_path", "",
"naming.enable", "YES",
@@ -73,17 +73,17 @@
"corba.endpoints", "all",
"corba.id", OpenRTM_aist.corba_name,
"corba.nameservers", "localhost",
- "corba.master_manager", "localhost:2810",
+ "corba.main_manager", "localhost:2810",
"corba.nameservice.replace_endpoint", "NO",
- "corba.update_master_manager.enable", "YES",
- "corba.update_master_manager.interval", "10.0",
+ "corba.update_main_manager.enable", "YES",
+ "corba.update_main_manager.interval", "10.0",
"exec_cxt.periodic.type", "PeriodicExecutionContext",
"exec_cxt.periodic.rate", "1000",
"exec_cxt.sync_transition", "YES",
"exec_cxt.transition_timeout", "0.5",
"manager.modules.load_path", "./",
"manager.modules.abs_path_allowed", "YES",
- "manager.is_master", "NO",
+ "manager.is_main", "NO",
"manager.corba_servant", "YES",
"manager.shutdown_on_nortcs", "YES",
"manager.shutdown_auto", "YES",
diff --git a/OpenRTM_aist/Manager.py b/OpenRTM_aist/Manager.py
index 613367a9..396cda11 100644
--- a/OpenRTM_aist/Manager.py
+++ b/OpenRTM_aist/Manager.py
@@ -1212,7 +1212,7 @@ def deleteComponent(self, instance_name=None, comp=None):
if OpenRTM_aist.toBool(self._config.getProperty("manager.shutdown_on_nortcs"),
"YES", "NO", True) and \
- not OpenRTM_aist.toBool(self._config.getProperty("manager.is_master"),
+ not OpenRTM_aist.toBool(self._config.getProperty("manager.is_main"),
"YES", "NO", False):
comps = self.getComponents()
if not comps:
@@ -1423,7 +1423,7 @@ def initManager(self, argv):
if OpenRTM_aist.toBool(self._config.getProperty("manager.shutdown_auto"),
"YES", "NO", True) and \
- not OpenRTM_aist.toBool(self._config.getProperty("manager.is_master"),
+ not OpenRTM_aist.toBool(self._config.getProperty("manager.is_main"),
"YES", "NO", False) and \
self._needsTimer:
tm = OpenRTM_aist.TimeValue(10, 0)
@@ -1826,14 +1826,14 @@ def createORBEndpoints(self):
"corba.endpoint: %s",
self._config.getProperty("corba.endpoint"))
- # If this process has master manager,
- # master manager's endpoint inserted at the top of endpoints
- self._rtcout.RTC_DEBUG("manager.is_master: %s",
- self._config.getProperty("manager.is_master"))
+ # If this process has main manager,
+ # main manager's endpoint inserted at the top of endpoints
+ self._rtcout.RTC_DEBUG("manager.is_main: %s",
+ self._config.getProperty("manager.is_main"))
if OpenRTM_aist.toBool(self._config.getProperty(
- "manager.is_master"), "YES", "NO", False):
- mm = self._config.getProperty("corba.master_manager", ":2810")
+ "manager.is_main"), "YES", "NO", False):
+ mm = self._config.getProperty("corba.main_manager", ":2810")
mmm = [s.strip() for s in mm.split(":")]
if len(mmm) == 2:
endpoints.insert(0, ":" + mmm[1])
@@ -2329,26 +2329,26 @@ def initManagerServant(self):
prop = self._config.getNode("manager")
names = OpenRTM_aist.split(prop.getProperty("naming_formats"), ",")
- if OpenRTM_aist.toBool(prop.getProperty("is_master"),
+ if OpenRTM_aist.toBool(prop.getProperty("is_main"),
"YES", "NO", True):
for name in names:
mgr_name = self.formatString(name, prop)
self._namingManager.bindManagerObject(
mgr_name, self._mgrservant)
- if OpenRTM_aist.toBool(self._config.getProperty("corba.update_master_manager.enable"),
+ if OpenRTM_aist.toBool(self._config.getProperty("corba.update_main_manager.enable"),
"YES", "NO", True) and \
- not OpenRTM_aist.toBool(self._config.getProperty("manager.is_master"),
+ not OpenRTM_aist.toBool(self._config.getProperty("manager.is_main"),
"YES", "NO", False) and \
self._needsTimer:
tm = OpenRTM_aist.TimeValue(10, 0)
- if self._config.findNode("corba.update_master_manager.interval"):
+ if self._config.findNode("corba.update_main_manager.interval"):
duration = float(self._config.getProperty(
- "corba.update_master_manager.interval"))
+ "corba.update_main_manager.interval"))
if duration:
tm.set_time(duration)
- self.addTask(self._mgrservant.updateMasterManager, tm)
+ self.addTask(self._mgrservant.updateMainManager, tm)
otherref = None
diff --git a/OpenRTM_aist/ManagerConfig.py b/OpenRTM_aist/ManagerConfig.py
index 92233ef4..5241b39d 100644
--- a/OpenRTM_aist/ManagerConfig.py
+++ b/OpenRTM_aist/ManagerConfig.py
@@ -132,7 +132,7 @@ def __init__(self, argv=None):
self._configFile = ""
self._argprop = OpenRTM_aist.Properties()
- self._isMaster = False
+ self._isMain = False
self._ignoreNoConf = False
if argv:
self.init(argv)
@@ -167,7 +167,7 @@ def __init__(self, argv=None):
# -l module : Specify modules to be loaded at the beginning.
# -o options: Other options.
# -p : Specify a port number.
- # -d : Run Master Manager.
+ # -d : Run Main Manager.
#
# @endif
@@ -201,8 +201,8 @@ def configure(self, prop):
# print(OpenRTM_aist.Logger.print_exception())
self.setSystemInformation(prop)
- if self._isMaster:
- prop.setProperty("manager.is_master", "YES")
+ if self._isMain:
+ prop.setProperty("manager.is_main", "YES")
# Properties from arguments are marged finally
prop.mergeProperties(self._argprop)
@@ -256,7 +256,7 @@ def configure(self, prop):
# -l module : Specify modules to be loaded at the beginning.
# -o options: Other options.
# -p : Specify a port number.
- # -d : Run Master Manager.
+ # -d : Run Main Manager.
#
# @endif
@@ -293,7 +293,7 @@ def parseArgs(self, argv):
self._argprop.setProperty("corba.endpoints", arg_)
if opt == "-d":
- self._isMaster = True
+ self._isMain = True
if opt == "-i":
self._ignoreNoConf = True
diff --git a/OpenRTM_aist/ManagerServant.py b/OpenRTM_aist/ManagerServant.py
index 0a2df5e5..ae3a7f55 100644
--- a/OpenRTM_aist/ManagerServant.py
+++ b/OpenRTM_aist/ManagerServant.py
@@ -204,11 +204,11 @@ def __init__(self):
self._mgr = OpenRTM_aist.Manager.instance()
self._owner = None
self._rtcout = self._mgr.getLogbuf("ManagerServant")
- self._isMaster = False
- self._masters = []
- self._slaves = []
- self._masterMutex = threading.RLock()
- self._slaveMutex = threading.RLock()
+ self._isMain = False
+ self._mains = []
+ self._subordinates = []
+ self._mainMutex = threading.RLock()
+ self._subordinateMutex = threading.RLock()
self._objref = RTM.Manager._nil
config = copy.deepcopy(self._mgr.getConfig())
@@ -220,22 +220,22 @@ def __init__(self):
"Manager CORBA servant was successfully created.")
if OpenRTM_aist.toBool(config.getProperty(
- "manager.is_master"), "YES", "NO", True):
- # this is master manager
- self._rtcout.RTC_TRACE("This manager is master.")
- self._isMaster = True
+ "manager.is_main"), "YES", "NO", True):
+ # this is main manager
+ self._rtcout.RTC_TRACE("This manager is main.")
+ self._isMain = True
return
else:
- # this is slave manager
- self._rtcout.RTC_TRACE("This manager is slave.")
+ # this is subordinate manager
+ self._rtcout.RTC_TRACE("This manager is subordinate.")
try:
owner = self.findManager(
- config.getProperty("corba.master_manager"))
+ config.getProperty("corba.main_manager"))
if not owner:
- self._rtcout.RTC_INFO("Master manager not found")
+ self._rtcout.RTC_INFO("Main manager not found")
return
- self.add_master_manager(owner)
- owner.add_slave_manager(self._objref)
+ self.add_main_manager(owner)
+ owner.add_subordinate_manager(self._objref)
return
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
@@ -268,28 +268,28 @@ def __del__(self):
# @endif
def exit(self):
- guard_master = OpenRTM_aist.ScopedLock(self._masterMutex)
- for master in self._masters:
+ guard_main = OpenRTM_aist.ScopedLock(self._mainMutex)
+ for main in self._mains:
try:
- if CORBA.is_nil(master):
+ if CORBA.is_nil(main):
continue
- master.remove_slave_manager(self._objref)
+ main.remove_subordinate_manager(self._objref)
except BaseException:
pass
- self._masters = []
+ self._mains = []
- guard_slave = OpenRTM_aist.ScopedLock(self._slaveMutex)
- for slave in self._slaves:
+ guard_subordinate = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ for subordinate in self._subordinates:
try:
- if CORBA.is_nil(slave):
+ if CORBA.is_nil(subordinate):
continue
- slave.remove_master_manager(self._objref)
+ subordinate.remove_main_manager(self._objref)
except BaseException:
pass
- self._slaves = []
+ self._subordinates = []
- del guard_slave
- del guard_master
+ del guard_subordinate
+ del guard_main
if not CORBA.is_nil(self._objref):
poa = self._mgr.getORB().resolve_initial_references("omniINSPOA")
poa.deactivate_object(poa.servant_to_id(self))
@@ -413,17 +413,17 @@ def get_loaded_modules(self):
OpenRTM_aist.NVUtil.copyFromProperties(
cprof[i].properties, p)
- if self._isMaster:
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
- for slave in self._slaves[:]:
+ if self._isMain:
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ for subordinate in self._subordinates[:]:
try:
- profs = slave.get_loaded_modules()
+ profs = subordinate.get_loaded_modules()
cprof.extend(profs)
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
+ self._subordinates.remove(subordinate)
return cprof
@@ -457,17 +457,17 @@ def get_factory_profiles(self):
OpenRTM_aist.NVUtil.copyFromProperties(
cprof[i].properties, p)
- if self._isMaster:
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
- for slave in self._slaves[:]:
+ if self._isMain:
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ for subordinate in self._subordinates[:]:
try:
- profs = slave.get_factory_profiles()
+ profs = subordinate.get_factory_profiles()
cprof.extend(profs)
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
+ self._subordinates.remove(subordinate)
return cprof
@@ -511,23 +511,23 @@ def create_component(self, module_name):
comp_param = CompParam(module_name)
- if self._isMaster:
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
- for slave in self._slaves[:]:
+ if self._isMain:
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ for subordinate in self._subordinates[:]:
try:
- prof = slave.get_configuration()
+ prof = subordinate.get_configuration()
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
- slave_lang = prop.getProperty("manager.language")
- if slave_lang == comp_param.language():
- rtc = slave.create_component(module_name)
+ subordinate_lang = prop.getProperty("manager.language")
+ if subordinate_lang == comp_param.language():
+ rtc = subordinate.create_component(module_name)
if not CORBA.is_nil(rtc):
return rtc
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
+ self._subordinates.remove(subordinate)
del guard
if not manager_name:
module_name = module_name + "&manager_name=manager_%p"
@@ -610,22 +610,22 @@ def get_components(self):
for rtc in rtcs:
crtcs.append(rtc.getObjRef())
- # get slaves' component references
- self._rtcout.RTC_DEBUG("%d slave managers exists.", len(self._slaves))
- for slave in self._slaves[:]:
+ # get subordinates' component references
+ self._rtcout.RTC_DEBUG("%d subordinate managers exists.", len(self._subordinates))
+ for subordinate in self._subordinates[:]:
try:
- if not CORBA.is_nil(slave):
- srtcs = slave.get_components()
+ if not CORBA.is_nil(subordinate):
+ srtcs = subordinate.get_components()
OpenRTM_aist.CORBA_SeqUtil.push_back_list(crtcs, srtcs)
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
- #self._rtcout.RTC_INFO("slave (%d) has disappeared.", i)
- #self._slaves[i] = RTM.Manager._nil
+ self._subordinates.remove(subordinate)
+ #self._rtcout.RTC_INFO("subordinate (%d) has disappeared.", i)
+ #self._subordinates[i] = RTM.Manager._nil
- #OpenRTM_aist.CORBA_SeqUtil.erase(self._slaves, i)
+ #OpenRTM_aist.CORBA_SeqUtil.erase(self._subordinates, i)
#i -= 1
return crtcs
@@ -655,23 +655,23 @@ def get_component_profiles(self):
rtcs = self._mgr.getComponents()
cprofs = [rtc.get_component_profile() for rtc in rtcs]
- # copy slaves' component profiles
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
- self._rtcout.RTC_DEBUG("%d slave managers exists.", len(self._slaves))
+ # copy subordinates' component profiles
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ self._rtcout.RTC_DEBUG("%d subordinate managers exists.", len(self._subordinates))
- for slave in self._slaves[:]:
+ for subordinate in self._subordinates[:]:
try:
- if not CORBA.is_nil(slave):
- sprofs = slave.get_component_profiles()
+ if not CORBA.is_nil(subordinate):
+ sprofs = subordinate.get_component_profiles()
OpenRTM_aist.CORBA_SeqUtil.push_back_list(cprofs, sprofs)
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
- #self._rtcout.RTC_INFO("slave (%d) has disappeared.", i)
- #self._slaves[i] = RTM.Manager._nil
+ self._subordinates.remove(subordinate)
+ #self._rtcout.RTC_INFO("subordinate (%d) has disappeared.", i)
+ #self._subordinates[i] = RTM.Manager._nil
- #OpenRTM_aist.CORBA_SeqUtil.erase(self._slaves, i)
+ #OpenRTM_aist.CORBA_SeqUtil.erase(self._subordinates, i)
#i -= 1
del guard
@@ -768,27 +768,27 @@ def set_configuration(self, name, value):
# @return マスターマネージャかどうかのbool値
#
# @else
- # @brief Whether this manager is master or not
+ # @brief Whether this manager is main or not
#
- # It returns "True" if this manager is a master, and it returns
+ # It returns "True" if this manager is a main, and it returns
# "False" in other cases.
#
- # @return A boolean value that means it is master or not.
+ # @return A boolean value that means it is main or not.
#
# @endif
#
- # bool is_master();
+ # bool is_main();
- def is_master(self):
+ def is_main(self):
# since Python2.5
- # self._rtcout.RTC_TRACE("is_master(): %s", (lambda x: "YES" if x else "NO")(self._isMaster))
+ # self._rtcout.RTC_TRACE("is_main(): %s", (lambda x: "YES" if x else "NO")(self._isMain))
ret = ""
- if self._isMaster:
+ if self._isMain:
ret = "YES"
else:
ret = "NO"
- self._rtcout.RTC_TRACE("is_master(): %s", ret)
- return self._isMaster
+ self._rtcout.RTC_TRACE("is_main(): %s", ret)
+ return self._isMain
##
# @if jp
@@ -801,23 +801,23 @@ def is_master(self):
# @return マスターマネージャのリスト
#
# @else
- # @brief Getting master managers
+ # @brief Getting main managers
#
- # This operation returns master manager list if this manager is
- # slave. If this manager is master, an empty sequence would be
+ # This operation returns main manager list if this manager is
+ # subordinate. If this manager is main, an empty sequence would be
# returned.
#
- # @return Master manager list
+ # @return Main manager list
#
# @endif
#
- # RTM::ManagerList* get_master_managers();
+ # RTM::ManagerList* get_main_managers();
- def get_master_managers(self):
- self._rtcout.RTC_TRACE("get_master_managers()")
- guard = OpenRTM_aist.ScopedLock(self._masterMutex)
+ def get_main_managers(self):
+ self._rtcout.RTC_TRACE("get_main_managers()")
+ guard = OpenRTM_aist.ScopedLock(self._mainMutex)
- return self._masters
+ return self._mains
##
# @if jp
@@ -832,34 +832,34 @@ def get_master_managers(self):
# @return マスターマネージャ
#
# @else
- # @brief Getting a master manager
+ # @brief Getting a main manager
#
- # This operation returns a master manager with specified id. If
+ # This operation returns a main manager with specified id. If
# the manager with the specified id does not exist, nil object
# reference would be returned.
#
- # @return A master manager
+ # @return A main manager
#
# @endif
#
- # RTC::ReturnCode_t add_master_manager(RTM::Manager_ptr mgr);
+ # RTC::ReturnCode_t add_main_manager(RTM::Manager_ptr mgr);
- def add_master_manager(self, mgr):
- guard = OpenRTM_aist.ScopedLock(self._masterMutex)
+ def add_main_manager(self, mgr):
+ guard = OpenRTM_aist.ScopedLock(self._mainMutex)
self._rtcout.RTC_TRACE(
- "add_master_manager(), %d masters", len(
- self._masters))
+ "add_main_manager(), %d mains", len(
+ self._mains))
index = OpenRTM_aist.CORBA_SeqUtil.find(
- self._masters, self.is_equiv(mgr))
+ self._mains, self.is_equiv(mgr))
if not (index < 0): # found in my list
self._rtcout.RTC_ERROR("Already exists.")
return RTC.BAD_PARAMETER
- OpenRTM_aist.CORBA_SeqUtil.push_back(self._masters, mgr)
+ OpenRTM_aist.CORBA_SeqUtil.push_back(self._mains, mgr)
self._rtcout.RTC_TRACE(
- "add_master_manager() done, %d masters", len(
- self._masters))
+ "add_main_manager() done, %d mains", len(
+ self._mains))
del guard
return RTC.RTC_OK
@@ -873,34 +873,34 @@ def add_master_manager(self, mgr):
# @return ReturnCode_t
#
# @else
- # @brief Removing a master manager
+ # @brief Removing a main manager
#
- # This operation removes a master manager from this manager.
+ # This operation removes a main manager from this manager.
#
- # @param mgr A master manager
+ # @param mgr A main manager
# @return ReturnCode_t
#
# @endif
#
- # RTC::ReturnCode_t remove_master_manager(RTM::Manager_ptr mgr);
+ # RTC::ReturnCode_t remove_main_manager(RTM::Manager_ptr mgr);
- def remove_master_manager(self, mgr):
- guard = OpenRTM_aist.ScopedLock(self._masterMutex)
+ def remove_main_manager(self, mgr):
+ guard = OpenRTM_aist.ScopedLock(self._mainMutex)
self._rtcout.RTC_TRACE(
- "remove_master_manager(), %d masters", len(
- self._masters))
+ "remove_main_manager(), %d mains", len(
+ self._mains))
index = OpenRTM_aist.CORBA_SeqUtil.find(
- self._masters, self.is_equiv(mgr))
+ self._mains, self.is_equiv(mgr))
if index < 0: # not found in my list
self._rtcout.RTC_ERROR("Not found.")
return RTC.BAD_PARAMETER
- OpenRTM_aist.CORBA_SeqUtil.erase(self._masters, index)
+ OpenRTM_aist.CORBA_SeqUtil.erase(self._mains, index)
self._rtcout.RTC_TRACE(
- "remove_master_manager() done, %d masters", len(
- self._masters))
+ "remove_main_manager() done, %d mains", len(
+ self._mains))
del guard
return RTC.RTC_OK
@@ -915,24 +915,24 @@ def remove_master_manager(self, mgr):
# @return スレーブマネージャのリスト
#
# @else
- # @brief Getting slave managers
+ # @brief Getting subordinate managers
#
- # This operation returns slave manager list if this manager is
- # slave. If this manager is slave, an empty sequence would be
+ # This operation returns subordinate manager list if this manager is
+ # subordinate. If this manager is subordinate, an empty sequence would be
# returned.
#
- # @return Slave manager list
+ # @return Subordinate manager list
#
# @endif
#
- # RTM::ManagerList* get_slave_managers();
+ # RTM::ManagerList* get_subordinate_managers();
- def get_slave_managers(self):
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
+ def get_subordinate_managers(self):
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
self._rtcout.RTC_TRACE(
- "get_slave_managers(), %d slaves", len(
- self._slaves))
- return self._slaves
+ "get_subordinate_managers(), %d subordinates", len(
+ self._subordinates))
+ return self._subordinates
##
# @if jp
@@ -944,34 +944,34 @@ def get_slave_managers(self):
# @return ReturnCode_t
#
# @else
- # @brief Getting a slave manager
+ # @brief Getting a subordinate manager
#
- # This operation add a slave manager to this manager.
+ # This operation add a subordinate manager to this manager.
#
- # @param mgr A slave manager
+ # @param mgr A subordinate manager
# @return ReturnCode_t
#
# @endif
#
- # RTC::ReturnCode_t add_slave_manager(RTM::Manager_ptr mgr);
+ # RTC::ReturnCode_t add_subordinate_manager(RTM::Manager_ptr mgr);
- def add_slave_manager(self, mgr):
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
+ def add_subordinate_manager(self, mgr):
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
self._rtcout.RTC_TRACE(
- "add_slave_manager(), %d slaves", len(
- self._slaves))
+ "add_subordinate_manager(), %d subordinates", len(
+ self._subordinates))
index = OpenRTM_aist.CORBA_SeqUtil.find(
- self._slaves, self.is_equiv(mgr))
+ self._subordinates, self.is_equiv(mgr))
if not (index < 0): # found in my list
self._rtcout.RTC_ERROR("Already exists.")
return RTC.BAD_PARAMETER
- OpenRTM_aist.CORBA_SeqUtil.push_back(self._slaves, mgr)
+ OpenRTM_aist.CORBA_SeqUtil.push_back(self._subordinates, mgr)
self._rtcout.RTC_TRACE(
- "add_slave_manager() done, %d slaves", len(
- self._slaves))
+ "add_subordinate_manager() done, %d subordinates", len(
+ self._subordinates))
del guard
return RTC.RTC_OK
@@ -985,33 +985,33 @@ def add_slave_manager(self, mgr):
# @return ReturnCode_t
#
# @else
- # @brief Removing a slave manager
+ # @brief Removing a subordinate manager
#
- # This operation removes a slave manager from this manager.
+ # This operation removes a subordinate manager from this manager.
#
- # @param mgr A slave manager
+ # @param mgr A subordinate manager
# @return ReturnCode_t
#
# @endif
#
- # RTC::ReturnCode_t remove_slave_manager(RTM::Manager_ptr mgr);
+ # RTC::ReturnCode_t remove_subordinate_manager(RTM::Manager_ptr mgr);
- def remove_slave_manager(self, mgr):
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
+ def remove_subordinate_manager(self, mgr):
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
self._rtcout.RTC_TRACE(
- "remove_slave_manager(), %d slaves", len(
- self._slaves))
+ "remove_subordinate_manager(), %d subordinates", len(
+ self._subordinates))
index = OpenRTM_aist.CORBA_SeqUtil.find(
- self._slaves, self.is_equiv(mgr))
+ self._subordinates, self.is_equiv(mgr))
if index < 0: # not found in my list
self._rtcout.RTC_ERROR("Not found.")
return RTC.BAD_PARAMETER
- OpenRTM_aist.CORBA_SeqUtil.erase(self._slaves, index)
+ OpenRTM_aist.CORBA_SeqUtil.erase(self._subordinates, index)
self._rtcout.RTC_TRACE(
- "remove_slave_manager() done, %d slaves", len(
- self._slaves))
+ "remove_subordinate_manager() done, %d subordinates", len(
+ self._subordinates))
del guard
return RTC.RTC_OK
@@ -1046,25 +1046,25 @@ def fork(self):
# ReturnCode_t shutdown()
def shutdown(self):
- guard_master = OpenRTM_aist.ScopedLock(self._masterMutex)
- for master in self._masters:
+ guard_main = OpenRTM_aist.ScopedLock(self._mainMutex)
+ for main in self._mains:
try:
- if CORBA.is_nil(master):
+ if CORBA.is_nil(main):
continue
- master.remove_slave_manager(self._objref)
+ main.remove_subordinate_manager(self._objref)
except BaseException:
pass
- self._masters = []
+ self._mains = []
- guard_slave = OpenRTM_aist.ScopedLock(self._slaveMutex)
- for slaves in self._slaves:
+ guard_subordinate = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ for subordinates in self._subordinates:
try:
- if CORBA.is_nil(slaves):
+ if CORBA.is_nil(subordinates):
continue
- slaves.remove_master_manager(self._objref)
+ subordinates.remove_main_manager(self._objref)
except BaseException:
pass
- self._slaves = []
+ self._subordinates = []
wait_time = 1.0
if self._mgr.getConfig().findNode("manager.termination_waittime"):
@@ -1237,53 +1237,53 @@ def findManagerByName(self, manager_name):
name = prop.getProperty("manager.instance_name")
if name == manager_name:
return self.getObjRef()
- if self._isMaster:
- guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
- for slave in self._slaves[:]:
+ if self._isMain:
+ guard = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ for subordinate in self._subordinates[:]:
try:
- prof = slave.get_configuration()
+ prof = subordinate.get_configuration()
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
name = prop.getProperty("manager.instance_name")
if name == manager_name:
- return slave
+ return subordinate
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
+ self._subordinates.remove(subordinate)
del guard
else:
- guard = OpenRTM_aist.ScopedLock(self._masterMutex)
- for master in self._masters:
+ guard = OpenRTM_aist.ScopedLock(self._mainMutex)
+ for main in self._mains:
try:
- prof = master.get_configuration()
+ prof = main.get_configuration()
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
name = prop.getProperty("manager.instance_name")
if name == manager_name:
- return master
+ return main
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
continue
- slaves = master.get_slave_managers()
- for slave in slaves[:]:
+ subordinates = main.get_subordinate_managers()
+ for subordinate in subordinates[:]:
try:
- prof = slave.get_configuration()
+ prof = subordinate.get_configuration()
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
name = prop.getProperty("manager.instance_name")
if name == manager_name:
- return slave
+ return subordinate
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- master.remove_slave_manager(slave)
+ main.remove_subordinate_manager(subordinate)
del guard
@@ -1410,10 +1410,10 @@ def createComponentByManagerName(self, module_name):
load_path = load_path.replace("\\", "\\\\")
else:
cmd = rtcd_cmd
- cmd += " -o " + "manager.is_master:NO"
+ cmd += " -o " + "manager.is_main:NO"
cmd += " -o " + "manager.corba_servant:YES"
- cmd += " -o " + "corba.master_manager:" + \
- config.getProperty("corba.master_manager")
+ cmd += " -o " + "corba.main_manager:" + \
+ config.getProperty("corba.main_manager")
cmd += " -o " + "manager.name:" + \
config.getProperty("manager.name")
cmd += " -o " + "manager.instance_name:" + mgrstr
@@ -1423,25 +1423,25 @@ def createComponentByManagerName(self, module_name):
self._rtcout.RTC_DEBUG("Invoking command: %s.", cmd)
- slaves_names = []
+ subordinates_names = []
regex = r'manager_[0-9]+'
if mgrstr == "manager_%p":
- guard_slave = OpenRTM_aist.ScopedLock(self._slaveMutex)
- for slave in self._slaves[:]:
+ guard_subordinate = OpenRTM_aist.ScopedLock(self._subordinateMutex)
+ for subordinate in self._subordinates[:]:
try:
- prof = slave.get_configuration()
+ prof = subordinate.get_configuration()
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
name = prop.getProperty("manager.instance_name")
if re.match(regex, name):
- slaves_names.append(name)
+ subordinates_names.append(name)
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
+ self._subordinates.remove(subordinate)
- del guard_slave
+ del guard_subordinate
ret = OpenRTM_aist.launch_shell(cmd)
@@ -1456,24 +1456,24 @@ def createComponentByManagerName(self, module_name):
while CORBA.is_nil(mgrobj):
if mgrstr == "manager_%p":
- guard_slave = OpenRTM_aist.ScopedLock(self._slaveMutex)
+ guard_subordinate = OpenRTM_aist.ScopedLock(self._subordinateMutex)
- for slave in self._slaves[:]:
+ for subordinate in self._subordinates[:]:
try:
- prof = slave.get_configuration()
+ prof = subordinate.get_configuration()
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
name = prop.getProperty("manager.instance_name")
if re.match(regex, name) and not (
- name in slaves_names):
- mgrobj = slave
+ name in subordinates_names):
+ mgrobj = subordinate
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- self._slaves.remove(slave)
- del guard_slave
+ self._subordinates.remove(subordinate)
+ del guard_subordinate
else:
mgrobj = self.findManagerByName(mgrstr)
@@ -1563,7 +1563,7 @@ def createComponentByAddress(self, module_name):
load_path = load_path.replace("\\", "\\\\")
else:
cmd = rtcd_cmd
- cmd += " -o corba.master_manager:"
+ cmd += " -o corba.main_manager:"
cmd += mgrstr # port number
cmd += " -o \"manager.modules.load_path:"
cmd += load_path + "\""
@@ -1620,32 +1620,32 @@ def createComponentByAddress(self, module_name):
# @brief
# @param self
# @endif
- # void updateMasterManager()
- def updateMasterManager(self):
- if not self._isMaster and self._objref:
- guard = OpenRTM_aist.ScopedLock(self._masterMutex)
- if self._masters:
- for master in self._masters[:]:
+ # void updateMainManager()
+ def updateMainManager(self):
+ if not self._isMain and self._objref:
+ guard = OpenRTM_aist.ScopedLock(self._mainMutex)
+ if self._mains:
+ for main in self._mains[:]:
try:
- if master._non_existent():
- self._masters.remove(master)
+ if main._non_existent():
+ self._mains.remove(main)
except BaseException:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_ERROR(
OpenRTM_aist.Logger.print_exception())
- self._masters.remove(master)
+ self._mains.remove(main)
del guard
- if not self._masters:
+ if not self._mains:
try:
config = self._mgr.getConfig()
owner = self.findManager(
- config.getProperty("corba.master_manager"))
+ config.getProperty("corba.main_manager"))
if not owner:
- self._rtcout.RTC_INFO("Master manager not found")
+ self._rtcout.RTC_INFO("Main manager not found")
return
- self.add_master_manager(owner)
- owner.add_slave_manager(self._objref)
+ self.add_main_manager(owner)
+ owner.add_subordinate_manager(self._objref)
return
except BaseException:
diff --git a/OpenRTM_aist/NamingManager.py b/OpenRTM_aist/NamingManager.py
index 5b472793..47710fdc 100644
--- a/OpenRTM_aist/NamingManager.py
+++ b/OpenRTM_aist/NamingManager.py
@@ -516,15 +516,15 @@ def string_to_component(self, name):
if not CORBA.is_nil(mgr):
rtc_list = mgr.get_components_by_name(rtc_name)
- slaves = mgr.get_slave_managers()
- for slave in slaves:
+ subordinates = mgr.get_subordinate_managers()
+ for subordinate in subordinates:
try:
rtc_list.extend(
- slave.get_components_by_name(rtc_name))
+ subordinate.get_components_by_name(rtc_name))
except BaseException:
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
- mgr.remove_slave_manager(slave)
+ mgr.remove_subordinate_manager(subordinate)
return rtc_list
return rtc_list
@@ -551,12 +551,12 @@ def getManager(self, name):
if name == "*":
mgr_sev = self._mgr.getManagerServant()
mgr = None
- if mgr_sev.is_master():
+ if mgr_sev.is_main():
mgr = mgr_sev.getObjRef()
else:
- masters = mgr_sev.get_master_managers()
- if masters:
- mgr = masters[0]
+ mains = mgr_sev.get_main_managers()
+ if mains:
+ mgr = mains[0]
else:
mgr = mgr_sev.getObjRef()
return mgr
diff --git a/OpenRTM_aist/PortBase.py b/OpenRTM_aist/PortBase.py
index f4729718..70a1ba62 100644
--- a/OpenRTM_aist/PortBase.py
+++ b/OpenRTM_aist/PortBase.py
@@ -973,9 +973,9 @@ def notify_disconnect(self, connector_id):
guard_connection = OpenRTM_aist.ScopedLock(self._connection_mutex)
# The Port of which the reference is stored in the beginning of
- # connectorProfile's PortServiceList is master Port.
- # The master Port has the responsibility of disconnecting all Ports.
- # The slave Ports have only responsibility of deleting its own
+ # connectorProfile's PortServiceList is main Port.
+ # The main Port has the responsibility of disconnecting all Ports.
+ # The subordinate Ports have only responsibility of deleting its own
# ConnectorProfile.
guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
diff --git a/OpenRTM_aist/examples/MobileRobotCanvas/TkMobileRobotSimulator.py b/OpenRTM_aist/examples/MobileRobotCanvas/TkMobileRobotSimulator.py
index b937f91e..56b00edf 100644
--- a/OpenRTM_aist/examples/MobileRobotCanvas/TkMobileRobotSimulator.py
+++ b/OpenRTM_aist/examples/MobileRobotCanvas/TkMobileRobotSimulator.py
@@ -424,25 +424,25 @@ def on_ok(self):
self.toplevel.destroy()
return
- def button(self, master, label, func):
- bt = Button(master, text=label, command=func, width=10,
+ def button(self, main, label, func):
+ bt = Button(main, text=label, command=func, width=10,
padx=3, pady=3)
bt.pack(side=TOP, padx=5, pady=5)
return
- def profile_label(self, master):
+ def profile_label(self, main):
t = ["Robot's name: ", "Robot's type: ", "Description: ", "Vendor: "]
for i in range(len(t)):
- Label(master, text=t[i], anchor=W).grid(row=i, sticky=W,
+ Label(main, text=t[i], anchor=W).grid(row=i, sticky=W,
padx=3, pady=3)
l = [self.name, self.type, self.description, self.vendor]
for i in range(len(l)):
- Label(master, text=l[i], anchor=W).grid(row=i, column=1, sticky=W,
+ Label(main, text=l[i], anchor=W).grid(row=i, column=1, sticky=W,
padx=3, pady=3)
return
- def label_entry(self, master, label0, var, label1):
- f = Frame(master)
+ def label_entry(self, main, label0, var, label1):
+ f = Frame(main)
l0 = Label(
f,
text=label0,
@@ -655,8 +655,8 @@ def on_apply_input(self):
class TkMobileRobot(Frame):
- def __init__(self, master=None, width=800, height=600):
- Frame.__init__(self, master)
+ def __init__(self, main=None, width=800, height=600):
+ Frame.__init__(self, main)
# canvas properties
self.width = width
@@ -929,7 +929,7 @@ def TkMobileRobotSimulatorInit(manager):
def main():
m = TkMobileRobot(Tk())
- m.master.title("Tk Mobile Robot Simulator")
+ m.main.title("Tk Mobile Robot Simulator")
mgr = OpenRTM_aist.Manager.init(sys.argv)
mgr.activateManager()
profile = OpenRTM_aist.Properties(defaults_str=tkmobilerobotsimulator_spec)
diff --git a/OpenRTM_aist/examples/Slider_and_Motor/slider.py b/OpenRTM_aist/examples/Slider_and_Motor/slider.py
index 5ba21309..2bf882ca 100644
--- a/OpenRTM_aist/examples/Slider_and_Motor/slider.py
+++ b/OpenRTM_aist/examples/Slider_and_Motor/slider.py
@@ -15,8 +15,8 @@
class SliderMulti(Frame):
- def __init__(self, channels, master=None):
- Frame.__init__(self, master)
+ def __init__(self, channels, main=None):
+ Frame.__init__(self, main)
self.init(channels)
self.pack()
diff --git a/OpenRTM_aist/examples/Slider_and_Motor/tkmotor.py b/OpenRTM_aist/examples/Slider_and_Motor/tkmotor.py
index 9d5c40c5..f9a891c0 100644
--- a/OpenRTM_aist/examples/Slider_and_Motor/tkmotor.py
+++ b/OpenRTM_aist/examples/Slider_and_Motor/tkmotor.py
@@ -14,8 +14,8 @@
class TkMotor(Frame):
- def __init__(self, num, radius, master=None):
- Frame.__init__(self, master)
+ def __init__(self, num, radius, main=None):
+ Frame.__init__(self, main)
self.num = num
self.r = radius
self.init()
diff --git a/OpenRTM_aist/examples/TkJoyStick/TkJoyStickComp.py b/OpenRTM_aist/examples/TkJoyStick/TkJoyStickComp.py
index 5c8eb5af..2669345e 100644
--- a/OpenRTM_aist/examples/TkJoyStick/TkJoyStickComp.py
+++ b/OpenRTM_aist/examples/TkJoyStick/TkJoyStickComp.py
@@ -105,7 +105,7 @@ def set_pos(self, pos, pol):
def main():
tkJoyCanvas = tkjoystick.TkJoystick()
- tkJoyCanvas.master.title("TkJoystick")
+ tkJoyCanvas.main.title("TkJoystick")
mgr = OpenRTM_aist.Manager.init(sys.argv)
mgr.activateManager()
diff --git a/OpenRTM_aist/examples/TkJoyStick/tkjoystick.py b/OpenRTM_aist/examples/TkJoyStick/tkjoystick.py
index 5a9cff64..d16b8cf6 100644
--- a/OpenRTM_aist/examples/TkJoyStick/tkjoystick.py
+++ b/OpenRTM_aist/examples/TkJoyStick/tkjoystick.py
@@ -311,8 +311,8 @@ def get_pos(self):
class TkJoystick(Frame):
- def __init__(self, r=10, width=300, height=300, master=None):
- Frame.__init__(self, master)
+ def __init__(self, r=10, width=300, height=300, main=None):
+ Frame.__init__(self, main)
self.pos_x = 0.0
self.pos_y = 0.0
diff --git a/OpenRTM_aist/examples/TkLRFViewer/TkLRFViewer.py b/OpenRTM_aist/examples/TkLRFViewer/TkLRFViewer.py
index e88543d1..b81e61b3 100644
--- a/OpenRTM_aist/examples/TkLRFViewer/TkLRFViewer.py
+++ b/OpenRTM_aist/examples/TkLRFViewer/TkLRFViewer.py
@@ -500,8 +500,8 @@ def update(self):
#
# ------------------------------------------------------------
class TkLRFViewer(Frame):
- def __init__(self, master=None, width=480, height=480):
- Frame.__init__(self, master)
+ def __init__(self, main=None, width=480, height=480):
+ Frame.__init__(self, main)
# canvas properties
self.width = width
@@ -702,7 +702,7 @@ def run(self):
def main():
m = TkLRFViewer(Tk())
- m.master.title("Laser Range Finder Viewer")
+ m.main.title("Laser Range Finder Viewer")
mgr = OpenRTM_aist.Manager.init(sys.argv)
mgr.activateManager()
diff --git a/OpenRTM_aist/ext/ssl/SSLTransport.py b/OpenRTM_aist/ext/ssl/SSLTransport.py
index e3b69a77..4ebcd207 100644
--- a/OpenRTM_aist/ext/ssl/SSLTransport.py
+++ b/OpenRTM_aist/ext/ssl/SSLTransport.py
@@ -29,7 +29,7 @@ def SSLTransportInit(manager):
corba_args = prop.getProperty("corba.args")
corba_args += " -ORBendPoint giop:ssl::"
if not OpenRTM_aist.toBool(prop.getProperty(
- "manager.is_master"), "YES", "NO", True):
+ "manager.is_main"), "YES", "NO", True):
if not prop.getProperty("corba.endpoints"):
if not prop.getProperty("corba.endpoint"):
if str(prop.getProperty("corba.args")).find(
diff --git a/OpenRTM_aist/ext/transport/ROSTransport/ROSTopicManager.py b/OpenRTM_aist/ext/transport/ROSTransport/ROSTopicManager.py
index 0a8f6d10..d33ecd2e 100644
--- a/OpenRTM_aist/ext/transport/ROSTransport/ROSTopicManager.py
+++ b/OpenRTM_aist/ext/transport/ROSTransport/ROSTopicManager.py
@@ -477,7 +477,7 @@ def getBusInfo(self, caller_id):
##
# @if jp
- # @brief getMasterUriコールバック関数
+ # @brief getMainUriコールバック関数
#
# @param self
# @param caller_id 呼び出しID
@@ -492,8 +492,8 @@ def getBusInfo(self, caller_id):
# @return
#
# @endif
- # def getMasterUri(self, caller_id):
- # return 0, "master URI not set", ""
+ # def getMainUri(self, caller_id):
+ # return 0, "main URI not set", ""
##
# @if jp