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Migrate from master/slave vocabulary #229

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10 changes: 5 additions & 5 deletions OpenRTM_aist/DefaultConfiguration.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand All @@ -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",
Expand Down
28 changes: 14 additions & 14 deletions OpenRTM_aist/Manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -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])
Expand Down Expand Up @@ -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

Expand Down
12 changes: 6 additions & 6 deletions OpenRTM_aist/ManagerConfig.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand Down Expand Up @@ -167,7 +167,7 @@ def __init__(self, argv=None):
# -l module : Specify modules to be loaded at the beginning. <br>
# -o options: Other options. <br>
# -p : Specify a port number. <br>
# -d : Run Master Manager. <br>
# -d : Run Main Manager. <br>
#
# @endif

Expand Down Expand Up @@ -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)
Expand Down Expand Up @@ -256,7 +256,7 @@ def configure(self, prop):
# -l module : Specify modules to be loaded at the beginning. <br>
# -o options: Other options. <br>
# -p : Specify a port number. <br>
# -d : Run Master Manager. <br>
# -d : Run Main Manager. <br>
#
# @endif

Expand Down Expand Up @@ -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
Expand Down
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