are the following.
-#
+#
#
# is MyComp0.port.mycomp_service.required.add.add0
# is YourComp0.port.yourcomp_service.provided.add.add9
@@ -524,7 +522,7 @@
# port carries out the following process respectively in the
# virtual functions such as CorbaPort::publishInterfaces() and
# CorbaPort::subscribeInerfaces().
-#
+#
# A provider sets its IOR string as a value and its interface
# descriptor as a key in the ConnectorProfile::properties in a
# publishInterfaces() function. Since this interface descriptor's
@@ -591,7 +589,7 @@
#
# strict: The connection is established, if only all the specified
# consumers are set appropriate references and narrowed
-# successfully.
+# successfully.
#
# best_effort: The connection is established without any errors,
# even if appropriate reference does not exist or reference
@@ -602,957 +600,960 @@
# @endif
#
class CorbaPort(OpenRTM_aist.PortBase):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # @param self
- # @param name Port ̾
- #
- # @else
- #
- # @brief Constructor
- #
- # @param name The name of Port
- #
- # @endif
- def __init__(self, name):
- OpenRTM_aist.PortBase.__init__(self, name)
- self.addProperty("port.port_type", "CorbaPort")
- self._properties = OpenRTM_aist.Properties()
- self._providers = []
- self._consumers = []
- return
-
-
- def __del__(self, PortBase=OpenRTM_aist.PortBase):
- PortBase.__del__(self)
-
-
- ##
- # @if jp
- # @brief ץѥƥν
- #
- # OutPortΥץѥƥ롣ΥݡȤؤ³ꤹ
- # ץѥƥ "connection_limit" ޤޤ졢ŬڤʿͤꤵƤ
- # 硢³ȤƤοͤꤵ롣ץѥƥꤵ
- # Ƥʤ硢⤷ŬڤͤꤵƤʤˤϡ
- # ³̵¤Ȥʤ롣
- #
- # @param prop CorbaPort Υץѥƥ
- #
- # @else
- #
- # @brief Initializing properties
- #
- # This operation initializes outport's properties. If a property
- # "connection_limit" is set and appropriate value is set to this
- # property value, the number of maximum connection is set as this
- # value. If the property does not exist or invalid value is set
- # to this property, the maximum number of connection will be set
- # unlimited.
- #
- # @param prop properties of the CorbaPort
- #
- # @endif
- #
- # void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
-
- self._properties.mergeProperties(prop)
-
- num = [-1]
- if not OpenRTM_aist.stringTo([num],
- self._properties.getProperty("connection_limit","-1")):
- self._rtcout.RTC_ERROR("invalid connection_limit value: %s",
- self._properties.getProperty("connection_limit"))
-
- self.setConnectionLimit(num[0])
-
-
- ##
- # @if jp
- #
- # @brief Provider Ͽ
- #
- # Port ˤХȤ Port ФϿ
- # 롣ХȤϡͿ instance_name, type_name
- # ХȼȤΥ̾ӥ̾ȤơХȤ
- # Ϣդ롣δؿˤꡢХȤ CorbaPort
- # ȤȤˡPortInterfaceProfile RTC::PROVIDED
- # եȤϿ롣
- #
- # @param instance_name ХȤΥ̾
- # @param type_name ХȤΥ̾
- # @param provider CORBA Х
- #
- # @return Ʊ̾ instance_name ϿƤ false ֤
- #
- # @else
- #
- # @brief Register the provider
- #
- # This operation registers a servant, which is provided in this
- # Port, to the Port. The servant is associated with
- # "instance_name" and "type_name" as the instance name of the
- # servant and as the type name of the servant. A given servant
- # will be stored in the CorbaPort, and this is registered as
- # RTC::PROVIDED interface into the PortInterfaceProfile.
- #
- # @param instance_name Instance name of servant
- # @param type_name Type name of the servant
- # @param provider CORBA servant
- #
- # @return Return false if the same name of instance_name is already
- # registered.
- #
- # @endif
- #
- # bool registerProvider(const char* instance_name, const char* type_name,
- # PortableServer::RefCountServantBase& provider);
- def registerProvider(self, instance_name, type_name, provider):
- self._rtcout.RTC_TRACE("registerProvider(instance=%s, type_name=%s)",
- (instance_name, type_name))
-
- try:
- self._providers.append(self.CorbaProviderHolder(type_name,
- instance_name,
- provider))
- except:
- self._rtcout.RTC_ERROR("appending provider interface failed")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return False
-
-
- if not self.appendInterface(instance_name, type_name, RTC.PROVIDED):
- return False
-
- return True
-
-
- ##
- # @if jp
- #
- # @brief Consumer Ͽ
- #
- # Port ᤹륵ӥΥץ졼ۥǤ륳塼
- # (Consumer) Ͽ롣Consumer Ϣդ륵ӥΥ
- # ̾ӥ̾Ȥơ instance_name, type_name
- # Consumer ȤͿ뤳ȤˤꡢǤ餬Ϣդ
- # 롣Port ֤³ (connect) ˤϡsubscribeInterfaces() ǽ
- # ٤Ƥ롼˴ŤProvider Interface λȤưŪ
- # Consumer ˥åȤ롣
- #
- # @param instance_name Consumer ᤹륵ӥΥ̾
- # @param type_name Consumer ᤹륵ӥΥ̾
- # @param consumer CORBA ӥ塼
- #
- # @return Ʊ̾ instance_name ϿƤ false ֤
- #
- # @else
- #
- # @brief Register the consumer
- #
- # This operation registers a consumer, which is a service
- # placeholder this port requires. These are associated internally
- # with specified instance_name, type_name and Consumer itself to
- # the argument as service's instance name and its type name
- # associated with Consumer. The service Provider interface'
- # references will be set automatically to the Consumer Interface
- # object when connections are established, according to the rules
- # that are described at the subscribeInterfaces() function's
- # documentation.
- #
- # @param instance_name Instance name of the service Consumer requires
- # @param type_name Type name of the service Consumer requires
- # @param consumer CORBA service consumer
- #
- # @return False would be returned if the same instance_name was registered
- #
- # @endif
- #
- # bool registerConsumer(const char* instance_name, const char* type_name,
- # CorbaConsumerBase& consumer);
- def registerConsumer(self, instance_name, type_name, consumer):
- self._rtcout.RTC_TRACE("registerConsumer()")
-
- if not self.appendInterface(instance_name, type_name, RTC.REQUIRED):
- return False
-
- self._consumers.append(self.CorbaConsumerHolder(type_name,
- instance_name,
- consumer,
- self))
- return True
-
-
- ##
- # @if jp
- #
- # @brief Port ƤΥե activates
- #
- # Port ϿƤƤΥե activate 롣
- #
- # @else
- #
- # @brief Activate all Port interfaces
- #
- # This operation activate all interfaces that is registered in the
- # ports.
- #
- # @endif
- #
- # void CorbaPort::activateInterfaces()
- def activateInterfaces(self):
- for provider in self._providers:
- provider.activate()
-
- return
-
-
- ##
- # @if jp
- #
- # @brief Ƥ Port Υե deactivates
- #
- # Port ϿƤƤΥե deactivate 롣
- #
- # @else
- #
- # @brief Deactivate all Port interfaces
- #
- # This operation deactivate all interfaces that is registered in the
- # ports.
- #
- # @endif
- #
- # void CorbaPort::deactivateInterfaces()
- def deactivateInterfaces(self):
- for provider in self._providers:
- provider.deactivate()
-
- return
-
-
-
- ##
- # @if jp
- #
- # @brief Provider Interface
- #
- # Port ͭ Provider ե˴ؤ
- # ConnectorProfile::properties ¾ Port ФƸ롣
- # RTCΥ̾ξʲ̤ǤȤơ
- #
- # - RTC̾: rtc_iname
- # - ݡ̾: port_name
- # - ե: if_polarity
- # - ե̾: if_tname
- # - ե̾: if_iname
- #
- # NameValue ConnectorProfile::properties name value Ȥ
- # ʲΤΤǼ롣
- #
- # - name
- # .port..provided..
- # - value
- # Provider ե IOR ʸ
- #
- # ʤСȤθߴΤʲɽ NameValue Ʊ
- # ˳Ǽ뤬ΥСǤϺǽ롣
- #
- # - name
- # port..
- # - value
- # Provider ե IOR ʸ
- #
- # ͤ ConnectorProfile::properties ˳Ǽ졢¾ΥݡȤФ
- # ã롣¾ Port ǤΥեѤ Consumer
- # ¸ߤСConnectorProfile 餳Υ饪֥ȥե
- # 餫ηǻѤ롣
- #
- # @param connector_profile ͥץե
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief Publish information about interfaces
- #
- # This operation publishes Provider interfaces information, which
- # is owned by this port, to the other Ports via
- # ConnectorProfile::properties.
- # Now it is assumed RTC instance name and other information is as follows,
- #
- # - RTC instance name: rtc_iname
- # - Port name: port_name
- # - Interface polarity: if_polarity
- # - Interface type name: if_tname
- # - Interface instance name: if_iname
- #
- # the following values are stored as the "name" and the "value"
- # of the NameValue typee element in ConnectorProfile::properties.
- #
- # - name
- # .port..provided..
- # - value
- # IOR string value of interface reference
- #
- # In addition, although the following NameValue values are also
- # stored for the backward compatibility, this will be deleted in
- # the future version.
- #
- # - name
- # port..
- # - value
- # IOR string value of interface reference
- #
- # These values are stored in the ConnectorProfile::properties and
- # are propagated to the other Ports. If the Consumer interface
- # exists that requires this Provider interface, it will retrieve
- # reference from the ConnectorProfile and utilize it.
- #
- # @param connector_profile Connector profile
- # @return The return code of ReturnCode_t type
- #
- # @endif
- #
- # virtual ReturnCode_t
- # publishInterfaces(ConnectorProfile& connector_profile);
- def publishInterfaces(self, connector_profile):
- self._rtcout.RTC_TRACE("publishInterfaces()")
-
- returnvalue = self._publishInterfaces()
-
- if returnvalue != RTC.RTC_OK:
- return returnvalue
-
- properties = []
- for provider in self._providers:
- #------------------------------------------------------------
- # new version descriptor
- # .port..provided..
- newdesc = self._profile.name[:len(self._ownerInstanceName)] + \
- ".port" + self._profile.name[len(self._ownerInstanceName):]
- newdesc += ".provided." + provider.descriptor()
-
- properties.append(OpenRTM_aist.NVUtil.newNV(newdesc, provider.ior()))
-
- #------------------------------------------------------------
- # old version descriptor
- # port..
- olddesc = "port." + provider.descriptor()
- properties.append(OpenRTM_aist.NVUtil.newNV(olddesc, provider.ior()))
-
- OpenRTM_aist.CORBA_SeqUtil.push_back_list(connector_profile.properties, properties)
-
- return RTC.RTC_OK
-
-
- ##
- # @if jp
- #
- # @brief Provider Interface
- #
- # Portͭ Consumer Interface Ŭ礹 Provider
- # Interface ˴ؤConnectorProfile::properties Ф
- # Consumer Interface ˥֥ȻȤåȤ롣
- #
- # RTC Υ̾ Consumer Interface ξʲΤ
- # ǤȲꤹȡ
- #
- # - RTC̾: rtc_iname
- # - ݡ̾: port_name
- # - ե: if_polarity
- # - ե̾: if_tname
- # - ե̾: if_iname
- #
- # Consumer Interface ɽեҤϰʲΤ褦
- # ɽ롣
- #
- # .port..required..
- #
- # δؿϡޤ ConnectorProfile::properties ˾嵭
- # եҤȤƳǼƤ Provider Interface
- # ҤõФˡ Provider Interface ҤȤ
- # ǼƤ Provider Interface λȤɽ IOR ʸ
- # Consumer Interface ˥åȤ롣
- #
- # ˡProvider prov(n), λȤIOR(n) Consumer
- # cons(n) Τ褦˵Ҥ餹٤ƤΥեηƱ
- # ǤꡢConnectorProfile ˰ʲͤꤵƤȤ롣
- #
- #
- # ConnectorProfile::properties =
- # {
- # prov0: IOR0,
- # prov1: IOR1,
- # prov2: IOR2,
- # cons0: prov2,
- # cons1: prov1,
- # cons2: prov0
- # }
- #
- #
- # ΤȤcons(0..2) ˤϤ줾졢ȤʲΤ褦˥åȤ롣
- #
- #
- # cons0 = IOR2
- # cons1 = IOR1
- # cons2 = IOR0
- #
- #
- # ʤСȤθߴΤᡢ
- # ConnectorProfile::properties Consumer Interface Ȥ
- # ͤåȤƤʤǤ⡢Υ롼뤬ŬѤ롣
- #
- # Consumer Interface
- #
- #
- # PortInterfaceProfile
- # {
- # instance_name = "PA10_0";
- # type_name = "Manipulator";
- # polarity = REQUIRED;
- # }
- #
- #
- # ȤϿƤС¾ Port
- #
- #
- # PortInterfaceProfile
- # {
- # instance_name = "PA10_0";
- # type_name = "Manipulator";
- # polarity = PROVIDED;
- # }
- #
- #
- # ȤϿƤ Serivce Provider Υ֥ȻȤõ
- # Consumer ˥åȤ롣ºݤˤϡConnectorProfile::properties
- #
- #
- # NameValue = { "port.Manipulator.PA10_0": }
- #
- #
- # ȤϿƤ NameValue õΥ֥ȻȤ
- # Consumer ˥åȤ롣
- #
- # @param connector_profile ͥץե
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief Subscribe to interface
- #
- # Retrieve information associated with Provider matches Consumer
- # owned by this port and set the object reference to Consumer.
- #
- # Now, Consumer is registered as the following:
- #
- # PortInterfaceProfile
- # {
- # instance_name = "PA10_0";
- # type_name = "Manipulator";
- # polarity = REQUIRED;
- # }
- #
- # Find the object reference of Serivce Provider that is registered as
- # the following of other ports:
- #
- # PortInterfaceProfile
- # {
- # instance_name = "PA10_0";
- # type_name = "Manipulator";
- # polarity = PROVIDED;
- # }
- #
- # and set to Consumer.
- # In fact, find NameValue that is registered as the following to
- # ConnectorProfile::properties:
- #
- # NameValue = { "port.Manipulator.PA10_0": }
- #
- # and set the object reference to Consumer.
- #
- # @param connector_profile Connector profile
- #
- # @return The return code of ReturnCode_t type
- #
- # @endif
- #
- # virtual ReturnCode_t
- # subscribeInterfaces(const ConnectorProfile& connector_profile);
- def subscribeInterfaces(self, connector_profile):
- self._rtcout.RTC_TRACE("subscribeInterfaces()")
- nv = connector_profile.properties
-
- strict = False # default is "best_effort"
- index = OpenRTM_aist.NVUtil.find_index(nv, "port.connection.strictness")
- if index >= 0:
- strictness = str(any.from_any(nv[index].value, keep_structs=True))
- if "best_effort" == strictness:
- strict = False
- elif "strict" == strictness:
- strict = True
-
- self._rtcout.RTC_DEBUG("Connetion strictness is: %s",strictness)
-
- for consumer in self._consumers:
- ior = []
- if self.findProvider(nv, consumer, ior) and len(ior) > 0:
- self.setObject(ior[0], consumer)
- continue
-
- ior = []
- if self.findProviderOld(nv, consumer, ior) and len(ior) > 0:
- self.setObject(ior[0], consumer)
- continue
-
- # never come here without error
- # if strict connection option is set, error is returned.
- if strict:
- self._rtcout.RTC_ERROR("subscribeInterfaces() failed.")
- return RTC.RTC_ERROR
-
- self._rtcout.RTC_TRACE("subscribeInterfaces() successfully finished.")
-
- return RTC.RTC_OK
-
-
- ##
- # @if jp
- #
- # @brief Interface ؤ³
- #
- # Ϳ줿 ConnectorProfile ˴Ϣ Consumer ˥åȤ줿
- # ٤Ƥ Object ³롣
- #
- # @param self
- # @param connector_profile ͥץե
- #
- # @else
- #
- # @brief Unsubscribe interfaces
- #
- # Release all Objects that was set in Consumer associated with the given
- # ConnectorProfile.
- #
- # @param connector_profile Connector profile
- #
- # @endif
- # virtual void
- # unsubscribeInterfaces(const ConnectorProfile& connector_profile);
- def unsubscribeInterfaces(self, connector_profile):
- self._rtcout.RTC_TRACE("unsubscribeInterfaces()")
- nv = connector_profile.properties
-
- for consumer in self._consumers:
- ior = []
- if self.findProvider(nv, consumer, ior) and len(ior) > 0:
- self._rtcout.RTC_DEBUG("Correspoinding consumer found.")
- self.releaseObject(ior[0], consumer)
- continue
-
- ior = []
- if self.findProviderOld(nv, consumer, ior) and len(ior) > 0:
- self._rtcout.RTC_DEBUG("Correspoinding consumer found.")
- self.releaseObject(ior[0], consumer)
- continue
-
- return
-
-
- ##
- # @if jp
- # @brief Consumer ˹פ Provider NVList 椫鸫Ĥ
- #
- # NVList 椫 CorbaConsumerHolder ݻƤ Consumer ˹
- # פ륭 Provider ĤIOR Фʥ
- # Consumer ˥åȤ롣б륭¸ߤʤIOR Ĥ
- # ʤʥ˼Ԥ硢false ֤
- #
- # @param nv Provider ޤޤƤ ConnectorProfile::properties NVList
- # @param cons Provider б Consumer Υۥ
- #
- # @retrun bool Consumer б Provider Ĥʤ false
- #
- # @else
- # @brief Find out a provider corresponding to the consumer from NVList
- #
- # This function finds out a Provider with the key that is matched
- # with Cosumer's name in the CorbaConsumerHolder, extracts IOR
- # and performs narrowing into the Consumer and set it to the
- # Consumer. False is returned when there is no corresponding key
- # and IOR and the narrowing failed.
- #
- # @param nv NVlist of ConnectorProfile::properties that includes Provider
- # @param cons a Consumer holder to be matched with a Provider
- #
- # @return bool false is returned if there is no provider for the consumer
- #
- # @endif
- #
- # virtual bool findProvider(const NVList& nv,
- # CorbaConsumerHolder& cons,
- # std::string& iorstr);
- def findProvider(self, nv, cons, iorstr):
- # new consumer interface descriptor
- newdesc = self._profile.name[:len(self._ownerInstanceName)] + \
- ".port" + self._profile.name[len(self._ownerInstanceName):]
- newdesc += ".required." + cons.descriptor()
-
- # find a NameValue of the consumer
- cons_index = OpenRTM_aist.NVUtil.find_index(nv, newdesc)
- if cons_index < 0:
- return False
-
- provider = str(any.from_any(nv[cons_index].value, keep_structs=True))
- if not provider:
- self._rtcout.RTC_WARN("Cannot extract Provider interface descriptor")
- return False
-
- # find a NameValue of the provider
- prov_index = OpenRTM_aist.NVUtil.find_index(nv, provider)
- if prov_index < 0:
- return False
-
- ior_ = str(any.from_any(nv[prov_index].value, keep_structs=True))
- if not ior_:
- self._rtcout.RTC_WARN("Cannot extract Provider IOR string")
- return False
-
- if isinstance(iorstr, list):
- iorstr.append(ior_)
-
- self._rtcout.RTC_ERROR("interface matched with new descriptor: %s", newdesc)
-
- return True
-
-
- ##
- # @if jp
- # @brief Consumer ˹פ Provider NVList 椫鸫Ĥ
- #
- # δؿϡŤСθߴΤδؿǤ롣
- #
- # NVList 椫 CorbaConsumerHolder ݻƤ Consumer ˹
- # פ륭 Provider Ĥ롣б륭¸ߤʤ
- # IOR Ĥʤ硢false ֤
- #
- # @param nv Provider ޤޤƤ ConnectorProfile::properties NVList
- # @param cons Provider б Consumer Υۥ
- # @param iorstr ĤäIORʸǼѿ
- #
- # @retrun bool Consumer б Provider Ĥʤ false
- #
- # @else
- # @brief Find out a provider corresponding to the consumer from NVList
- #
- # This function is for the old version's compatibility.
- #
- # This function finds out a Provider with the key that is matched
- # with Cosumer's name in the CorbaConsumerHolder and extracts
- # IOR. False is returned when there is no corresponding key and
- # IOR.
- #
- # @param nv NVlist of ConnectorProfile::properties that includes Provider
- # @param cons a Consumer holder to be matched with a Provider
- # @param iorstr variable which is set IOR string
- #
- # @return bool false is returned if there is no provider for the consumer
- #
- # @endif
- #
- # virtual bool findProviderOld(const NVList&nv,
- # CorbaConsumerHolder& cons,
- # std::string& iorstr);
- def findProviderOld(self, nv, cons, iorstr):
- # old consumer interface descriptor
- olddesc = "port." + cons.descriptor()
-
- # find a NameValue of the provider same as olddesc
- index = OpenRTM_aist.NVUtil.find_index(nv, olddesc)
- if index < 0:
- return False
-
- ior_ = str(any.from_any(nv[index].value, keep_structs=True))
- if not ior_:
- self._rtcout.RTC_WARN("Cannot extract Provider IOR string")
- return False
-
- if isinstance(iorstr, list):
- iorstr.append(ior_)
-
- self._rtcout.RTC_ERROR("interface matched with old descriptor: %s", olddesc)
-
- return True
-
-
- ##
- # @if jp
- # @brief Consumer IOR åȤ
- #
- # IOR ʥConsumer ˥åȤ롣ʥ˼
- # 硢false ֤IORʸnullޤnilξ硢
- # ֥Ȥ˲⥻åȤ true ֤
- #
- # @param ior åȤ IOR ʸ
- # @param cons Consumer Υۥ
- #
- # @retrun bool Consumer ؤΥʥ˼Ԥ false
- #
- # @else
- # @brief Setting IOR to Consumer
- #
- # This function performs narrowing into the Consumer and set it to the
- # Consumer. False is returned when the narrowing failed. But, if IOR
- # string is "null" or "nil", this function returns true.
- #
- # @param ior IOR string
- # @param cons Consumer holder
- #
- # @retrun bool false if narrowing failed.
- #
- # @endif
- #
- # bool setObject(const std::string& ior, CorbaConsumerHolder& cons);
- def setObject(self, ior, cons):
- # if ior string is "null" or "nil", ignore it.
- if "null" == ior:
- return True
-
- if "nil" == ior:
- return True
-
- # IOR should be started by "IOR:"
- if "IOR:" != ior[:4]:
- return False
-
- # set IOR to the consumer
- if not cons.setObject(ior):
- self._rtcout.RTC_ERROR("Cannot narrow reference")
- return False
-
- self._rtcout.RTC_TRACE("setObject() done")
- return True
-
- ##
- # @if jp
- # @brief Consumer Υ֥Ȥ
- #
- # Consumer ˥åȤ줿Ȥ롣ConsumerIORͿ
- # 줿IORʸȰۤʤ硢false֤
- #
- # @param ior åȤ IOR ʸ
- # @param cons Consumer Υۥ
- #
- # @retrun ConsumerIORͿ줿IORʸȰۤʤ硢false֤
- #
- # @else
- # @brief Releasing Consumer Object
- #
- # This function releases object reference of Consumer. If the
- # given IOR string is different from Consumer's IOR string, it
- # returns false.
- #
- # @param ior IOR string
- # @param cons Consumer holder
- #
- # @retrun bool False if IOR and Consumer's IOR are different
- #
- # @endif
- #
- # bool releaseObject(const std::string& ior, CorbaConsumerHolder& cons);
- def releaseObject(self, ior, cons):
- if ior == cons.getIor():
- cons.releaseObject()
- self._rtcout.RTC_DEBUG("Consumer %s released.", cons.descriptor())
- return True
-
- self._rtcout.RTC_WARN("IORs between Consumer and Connector are different.")
- return False
-
- ##
- # @if jp
- # @class CorbaProviderHolder
- # @brief Provider ξǼ빽¤
- #
- # CORBA Provider Υۥ饹
- #
- # @else
- # @class CorbaProviderHolder
- # @brief The structure to be stored Provider information.
- #
- # CORBA Provider holder class
- #
- # @endif
- class CorbaProviderHolder:
- # CorbaProviderHolder(const char* type_name,
- # const char* instance_name,
- # PortableServer::RefCountServantBase* servant)
- def __init__(self, type_name, instance_name, servant):
- self._typeName = type_name
- self._instanceName = instance_name
- self._servant = servant
- _mgr = OpenRTM_aist.Manager.instance()
- self._oid = _mgr.getPOA().servant_to_id(self._servant)
-
- obj = _mgr.getPOA().id_to_reference(self._oid)
- self._ior = _mgr.getORB().object_to_string(obj)
- self.deactivate()
- return
-
- def __del__(self):
- self.deactivate()
-
- # std::string instanceName() { return m_instanceName; }
- def instanceName(self):
- return self._instanceName
-
- # std::string typeName() { return m_typeName; }
- def typeName(self):
- return self._typeName
-
- # std::string ior() { return m_ior; }
- def ior(self):
- return self._ior
-
- # std::string descriptor() { return m_typeName + "." + m_instanceName; }
- def descriptor(self):
- return self._typeName + "." + self._instanceName
-
- # void activate()
- def activate(self):
- try:
- OpenRTM_aist.Manager.instance().getPOA().activate_object_with_id(self._oid, self._servant)
- except:
- print(OpenRTM_aist.Logger.print_exception())
- return
-
- # void deactivate()
- def deactivate(self):
- try:
- OpenRTM_aist.Manager.instance().getPOA().deactivate_object(self._oid)
- except:
- pass
- #print(OpenRTM_aist.Logger.print_exception())
- return
-
-
- ##
- # @if jp
- # @brief Consumer ξǼ빽¤
- # @else
- # @brief The structure to be stored Consumer information.
- # @endif
- #
- class CorbaConsumerHolder:
- # CorbaConsumerHolder(const char* type_name,
- # const char* instance_name,
- # CorbaConsumerBase* consumer,
- # string& owner)
- def __init__(self, type_name, instance_name, consumer, owner):
- self._typeName = type_name
- self._instanceName = instance_name
- self._consumer = consumer
- self._owner = owner
- self._ior = ""
- return
-
- # std::string instanceName() { return m_instanceName; }
- def instanceName(self):
- return self._instanceName
-
- # std::string typeName() { return m_typeName; }
- def typeName(self):
- return self._typeName
-
- # std::string descriptor() { return m_typeName + "." + m_instanceName; }
- def descriptor(self):
- return self._typeName + "." + self._instanceName
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # @param self
+ # @param name Port の名前
+ #
+ # @else
+ #
+ # @brief Constructor
+ #
+ # @param name The name of Port
+ #
+ # @endif
+ def __init__(self, name):
+ OpenRTM_aist.PortBase.__init__(self, name)
+ self.addProperty("port.port_type", "CorbaPort")
+ self._properties = OpenRTM_aist.Properties()
+ self._providers = []
+ self._consumers = []
+ return
+
+ def __del__(self, PortBase=OpenRTM_aist.PortBase):
+ PortBase.__del__(self)
+
+ ##
+ # @if jp
+ # @brief プロパティの初期化
+ #
+ # OutPortのプロパティを初期化する。このポートへの接続数を指定する
+ # プロパティ "connection_limit" が含まれ、適切な数値が設定されてい
+ # る場合、最大接続数としてその数値が設定される。プロパティが設定さ
+ # れていない場合、もしくは適切な値が設定されていない場合には、最大
+ # 接続数は無制限となる。
+ #
+ # @param prop CorbaPort のプロパティ
+ #
+ # @else
+ #
+ # @brief Initializing properties
+ #
+ # This operation initializes outport's properties. If a property
+ # "connection_limit" is set and appropriate value is set to this
+ # property value, the number of maximum connection is set as this
+ # value. If the property does not exist or invalid value is set
+ # to this property, the maximum number of connection will be set
+ # unlimited.
+ #
+ # @param prop properties of the CorbaPort
+ #
+ # @endif
+ #
+ # void init(coil::Properties& prop);
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+
+ self._properties.mergeProperties(prop)
+ prop_list = []
+ OpenRTM_aist.NVUtil.copyFromProperties(prop_list, self._properties)
+ self._profile.properties.extend(prop_list)
+
+ num = -1
+ ret, num = OpenRTM_aist.stringTo(num,
+ self._properties.getProperty("connection_limit", "-1"))
+ if not ret:
+ self._rtcout.RTC_ERROR("invalid connection_limit value: %s",
+ self._properties.getProperty("connection_limit"))
+
+ self.setConnectionLimit(num)
+
+ ##
+ # @if jp
+ #
+ # @brief Provider を登録する
+ #
+ # この Port において提供したいサーバントをこの Port に対して登録す
+ # る。サーバントは、引数で与えられる instance_name, type_name を、
+ # サーバント自身のインスタンス名およびタイプ名として、サーバントに
+ # 関連付けられる。この関数により、サーバントは CorbaPort 内部に保
+ # 持されるとともに、PortInterfaceProfile にRTC::PROVIDED インター
+ # フェースとして登録される。
+ #
+ # @param instance_name サーバントのインスタンス名
+ # @param type_name サーバントのタイプ名
+ # @param provider CORBA サーバント
+ #
+ # @return 既に同名の instance_name が登録されていれば false を返す。
+ #
+ # @else
+ #
+ # @brief Register the provider
+ #
+ # This operation registers a servant, which is provided in this
+ # Port, to the Port. The servant is associated with
+ # "instance_name" and "type_name" as the instance name of the
+ # servant and as the type name of the servant. A given servant
+ # will be stored in the CorbaPort, and this is registered as
+ # RTC::PROVIDED interface into the PortInterfaceProfile.
+ #
+ # @param instance_name Instance name of servant
+ # @param type_name Type name of the servant
+ # @param provider CORBA servant
+ #
+ # @return Return false if the same name of instance_name is already
+ # registered.
+ #
+ # @endif
+ #
+ # bool registerProvider(const char* instance_name, const char* type_name,
+ # PortableServer::RefCountServantBase& provider);
+
+ def registerProvider(self, instance_name, type_name, provider):
+ self._rtcout.RTC_TRACE("registerProvider(instance=%s, type_name=%s)",
+ (instance_name, type_name))
+
+ try:
+ self._providers.append(self.CorbaProviderHolder(type_name,
+ instance_name,
+ provider))
+ except BaseException:
+ self._rtcout.RTC_ERROR("appending provider interface failed")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return False
+
+ if not self.appendInterface(instance_name, type_name, RTC.PROVIDED):
+ return False
+
+ return True
+
+ ##
+ # @if jp
+ #
+ # @brief Consumer を登録する
+ #
+ # この Port が要求するサービスのプレースホルダであるコンシューマ
+ # (Consumer) を登録する。Consumer が関連付けられるサービスのインス
+ # タンス名およびタイプ名として、引数に instance_name, type_name お
+ # よび Consumer 自身を与えることにより、内部でこれらが関連付けられ
+ # る。Port 間の接続 (connect) 時 には、subscribeInterfaces() で述
+ # べられているルールに基づき、Provider Interface の参照が自動的に
+ # Consumer にセットされる。
+ #
+ # @param instance_name Consumer が要求するサービスのインスタンス名
+ # @param type_name Consumer が要求するサービスのタイプ名
+ # @param consumer CORBA サービスコンシューマ
+ #
+ # @return 既に同名の instance_name が登録されていれば false を返す。
+ #
+ # @else
+ #
+ # @brief Register the consumer
+ #
+ # This operation registers a consumer, which is a service
+ # placeholder this port requires. These are associated internally
+ # with specified instance_name, type_name and Consumer itself to
+ # the argument as service's instance name and its type name
+ # associated with Consumer. The service Provider interface'
+ # references will be set automatically to the Consumer Interface
+ # object when connections are established, according to the rules
+ # that are described at the subscribeInterfaces() function's
+ # documentation.
+ #
+ # @param instance_name Instance name of the service Consumer requires
+ # @param type_name Type name of the service Consumer requires
+ # @param consumer CORBA service consumer
+ #
+ # @return False would be returned if the same instance_name was registered
+ #
+ # @endif
+ #
+ # bool registerConsumer(const char* instance_name, const char* type_name,
+ # CorbaConsumerBase& consumer);
+
+ def registerConsumer(self, instance_name, type_name, consumer):
+ self._rtcout.RTC_TRACE("registerConsumer()")
+
+ if not self.appendInterface(instance_name, type_name, RTC.REQUIRED):
+ return False
+
+ self._consumers.append(self.CorbaConsumerHolder(type_name,
+ instance_name,
+ consumer,
+ self))
+ return True
+
+ ##
+ # @if jp
+ #
+ # @brief Port の全てのインターフェースを activates する
+ #
+ # Port に登録されている全てのインターフェースを activate する。
+ #
+ # @else
+ #
+ # @brief Activate all Port interfaces
+ #
+ # This operation activate all interfaces that is registered in the
+ # ports.
+ #
+ # @endif
+ #
+ # void CorbaPort::activateInterfaces()
+
+ def activateInterfaces(self):
+ for provider in self._providers:
+ provider.activate()
+
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief 全ての Port のインターフェースを deactivates する
+ #
+ # Port に登録されている全てのインターフェースを deactivate する。
+ #
+ # @else
+ #
+ # @brief Deactivate all Port interfaces
+ #
+ # This operation deactivate all interfaces that is registered in the
+ # ports.
+ #
+ # @endif
+ #
+ # void CorbaPort::deactivateInterfaces()
+
+ def deactivateInterfaces(self):
+ for provider in self._providers:
+ provider.deactivate()
+
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief Provider Interface 情報を公開する
+ #
+ # この Port が所有する Provider インターフェースに関する情報を
+ # ConnectorProfile::properties に代入し他の Port に対して公開する。
+ # 今、RTCのインスタンス名等の情報が以下の通りであるとして、
+ #
+ # - RTCインスタンス名: rtc_iname
+ # - ポート名: port_name
+ # - インターフェース極性: if_polarity
+ # - インターフェース型名: if_tname
+ # - インターフェースインスタンス名: if_iname
+ #
+ # NameValue 型の ConnectorProfile::properties の name と value として
+ # 以下のものが格納される。
+ #
+ # - name
+ # .port..provided..
+ # - value
+ # Provider インターフェースの IOR 文字列
+ #
+ # なお、旧バージョンとの互換性のため以下の表記の NameValue も同時
+ # に格納されるが、将来のバージョンでは削除される可能性がある。
+ #
+ # - name
+ # port..
+ # - value
+ # Provider インターフェースの IOR 文字列
+ #
+ # これらの値は ConnectorProfile::properties に格納され、他のポートに対して
+ # 伝達される。他の Port でこのインターフェースを使用する Consumer が
+ # 存在すれば、ConnectorProfile からこのキーからオブジェクトリファレンスを
+ # 取得し何らかの形で使用される。
+ #
+ # @param connector_profile コネクタプロファイル
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief Publish information about interfaces
+ #
+ # This operation publishes Provider interfaces information, which
+ # is owned by this port, to the other Ports via
+ # ConnectorProfile::properties.
+ # Now it is assumed RTC instance name and other information is as follows,
+ #
+ # - RTC instance name: rtc_iname
+ # - Port name: port_name
+ # - Interface polarity: if_polarity
+ # - Interface type name: if_tname
+ # - Interface instance name: if_iname
+ #
+ # the following values are stored as the "name" and the "value"
+ # of the NameValue typee element in ConnectorProfile::properties.
+ #
+ # - name
+ # .port..provided..
+ # - value
+ # IOR string value of interface reference
+ #
+ # In addition, although the following NameValue values are also
+ # stored for the backward compatibility, this will be deleted in
+ # the future version.
+ #
+ # - name
+ # port..
+ # - value
+ # IOR string value of interface reference
+ #
+ # These values are stored in the ConnectorProfile::properties and
+ # are propagated to the other Ports. If the Consumer interface
+ # exists that requires this Provider interface, it will retrieve
+ # reference from the ConnectorProfile and utilize it.
+ #
+ # @param connector_profile Connector profile
+ # @return The return code of ReturnCode_t type
+ #
+ # @endif
+ #
+ # virtual ReturnCode_t
+ # publishInterfaces(ConnectorProfile& connector_profile);
+
+ def publishInterfaces(self, connector_profile):
+ self._rtcout.RTC_TRACE("publishInterfaces()")
+
+ returnvalue = self._publishInterfaces()
+
+ if returnvalue != RTC.RTC_OK:
+ return returnvalue
+
+ properties = []
+ for provider in self._providers:
+ # ------------------------------------------------------------
+ # new version descriptor
+ # .port..provided..
+ newdesc = self._profile.name[:len(self._ownerInstanceName)] + \
+ ".port" + self._profile.name[len(self._ownerInstanceName):]
+ newdesc += ".provided." + provider.descriptor()
+
+ properties.append(
+ OpenRTM_aist.NVUtil.newNV(
+ newdesc, provider.ior()))
+
+ # ------------------------------------------------------------
+ # old version descriptor
+ # port..
+ olddesc = "port." + provider.descriptor()
+ properties.append(
+ OpenRTM_aist.NVUtil.newNV(
+ olddesc, provider.ior()))
+
+ OpenRTM_aist.CORBA_SeqUtil.push_back_list(
+ connector_profile.properties, properties)
+
+ return RTC.RTC_OK
+
+ ##
+ # @if jp
+ #
+ # @brief Provider Interface 情報を取得する
+ #
+ # この Portが所有する Consumer Interface に適合する Provider
+ # Interface に関する情報をConnectorProfile::properties から抽出し
+ # Consumer Interface にオブジェクト参照をセットする。
+ #
+ # 今、RTC のインスタンス名や Consumer Interface 等の情報が以下のと
+ # おりであると仮定すると、
+ #
+ # - RTCインスタンス名: rtc_iname
+ # - ポート名: port_name
+ # - インターフェース極性: if_polarity
+ # - インターフェース型名: if_tname
+ # - インターフェースインスタンス名: if_iname
+ #
+ # この Consumer Interface を表すインターフェース指定子は以下のよう
+ # に表される。
+ #
+ # .port..required..
+ #
+ # この関数は、まず引数 ConnectorProfile::properties に上記インター
+ # フェース指定子をキーとして格納されている Provider Interface 指定
+ # 子を探し出す。さらに、その Provider Interface 指定子をキーとして
+ # 格納されている Provider Interface の参照を表す IOR 文字列を取得
+ # し、Consumer Interface にセットする。
+ #
+ # 今、仮に、Provider を prov(n), その参照をIOR(n) さらに Consumer
+ # をcons(n) のように記述し、これらすべてのインターフェースの型が同
+ # 一であり、ConnectorProfile に以下の値が設定されているとする。
+ #
+ #
+ # ConnectorProfile::properties =
+ # {
+ # prov0: IOR0,
+ # prov1: IOR1,
+ # prov2: IOR2,
+ # cons0: prov2,
+ # cons1: prov1,
+ # cons2: prov0
+ # }
+ #
+ #
+ # このとき、cons(0..2) にはそれぞれ、参照が以下のようにセットされる。
+ #
+ #
+ # cons0 = IOR2
+ # cons1 = IOR1
+ # cons2 = IOR0
+ #
+ #
+ # なお、旧バージョンとの互換性のため、
+ # ConnectorProfile::properties に Consumer Interface をキーとした
+ # 値がセットされていない場合でも、次のルールが適用される。
+ #
+ # 今、仮に Consumer Interface が
+ #
+ #
+ # PortInterfaceProfile
+ # {
+ # instance_name = "PA10_0";
+ # type_name = "Manipulator";
+ # polarity = REQUIRED;
+ # }
+ #
+ #
+ # として登録されていれば、他の Port の
+ #
+ #
+ # PortInterfaceProfile
+ # {
+ # instance_name = "PA10_0";
+ # type_name = "Manipulator";
+ # polarity = PROVIDED;
+ # }
+ #
+ #
+ # として登録されている Serivce Provider のオブジェクト参照を探し、
+ # Consumer にセットする。実際には、ConnectorProfile::properties に
+ #
+ #
+ # NameValue = { "port.Manipulator.PA10_0": }
+ #
+ #
+ # として登録されている NameValue を探し、そのオブジェクト参照を
+ # Consumer にセットする。
+ #
+ # @param connector_profile コネクタプロファイル
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief Subscribe to interface
+ #
+ # Retrieve information associated with Provider matches Consumer
+ # owned by this port and set the object reference to Consumer.
+ #
+ # Now, Consumer is registered as the following:
+ #
+ # PortInterfaceProfile
+ # {
+ # instance_name = "PA10_0";
+ # type_name = "Manipulator";
+ # polarity = REQUIRED;
+ # }
+ #
+ # Find the object reference of Serivce Provider that is registered as
+ # the following of other ports:
+ #
+ # PortInterfaceProfile
+ # {
+ # instance_name = "PA10_0";
+ # type_name = "Manipulator";
+ # polarity = PROVIDED;
+ # }
+ #
+ # and set to Consumer.
+ # In fact, find NameValue that is registered as the following to
+ # ConnectorProfile::properties:
+ #
+ # NameValue = { "port.Manipulator.PA10_0": }
+ #
+ # and set the object reference to Consumer.
+ #
+ # @param connector_profile Connector profile
+ #
+ # @return The return code of ReturnCode_t type
+ #
+ # @endif
+ #
+ # virtual ReturnCode_t
+ # subscribeInterfaces(const ConnectorProfile& connector_profile);
+
+ def subscribeInterfaces(self, connector_profile):
+ self._rtcout.RTC_TRACE("subscribeInterfaces()")
+ nv = connector_profile.properties
+
+ strict = False # default is "best_effort"
+ index = OpenRTM_aist.NVUtil.find_index(
+ nv, "port.connection.strictness")
+ if index >= 0:
+ strictness = str(any.from_any(nv[index].value, keep_structs=True))
+ if "best_effort" == strictness:
+ strict = False
+ elif "strict" == strictness:
+ strict = True
+
+ self._rtcout.RTC_DEBUG("Connetion strictness is: %s", strictness)
+
+ for consumer in self._consumers:
+ ret, ior = self.findProvider(nv, consumer)
+ if ret:
+ self.setObject(ior, consumer)
+ continue
+
+ ret, ior = self.findProviderOld(nv, consumer)
+ if ret:
+ self.setObject(ior, consumer)
+ continue
+
+ # never come here without error
+ # if strict connection option is set, error is returned.
+ if strict:
+ self._rtcout.RTC_ERROR("subscribeInterfaces() failed.")
+ return RTC.RTC_ERROR
+
+ self._rtcout.RTC_TRACE("subscribeInterfaces() successfully finished.")
+
+ return RTC.RTC_OK
##
# @if jp
- # @brief Consumer IOR åȤ
+ #
+ # @brief Interface への接続を解除する
+ #
+ # 与えられた ConnectorProfile に関連する Consumer にセットされた
+ # すべての Object を解放し接続を解除する。
+ #
+ # @param self
+ # @param connector_profile コネクタプロファイル
+ #
+ # @else
+ #
+ # @brief Unsubscribe interfaces
+ #
+ # Release all Objects that was set in Consumer associated with the given
+ # ConnectorProfile.
+ #
+ # @param connector_profile Connector profile
+ #
+ # @endif
+ # virtual void
+ # unsubscribeInterfaces(const ConnectorProfile& connector_profile);
+
+ def unsubscribeInterfaces(self, connector_profile):
+ self._rtcout.RTC_TRACE("unsubscribeInterfaces()")
+ nv = connector_profile.properties
+
+ for consumer in self._consumers:
+ ret, ior = self.findProvider(nv, consumer)
+ if ret:
+ self._rtcout.RTC_DEBUG("Correspoinding consumer found.")
+ self.releaseObject(ior, consumer)
+ continue
+
+ ret, ior = self.findProviderOld(nv, consumer)
+ if ret:
+ self._rtcout.RTC_DEBUG("Correspoinding consumer found.")
+ self.releaseObject(ior, consumer)
+ continue
+
+ return
+
+ ##
+ # @if jp
+ # @brief Consumer に合致する Provider を NVList の中から見つける
+ #
+ # NVList 中から CorbaConsumerHolder に保持されている Consumer に合
+ # 致するキーを持つ Provider を見つけ、IOR を抽出しナローイングして
+ # Consumer にセットする。対応するキーが存在しない、IOR が見つから
+ # ない、ナローイングに失敗した場合、false を返す。
+ #
+ # @param nv Provider が含まれている ConnectorProfile::properties の NVList
+ # @param cons Provider と対応する Consumer のホルダ
+ #
+ # @retrun bool Consumer に対応する Provider が見つからない場合 false
+ #
+ # @else
+ # @brief Find out a provider corresponding to the consumer from NVList
+ #
+ # This function finds out a Provider with the key that is matched
+ # with Cosumer's name in the CorbaConsumerHolder, extracts IOR
+ # and performs narrowing into the Consumer and set it to the
+ # Consumer. False is returned when there is no corresponding key
+ # and IOR and the narrowing failed.
+ #
+ # @param nv NVlist of ConnectorProfile::properties that includes Provider
+ # @param cons a Consumer holder to be matched with a Provider
+ #
+ # @return bool false is returned if there is no provider for the consumer
+ #
+ # @endif
+ #
+ # virtual bool findProvider(const NVList& nv,
+ # CorbaConsumerHolder& cons,
+ # std::string& iorstr);
+
+ def findProvider(self, nv, cons):
+ # new consumer interface descriptor
+ newdesc = self._profile.name[:len(self._ownerInstanceName)] + \
+ ".port" + self._profile.name[len(self._ownerInstanceName):]
+ newdesc += ".required." + cons.descriptor()
+
+ # find a NameValue of the consumer
+ cons_index = OpenRTM_aist.NVUtil.find_index(nv, newdesc)
+ if cons_index < 0:
+ return False, ""
+
+ provider = str(any.from_any(nv[cons_index].value, keep_structs=True))
+ if not provider:
+ self._rtcout.RTC_WARN(
+ "Cannot extract Provider interface descriptor")
+ return False, ""
+
+ # find a NameValue of the provider
+ prov_index = OpenRTM_aist.NVUtil.find_index(nv, provider)
+ if prov_index < 0:
+ return False, ""
+
+ ior_ = str(any.from_any(nv[prov_index].value, keep_structs=True))
+ if not ior_:
+ self._rtcout.RTC_WARN("Cannot extract Provider IOR string")
+ return False, ior_
+
+ self._rtcout.RTC_TRACE(
+ "interface matched with new descriptor: %s", newdesc)
+
+ return True, ior_
+
+ ##
+ # @if jp
+ # @brief Consumer に合致する Provider を NVList の中から見つける
+ #
+ # この関数は、古いバージョンの互換性のための関数である。
+ #
+ # NVList 中から CorbaConsumerHolder に保持されている Consumer に合
+ # 致するキーを持つ Provider を見つける。対応するキーが存在しない、
+ # IOR が見つからない場合、false を返す
+ #
+ # @param nv Provider が含まれている ConnectorProfile::properties の NVList
+ # @param cons Provider と対応する Consumer のホルダ
+ # @param iorstr 見つかったIOR文字列を格納する変数
+ #
+ # @retrun bool Consumer に対応する Provider が見つからない場合 false
+ #
+ # @else
+ # @brief Find out a provider corresponding to the consumer from NVList
+ #
+ # This function is for the old version's compatibility.
+ #
+ # This function finds out a Provider with the key that is matched
+ # with Cosumer's name in the CorbaConsumerHolder and extracts
+ # IOR. False is returned when there is no corresponding key and
+ # IOR.
+ #
+ # @param nv NVlist of ConnectorProfile::properties that includes Provider
+ # @param cons a Consumer holder to be matched with a Provider
+ # @param iorstr variable which is set IOR string
+ #
+ # @return bool false is returned if there is no provider for the consumer
+ #
+ # @endif
+ #
+ # virtual bool findProviderOld(const NVList&nv,
+ # CorbaConsumerHolder& cons,
+ # std::string& iorstr);
+
+ def findProviderOld(self, nv, cons):
+ # old consumer interface descriptor
+ olddesc = "port." + cons.descriptor()
+
+ # find a NameValue of the provider same as olddesc
+ index = OpenRTM_aist.NVUtil.find_index(nv, olddesc)
+ if index < 0:
+ return False, ""
+
+ ior_ = str(any.from_any(nv[index].value, keep_structs=True))
+ if not ior_:
+ self._rtcout.RTC_WARN("Cannot extract Provider IOR string")
+ return False, ior_
+
+ self._rtcout.RTC_TRACE(
+ "interface matched with old descriptor: %s", olddesc)
+
+ return True, ior_
+
+ ##
+ # @if jp
+ # @brief Consumer に IOR をセットする
+ #
+ # IOR をナローイングしてConsumer にセットする。ナローイングに失敗
+ # した場合、false を返す。ただし、IOR文字列が、nullまたはnilの場合、
+ # オブジェクトに何もセットせずに true を返す。
+ #
+ # @param ior セットする IOR 文字列
+ # @param cons Consumer のホルダ
+ #
+ # @retrun bool Consumer へのナローイングに失敗した場合 false
+ #
# @else
# @brief Setting IOR to Consumer
- #@endif
- #
- # bool setObject(const char* ior)
- def setObject(self, ior):
- self._ior = ior
- orb = OpenRTM_aist.Manager.instance().getORB()
- obj = orb.string_to_object(ior)
- if CORBA.is_nil(obj):
- return False
+ #
+ # This function performs narrowing into the Consumer and set it to the
+ # Consumer. False is returned when the narrowing failed. But, if IOR
+ # string is "null" or "nil", this function returns true.
+ #
+ # @param ior IOR string
+ # @param cons Consumer holder
+ #
+ # @retrun bool false if narrowing failed.
+ #
+ # @endif
+ #
+ # bool setObject(const std::string& ior, CorbaConsumerHolder& cons);
+
+ def setObject(self, ior, cons):
+ # if ior string is "null" or "nil", ignore it.
+ if "null" == ior:
+ return True
+
+ if "nil" == ior:
+ return True
- return self._consumer.setObject(obj)
+ # IOR should be started by "IOR:"
+ if "IOR:" != ior[:4]:
+ return False
+
+ # set IOR to the consumer
+ if not cons.setObject(ior):
+ self._rtcout.RTC_ERROR("Cannot narrow reference")
+ return False
+
+ self._rtcout.RTC_TRACE("setObject() done")
+ return True
##
# @if jp
- # @brief Consumer Υ֥Ȥ
+ # @brief Consumer のオブジェクトをリリースする
+ #
+ # Consumer にセットされた参照をリリースする。ConsumerのIORが与えら
+ # れたIOR文字列と異なる場合、falseを返す。
+ #
+ # @param ior セットする IOR 文字列
+ # @param cons Consumer のホルダ
+ #
+ # @retrun ConsumerのIORが与えられたIOR文字列と異なる場合、falseを返す。
+ #
# @else
# @brief Releasing Consumer Object
+ #
+ # This function releases object reference of Consumer. If the
+ # given IOR string is different from Consumer's IOR string, it
+ # returns false.
+ #
+ # @param ior IOR string
+ # @param cons Consumer holder
+ #
+ # @retrun bool False if IOR and Consumer's IOR are different
+ #
+ # @endif
+ #
+ # bool releaseObject(const std::string& ior, CorbaConsumerHolder& cons);
+ def releaseObject(self, ior, cons):
+ if ior == cons.getIor():
+ cons.releaseObject()
+ self._rtcout.RTC_DEBUG("Consumer %s released.", cons.descriptor())
+ return True
+
+ self._rtcout.RTC_WARN(
+ "IORs between Consumer and Connector are different.")
+ return False
+
+ ##
+ # @if jp
+ # @class CorbaProviderHolder
+ # @brief Provider の情報を格納する構造体
+ #
+ # CORBA Provider のホルダクラス
+ #
+ # @else
+ # @class CorbaProviderHolder
+ # @brief The structure to be stored Provider information.
+ #
+ # CORBA Provider holder class
+ #
+ # @endif
+ class CorbaProviderHolder:
+ # CorbaProviderHolder(const char* type_name,
+ # const char* instance_name,
+ # PortableServer::RefCountServantBase* servant)
+ def __init__(self, type_name, instance_name, servant):
+ self._typeName = type_name
+ self._instanceName = instance_name
+ self._servant = servant
+ _mgr = OpenRTM_aist.Manager.instance()
+ self._oid = _mgr.getPOA().servant_to_id(self._servant)
+
+ obj = _mgr.getPOA().id_to_reference(self._oid)
+ self._ior = _mgr.getORB().object_to_string(obj)
+ self.deactivate()
+ return
+
+ def __del__(self):
+ self.deactivate()
+
+ # std::string instanceName() { return m_instanceName; }
+ def instanceName(self):
+ return self._instanceName
+
+ # std::string typeName() { return m_typeName; }
+ def typeName(self):
+ return self._typeName
+
+ # std::string ior() { return m_ior; }
+ def ior(self):
+ return self._ior
+
+ # std::string descriptor() { return m_typeName + "." + m_instanceName;
+ # }
+ def descriptor(self):
+ return self._typeName + "." + self._instanceName
+
+ # void activate()
+ def activate(self):
+ try:
+ OpenRTM_aist.Manager.instance().getPOA(
+ ).activate_object_with_id(self._oid, self._servant)
+ except BaseException:
+ print(OpenRTM_aist.Logger.print_exception())
+ return
+
+ # void deactivate()
+ def deactivate(self):
+ try:
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(self._oid)
+ except BaseException:
+ pass
+ # print(OpenRTM_aist.Logger.print_exception())
+ return
+
+ ##
+ # @if jp
+ # @brief Consumer の情報を格納する構造体
+ # @else
+ # @brief The structure to be stored Consumer information.
# @endif
#
- # void releaseObject()
- def releaseObject(self):
- self._consumer.releaseObject()
- return
-
- # const std::string& getIor()
- def getIor(self):
- return self._ior
-
-
- ##
- # @if jp
- # @brief ConnectorProfile Consuemr Ӥ֥ȻȤ
- # åȤ뤿 Functor
- # @else
- # @brief Subscription mutching functor for Consumer
- # @endif
- class subscribe:
- def __init__(self, cons):
- self._cons = cons
- self._len = len(cons)
-
- def __call__(self, nv):
- for i in range(self._len):
- name_ = nv.name
- if self._cons[i].descriptor() == name_:
- try:
- obj = any.from_any(nv.value, keep_structs=True)
- self._cons[i].setObject(obj)
- except:
- print(OpenRTM_aist.Logger.print_exception())
-
-
-
- ##
- # @if jp
- # @brief Consumer Υ֥Ȥ뤿 Functor
- # @else
- # @brief Functor to release Consumer's object
- # @endif
- class unsubscribe:
- def __init__(self, cons):
- self._cons = cons
- self._len = len(cons)
-
- def __call__(self, nv):
- for i in range(self._len):
- name_ = nv.name
- if self._cons[i].descriptor() == name_:
- self._cons[i].releaseObject()
- return
-
- # for 0.4.x
- if "port."+self._cons[i].descriptor() == name_:
- self._cons[i].releaseObject()
+ class CorbaConsumerHolder:
+ # CorbaConsumerHolder(const char* type_name,
+ # const char* instance_name,
+ # CorbaConsumerBase* consumer,
+ # string& owner)
+ def __init__(self, type_name, instance_name, consumer, owner):
+ self._typeName = type_name
+ self._instanceName = instance_name
+ self._consumer = consumer
+ self._owner = owner
+ self._ior = ""
+ return
+
+ # std::string instanceName() { return m_instanceName; }
+ def instanceName(self):
+ return self._instanceName
+
+ # std::string typeName() { return m_typeName; }
+ def typeName(self):
+ return self._typeName
+
+ # std::string descriptor() { return m_typeName + "." + m_instanceName;
+ # }
+ def descriptor(self):
+ return self._typeName + "." + self._instanceName
+
+ ##
+ # @if jp
+ # @brief Consumer に IOR をセットする
+ # @else
+ # @brief Setting IOR to Consumer
+ # @endif
+ #
+ # bool setObject(const char* ior)
+ def setObject(self, ior):
+ self._ior = ior
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ obj = orb.string_to_object(ior)
+ if CORBA.is_nil(obj):
+ return False
+
+ return self._consumer.setObject(obj)
+
+ ##
+ # @if jp
+ # @brief Consumer のオブジェクトをリリースする
+ # @else
+ # @brief Releasing Consumer Object
+ # @endif
+ #
+ # void releaseObject()
+ def releaseObject(self):
+ self._consumer.releaseObject()
+ return
+
+ # const std::string& getIor()
+ def getIor(self):
+ return self._ior
+
+ ##
+ # @if jp
+ # @brief ConnectorProfile と Consuemr の比較をしオブジェクト参照を
+ # セットするための Functor
+ # @else
+ # @brief Subscription mutching functor for Consumer
+ # @endif
+
+ class subscribe:
+ def __init__(self, cons):
+ self._cons = cons
+
+ def __call__(self, nv):
+ for con in self._cons:
+ name_ = nv.name
+ if con.descriptor() == name_:
+ try:
+ obj = any.from_any(nv.value, keep_structs=True)
+ con.setObject(obj)
+ except BaseException:
+ print(OpenRTM_aist.Logger.print_exception())
+
+ ##
+ # @if jp
+ # @brief Consumer のオブジェクトを解放するための Functor
+ # @else
+ # @brief Functor to release Consumer's object
+ # @endif
+
+ class unsubscribe:
+ def __init__(self, cons):
+ self._cons = cons
+
+ def __call__(self, nv):
+ for con in self._cons:
+ name_ = nv.name
+ if con.descriptor() == name_:
+ con.releaseObject()
+ return
+ # for 0.4.x
+ if "port." + con.descriptor() == name_:
+ con.releaseObject()
diff --git a/OpenRTM_aist/DataFlowComponentBase.py b/OpenRTM_aist/DataFlowComponentBase.py
index 8d9afea2..f1637940 100644
--- a/OpenRTM_aist/DataFlowComponentBase.py
+++ b/OpenRTM_aist/DataFlowComponentBase.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# \file DataFlowComponentBase.py
@@ -22,11 +22,11 @@
##
# @if jp
# @class DataFlowComponentBase
-# @brief DataFlowComponentBase 饹
+# @brief DataFlowComponentBase クラス
#
-# ǡեRTComponentδ쥯饹
-# ƼǡեRTComponentϡܥ饹ѾǼ
-# 롣
+# データフロー型RTComponentの基底クラス。
+# 各種データフロー型RTComponentを実装する場合は、本クラスを継承する形で実装
+# する。
#
# @since 0.4.0
#
@@ -34,203 +34,200 @@
# @class DataFlowComponentBase
# @brief DataFlowComponentBase class
# @endif
-class DataFlowComponentBase(OpenRTM_aist.RTObject_impl, OpenRTM__POA.DataFlowComponent):
- """
- """
-
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- # @param manager ޥ͡㥪֥
- #
- # @else
- # @brief Constructor
- # @endif
- def __init__(self, manager=None, orb=None, poa=None):
- OpenRTM_aist.RTObject_impl.__init__(self, manager, orb, poa)
- self._objref = self._this()
-
-
- ##
- # @if jp
- # @brief (֥饹)
- #
- # ǡե RTComponent ν¹Ԥ롣
- # ºݤνϡƶݥ饹˵Ҥ롣
- #
- # @param self
- #
- # @else
- # @brief Initialization
- # @endif
- def init(self):
- pass
-
-
- ##
- # @if jp
- #
- # @brief [DataFlowComponentAction CORBA interface] RTC ()
- #
- # ʲξ֤ݻƤˡꤵ줿Ū˸ƤӽФ롣
- # - RTC Alive ֤Ǥ롣
- # - ꤵ줿 ExecutionContext Running ֤Ǥ롣
- # ܥڥ졼ϡTwo-Pass Execution Ǽ¹Ԥ롣
- # Υڥ졼ƤӽФη̤Ȥ onExecute() ХåؿƤ
- # Ф롣
- #
- #
- # - ꤵ줿 ExecutionContext ExecutionKind ϡ PERIODIC ǤʤФ
- # ʤ
- #
- # @param self
- # @param ec_id о ExecutionContext ID
- #
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [DataFlowComponentAction CORBA interface] Primary Periodic
- # Operation of RTC
- #
- # This operation will be invoked periodically at the rate of the given
- # execution context as long as the following conditions hold:
- # - The RTC is Active.
- # - The given execution context is Running
- # This callback occurs during the first execution pass.
- #
- # Constraints
- # - The execution context of the given context shall be PERIODIC.
- #
- # @param ec_id
- #
- # @return
- #
- # @endif
- def on_execute(self, ec_id):
- self._rtcout.RTC_TRACE("on_execute(%d)", ec_id)
- ret = RTC.RTC_ERROR
- try:
- self.preOnExecute(ec_id)
- if self._readAll:
- self.readAll()
-
- ret = self.onExecute(ec_id)
-
- if self._writeAll:
- self.writeAll()
-
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- ret = RTC.RTC_ERROR
- self.postOnExecute(ec_id, ret)
- return ret
-
-
- ##
- # @if jp
- #
- # @brief [DataFlowComponentAction CORBA interface] RTC ()
- #
- # ʲξ֤ݻƤˡꤵ줿Ū˸ƤӽФ롣
- # - RTC Alive ֤Ǥ롣
- # - ꤵ줿 ExecutionContext Running ֤Ǥ롣
- # ܥڥ졼ϡTwo-Pass Execution Ǽ¹Ԥ롣
- # Υڥ졼ƤӽФη̤Ȥ onStateUpdate() Хåؿ
- # ƤӽФ롣
- #
- #
- # - ꤵ줿 ExecutionContext ExecutionKind ϡ PERIODIC ǤʤФ
- # ʤ
- #
- # @param self
- # @param ec_id о ExecutionContext ID
- #
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [DataFlowComponentAction CORBA interface] Secondary Periodic
- # Operation of RTC
- #
- # This operation will be invoked periodically at the rate of the given
- # execution context as long as the following conditions hold:
- # - The RTC is Active.
- # - The given execution context is Running
- # This callback occurs during the second execution pass.
- #
- # Constraints
- # - The execution context of the given context shall be PERIODIC.
- #
- # @param ec_id
- #
- # @return
- #
- # @endif
- def on_state_update(self, ec_id):
- self._rtcout.RTC_TRACE("on_state_update(%d)", ec_id)
- ret = RTC.RTC_ERROR
- try:
- self.preOnStateUpdate(ec_id)
- ret = self.onStateUpdate(ec_id)
- self._configsets.update()
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- ret = RTC.RTC_ERROR
- self.postOnStateUpdate(ec_id, ret)
- return ret
-
-
-
-
- ##
- # @if jp
- #
- # @brief [DataFlowComponentAction CORBA interface] ¹Լѹ
- #
- # ܥڥ졼ϡExecutionContext μ¹Լѹ줿ȤΤ
- # ݤ˸ƤӽФ롣
- # Υڥ졼ƤӽФη̤Ȥ onRateChanged() Хåؿ
- # ƤӽФ롣
- #
- #
- # - ꤵ줿 ExecutionContext ExecutionKind ϡ PERIODIC ǤʤФ
- # ʤ
- #
- # @param self
- # @param ec_id о ExecutionContext ID
- #
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [DataFlowComponentAction CORBA interface] Notify rate chenged
- #
- # This operation is a notification that the rate of the indicated execution
- # context has changed.
- #
- # Constraints
- # - The execution context of the given context shall be PERIODIC.
- #
- # @param ec_id
- #
- # @return
- #
- # @endif
- def on_rate_changed(self, ec_id):
- self._rtcout.RTC_TRACE("on_rate_changed(%d)", ec_id)
- ret = RTC.RTC_ERROR
- try:
- self.preOnRateChanged(ec_id)
- ret = self.onRateChanged(ec_id)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- ret = RTC.RTC_ERROR
- self.postOnRateChanged(ec_id, ret)
- return ret
-
+class DataFlowComponentBase(OpenRTM_aist.RTObject_impl,
+ OpenRTM__POA.DataFlowComponent):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ # @param manager マネージャオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ # @endif
+ def __init__(self, manager=None, orb=None, poa=None):
+ OpenRTM_aist.RTObject_impl.__init__(self, manager, orb, poa)
+ self._objref = self._this()
+
+ ##
+ # @if jp
+ # @brief 初期化(サブクラス実装用)
+ #
+ # データフロー型 RTComponent の初期化を実行する。
+ # 実際の初期化処理は、各具象クラス内に記述する。
+ #
+ # @param self
+ #
+ # @else
+ # @brief Initialization
+ # @endif
+
+ def init(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief [DataFlowComponentAction CORBA interface] RTC の定常処理(第一周期)
+ #
+ # 以下の状態が保持されている場合に、設定された周期で定期的に呼び出される。
+ # - RTC は Alive 状態である。
+ # - 指定された ExecutionContext が Running 状態である。
+ # 本オペレーションは、Two-Pass Execution の第一周期で実行される。
+ # このオペレーション呼び出しの結果として onExecute() コールバック関数が呼び
+ # 出される。
+ #
+ # 制約
+ # - 指定された ExecutionContext の ExecutionKind は、 PERIODIC でなければな
+ # らない
+ #
+ # @param self
+ # @param ec_id 定常処理対象 ExecutionContext の ID
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [DataFlowComponentAction CORBA interface] Primary Periodic
+ # Operation of RTC
+ #
+ # This operation will be invoked periodically at the rate of the given
+ # execution context as long as the following conditions hold:
+ # - The RTC is Active.
+ # - The given execution context is Running
+ # This callback occurs during the first execution pass.
+ #
+ # Constraints
+ # - The execution context of the given context shall be PERIODIC.
+ #
+ # @param ec_id
+ #
+ # @return
+ #
+ # @endif
+
+ def on_execute(self, ec_id):
+ self._rtcout.RTC_TRACE("on_execute(%d)", ec_id)
+ ret = RTC.RTC_ERROR
+ try:
+ self.preOnExecute(ec_id)
+ if self._readAll:
+ self.readAll()
+
+ ret = self.onExecute(ec_id)
+
+ if self._writeAll:
+ self.writeAll()
+
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ ret = RTC.RTC_ERROR
+ self.postOnExecute(ec_id, ret)
+ return ret
+
+ ##
+ # @if jp
+ #
+ # @brief [DataFlowComponentAction CORBA interface] RTC の定常処理(第二周期)
+ #
+ # 以下の状態が保持されている場合に、設定された周期で定期的に呼び出される。
+ # - RTC は Alive 状態である。
+ # - 指定された ExecutionContext が Running 状態である。
+ # 本オペレーションは、Two-Pass Execution の第二周期で実行される。
+ # このオペレーション呼び出しの結果として onStateUpdate() コールバック関数が
+ # 呼び出される。
+ #
+ # 制約
+ # - 指定された ExecutionContext の ExecutionKind は、 PERIODIC でなければな
+ # らない
+ #
+ # @param self
+ # @param ec_id 定常処理対象 ExecutionContext の ID
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [DataFlowComponentAction CORBA interface] Secondary Periodic
+ # Operation of RTC
+ #
+ # This operation will be invoked periodically at the rate of the given
+ # execution context as long as the following conditions hold:
+ # - The RTC is Active.
+ # - The given execution context is Running
+ # This callback occurs during the second execution pass.
+ #
+ # Constraints
+ # - The execution context of the given context shall be PERIODIC.
+ #
+ # @param ec_id
+ #
+ # @return
+ #
+ # @endif
+
+ def on_state_update(self, ec_id):
+ self._rtcout.RTC_TRACE("on_state_update(%d)", ec_id)
+ ret = RTC.RTC_ERROR
+ try:
+ self.preOnStateUpdate(ec_id)
+ ret = self.onStateUpdate(ec_id)
+ self._configsets.update()
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ ret = RTC.RTC_ERROR
+ self.postOnStateUpdate(ec_id, ret)
+ return ret
+
+ ##
+ # @if jp
+ #
+ # @brief [DataFlowComponentAction CORBA interface] 実行周期変更通知
+ #
+ # 本オペレーションは、ExecutionContext の実行周期が変更されたことを通知する
+ # 際に呼び出される。
+ # このオペレーション呼び出しの結果として onRateChanged() コールバック関数が
+ # 呼び出される。
+ #
+ # 制約
+ # - 指定された ExecutionContext の ExecutionKind は、 PERIODIC でなければな
+ # らない
+ #
+ # @param self
+ # @param ec_id 定常処理対象 ExecutionContext の ID
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [DataFlowComponentAction CORBA interface] Notify rate chenged
+ #
+ # This operation is a notification that the rate of the indicated execution
+ # context has changed.
+ #
+ # Constraints
+ # - The execution context of the given context shall be PERIODIC.
+ #
+ # @param ec_id
+ #
+ # @return
+ #
+ # @endif
+
+ def on_rate_changed(self, ec_id):
+ self._rtcout.RTC_TRACE("on_rate_changed(%d)", ec_id)
+ ret = RTC.RTC_ERROR
+ try:
+ self.preOnRateChanged(ec_id)
+ ret = self.onRateChanged(ec_id)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ ret = RTC.RTC_ERROR
+ self.postOnRateChanged(ec_id, ret)
+ return ret
diff --git a/OpenRTM_aist/DataPortStatus.py b/OpenRTM_aist/DataPortStatus.py
index 3f1d2d25..c7cc5319 100644
--- a/OpenRTM_aist/DataPortStatus.py
+++ b/OpenRTM_aist/DataPortStatus.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file PushConnector.py
@@ -20,15 +20,15 @@
##
# @if jp
# @class DataPortStatus mixin class
-# @brief DataPortStatus mixin 饹
+# @brief DataPortStatus mixin クラス
#
-# Υ饹ϡenum줿ɤǡݡȴϢΥ
-# ֥饹ǶѤ뤿 mixin 饹Ǥ롣Υ
-# ɤѤ륯饹ǤϡDataPortStatus 饹public Ѿ
-# define ƤDATAPORTSTATUS_ENUM 饹˵Ҥ뤳Ȥ
-# ǽȤʤ롣ˤꡢenum ReturnCode_t Ȥ typedef
-# ʸReturnCode_t ѤǤ褦ˤȤȤˡ֤̾ enum
-# 줿Ƽ̻Ҥ饹̾Ƴ롣
+# このクラスは、enum定義されたリターンコードを、データポート関連のサ
+# ブクラスで共通利用するための mixin クラスである。このリターンコー
+# ドを使用するクラスでは、DataPortStatus クラスをpublic 継承し、下に
+# define してあるDATAPORTSTATUS_ENUM をクラス内に記述することで利用
+# 可能となる。これにより、enum を ReturnCode_t 型として typedef し、
+# 以後ReturnCode_t を利用できるようにするとともに、名前空間に enum
+# 定義された各識別子を当該クラス名前空間内に導入する。
#
# @else
# @class DataPortStatus mixin class
@@ -45,151 +45,153 @@
# @endif
#
class DataPortStatus:
- """
- """
+ """
+ """
- def __init__(self):
- pass
+ def __init__(self):
+ pass
- ##
- # @if jp
- # brief DataPortStatus
- #
- # ǡݡȴϢΥ饹Ƕ̤Υ
- #
- # - PORT_OK: ｪλ
- # - PORT_ERROR: ۾ｪλ
- # - BUFFER_ERROR: Хåե顼
- # - BUFFER_FULL: Хåեե
- # - BUFFER_EMPTY: Хåեץƥ
- # - BUFFER_TIMEOUT: Хåեॢ
- # - SEND_FULL: ǡä¦Хåեե
- # - SEND_TIMEOUT: ǡä¦ॢȤ
- # - RECV_EMPTY: ǡ褦Ȥǡ
- # - RECV_TIMEOUT: ǡ褦ȤदȤ
- # - INVALID_ARGS: ʰ
- # - PRECONDITION_NOT_MET: Ƥʤ
- # - CONNECTION_LOST: ³Ǥ줿
- # - UNKNOWN_ERROR: ʥ顼
- #
- # ǡݡȤΥǡϩΥ顼ȯĽ꤫ƤӽФ¦إ顼
- # 뤿ˤΥ顼ɤѤ롣ˡϩΥ
- # 顼Υ顼ʤɤͤ뤬ʬγ̤ȯ륨
- # 顼ʲ롣
- #
- # (1) Push
- # a) InPortConsumer Publisher/Activity ֤ȯ
- # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
- # UNKNOWN_ERROR
- #
- # b) Activity OutPort Buffer/Connector ֤ȯ
- # PORT_OK, PORT_ERROR, BUFFER_ERROR, BUFFER_FULL, BUFFER_TIMEOUT,
- # UNKNOWN_ERROR,
- #
- # (2) Pull
- # a) Activity InPort δ֤ȯ
- # PORT_OK, PORT_ERROR, RECV_EMPTY, RECV_TIMEOUT, CONNETION_LOST,
- # UNKNOWN_ERROR
- #
- # ƴؿ֤ɤϴؿȤΥեȤΤȡ
- #
- # @else
- # @brief DataPortStatus return codes
- #
- # Common return codes for data ports related classes.
- #
- # - PORT_OK: Normal return
- # - PORT_ERROR: Error return
- # - BUFFER_ERROR: Buffer error
- # - BUFFER_FULL: Buffer full
- # - BUFFER_EMPTY: Buffer empty
- # - BUFFER_TIMEOUT: Buffer timeout
- # - SEND_FULL: Buffer full although OutPort tried to send data
- # - SEND_TIMEOUT: Timeout although OutPort tried to send data
- # - RECV_EMPTY: Buffer empty although InPort tried to receive
- # data
- # - RECV_TIMEOUT: Timeout although InPort tried to receive data
- # - INVALID_ARGS: Invalid arguments
- # - PRECONDITION_NOT_MET: Precondition not met
- # - CONNECTION_LOST: Connection has been lost
- # - UNKNOWN_ERROR: Unknown error
- #
- # This error codes might be used to propagate error status from
- # the error occurring point to the function caller in the data
- # stream path. It would occur in data-transfer path and data
- # receiver/sender. The errors that occur in the interface of each
- # portion of data port are shown below.
- #
- # (1) Push Type
- # a) The return codes between InPortConsumer and Publisher/Activity
- # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
- # UNKNOWN_ERROR
- # b) The return codes between Activity and Buffer/Connector of OutPort
- # PORT_OK, PORT_ERROR, BUFFER_ERROR, BUFFER_FULL, BUFFER_TIMEOUT,
- # UNKNOWN_ERROR,
- #
- # (2) Pull Type
- # a) The return codes between Activity and InPort
- # PORT_OK, PORT_ERROR, RECV_EMPTY, RECV_TIMEOUT, CONNETION_LOST,
- # UNKNOWN_ERROR
- #
- # See function references for detailed return codes for each function.
- #
- # @endif
- #
- PORT_OK = 0
- PORT_ERROR = 1
- BUFFER_ERROR = 2
- BUFFER_FULL = 3
- BUFFER_EMPTY = 4
- BUFFER_TIMEOUT = 5
- SEND_FULL = 6
- SEND_TIMEOUT = 7
- RECV_EMPTY = 8
- RECV_TIMEOUT = 9
- INVALID_ARGS = 10
- PRECONDITION_NOT_MET = 11
- CONNECTION_LOST = 12
- UNKNOWN_ERROR = 13
+ ##
+ # @if jp
+ # brief DataPortStatus リターンコード
+ #
+ # データポート関連のクラスで共通のリターンコード
+ #
+ # - PORT_OK: 正常終了
+ # - PORT_ERROR: 異常終了
+ # - BUFFER_ERROR: バッファエラー
+ # - BUFFER_FULL: バッファフル
+ # - BUFFER_EMPTY: バッファエンプティ
+ # - BUFFER_TIMEOUT: バッファタイムアウト
+ # - SEND_FULL: データを送ったが相手側がバッファフル状態
+ # - SEND_TIMEOUT: データを送ったが相手側がタイムアウトした
+ # - RECV_EMPTY: データを受信しようとしたがデータが空状態
+ # - RECV_TIMEOUT: データを受信しようとしたがタイムうとした
+ # - INVALID_ARGS: 不正な引数
+ # - PRECONDITION_NOT_MET: 事前条件を満たしていない
+ # - CONNECTION_LOST: 接続が切断された
+ # - UNKNOWN_ERROR: 不明なエラー
+ #
+ # データポートのデータ経路上のエラー発生個所から呼び出し側へエラー
+ # 情報を伝えるためにこのエラーコードを使用する。主に、伝送路上のエ
+ # ラー、伝送先のエラーなどが考えられるが、各部分の界面で発生するエ
+ # ラーを以下に列挙する。
+ #
+ # (1) Push型
+ # a) InPortConsumer と Publisher/Activity 間で発生するリターンコード
+ # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
+ # UNKNOWN_ERROR
+ #
+ # b) Activity と OutPort の Buffer/Connector 間で発生するリターンコード
+ # PORT_OK, PORT_ERROR, BUFFER_ERROR, BUFFER_FULL, BUFFER_TIMEOUT,
+ # UNKNOWN_ERROR,
+ #
+ # (2) Pull型
+ # a) Activity と InPort の間で発生するリターンコード
+ # PORT_OK, PORT_ERROR, RECV_EMPTY, RECV_TIMEOUT, CONNETION_LOST,
+ # UNKNOWN_ERROR
+ #
+ # 各関数が返すリターンコードは関数ごとのリファレンスを参照のこと。
+ #
+ # @else
+ # @brief DataPortStatus return codes
+ #
+ # Common return codes for data ports related classes.
+ #
+ # - PORT_OK: Normal return
+ # - PORT_ERROR: Error return
+ # - BUFFER_ERROR: Buffer error
+ # - BUFFER_FULL: Buffer full
+ # - BUFFER_EMPTY: Buffer empty
+ # - BUFFER_TIMEOUT: Buffer timeout
+ # - SEND_FULL: Buffer full although OutPort tried to send data
+ # - SEND_TIMEOUT: Timeout although OutPort tried to send data
+ # - RECV_EMPTY: Buffer empty although InPort tried to receive
+ # data
+ # - RECV_TIMEOUT: Timeout although InPort tried to receive data
+ # - INVALID_ARGS: Invalid arguments
+ # - PRECONDITION_NOT_MET: Precondition not met
+ # - CONNECTION_LOST: Connection has been lost
+ # - UNKNOWN_ERROR: Unknown error
+ #
+ # This error codes might be used to propagate error status from
+ # the error occurring point to the function caller in the data
+ # stream path. It would occur in data-transfer path and data
+ # receiver/sender. The errors that occur in the interface of each
+ # portion of data port are shown below.
+ #
+ # (1) Push Type
+ # a) The return codes between InPortConsumer and Publisher/Activity
+ # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
+ # UNKNOWN_ERROR
+ # b) The return codes between Activity and Buffer/Connector of OutPort
+ # PORT_OK, PORT_ERROR, BUFFER_ERROR, BUFFER_FULL, BUFFER_TIMEOUT,
+ # UNKNOWN_ERROR,
+ #
+ # (2) Pull Type
+ # a) The return codes between Activity and InPort
+ # PORT_OK, PORT_ERROR, RECV_EMPTY, RECV_TIMEOUT, CONNETION_LOST,
+ # UNKNOWN_ERROR
+ #
+ # See function references for detailed return codes for each function.
+ #
+ # @endif
+ #
+ PORT_OK = 0
+ PORT_ERROR = 1
+ BUFFER_ERROR = 2
+ BUFFER_FULL = 3
+ BUFFER_EMPTY = 4
+ BUFFER_TIMEOUT = 5
+ SEND_FULL = 6
+ SEND_TIMEOUT = 7
+ RECV_EMPTY = 8
+ RECV_TIMEOUT = 9
+ INVALID_ARGS = 10
+ PRECONDITION_NOT_MET = 11
+ CONNECTION_LOST = 12
+ UNKNOWN_ERROR = 13
- ##
- # @if jp
- #
- # @brief DataPortStatus ɤʸѴ
- #
- # DataPortStatus ɤʸѴ
- #
- # @param status Ѵо DataPortStatus
- #
- # @return ʸѴ
- #
- # @else
- #
- # @brief Convert DataPortStatus into the string.
- #
- # Convert DataPortStatus into the string.
- #
- # @param status The target DataPortStatus for transformation
- #
- # @return Trnasformation result of string representation
- #
- # @endif
- #
- def toString(status):
- str = ["PORT_OK",
- "PORT_ERROR",
- "BUFFER_ERROR",
- "BUFFER_FULL",
- "BUFFER_EMPTY",
- "BUFFER_TIMEOUT",
- "SEND_FULL",
- "SEND_TIMEOUT",
- "RECV_EMPTY",
- "RECV_TIMEOUT",
- "INVALID_ARGS",
- "PRECONDITION_NOT_MET",
- "CONNECTION_LOST",
- "UNKNOWN_ERROR"]
- return str[status]
+ ##
+ # @if jp
+ #
+ # @brief DataPortStatus リターンコードを文字列に変換
+ #
+ # DataPortStatus リターンコードを文字列に変換する
+ #
+ # @param status 変換対象 DataPortStatus リターンコード
+ #
+ # @return 文字列変換結果
+ #
+ # @else
+ #
+ # @brief Convert DataPortStatus into the string.
+ #
+ # Convert DataPortStatus into the string.
+ #
+ # @param status The target DataPortStatus for transformation
+ #
+ # @return Trnasformation result of string representation
+ #
+ # @endif
+ #
+ def toString(status):
+ typeString = ["PORT_OK",
+ "PORT_ERROR",
+ "BUFFER_ERROR",
+ "BUFFER_FULL",
+ "BUFFER_EMPTY",
+ "BUFFER_TIMEOUT",
+ "SEND_FULL",
+ "SEND_TIMEOUT",
+ "RECV_EMPTY",
+ "RECV_TIMEOUT",
+ "INVALID_ARGS",
+ "PRECONDITION_NOT_MET",
+ "CONNECTION_LOST",
+ "UNKNOWN_ERROR"]
+ if status < len(typeString):
+ return typeString[status]
+ return ""
- toString = staticmethod(toString)
+ toString = staticmethod(toString)
diff --git a/OpenRTM_aist/DefaultConfiguration.py b/OpenRTM_aist/DefaultConfiguration.py
index 015d2daa..8f68473f 100644
--- a/OpenRTM_aist/DefaultConfiguration.py
+++ b/OpenRTM_aist/DefaultConfiguration.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# \file DefaultConfiguration.py
@@ -15,95 +15,107 @@
# All rights reserved.
-
import OpenRTM_aist
import os
if os.name == "nt":
cpp_suffixes = "dll"
+ supported_languages = "C++, Python, Java"
+ lang = "Python"
elif os.name == "posix":
cpp_suffixes = "so"
+ supported_languages = "C++, Python, Python3, Java"
+ lang = "Python3"
else:
cpp_suffixes = "dylib"
+ supported_languages = "C++, Python, Python3, Java"
+ lang = "Python3"
##
# @if jp
-# @brief Manager ǥեȡե졼
+# @brief Manager 用 デフォルト・コンフィギュレーション
#
-# Manager饹ѥǥեȥե졼
+# Managerクラス用デフォルトコンフィギュレーション。
#
# @since 0.4.0
#
# @else
# @endif
-default_config =["config.version", OpenRTM_aist.openrtm_version,
- "openrtm.name", OpenRTM_aist.openrtm_name,
- "openrtm.version", OpenRTM_aist.openrtm_version,
- "manager.instance_name", "manager",
- "manager.name", "manager",
- "manager.naming_formats", "%h.host_cxt/%n.mgr",
- "manager.pid", "",
- "os.name", "",
- "os.release", "",
- "os.version", "",
- "os.arch", "",
- "os.hostname", "",
- "logger.enable", "YES",
- "logger.file_name", "./rtc%p.log",
- "logger.date_format", "%b %d %H:%M:%S",
- "logger.log_level", "INFO",
- "logger.stream_lock", "NO",
- "logger.master_logger", "",
- "module.conf_path", "",
- "module.load_path", "",
- "naming.enable", "YES",
- "naming.type", "corba",
- "naming.formats", "%h.host_cxt/%n.rtc",
- "naming.update.enable", "YES",
- "naming.update.interval", "10.0",
- "timer.enable", "YES",
- "timer.tick", "0.1",
- "corba.args", "-ORBclientCallTimeOutPeriod 10000",
- "corba.endpoints", "all",
- "corba.id", OpenRTM_aist.corba_name,
- "corba.nameservers", "localhost",
- "corba.master_manager", "localhost:2810",
- "corba.nameservice.replace_endpoint", "NO",
- "corba.update_master_manager.enable", "YES",
- "corba.update_master_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.corba_servant", "YES",
- "manager.shutdown_on_nortcs", "YES",
- "manager.shutdown_auto", "YES",
- "manager.auto_shutdown_duration", "10.0",
- "manager.termination_waittime", "1.0",
- "manager.name", "manager",
- "manager.command", "rtcd",
- "manager.nameservers", "default",
- "manager.language", "Python",
- "manager.components.naming_policy", "process_unique",
- "manager.modules.C++.manager_cmd", "rtcd",
- "manager.modules.Python.manager_cmd", "rtcd_python",
- "manager.modules.Java.manager_cmd", "rtcd_java",
- "manager.modules.search_auto", "YES",
- "manager.local_service.enabled_services","ALL",
- "sdo.service.provider.enabled_services", "ALL",
- "sdo.service.consumer.enabled_services", "ALL",
- "manager.supported_languages", "C++, Python, Java",
- "manager.modules.C++.profile_cmd", "rtcprof",
- "manager.modules.Python.profile_cmd", "rtcprof_python",
- "manager.modules.Java.profile_cmd", "rtcprof_java",
- "manager.modules.C++.suffixes", cpp_suffixes,
- "manager.modules.Python.suffixes", "py",
- "manager.modules.Java.suffixes", "class",
- "manager.modules.C++.load_paths", "",
- "manager.modules.Python.load_paths", "",
- "manager.modules.Java.load_paths", "",
- ""]
+default_config = ["config.version", OpenRTM_aist.openrtm_version,
+ "openrtm.name", OpenRTM_aist.openrtm_name,
+ "openrtm.version", OpenRTM_aist.openrtm_version,
+ "manager.instance_name", "manager",
+ "manager.name", "manager",
+ "manager.naming_formats", "%h.host_cxt/%n.mgr",
+ "manager.pid", "",
+ "os.name", "",
+ "os.release", "",
+ "os.version", "",
+ "os.arch", "",
+ "os.hostname", "",
+ "logger.enable", "YES",
+ "logger.file_name", "./rtc%p.log",
+ "logger.date_format", "%b %d %H:%M:%S",
+ "logger.log_level", "INFO",
+ "logger.stream_lock", "NO",
+ "logger.main_logger", "",
+ "module.conf_path", "",
+ "module.load_path", "",
+ "naming.enable", "YES",
+ "naming.type", "corba",
+ "naming.formats", "%h.host_cxt/%n.rtc",
+ "naming.update.enable", "YES",
+ "naming.update.interval", "10.0",
+ "timer.enable", "YES",
+ "timer.tick", "0.1",
+ "corba.args", "-ORBclientCallTimeOutPeriod 10000",
+ "corba.endpoints", "all",
+ "corba.id", OpenRTM_aist.corba_name,
+ "corba.nameservers", "localhost",
+ "corba.main_manager", "localhost:2810",
+ "corba.nameservice.replace_endpoint", "NO",
+ "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_main", "NO",
+ "manager.corba_servant", "YES",
+ "manager.shutdown_on_nortcs", "YES",
+ "manager.shutdown_auto", "YES",
+ "manager.auto_shutdown_duration", "10.0",
+ "manager.termination_waittime", "1.0",
+ "manager.name", "manager",
+ "manager.command", "rtcd",
+ "manager.nameservers", "default",
+ "manager.language", lang,
+ "manager.components.naming_policy", "process_unique",
+ "manager.modules.C++.manager_cmd", "rtcd",
+ "manager.modules.Python.manager_cmd", "rtcd_python",
+ "manager.modules.Java.manager_cmd", "rtcd_java",
+ "manager.modules.search_auto", "YES",
+ "manager.local_service.enabled_services", "ALL",
+ "sdo.service.provider.enabled_services", "ALL",
+ "sdo.service.consumer.enabled_services", "ALL",
+ "manager.supported_languages", supported_languages,
+ "manager.modules.C++.profile_cmd", "rtcprof",
+ "manager.modules.Python.profile_cmd", "rtcprof_python",
+ "manager.modules.Java.profile_cmd", "rtcprof_java",
+ "manager.modules.C++.suffixes", cpp_suffixes,
+ "manager.modules.Python.suffixes", "py",
+ "manager.modules.Java.suffixes", "class",
+ "manager.modules.C++.load_paths", "",
+ "manager.modules.Python.load_paths", "",
+ "manager.modules.Java.load_paths", ""]
+
+if os.name != "nt":
+ python3_config = [
+ "manager.modules.Python3.manager_cmd", "rtcd_python3",
+ "manager.modules.Python3.profile_cmd", "rtcprof_python3",
+ "manager.modules.Python3.suffixes", "py",
+ "manager.modules.Python3.load_paths", ""]
+ default_config.extend(python3_config)
diff --git a/OpenRTM_aist/DefaultPeriodicTask.py b/OpenRTM_aist/DefaultPeriodicTask.py
index f71a86be..38840252 100644
--- a/OpenRTM_aist/DefaultPeriodicTask.py
+++ b/OpenRTM_aist/DefaultPeriodicTask.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -22,6 +22,4 @@
def DefaultPeriodicTaskInit():
OpenRTM_aist.PeriodicTaskFactory.instance().addFactory("default",
- OpenRTM_aist.PeriodicTask,
- OpenRTM_aist.Delete)
-
+ OpenRTM_aist.PeriodicTask)
diff --git a/OpenRTM_aist/ECFactory.py b/OpenRTM_aist/ECFactory.py
index 7cc233ac..ba54f908 100644
--- a/OpenRTM_aist/ECFactory.py
+++ b/OpenRTM_aist/ECFactory.py
@@ -1,12 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file ECFactory.py
# @brief ExecutionContext Factory class
# @date $Date: 2007/04/13 16:06:22 $
# @author Noriaki Ando and Shinji Kurihara
-#
+#
# Copyright (C) 2007-2008
# Task-intelligence Research Group,
# Intelligent Systems Research Institute,
@@ -15,112 +15,108 @@
# All rights reserved.
-
-
-
##
# @if jp
#
-# @brief ExecutionContext˴Ѵؿ
-#
-# ExecutionContextΥ˴뤿δؿ
+# @brief ExecutionContext破棄用関数
#
-# \param ec ˴оExecutionContextΥ
+# ExecutionContextのインスタンスを破棄するための関数。
+#
+# \param ec 破棄対象ExecutionContextのインスタンス
#
# @else
#
# @endif
def ECDelete(ec):
- del ec
+ del ec
##
# @if jp
# @class ECFactoryBase
-# @brief ECFactoryBase ݥ饹
-#
-# ExecutionContextFactoryݥ饹
-# ExecutionContext뤿ζFactory饹ϡ
-# ʲδؿμʤФʤʤ
+# @brief ECFactoryBase 抽象クラス
+#
+# ExecutionContext生成用Factoryの抽象クラス。
+# 各ExecutionContextを生成するための具象Factoryクラスは、
+# 以下の関数の実装を提供しなければならない。
#
-# publicեȤưʲΤΤ롣
-# - name() : оExecutionContext̾Τμ
-# - create() : ExecutionContext
-# - destroy(): ExecutionContext˴
+# publicインターフェースとして以下のものを提供する。
+# - name() : 生成対象ExecutionContext名称の取得
+# - create() : ExecutionContextインスタンスの生成
+# - destroy(): ExecutionContextインスタンスの破棄
#
# @since 0.4.0
#
# @else
#
# @endif
-class ECFactoryBase :
- """
- """
-
- ##
- # @if jp
- #
- # @brief оExecutionContext̾μѴؿ(֥饹)
- #
- # оExecutionContext̾Τ뤿δؿ Υƥץ졼ȥ饹
-# BasicDataType.idl ˤƤ뷿ǡФȤ
-# Time tm , T data ŤΤǤʤƤϤʤʤ
-# EventInPort ˥Хåե줿ǡ缡
-# ΥХåե˳Ǽ롣ХåեΥϥǥեȤ64
-# ʤäƤ뤬ȥ饯ˤꥵꤹ뤳ȤǤ롣
-# ǡϥե饰ˤä̤ɡɾ֤졢isNew(), write(), read(),
-# isFull(), isEmpty() Υåɤˤϥɥ뤳ȤǤ롣
-#
-# OnReadϥХå (ɤ߽Ф˵륤٥Ȥˤꥳ뤵)
-#
-# - void OnRead::operator():
-# EventInPort::read() ƤӽФɤ߽ФԤݤ˥뤵롣
-#
-# - DataType OnReadConvert::operator(DataType):
-# EventInPort::read() ƤӽФǡХåեɤߤݤ˸ƤФ
-# ǡѴԤˤϥХåեɤ߽Ф줿ͤͿ졢
-# ѴΥǡͤȤ֤ͤread()֤ͤȤʤ롣
-#
-# @since 0.2.0
+# @brief EventInPort テンプレートクラス
+#
+# EventInPort の実装である EventInPort のテンプレートクラス。
+# はBasicDataType.idl にて定義されている型で、メンバとして
+# Time 型の tm , および T型の data を持つ構造体でなくてはならない。
+# EventInPort は内部にリングバッファを持ち、外部から送信されたデータを順次
+# このリングバッファに格納する。リングバッファのサイズはデフォルトで8と
+# なっているが、コンストラクタ引数によりサイズを指定することができる。
+# データはフラグによって未読、既読状態が管理され、isNew(), write(), read(),
+# isFull(), isEmpty() 等のメソッドによりハンドリングすることができる。
+#
+# OnRead系コールバック (読み出しに起因するイベントによりコールされる)
+#
+# - void OnRead::operator():
+# EventInPort::read() を呼び出し読み出しを行う際にコールされる。
+#
+# - DataType OnReadConvert::operator(DataType):
+# EventInPort::read() を呼び出し、データをバッファから読みだす際に呼ばれ
+# データの変換を行う。引数にはバッファから読み出された値が与えられ、
+# 変換後のデータを戻り値として返す。この値がread()の返す値となる。
+#
+# @since 2.0.0
#
# @else
#
@@ -145,137 +534,156 @@ def __call__(self, info):
# 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
+# is 8. 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
+# @since 2.0.0
#
# @endif
#
class EventInPort(OpenRTM_aist.InPortBase):
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- # ѥȤͿ T ѿ˥Хɤ롣
- #
- # @param name EventInPort ̾EventInPortBase:name() ˤ껲Ȥ롣
- # @param value EventInPort ˥Хɤ T ѿ
- # @param bufsize EventInPort ΥХåեΥХåեĹ(ǥե:64)
- # @param read_block ɹ֥åե饰
- # ǡɹ̤ɥǡʤ硢Υǡޤǥ֥å
- # ɤ(ǥե:false)
- # @param write_block ֥åե饰
- # ǡ˥ХåեեǤä硢Хåե˶Ǥ
- # ޤǥ֥å뤫ɤ(ǥե:false)
- # @param read_timeout ɹ֥åꤷƤʤΡǡɼ西
- # Ȼ(ߥ)(ǥե:0)
- # @param write_timeout ֥åꤷƤʤΡǡ
- # Ȼ(ߥ)(ǥե: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
- self._buffer = self._fsm.getBuffer()
-
-
-
-
-
-
- ##
- # @if jp
- #
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- #
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- pass
- ##
- # @if jp
- #
- # @brief ݡ̾Τ롣
- #
- # ݡ̾Τ롣
- #
- # @return ݡ̾
- #
- # @else
- #
- # @brief Get port name
- #
- # Get port name.
- #
- # @return The port name
- #
- # @endif
- #
- def name(self):
- return self._name
- def init(self, prop):
- OpenRTM_aist.InPortBase.init(self, prop)
- self.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT,
- EventConnListener(self._buffer, self._thebuffer))
-
- def bindEvent0(self, name, handler):
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder0(self._fsm, name, handler, self._buffer))
-
- def bindEvent1(self, name, handler, data_type):
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder1(self._fsm, name, handler, data_type, self._buffer))
-
-
-
-
-
-
-
-
-
-
-
-
-
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ。
+ # パラメータとして与えられる T 型の変数にバインドされる。
+ #
+ # @param name EventInPort 名。EventInPortBase:name() により参照される。
+ # @param value この EventInPort にバインドされる T 型の変数
+ #
+ # @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.
+ #
+ # @endif
+ #
+ def __init__(self, name, fsm):
+ super(EventInPort, self).__init__(name, "any")
+ self._name = name
+ self._fsm = fsm
+ self._buffer = self._fsm.getBuffer()
+
+ ##
+ # @if jp
+ #
+ # @brief デストラクタ
+ #
+ # デストラクタ。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ super(EventInPort, self).__del__()
+ ##
+ # @if jp
+ #
+ # @brief ポート名称を取得する。
+ #
+ # ポート名称を取得する。
+ #
+ # @return ポート名称
+ #
+ # @else
+ #
+ # @brief Get port name
+ #
+ # Get port name.
+ #
+ # @return The port name
+ #
+ # @endif
+ #
+
+ def name(self):
+ return self._name
+ ##
+ # @if jp
+ #
+ # @brief 初期化
+ # InPortBaseの初期化のほかにバッファ初期化のためのコネクタコールバック関数の登録を行う
+ #
+ # @param prop 設定情報
+ #
+ #
+ # @else
+ #
+ # @brief
+ #
+ #
+ # @param prop
+ #
+ # @endif
+ #
+
+ def init(self, prop):
+ OpenRTM_aist.InPortBase.init(self, prop)
+ self.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT,
+ EventConnListener(self._buffer, self._thebuffer))
+ ##
+ # @if jp
+ #
+ # @brief 引数なしのイベントハンドラを登録する
+ # コネクタのON_RECEIVEDコールバック実行時にバッファに実行予定のイベントとして格納する
+ # バッファに格納したイベントはMachineのrun_event関数で実行する
+ #
+ # @param name イベント名
+ # @param handler イベントハンドラ
+ #
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param name
+ # @param handler
+ #
+ # @endif
+ #
+
+ def bindEvent0(self, name, handler):
+ self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
+ EventBinder0(self._fsm, name, handler, self._buffer))
+ ##
+ # @if jp
+ #
+ # @brief 引数1つのイベントハンドラを登録する
+ # コネクタのON_RECEIVEDコールバック実行時にバッファに実行予定のイベントとして格納する
+ # バッファに格納したイベントはMachineのrun_event関数で実行する
+ #
+ # @param name イベント名
+ # @param handler イベントハンドラ
+ # @param data_type データ型
+ #
+ #
+ # @else
+ #
+ # @brief
+ #
+ #
+ # @param name
+ # @param handler
+ # @param data_type
+ #
+ # @endif
+ #
+
+ def bindEvent1(self, name, handler, data_type):
+ self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
+ EventBinder1(self._fsm, name, handler, data_type, self._buffer))
diff --git a/OpenRTM_aist/EventPort_pyfsm.py b/OpenRTM_aist/EventPort_pyfsm.py
index 477e5f22..9cc87eae 100644
--- a/OpenRTM_aist/EventPort_pyfsm.py
+++ b/OpenRTM_aist/EventPort_pyfsm.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file EventPort_pyfsm.py
@@ -17,78 +17,86 @@
import OpenRTM_aist.StaticFSM_pyfsm
import pyfsm
+
class Event0:
- def __init__(self, eb):
- self._eb = eb
- def __call__(self):
- self._eb.run()
+ def __init__(self, eb):
+ self._eb = eb
+
+ def __call__(self):
+ self._eb.run()
class Event1(Event0):
- def __init__(self, eb, data):
- Event0.__init__(self, eb)
- self._data = data
- def __call__(self):
- self._eb.run(self._data)
+ def __init__(self, eb, data):
+ Event0.__init__(self, eb)
+ self._data = data
+
+ def __call__(self):
+ self._eb.run(self._data)
+
class EventBinder0(OpenRTM_aist.ConnectorDataListener):
- def __init__(self, fsm, event_name, handler, buffer):
- self._fsm = fsm
- self._eventName = event_name
- self._handler = handler
- self._buffer = buffer
-
- def __del__(self):
- pass
- def __call__(self, info, data):
- if info.properties.getProperty("fsm_event_name") == self._eventName or info.name == self._eventName:
- self._buffer.write(Event0(self))
- return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
- return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
-
- def run(self):
- self._fsm.dispatch(pyfsm.Event(self._handler))
-
-
-class EventBinder1(OpenRTM_aist.ConnectorDataListenerT):
- def __init__(self, fsm, event_name, handler, data_type, buffer):
- self._fsm = fsm
- self._eventName = event_name
- self._handler = handler
- self._data_type = data_type
- self._buffer = buffer
-
- 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:
- self._buffer.write(Event1(self, data_))
- return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
- return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
-
- def run(self, data):
- self._fsm.dispatch(pyfsm.Event(self._handler, data_))
+ def __init__(self, fsm, event_name, handler, buffer):
+ self._fsm = fsm
+ self._eventName = event_name
+ self._handler = handler
+ self._buffer = buffer
+
+ def __del__(self):
+ pass
+
+ def __call__(self, info, cdrdata):
+ if info.properties.getProperty(
+ "fsm_event_name") == self._eventName or info.name == self._eventName:
+ self._buffer.write(Event0(self))
+
+ return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE, cdrdata
+ return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE, cdrdata
+
+ def run(self):
+ self._fsm.dispatch(pyfsm.Event(self._handler))
+
+
+class EventBinder1(OpenRTM_aist.ConnectorDataListener):
+ def __init__(self, fsm, event_name, handler, data_type, buffer):
+ self._fsm = fsm
+ self._eventName = event_name
+ self._handler = handler
+ self._data_type = data_type
+ self._buffer = buffer
+
+ def __del__(self):
+ pass
+
+ def __call__(self, info, cdrdata):
+ data_ = OpenRTM_aist.ConnectorDataListenerT.__call__(
+ self, info, cdrdata, self._data_type, OpenRTM_aist.PortType.InPortType)
+ if info.properties.getProperty(
+ "fsm_event_name") == self._eventName or info.name == self._eventName:
+ self._buffer.write(Event1(self, data_))
+ return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE, cdrdata
+ return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE, cdrdata
+
+ def run(self, data):
+ self._fsm.dispatch(pyfsm.Event(self._handler, data_))
class EventConnListener(OpenRTM_aist.ConnectorListener):
- def __init__(self, buffer, thebuffer):
- self._buffer = buffer
- self._thebuffer = thebuffer
+ def __init__(self, buffer, thebuffer):
+ self._buffer = buffer
+ self._thebuffer = thebuffer
- def __del__(self):
- pass
+ def __del__(self):
+ pass
- def __call__(self, info):
- prop = OpenRTM_aist.Properties()
- prop.setProperty("write.full_policy", "do_nothing")
- prop.setProperty("read.empty_policy", "do_nothing")
- self._thebuffer.init(prop)
+ def __call__(self, info):
+ prop = OpenRTM_aist.Properties()
+ prop.setProperty("write.full_policy", "do_nothing")
+ prop.setProperty("read.empty_policy", "do_nothing")
+ self._thebuffer.init(prop)
-
- self._buffer.init(info.properties.getNode("inport.buffer"))
- return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
+ self._buffer.init(info.properties.getNode("inport.buffer"))
+ return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE
##
@@ -96,26 +104,26 @@ def __call__(self, info):
#
# @class EventInPort
#
-# @brief EventInPort ƥץ졼ȥ饹
-#
-# EventInPort μǤ EventInPort Υƥץ졼ȥ饹
-# BasicDataType.idl ˤƤ뷿ǡФȤ
-# Time tm , T data ŤΤǤʤƤϤʤʤ
-# EventInPort ˥Хåե줿ǡ缡
-# ΥХåե˳Ǽ롣ХåեΥϥǥեȤ64
-# ʤäƤ뤬ȥ饯ˤꥵꤹ뤳ȤǤ롣
-# ǡϥե饰ˤä̤ɡɾ֤졢isNew(), write(), read(),
-# isFull(), isEmpty() Υåɤˤϥɥ뤳ȤǤ롣
-#
-# OnReadϥХå (ɤ߽Ф˵륤٥Ȥˤꥳ뤵)
+# @brief EventInPort テンプレートクラス
+#
+# EventInPort の実装である EventInPort のテンプレートクラス。
+# はBasicDataType.idl にて定義されている型で、メンバとして
+# Time 型の tm , および T型の data を持つ構造体でなくてはならない。
+# EventInPort は内部にリングバッファを持ち、外部から送信されたデータを順次
+# このリングバッファに格納する。リングバッファのサイズはデフォルトで64と
+# なっているが、コンストラクタ引数によりサイズを指定することができる。
+# データはフラグによって未読、既読状態が管理され、isNew(), write(), read(),
+# isFull(), isEmpty() 等のメソッドによりハンドリングすることができる。
#
-# - void OnRead::operator():
-# EventInPort::read() ƤӽФɤ߽ФԤݤ˥뤵롣
+# OnRead系コールバック (読み出しに起因するイベントによりコールされる)
#
-# - DataType OnReadConvert::operator(DataType):
-# EventInPort::read() ƤӽФǡХåեɤߤݤ˸ƤФ
-# ǡѴԤˤϥХåեɤ߽Ф줿ͤͿ졢
-# ѴΥǡͤȤ֤ͤread()֤ͤȤʤ롣
+# - void OnRead::operator():
+# EventInPort::read() を呼び出し読み出しを行う際にコールされる。
+#
+# - DataType OnReadConvert::operator(DataType):
+# EventInPort::read() を呼び出し、データをバッファから読みだす際に呼ばれ
+# データの変換を行う。引数にはバッファから読み出された値が与えられ、
+# 変換後のデータを戻り値として返す。この値がread()の返す値となる。
#
# @since 0.2.0
#
@@ -140,116 +148,113 @@ def __call__(self, info):
# @endif
#
class EventInPort(OpenRTM_aist.InPortBase):
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- # ѥȤͿ T ѿ˥Хɤ롣
- #
- # @param name EventInPort ̾EventInPortBase:name() ˤ껲Ȥ롣
- # @param value EventInPort ˥Хɤ T ѿ
- # @param bufsize EventInPort ΥХåեΥХåեĹ(ǥե:64)
- # @param read_block ɹ֥åե饰
- # ǡɹ̤ɥǡʤ硢Υǡޤǥ֥å
- # ɤ(ǥե:false)
- # @param write_block ֥åե饰
- # ǡ˥ХåեեǤä硢Хåե˶Ǥ
- # ޤǥ֥å뤫ɤ(ǥե:false)
- # @param read_timeout ɹ֥åꤷƤʤΡǡɼ西
- # Ȼ(ߥ)(ǥե:0)
- # @param write_timeout ֥åꤷƤʤΡǡ
- # Ȼ(ߥ)(ǥե: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
- self._buffer = self._fsm.getBuffer()
-
- ##
- # @if jp
- #
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- #
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- pass
- ##
- # @if jp
- #
- # @brief ݡ̾Τ롣
- #
- # ݡ̾Τ롣
- #
- # @return ݡ̾
- #
- # @else
- #
- # @brief Get port name
- #
- # Get port name.
- #
- # @return The port name
- #
- # @endif
- #
- def name(self):
- return self._name
-
- def init(self, prop):
- OpenRTM_aist.InPortBase.init(self, prop)
- self.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT,
- EventConnListener(self._buffer, self._thebuffer))
-
- def bindEvent0(self, name, handler):
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder0(self._fsm, name, handler, self._buffer))
-
- def bindEvent1(self, name, handler, data_type):
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
- EventBinder1(self._fsm, name, handler, data_type, self._buffer))
-
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ。
+ # パラメータとして与えられる T 型の変数にバインドされる。
+ #
+ # @param name EventInPort 名。EventInPortBase:name() により参照される。
+ # @param value この EventInPort にバインドされる T 型の変数
+ # @param bufsize EventInPort 内部のリングバッファのバッファ長(デフォルト値:64)
+ # @param read_block 読込ブロックフラグ。
+ # データ読込時に未読データがない場合、次のデータ受信までブロックする
+ # かどうかを設定(デフォルト値:false)
+ # @param write_block 書込ブロックフラグ。
+ # データ書込時にバッファがフルであった場合、バッファに空きができる
+ # までブロックするかどうかを設定(デフォルト値:false)
+ # @param read_timeout 読込ブロックを指定していない場合の、データ読取タイム
+ # アウト時間(ミリ秒)(デフォルト値:0)
+ # @param write_timeout 書込ブロックを指定していない場合の、データ書込タイム
+ # アウト時間(ミリ秒)(デフォルト値: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
+ self._buffer = self._fsm.getBuffer()
+
+ ##
+ # @if jp
+ #
+ # @brief デストラクタ
+ #
+ # デストラクタ。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self):
+ pass
+ ##
+ # @if jp
+ #
+ # @brief ポート名称を取得する。
+ #
+ # ポート名称を取得する。
+ #
+ # @return ポート名称
+ #
+ # @else
+ #
+ # @brief Get port name
+ #
+ # Get port name.
+ #
+ # @return The port name
+ #
+ # @endif
+ #
+ def name(self):
+ return self._name
+ def init(self, prop):
+ OpenRTM_aist.InPortBase.init(self, prop)
+ self.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT,
+ EventConnListener(self._buffer, self._thebuffer))
+ def bindEvent0(self, name, handler):
+ self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
+ EventBinder0(self._fsm, name, handler, self._buffer))
+ def bindEvent1(self, name, handler, data_type):
+ self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
+ EventBinder1(self._fsm, name, handler, data_type, self._buffer))
diff --git a/OpenRTM_aist/ExecutionContextBase.py b/OpenRTM_aist/ExecutionContextBase.py
index c09874cd..ee1a2c68 100644
--- a/OpenRTM_aist/ExecutionContextBase.py
+++ b/OpenRTM_aist/ExecutionContextBase.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file ExecutionContextBase.py
@@ -23,13 +23,13 @@
##
# @if jp
# @class ExecutionContextBase
-# @brief ExecutionContextѴ쥯饹
+# @brief ExecutionContext用基底クラス
#
-# ECμ饹Ǥϡδ쥯饹ѾECCORBAڥ졼
-# ʤФʤʤˡºݤ˥åư뤿
-# ᡢĤ«§ExecutionContextBaseδؿƤӽФɬפ
-# 롣ECCORBAڥ졼ϰʲΤΤꡢ줾
-# ExecutionContextBaseΥдؿбƤ롣
+# ECの実装クラスでは、この基底クラスを継承し、かつECのCORBAオペレー
+# ションを実装しなければならない。さらに、実際にロジックを駆動するた
+# め、幾つかの約束に則りExecutionContextBaseの関数を呼び出す必要があ
+# る。ECのCORBAオペレーションは以下のものがあり、それぞれ
+# ExecutionContextBaseのメンバ関数に対応している。
#
# - is_running(): ExecutionContextBase.isRunning()
# - start(): ExecutionContextBase.start()
@@ -49,23 +49,23 @@
# - get_kind(): ExecutionContextBase.getKind()
# - get_profile(): ExecutionContextBase.getProfile()
#
-# @par ¹Ծ֤˴طؿȼˡ
+# @par 実行状態に関係する関数と実装方法
# - is_running(): ExecutionContextBase.isRunning()
# - start(): ExecutionContextBase.start()
# - stop(): ExecutionContextBase.stop()
#
-# ¹Ծ֤˴طؿϡis_running(), start(), stop() 3Ĥ
-# 롣ExecutionContextBaseǤñ running/stopped Υե饰
-# Ƥꡢstart/stopǥե饰ON/OFFڤؤis_running()Ǿɤ
-# ФԤäƤ롣̾ECμ饹Ǥϡprotected ʲۥ
-# дؿ onStarting(), onStarted(), onStopping(), onStopped() ؿ
-# ǡCORBAڥ졼ʲΤ褦˼ɬפ롣
+# 実行状態に関係する関数は、is_running(), start(), stop() の3つがあ
+# る。ExecutionContextBaseでは単純に running/stopped のフラグを持っ
+# ており、start/stopでフラグのON/OFF切り替え、is_running()で状態読み
+# 出しを行っている。通常、ECの実装クラスでは、protected な仮想メン
+# バ関数 onStarting(), onStarted(), onStopping(), onStopped() 関数を
+# 実装したうえで、CORBAオペレーションを以下のように実装する必要がある。
#
-# is_running() CORBAڥ졼Ǥϡñ
-# ExecutionContextBase isRunning() ƤӽФǤ롣δؿ
-# ˴Ϣ protected ۴ؿonIsRunning() ѰդƤ뤬
-# ̾ä˼ɬפϤʤơߤ running/stopped ֤
-# ˤδؿѤ뤳ȤǤ뤬侩Ϥʤ
+# is_running() のCORBAオペレーションでは、単純に
+# ExecutionContextBase の isRunning() を呼び出すだけである。この関数
+# に関連する protected 仮想関数はonIsRunning() が用意されているが、
+# 通常特に実装する必要はない。あえて、現在の running/stopped 状態を
+# 書き換えたい場合にこの関数を利用することができるが推奨はされない。
#
#
# public:
@@ -80,12 +80,12 @@
# }
#
#
-# start(), stop() CORBAڥ졼Ǥϡ̾
-# ExecutionContextBase start(), stop() ؿƤӽФ褦롣
-# δؿ˴Ϣ protected ۴ؿϡstart() stop()
-# ĤƤ줾2ĤŤĤ onStarting(), onStarted(),
-# onStopping(), onStopped() ؿ롣ECμ饹ˤƤϡ
-# 줾ʲΤ褦˼롣
+# start(), stop() CORBAオペレーションでは、通常
+# ExecutionContextBase の start(), stop() 関数を呼び出すよう実装する。
+# この関数に関連する protected 仮想関数は、start() および stop() に
+# ついてそれぞれ2つづつの onStarting(), onStarted(), および
+# onStopping(), onStopped() 関数がある。ECの実装クラスにおいては、そ
+# れぞれ以下のように実装する。
#
#
# RTC::ReturnCode_t start()
@@ -99,42 +99,42 @@
# protected:
# RTC::ReturnCode_t onStarting()
# {
-# RTC::ReturnCode_t ret = // åɤϤʤ
+# RTC::ReturnCode_t ret = // スレッドを開始する処理など
# return ret;
# }
# RTC::ReturnCode_t onStarted()
# {
-# RTC::ReturnCode_t ret = // åɤϤʤ
+# RTC::ReturnCode_t ret = // スレッドを開始する処理など
# return ret;
# }
# RTC::ReturnCode_t onStopping()
# {
-# // åɤߤʤ
+# // スレッドを停止する処理など
# return retcode;
# }
# RTC::ReturnCode_t onStopped()
# {
-# // åɤߤʤ
+# // スレッドを停止する処理など
# return retcode;
# }
#
#
-# @par ¹Լ˴ؤؿȼˡ
+# @par 実行周期に関する関数と実装方法
# - get_rate(): ExecutionContextBase.gatRate()
# - set_rate(): ExecutioinContextBase.setRate()
#
-# ¹Լ˴ؤؿ set_rate(), get_rate() 2ब롣
-# ¹ԥƥȤ⤷ set_rate() ˤꤵѤ
-# 硢ƥץ졼ȴؿ onSetRate() С饤ɤ롣
-# onSetRate() ϰ double μꡢͤͤǤ
-# ȤݾڤƤ롣onSetRate() RTC::RTC_OK ʳ֤ͤ
-# 硢ECProfileμꤵͤݻ뤳Ȥݾڤ
-# 롣
+# 実行周期に関する関数は set_rate(), get_rate() の2種類がある。実装
+# する実行コンテキストがもし set_rate() により指定される周期を利用する
+# 場合、テンプレート関数 onSetRate() をオーバーライドし実装する。
+# onSetRate() は引数に double 型の周期を取り、この値は正当な値である
+# ことが保証されている。onSetRate() がRTC::RTC_OK 以外の値を返した場
+# 合、ECのProfileの周期は設定される以前の値を保持することが保証され
+# る。
#
-# set_rate() Ʊ get_rate() ƤӽФonGetRate() ƤӽФ
-# ̾索С饤ɤɬפϤʤget_rate()
-# ֤ͤѹ硢onGetRate() С饤ɤ뤳ȤǤ
-# ͤ뤳ȤǤ롣Ͽ侩ʤ
+# set_rate() 同様 get_rate() 呼び出し時にonGetRate() が呼び出される
+# が、これは通常オーバーライドする必要はない。ただし、get_rate() が
+# 返す値を変更したい場合、onGetRate() をオーバーライドすることでその
+# 値を書き換えることができる。ただし、これは推奨されない。
#
#
# public:
@@ -149,7 +149,7 @@
# protected:
# virtual RTC::ReturnCode_t onSetRate(double rate)
# {
-# RTC::ReturnCode_t ret = // ꤹ벿餫ν
+# RTC::ReturnCode_t ret = // 周期を設定する何らかの処理
# if (ret != RTC::RTC_OK)
# {
# RTC_ERROR(("Error message"));
@@ -158,24 +158,24 @@
# }
# virtual double onGetRate(rate)
# {
-# // get_rate() ֤ͤù
-# // ̾ϤδؿɬפϤʤ
+# // get_rate() が返す値を加工したい場合
+# // 通常はこの関数を実装する必要はない。
# return rate;
# }
#
#
-# @par ݡͥȤɲäȺ˴ؤؿ
+# @par コンポーネントの追加と削除に関する関数
# - add_component(): ExecutionContextBase.addComponent()
# - remove_component(): ExecutionContextBase.removeComponent()
#
-# ݡͥȤɲäȺ˴ؤؿϡadd_component(),
-# remove_component() ब롣¹ԥƥȤμ饹
-# ƤϡExecutionContextBase Τ줾 addComponent(),
-# removeComponent() ƤӽФǼԤδؿ˴Ϣ
-# protected ۴ؿ onAddingComponent(), onAddedComponent(),
-# onRemovingComponent(), onRemovedComponent() 4ढ롣
-# β۴ؿ̾索С饤ɤɬפϤʤѤϿ侩
-# ʤ
+# コンポーネントの追加と削除に関する関数は、add_component(),
+# remove_component() の二種類がある。実行コンテキストの実装クラスに
+# おいては、ExecutionContextBase のそれぞれ addComponent(),
+# removeComponent() を呼び出す形で実装を行う。これらの関数に関連する
+# protected 仮想関数は onAddingComponent(), onAddedComponent(),
+# onRemovingComponent(), onRemovedComponent() の4種類ある。ただし、
+# これらの仮想関数は通常オーバーライドする必要はなく、使用は推奨され
+# ない。
#
#
# public:
@@ -191,51 +191,51 @@
# virtual RTC::ReturnCode_t
# onAddingComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥɲû˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢ݡͥȤɲäϹԤʤ
+# // コンポーネント追加時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、コンポーネントの追加は行われない。
# return RTC::RTC_OK;
# }
# virtual RTC::ReturnCode_t
# onAddedComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥɲû˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢removeComponent() ƤӽФ졢
-# // ɲä줿ݡͥȤ롣
+# // コンポーネント追加時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、removeComponent() が呼び出され、
+# // 追加されたコンポーネントが削除される。
# return RTC::RTC_OK;
# }
# virtual RTC::ReturnCode_t
# onRemovingComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥȺ˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢ݡͥȤκϹԤʤ
+# // コンポーネント削除時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、コンポーネントの削除は行われない。
# return RTC::RTC_OK;
# }
# virtual RTC::ReturnCode_t
# onRemovedComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥɲû˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢addComponent() ƤӽФ졢
-# // 줿ݡͥȤƤɲä롣
+# // コンポーネント追加時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、addComponent() が呼び出され、
+# // 削除されたコンポーネントが再び追加される。
# return RTC::RTC_OK;
# }
#
#
-# @par ݡͥȤΥƥֲ˴ؤؿ
+# @par コンポーネントのアクティブ化等に関する関数
# - activate_component(): ExecutionContextBase.activateComponent()
# - deactivate_component(): ExecutionContextBase.deactivateComponent()
# - reset_component(): ExecutionContextBase.resetComponent()
#
-# ݡͥȤΥƥֲ˴ؤؿϡ
-# activate_component(), deactivate_component(), reset_component()
-# ब롣¹ԥƥȤμ饹ˤƤϡ
-# ExecutionContextBase Τ줾 activateComponent(),
-# deactivateComponent(), resetComponent() ƤӽФǼԤ
-# δؿ˴Ϣ protected ۴ؿ
+# コンポーネントのアクティブ化等に関する関数は、
+# activate_component(), deactivate_component(), reset_component() の
+# 三種類がある。実行コンテキストの実装クラスにおいては、
+# ExecutionContextBase のそれぞれ activateComponent(),
+# deactivateComponent(), resetComponent() を呼び出す形で実装を行う。
+# これらの関数に関連する protected 仮想関数は
# onActivatingComponent(), onAtivatingComponent(),
# onActivatedComponent(), onDeactivatingComponent(),
# onDeactivatedComponent(), onResettingComponent(),
-# onResetComponent() 6ढ롣β۴ؿ̾索
-# С饤ɤɬפϤʤѤϿ侩ʤ
+# onResetComponent() の6種類ある。ただし、これらの仮想関数は通常オー
+# バーライドする必要はなく、使用は推奨されない。
#
#
# public:
@@ -251,49 +251,49 @@
# virtual RTC::ReturnCode_t
# onAddingComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥɲû˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢ݡͥȤɲäϹԤʤ
+# // コンポーネント追加時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、コンポーネントの追加は行われない。
# return RTC::RTC_OK;
# }
# virtual RTC::ReturnCode_t
# onAddedComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥɲû˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢removeComponent() ƤӽФ졢
-# // ɲä줿ݡͥȤ롣
+# // コンポーネント追加時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、removeComponent() が呼び出され、
+# // 追加されたコンポーネントが削除される。
# return RTC::RTC_OK;
# }
# virtual RTC::ReturnCode_t
# onRemovingComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥȺ˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢ݡͥȤκϹԤʤ
+# // コンポーネント削除時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、コンポーネントの削除は行われない。
# return RTC::RTC_OK;
# }
# virtual RTC::ReturnCode_t
# onRemovedComponent(RTC::LightweightRTObject rtobj)
# {
-# // ݡͥɲû˼¹Ԥ
-# // RTC::RTC_OK ʳ֤硢addComponent() ƤӽФ졢
-# // 줿ݡͥȤƤɲä롣
+# // コンポーネント追加時に実行したい処理を記述
+# // RTC::RTC_OK 以外を返した場合、addComponent() が呼び出され、
+# // 削除されたコンポーネントが再び追加される。
# return RTC::RTC_OK;
# }
#
#
-# @par ¹ԥƥȤξ˴ؤؿ
+# @par 実行コンテキストの情報取得に関する関数
# - get_component_state(): ExecutionContextBase.getComponentState()
# - get_kind(): ExecutionContextBase.getKind()
# - get_profile(): ExecutionContextBase.getProfile()
#
-# ¹ԥƥȤξ˴ؤؿϡget_component_state(),
-# get_kind(), get_profile() 3ब롣¹ԥƥȤμ
-# 饹ˤƤϡExecutionContextBase Τ줾
-# getComponentState(), getKind(), getProfile() ƤӽФǼ
-# Ԥδؿ˴Ϣ protected ۴ؿ
-# onGetComponentState(), onGetKind(), onGetProfile() 3ढ롣
-# β۴ؿ̾索С饤ɤɬפϤʤѤϿ侩
-# ֤ѹϡδؿŬڤ˼
-# 뤳ȤǡƤӽФ¦֤ͤ뤳ȤǤ롣
+# 実行コンテキストの情報取得に関する関数は、get_component_state(),
+# get_kind(), get_profile() の3種類がある。実行コンテキストの実装ク
+# ラスにおいては、ExecutionContextBase のそれぞれ
+# getComponentState(), getKind(), getProfile() を呼び出す形で実装を
+# 行う。これらの関数に関連する protected 仮想関数は
+# onGetComponentState(), onGetKind(), onGetProfile() の3種類ある。こ
+# れらの仮想関数は通常オーバーライドする必要はなく、使用は推奨されな
+# い。ただし、返す情報を変更したい場合は、これらの関数を適切に実装す
+# ることで、呼び出し側に返す値を上書きすることができる。
#
#
# public:
@@ -312,21 +312,21 @@
#
# protected:
# virtual LifeCycleState onGetComponentState(LifeCycleState state)
-# { // ֤stateϤδؿ
+# { // 返すstateを書き換えたい場合はこの関数を実装する
# return state;
# }
# virtual ExecutionKind onGetKind(ExecutionKind kind)
-# { // ֤kindϤδؿ
+# { // 返すkindを書き換えたい場合はこの関数を実装する
# return kind;
# }
# virtual ExecutionContextProfile*
# onGetProfile(ExecutionContextProfile*& profile)
-# { // ֤profileϤδؿ
+# { // 返すprofileを書き換えたい場合はこの関数を実装する
# return profile;
# }
#
#
-# ExecutionContextδ쥯饹
+# ExecutionContextの基底クラス。
#
# @since 0.4.0
#
@@ -340,1204 +340,1255 @@
#
# @endif
#
+
+
class ExecutionContextBase:
- """
- """
-
- def __init__(self, name):
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("ec_base")
- self._activationTimeout = OpenRTM_aist.TimeValue(0.5)
- self._deactivationTimeout = OpenRTM_aist.TimeValue(0.5)
- self._resetTimeout = OpenRTM_aist.TimeValue(0.5)
- self._syncActivation = True
- self._syncDeactivation = True
- self._syncReset = True
- self._worker = OpenRTM_aist.ExecutionContextWorker()
- self._profile = OpenRTM_aist.ExecutionContextProfile()
-
-
- ##
- # @if jp
- # @brief ExecutionContextν
- #
- # @else
- # @brief Initialization function of the ExecutionContext
- #
- # @endif
- # virtual void init(coil::Properties& props);
- def init(self, props):
- self._rtcout.RTC_TRACE("init()")
- self._rtcout.RTC_DEBUG(props)
-
- # setting rate
- self.setExecutionRate(props)
-
- # getting sync/async mode flag
- transitionMode_ = [False]
- if self.setTransitionMode(props, "sync_transition", transitionMode_):
- self._syncActivation = transitionMode_[0]
- self._syncDeactivation = transitionMode_[0]
- self._syncReset = transitionMode_[0]
-
- syncactivation_ = [self._syncActivation]
- syncdeactivation_ = [self._syncDeactivation]
- syncreset_ = [self._syncReset]
- self.setTransitionMode(props, "sync_activation", syncactivation_)
- self.setTransitionMode(props, "sync_deactivation", syncdeactivation_)
- self.setTransitionMode(props, "sync_reset", syncreset_)
- self._syncActivation = syncactivation_[0]
- self._syncDeactivation = syncdeactivation_[0]
- self._syncReset = syncreset_[0]
-
- # getting transition timeout
- timeout_ = [0.0]
- if self.setTimeout(props, "transition_timeout", timeout_):
- self._activationTimeout = timeout_[0]
- self._deactivationTimeout = timeout_[0]
- self._resetTimeout = timeout_[0]
-
- activationTO_ = [self._activationTimeout]
- deactivationTO_ = [self._deactivationTimeout]
- resetTO_ = [self._resetTimeout]
- self.setTimeout(props, "activation_timeout", activationTO_)
- self.setTimeout(props, "deactivation_timeout", deactivationTO_)
- self.setTimeout(props, "reset_timeout", resetTO_)
- self._activationTimeout = activationTO_[0]
- self._deactivationTimeout = deactivationTO_[0]
- self._resetTimeout = resetTO_[0]
-
- self._rtcout.RTC_DEBUG("ExecutionContext's configurations:")
- self._rtcout.RTC_DEBUG("Exec rate : %f [Hz]", self.getRate())
-
- toSTR_ = lambda x: "YES" if x else "NO"
-
- self._rtcout.RTC_DEBUG("Activation : Sync = %s, Timeout = %f",
- (toSTR_(self._syncActivation), float(self._activationTimeout.toDouble())))
- self._rtcout.RTC_DEBUG("Deactivation: Sync = %s, Timeout = %f",
- (toSTR_(self._syncActivation), float(self._deactivationTimeout.toDouble())))
- self._rtcout.RTC_DEBUG("Reset : Sync = %s, Timeout = %f",
- (toSTR_(self._syncReset), float(self._resetTimeout.toDouble())))
- # Setting given Properties to EC's profile::properties
- self.setProperties(props)
- return
-
- ##
- # @if jp
- # @brief ExecutionContextνλ
- #
- # @else
- # @brief
- #
- # @endif
- # virtual void exit();
- def exit(self):
- self._rtcout.RTC_TRACE("exit()")
- self._profile.exit()
- self._worker.exit()
-
- ##
- # @if jp
- # @brief ExecutionContextνʤ(֥饹)
- #
- # ExecutionContextνʬʤ롣
# class MyListener
@@ -120,8 +122,8 @@ def __init__(self):
# };
#
#
-# Τ褦ˤ줿ꥹʥ饹ϡʲΤ褦RTObjectФ
-# ơåȤ롣
+# このようにして定義されたリスナクラスは、以下のようにRTObjectに対し
+# て、セットされる。
#
#
# RTC::ReturnCode_t ConsoleIn::onInitialize()
@@ -132,28 +134,28 @@ def __init__(self):
# :
#
#
-# 1 "PRE_ON_STATE_CHANGE" ϡХåեåݥ
-# ȤǤꡢʲͤ뤳ȤǽǤ롣ʤ٤ƤΥХ
-# ݥȤƤȤϸ¤餺餬ƤӽФ뤫ɤ
-# ϡFSMμ˰¸롣
-#
-# - PRE_ON_INIT: init ľ
-# - PRE_ON_ENTRY: entry ľ
-# - PRE_ON_DO: do ľ
-# - PRE_ON_EXIT: exit ľ
-# - PRE_ON_STATE_CHANGE: ľ
-#
-# 2ϥꥹʥ֥ȤΥݥǤ롣3ϥ֥
-# ưե饰Ǥꡢtrue ξϡRTObject˼ưŪ˥ꥹ
-# ʥ֥Ȥ롣falseξϡ֥Ȥνͭ
-# ƤӽФ¦˻ĤꡢϸƤӽФ¦ǤǹԤʤФʤʤ
-# RTObject Υ饤ե˥Хåɬפʤо嵭Τ褦
-# ƤӽФ3 true ȤƤȤ褤դˡХå
-# ˱ƥåȤꥢåȤꤹɬפ
-# falseȤ֤ꥹʥ֥ȤΥݥѿʤɤ
-# Ƥ
+# 第1引数の "PRE_ON_STATE_CHANGE" は、コールバックをフックするポイン
+# トであり、以下の値を取ることが可能である。なお、すべてのコールバッ
+# クポイントが実装されているとは限らず、これらが呼び出されるかどうか
+# は、FSMの実装に依存する。
+#
+# - PRE_ON_INIT: init 直前
+# - PRE_ON_ENTRY: entry 直前
+# - PRE_ON_DO: do 直前
+# - PRE_ON_EXIT: exit 直前
+# - PRE_ON_STATE_CHANGE: 状態遷移直前
+#
+# 第2引数はリスナオブジェクトのポインタである。第3引数はオブジェクト
+# 自動削除フラグであり、true の場合は、RTObject削除時に自動的にリス
+# ナオブジェクトが削除される。falseの場合は、オブジェクトの所有権は
+# 呼び出し側に残り、削除は呼び出し側の責任で行わなければならない。
+# RTObject のライフサイクル中にコールバックが必要ならば上記のような
+# 呼び出し方で第3引数を true としておくとよい。逆に、コールバックを
+# 状況等に応じてセットしたりアンセットしたりする必要がある場合は
+# falseとして置き、リスナオブジェクトのポインタをメンバ変数などに保
+# 持しておき、
# RTObject_impl::addPreFsmActionListener()/removePreFsmActionListener()
-# ˤꡢåȤȥåȤȤäȤǽǤ롣
+# により、セットとアンセットを管理するといった使い方も可能である。
#
# @else
# @class PreFsmActionListener class
@@ -225,99 +227,97 @@ def __init__(self):
# @endif
#
class PreFsmActionListener:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- pass
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- #
- # @brief ۥХåؿ
- #
- # PreFsmActionListener ΥХåؿ
- #
- # @else
- #
- # @brief Virtual Callback function
- #
- # This is a the Callback function for PreFsmActionListener.
- #
- # @endif
- # virtual void operator()(const char*) = 0;
- def __call__(self, state):
- pass
-
- ##
- # @if jp
- #
- # @brief PreFsmActionListenerType ʸѴ
- #
- # PreFsmActionListenerType ʸѴ
- #
- # @param type Ѵо PreFsmActionListenerType
- #
- # @return ʸѴ
- #
- # @else
- #
- # @brief Convert PreFsmActionListenerType into the string.
- #
- # Convert PreFsmActionListenerType into the string.
- #
- # @param type The target PreFsmActionListenerType for transformation
- #
- # @return Trnasformation result of string representation
- #
- # @endif
- #
- def toString(type):
- typeString = ["PRE_ON_INIT",
- "PRE_ON_ENTRY",
- "PRE_ON_DO",
- "PRE_ON_EXIT",
- "PRE_ON_STATE_CHANGE",
- "PRE_FSM_ACTION_LISTENER_NUM"]
- if type < PreFsmActionListenerType.PRE_FSM_ACTION_LISTENER_NUM:
- return typeString[type]
-
- return ""
- toString = staticmethod(toString)
-
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief 仮想コールバック関数
+ #
+ # PreFsmActionListener のコールバック関数
+ #
+ # @else
+ #
+ # @brief Virtual Callback function
+ #
+ # This is a the Callback function for PreFsmActionListener.
+ #
+ # @endif
+ # virtual void operator()(const char*) = 0;
+
+ def __call__(self, state):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief PreFsmActionListenerType を文字列に変換
+ #
+ # PreFsmActionListenerType を文字列に変換する
+ #
+ # @param type 変換対象 PreFsmActionListenerType
+ #
+ # @return 文字列変換結果
+ #
+ # @else
+ #
+ # @brief Convert PreFsmActionListenerType into the string.
+ #
+ # Convert PreFsmActionListenerType into the string.
+ #
+ # @param type The target PreFsmActionListenerType for transformation
+ #
+ # @return Trnasformation result of string representation
+ #
+ # @endif
+ #
+ def toString(status):
+ typeString = ["PRE_ON_INIT",
+ "PRE_ON_ENTRY",
+ "PRE_ON_DO",
+ "PRE_ON_EXIT",
+ "PRE_ON_STATE_CHANGE"]
+ if status < len(typeString):
+ return typeString[status]
+
+ return ""
+ toString = staticmethod(toString)
##
# @if jp
-# @brief PreFsmActionListener Υ
+# @brief PreFsmActionListener のタイプ
#
-# PreFsmActionListener ˤϰʲΥեåݥȤƤ롣
-# 餬ƤӽФ뤫ɤϡFSMμ˰¸롣
+# PreFsmActionListener には以下のフックポイントが定義されている。こ
+# れらが呼び出されるかどうかは、FSMの実装に依存する。
#
-# - POST_ON_INIT: init ľ
-# - POST_ON_ENTRY: entry ľ
-# - POST_ON_DO: do ľ
-# - POST_ON_EXIT: exit ľ
-# - POST_ON_STATE_CHANGE: ľ
+# - POST_ON_INIT: init 直後
+# - POST_ON_ENTRY: entry 直後
+# - POST_ON_DO: do 直後
+# - POST_ON_EXIT: exit 直後
+# - POST_ON_STATE_CHANGE: 状態遷移直後
#
# @else
-# @brief The types of ConnectorDataListener
+# @brief The types of PostFsmActionListenerType
#
# PreFsmActionListener has the following hook points. If these
# listeners are actually called or not called are depends on FSM
@@ -332,31 +332,29 @@ def toString(type):
# @endif
#
class PostFsmActionListenerType:
- """
- """
-
- def __init__(self):
- pass
- POST_ON_INIT = 0
- POST_ON_ENTRY = 1
- POST_ON_DO = 2
- POST_ON_EXIT = 3
- POST_ON_STATE_CHANGE = 4
- POST_FSM_ACTION_LISTENER_NUM = 5
-
+ """
+ """
+ def __init__(self):
+ pass
+ POST_ON_INIT = 0
+ POST_ON_ENTRY = 1
+ POST_ON_DO = 2
+ POST_ON_EXIT = 3
+ POST_ON_STATE_CHANGE = 4
+ POST_FSM_ACTION_LISTENER_NUM = 5
##
# @if jp
-# @class PostFsmActionListener 饹
-# @brief PostFsmActionListener 饹
+# @class PostFsmActionListener クラス
+# @brief PostFsmActionListener クラス
#
-# PostFsmActionListener 饹ϡFsmΥ˴ؤ륳Хå
-# ¸ꥹʡ֥Ȥδ쥯饹Ǥ롣FSMΥ
-# ľưեå硢ʲΤ褦ˡΥ饹Ѿ
-# Хå֥ȤŬڤʥХåؿ
-# RTObjectФƥХå֥ȤåȤɬפ롣
+# PostFsmActionListener クラスは、Fsmのアクションに関するコールバック
+# を実現するリスナーオブジェクトの基底クラスである。FSMのアクション
+# の直後の動作をフックしたい場合、以下の例のように、このクラスを継承
+# したコールバックオブジェクトを定義し、適切なコールバック設定関数か
+# らRTObjectに対してコールバックオブジェクトをセットする必要がある。
#
#
# class MyListener
@@ -375,8 +373,8 @@ def __init__(self):
# };
#
#
-# Τ褦ˤ줿ꥹʥ饹ϡʲΤ褦RTObjectФ
-# ơåȤ롣
+# このようにして定義されたリスナクラスは、以下のようにRTObjectに対し
+# て、セットされる。
#
#
# RTC::ReturnCode_t ConsoleIn::onInitialize()
@@ -387,28 +385,28 @@ def __init__(self):
# :
#
#
-# 1 "POST_ON_STATE_CHANGE" ϡХåեåݥ
-# ȤǤꡢʲͤ뤳ȤǽǤ롣ʤ٤ƤΥХ
-# ݥȤƤȤϸ¤餺餬ƤӽФ뤫ɤ
-# ϡFSMμ˰¸롣
-#
-# - POST_ON_INIT: init ľ
-# - POST_ON_ENTRY: entry ľ
-# - POST_ON_DO: do ľ
-# - POST_ON_EXIT: exit ľ
-# - POST_ON_STATE_CHANGE: ľ
-#
-# 2ϥꥹʥ֥ȤΥݥǤ롣3ϥ֥
-# ưե饰Ǥꡢtrue ξϡRTObject˼ưŪ˥ꥹ
-# ʥ֥Ȥ롣falseξϡ֥Ȥνͭ
-# ƤӽФ¦˻ĤꡢϸƤӽФ¦ǤǹԤʤФʤʤ
-# RTObject Υ饤ե˥Хåɬפʤо嵭Τ褦
-# ƤӽФ3 true ȤƤȤ褤դˡХå
-# ˱ƥåȤꥢåȤꤹɬפ
-# falseȤ֤ꥹʥ֥ȤΥݥѿʤɤ
-# Ƥ
+# 第1引数の "POST_ON_STATE_CHANGE" は、コールバックをフックするポイン
+# トであり、以下の値を取ることが可能である。なお、すべてのコールバッ
+# クポイントが実装されているとは限らず、これらが呼び出されるかどうか
+# は、FSMの実装に依存する。
+#
+# - POST_ON_INIT: init 直後
+# - POST_ON_ENTRY: entry 直後
+# - POST_ON_DO: do 直後
+# - POST_ON_EXIT: exit 直後
+# - POST_ON_STATE_CHANGE: 状態遷移直後
+#
+# 第2引数はリスナオブジェクトのポインタである。第3引数はオブジェクト
+# 自動削除フラグであり、true の場合は、RTObject削除時に自動的にリス
+# ナオブジェクトが削除される。falseの場合は、オブジェクトの所有権は
+# 呼び出し側に残り、削除は呼び出し側の責任で行わなければならない。
+# RTObject のライフサイクル中にコールバックが必要ならば上記のような
+# 呼び出し方で第3引数を true としておくとよい。逆に、コールバックを
+# 状況等に応じてセットしたりアンセットしたりする必要がある場合は
+# falseとして置き、リスナオブジェクトのポインタをメンバ変数などに保
+# 持しておき、
# RTObject_impl::addPostFsmActionListener()/removePostFsmActionListener()
-# ˤꡢåȤȥåȤȤäȤǽǤ롣
+# により、セットとアンセットを管理するといった使い方も可能である。
#
# @else
# @class PostFsmActionListener class
@@ -480,96 +478,94 @@ def __init__(self):
# @endif
#
class PostFsmActionListener:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- pass
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- #
- # @brief ۥХåؿ
- #
- # PostFsmActionListener ΥХåؿ
- #
- # @else
- #
- # @brief Virtual Callback function
- #
- # This is a the Callback function for PostFsmActionListener.
- #
- # @endif
- # virtual void operator()(const char* state, ReturnCode_t ret) = 0;
- def __call__(self, state, ret):
- pass
-
- ##
- # @if jp
- #
- # @brief PostFsmActionListenerType ʸѴ
- #
- # PostFsmActionListenerType ʸѴ
- #
- # @param type Ѵо PostFsmActionListenerType
- #
- # @return ʸѴ
- #
- # @else
- #
- # @brief Convert PostFsmActionListenerType into the string.
- #
- # Convert PostFsmActionListenerType into the string.
- #
- # @param type The target PostFsmActionListenerType for transformation
- #
- # @return Trnasformation result of string representation
- #
- # @endif
- #
- def toString(type):
- typeString = ["POST_ON_INIT",
- "POST_ON_ENTRY",
- "POST_ON_DO",
- "POST_ON_EXIT",
- "POST_ON_STATE_CHANGE",
- "POST_FSM_ACTION_LISTENER_NUM"]
- if type < PostFsmActionListenerType.POST_FSM_ACTION_LISTENER_NUM:
- return typeString[type]
-
- return ""
- toString = staticmethod(toString)
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ pass
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief 仮想コールバック関数
+ #
+ # PostFsmActionListener のコールバック関数
+ #
+ # @else
+ #
+ # @brief Virtual Callback function
+ #
+ # This is a the Callback function for PostFsmActionListener.
+ #
+ # @endif
+ # virtual void operator()(const char* state, ReturnCode_t ret) = 0;
+
+ def __call__(self, state, ret):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief PostFsmActionListenerType を文字列に変換
+ #
+ # PostFsmActionListenerType を文字列に変換する
+ #
+ # @param type 変換対象 PostFsmActionListenerType
+ #
+ # @return 文字列変換結果
+ #
+ # @else
+ #
+ # @brief Convert PostFsmActionListenerType into the string.
+ #
+ # Convert PostFsmActionListenerType into the string.
+ #
+ # @param type The target PostFsmActionListenerType for transformation
+ #
+ # @return Trnasformation result of string representation
+ #
+ # @endif
+ #
+ def toString(status):
+ typeString = ["POST_ON_INIT",
+ "POST_ON_ENTRY",
+ "POST_ON_DO",
+ "POST_ON_EXIT",
+ "POST_ON_STATE_CHANGE"]
+ if status < len(typeString):
+ return typeString[status]
+
+ return ""
+ toString = staticmethod(toString)
##
# @if jp
-# @brief FsmProfileListener Υ
+# @brief FsmProfileListener のタイプ
#
-# - SET_FSM_PROFILE : FSM Profile
-# - GET_FSM_PROFILE : FSM Profile
-# - ADD_FSM_STATE : FSMStateɲä줿
-# - REMOVE_FSM_STATE : FSMState줿
-# - ADD_FSM_TRANSITION : FSMܤɲä줿
-# - REMOVE_FSM_TRANSITION : FSMܤ줿
-# - BIND_FSM_EVENT : FSM˥٥ȤХɤ줿
-# - UNBIND_FSM_EVENT : FSM˥٥ȤХɤ줿
+# - SET_FSM_PROFILE : FSM Profile設定時
+# - GET_FSM_PROFILE : FSM Profile取得時
+# - ADD_FSM_STATE : FSMにStateが追加された
+# - REMOVE_FSM_STATE : FSMからStateが削除された
+# - ADD_FSM_TRANSITION : FSMに遷移が追加された
+# - REMOVE_FSM_TRANSITION : FSMから遷移が削除された
+# - BIND_FSM_EVENT : FSMにイベントがバインドされた
+# - UNBIND_FSM_EVENT : FSMにイベントがアンバインドされた
#
# @else
# @brief The types of FsmProfileListener
@@ -586,34 +582,33 @@ def toString(type):
# @endif
#
class FsmProfileListenerType:
- """
- """
-
- def __init__(self):
- pass
- SET_FSM_PROFILE = 0
- GET_FSM_PROFILE = 1
- ADD_FSM_STATE = 2
- REMOVE_FSM_STATE = 3
- ADD_FSM_TRANSITION = 4
- REMOVE_FSM_TRANSITION = 5
- BIND_FSM_EVENT = 6
- UNBIND_FSM_EVENT = 7
- FSM_PROFILE_LISTENER_NUM = 8
-
+ """
+ """
+
+ def __init__(self):
+ pass
+ SET_FSM_PROFILE = 0
+ GET_FSM_PROFILE = 1
+ ADD_FSM_STATE = 2
+ REMOVE_FSM_STATE = 3
+ ADD_FSM_TRANSITION = 4
+ REMOVE_FSM_TRANSITION = 5
+ BIND_FSM_EVENT = 6
+ UNBIND_FSM_EVENT = 7
+ FSM_PROFILE_LISTENER_NUM = 8
##
# @if jp
-# @class FsmProfileListener 饹
-# @brief FsmProfileListener 饹
+# @class FsmProfileListener クラス
+# @brief FsmProfileListener クラス
#
-# FsmProfileListener 饹ϡFSMProfile˴ϢΥ
-# Хå¸ꥹʡ֥Ȥδ쥯饹Ǥ롣FSM
-# ProfileΥưեå硢ʲΤ褦ˡ
-# Υ饹ѾХå֥ȤŬڤʥХ
-# ؿRTObjectФƥХå֥ȤåȤ
-# ɬפ롣
+# FsmProfileListener クラスは、FSMのProfileに関連したアクションのコー
+# ルバックを実現するリスナーオブジェクトの基底クラスである。FSM
+# Profileのアクションの動作をフックしたい場合、以下の例のように、こ
+# のクラスを継承したコールバックオブジェクトを定義し、適切なコールバッ
+# ク設定関数からRTObjectに対してコールバックオブジェクトをセットする
+# 必要がある。
#
#
# class MyListener
@@ -631,8 +626,8 @@ def __init__(self):
# };
#
#
-# Τ褦ˤ줿ꥹʥ饹ϡʲΤ褦RTObjectФ
-# ơåȤ롣
+# このようにして定義されたリスナクラスは、以下のようにRTObjectに対し
+# て、セットされる。
#
#
# RTC::ReturnCode_t ConsoleIn::onInitialize()
@@ -643,30 +638,30 @@ def __init__(self):
# :
#
#
-# 1 "SET_FSM_PROFILE" ϡХåեåݥ
-# ȤǤꡢʲͤ뤳ȤǽǤ롣ʤ٤ƤΥХ
-# ݥȤƤȤϸ¤餺餬ƤӽФ뤫ɤ
-# ϡFSMӥμ˰¸롣
-#
-# - SET_FSM_PROFILE : FSM Profile
-# - GET_FSM_PROFILE : FSM Profile
-# - ADD_FSM_STATE : FSMStateɲä줿
-# - REMOVE_FSM_STATE : FSMState줿
-# - ADD_FSM_TRANSITION : FSMܤɲä줿
-# - REMOVE_FSM_TRANSITION : FSMܤ줿
-# - BIND_FSM_EVENT : FSM˥٥ȤХɤ줿
-# - UNBIND_FSM_EVENT : FSM˥٥ȤХɤ줿
-#
-# 2ϥꥹʥ֥ȤΥݥǤ롣3ϥ֥
-# ưե饰Ǥꡢtrue ξϡRTObject˼ưŪ˥ꥹ
-# ʥ֥Ȥ롣falseξϡ֥Ȥνͭ
-# ƤӽФ¦˻ĤꡢϸƤӽФ¦ǤǹԤʤФʤʤ
-# RTObject Υ饤ե˥Хåɬפʤо嵭Τ褦
-# ƤӽФ3 true ȤƤȤ褤դˡХå
-# ˱ƥåȤꥢåȤꤹɬפ
-# falseȤ֤ꥹʥ֥ȤΥݥѿʤɤ
-# ƤaddFsmProfileListener()/removeFsmProfileListener()
-# ꡢåȤȥåȤȤäȤǽǤ롣
+# 第1引数の "SET_FSM_PROFILE" は、コールバックをフックするポイン
+# トであり、以下の値を取ることが可能である。なお、すべてのコールバッ
+# クポイントが実装されているとは限らず、これらが呼び出されるかどうか
+# は、FSMサービスの実装に依存する。
+#
+# - SET_FSM_PROFILE : FSM Profile設定時
+# - GET_FSM_PROFILE : FSM Profile取得時
+# - ADD_FSM_STATE : FSMにStateが追加された
+# - REMOVE_FSM_STATE : FSMからStateが削除された
+# - ADD_FSM_TRANSITION : FSMに遷移が追加された
+# - REMOVE_FSM_TRANSITION : FSMから遷移が削除された
+# - BIND_FSM_EVENT : FSMにイベントがバインドされた
+# - UNBIND_FSM_EVENT : FSMにイベントがアンバインドされた
+#
+# 第2引数はリスナオブジェクトのポインタである。第3引数はオブジェクト
+# 自動削除フラグであり、true の場合は、RTObject削除時に自動的にリス
+# ナオブジェクトが削除される。falseの場合は、オブジェクトの所有権は
+# 呼び出し側に残り、削除は呼び出し側の責任で行わなければならない。
+# RTObject のライフサイクル中にコールバックが必要ならば上記のような
+# 呼び出し方で第3引数を true としておくとよい。逆に、コールバックを
+# 状況等に応じてセットしたりアンセットしたりする必要がある場合は
+# falseとして置き、リスナオブジェクトのポインタをメンバ変数などに保
+# 持しておき、addFsmProfileListener()/removeFsmProfileListener() に
+# より、セットとアンセットを管理するといった使い方も可能である。
#
# @else
# @class FsmProfileListener class
@@ -739,92 +734,90 @@ def __init__(self):
# @endif
#
class FsmProfileListener:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- pass
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- #
- # @brief ۥХåؿ
- #
- # FsmProfileListener ΥХåؿ
- #
- # @else
- #
- # @brief Virtual Callback function
- #
- # This is a the Callback function for FsmProfileListener.
- #
- # @endif
- # virtual void operator()(const ::RTC::FsmProfile& fsmprof) = 0;
- def __call__(self, fsmprof):
- pass
-
- ##
- # @if jp
- #
- # @brief FsmProfileListenerType ʸѴ
- #
- # FsmProfileListenerType ʸѴ
- #
- # @param type Ѵо FsmProfileListenerType
- #
- # @return ʸѴ
- #
- # @else
- #
- # @brief Convert FsmProfileListenerType into the string.
- #
- # Convert FsmProfileListenerType into the string.
- #
- # @param type The target FsmProfileListenerType for transformation
- #
- # @return Trnasformation result of string representation
- #
- # @endif
- #
- def toString(type):
- typeString = ["SET_FSM_PROFILE",
- "GET_FSM_PROFILE",
- "ADD_FSM_STATE",
- "REMOVE_FSM_STATE",
- "ADD_FSM_TRANSITION",
- "REMOVE_FSM_TRANSITION",
- "BIND_FSM_EVENT",
- "UNBIND_FSM_EVENT",
- "PRE_FSM_ACTION_LISTENER_NUM"]
- if type < FsmProfileListenerType.FSM_PROFILE_LISTENER_NUM:
- return typeString[type]
-
- return ""
- toString = staticmethod(toString)
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+ def __del__(self):
+ pass
+ ##
+ # @if jp
+ #
+ # @brief 仮想コールバック関数
+ #
+ # FsmProfileListener のコールバック関数
+ #
+ # @else
+ #
+ # @brief Virtual Callback function
+ #
+ # This is a the Callback function for FsmProfileListener.
+ #
+ # @endif
+ # virtual void operator()(const ::RTC::FsmProfile& fsmprof) = 0;
+
+ def __call__(self, fsmprof):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief FsmProfileListenerType を文字列に変換
+ #
+ # FsmProfileListenerType を文字列に変換する
+ #
+ # @param type 変換対象 FsmProfileListenerType
+ #
+ # @return 文字列変換結果
+ #
+ # @else
+ #
+ # @brief Convert FsmProfileListenerType into the string.
+ #
+ # Convert FsmProfileListenerType into the string.
+ #
+ # @param type The target FsmProfileListenerType for transformation
+ #
+ # @return Trnasformation result of string representation
+ #
+ # @endif
+ #
+ def toString(status):
+ typeString = ["SET_FSM_PROFILE",
+ "GET_FSM_PROFILE",
+ "ADD_FSM_STATE",
+ "REMOVE_FSM_STATE",
+ "ADD_FSM_TRANSITION",
+ "REMOVE_FSM_TRANSITION",
+ "BIND_FSM_EVENT",
+ "UNBIND_FSM_EVENT"]
+ if status < len(typeString):
+ return typeString[status]
+
+ return ""
+ toString = staticmethod(toString)
##
# @if jp
-# @brief FsmStructureListener Υ
+# @brief FsmStructureListener のタイプ
#
-# - SET_FSM_STRUCTURE: FSM¤
-# - GET_FSM_STRUCTURE: FSM¤μ
+# - SET_FSM_STRUCTURE: FSM構造の設定
+# - GET_FSM_STRUCTURE: FSM構造の取得
#
# @else
# @brief The types of FsmStructureListener
@@ -835,27 +828,27 @@ def toString(type):
# @endif
#
class FsmStructureListenerType:
- """
- """
-
- def __init__(self):
- pass
- SET_FSM_STRUCTURE = 0
- GET_FSM_STRUCTURE = 1
- FSM_STRUCTURE_LISTENER_NUM = 2
+ """
+ """
+
+ def __init__(self):
+ pass
+ SET_FSM_STRUCTURE = 0
+ GET_FSM_STRUCTURE = 1
+ FSM_STRUCTURE_LISTENER_NUM = 2
##
# @if jp
-# @class FsmStructureListener 饹
-# @brief FsmStructureListener 饹
+# @class FsmStructureListener クラス
+# @brief FsmStructureListener クラス
#
-# FsmStructureListener 饹ϡFSM StructureΥ˴ؤ륳
-# Хå¸ꥹʡ֥Ȥδ쥯饹Ǥ롣FSM
-# Structure Υľưեå硢ʲΤ
-# ˡΥ饹ѾХå֥ȤŬڤ
-# ХåؿRTObjectФƥХå֥Ȥ
-# åȤɬפ롣
+# FsmStructureListener クラスは、FSM Structureのアクションに関するコー
+# ルバックを実現するリスナーオブジェクトの基底クラスである。FSM
+# Structure のアクションの直後の動作をフックしたい場合、以下の例のよ
+# うに、このクラスを継承したコールバックオブジェクトを定義し、適切な
+# コールバック設定関数からRTObjectに対してコールバックオブジェクトを
+# セットする必要がある。
#
#
# class MyListener
@@ -872,8 +865,8 @@ def __init__(self):
# };
#
#
-# Τ褦ˤ줿ꥹʥ饹ϡʲΤ褦RTObjectФ
-# ơåȤ롣
+# このようにして定義されたリスナクラスは、以下のようにRTObjectに対し
+# て、セットされる。
#
#
# RTC::ReturnCode_t ConsoleIn::onInitialize()
@@ -884,25 +877,25 @@ def __init__(self):
# :
#
#
-# 1 "SET_FSM_STRUCTURE" ϡХåեåݥ
-# ȤǤꡢʲͤ뤳ȤǽǤ롣ʤ٤ƤΥХ
-# ݥȤƤȤϸ¤餺餬ƤӽФ뤫ɤ
-# ϡFSMμ˰¸롣
-#
-# - SET_FSM_STRUCTURE: FSM¤
-# - GET_FSM_STRUCTURE: FSM¤μ
-#
-# 2ϥꥹʥ֥ȤΥݥǤ롣3ϥ֥
-# ưե饰Ǥꡢtrue ξϡRTObject˼ưŪ˥ꥹ
-# ʥ֥Ȥ롣falseξϡ֥Ȥνͭ
-# ƤӽФ¦˻ĤꡢϸƤӽФ¦ǤǹԤʤФʤʤ
-# RTObject Υ饤ե˥Хåɬפʤо嵭Τ褦
-# ƤӽФ3 true ȤƤȤ褤դˡХå
-# ˱ƥåȤꥢåȤꤹɬפ
-# falseȤ֤ꥹʥ֥ȤΥݥѿʤɤ
-# Ƥ
+# 第1引数の "SET_FSM_STRUCTURE" は、コールバックをフックするポイン
+# トであり、以下の値を取ることが可能である。なお、すべてのコールバッ
+# クポイントが実装されているとは限らず、これらが呼び出されるかどうか
+# は、FSMの実装に依存する。
+#
+# - SET_FSM_STRUCTURE: FSM構造の設定
+# - GET_FSM_STRUCTURE: FSM構造の取得
+#
+# 第2引数はリスナオブジェクトのポインタである。第3引数はオブジェクト
+# 自動削除フラグであり、true の場合は、RTObject削除時に自動的にリス
+# ナオブジェクトが削除される。falseの場合は、オブジェクトの所有権は
+# 呼び出し側に残り、削除は呼び出し側の責任で行わなければならない。
+# RTObject のライフサイクル中にコールバックが必要ならば上記のような
+# 呼び出し方で第3引数を true としておくとよい。逆に、コールバックを
+# 状況等に応じてセットしたりアンセットしたりする必要がある場合は
+# falseとして置き、リスナオブジェクトのポインタをメンバ変数などに保
+# 持しておき、
# RTObject_impl::addPostFsmActionListener()/removePostFsmActionListener()
-# ˤꡢåȤȥåȤȤäȤǽǤ롣
+# により、セットとアンセットを管理するといった使い方も可能である。
#
# @else
# @class FsmStructureListener class
@@ -969,93 +962,85 @@ def __init__(self):
# @endif
#
class FsmStructureListener:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- pass
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- #
- # @brief ۥХåؿ
- #
- # FsmStructureListener ΥХåؿ
- #
- # @else
- #
- # @brief Virtual Callback function
- #
- # This is a the Callback function for FsmStructureListener.
- #
- # @endif
- # virtual void operator()(const ::RTC::FsmStructure& fsmprof) = 0;
- def __call__(self, pprof):
- pass
-
- ##
- # @if jp
- #
- # @brief FsmStructureListenerType ʸѴ
- #
- # FsmStructureListenerType ʸѴ
- #
- # @param type Ѵо FsmStructureListenerType
- #
- # @return ʸѴ
- #
- # @else
- #
- # @brief Convert FsmStructureListenerType into the string.
- #
- # Convert FsmStructureListenerType into the string.
- #
- # @param type The target FsmStructureListenerType for transformation
- #
- # @return Trnasformation result of string representation
- #
- # @endif
- #
- def toString(type):
- typeString = ["SET_FSM_STRUCTURE",
- "GET_FSM_STRUCTURE",
- "FSM_STRUCTURE_LISTENER_NUM"]
- if type < FsmStructureListenerType.FSM_STRUCTURE_LISTENER_NUM:
- return typeString[type]
-
- return ""
- toString = staticmethod(toString)
-
-
-class Entry:
- def __init__(self,listener, autoclean):
- self.listener = listener
- self.autoclean = autoclean
- return
-
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief 仮想コールバック関数
+ #
+ # FsmStructureListener のコールバック関数
+ #
+ # @else
+ #
+ # @brief Virtual Callback function
+ #
+ # This is a the Callback function for FsmStructureListener.
+ #
+ # @endif
+ # virtual void operator()(const ::RTC::FsmStructure& fsmprof) = 0;
+
+ def __call__(self, pprof):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief FsmStructureListenerType を文字列に変換
+ #
+ # FsmStructureListenerType を文字列に変換する
+ #
+ # @param type 変換対象 FsmStructureListenerType
+ #
+ # @return 文字列変換結果
+ #
+ # @else
+ #
+ # @brief Convert FsmStructureListenerType into the string.
+ #
+ # Convert FsmStructureListenerType into the string.
+ #
+ # @param type The target FsmStructureListenerType for transformation
+ #
+ # @return Trnasformation result of string representation
+ #
+ # @endif
+ #
+ def toString(status):
+ typeString = ["SET_FSM_STRUCTURE",
+ "GET_FSM_STRUCTURE"]
+ if status < len(typeString):
+ return typeString[status]
+
+ return ""
+ toString = staticmethod(toString)
+
##
# @if jp
# @class PreFsmActionListenerHolder
-# @brief PreFsmActionListener ۥ饹
+# @brief PreFsmActionListener ホルダクラス
#
-# ʣ PreFsmActionListener ݻ륯饹
+# 複数の PreFsmActionListener を保持し管理するクラス。
#
# @else
# @class PreFsmActionListenerHolder
@@ -1067,118 +1052,105 @@ def __init__(self,listener, autoclean):
# @endif
#
class PreFsmActionListenerHolder:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- self._listeners = []
- self._mutex = threading.RLock()
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for (idx, listener) in enumerate(self._listeners):
- if listener.autoclean:
- self._listeners[idx] = None
-
-
-
- ##
- # @if jp
- #
- # @brief ꥹʡɲ
- #
- # ꥹʡɲä롣
- #
- # @param listener ɲäꥹ
- # @param autoclean true:ǥȥ饯Ǻ,
- # false:ǥȥ饯Ǻʤ
- # @else
- #
- # @brief Add the listener.
- #
- # This method adds the listener.
- #
- # @param listener Added listener
- # @param autoclean true:The listener is deleted at the destructor.,
- # false:The listener is not deleted at the destructor.
- # @endif
- #
- def addListener(self, listener, autoclean):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- self._listeners.append(Entry(listener, autoclean))
-
- ##
- # @if jp
- #
- # @brief ꥹʡκ
- #
- # ꥹʤ롣
- #
- # @param listener ꥹ
- # @else
- #
- # @brief Remove the listener.
- #
- # This method removes the listener.
- #
- # @param listener Removed listener
- # @endif
- #
- def removeListener(self, listener):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- len_ = len(self._listeners)
- for i in range(len_):
- idx = (len_ - 1) - i
- if self._listeners[idx].listener == listener:
- if self._listeners[idx].autoclean:
- self._listeners[idx].listener = None
- del self._listeners[idx]
- return
-
- ##
- # @if jp
- #
- # @brief ꥹʡΤ
- #
- # ϿƤꥹʤΥХååɤƤӽФ
- #
- # @param info ConnectorInfo
- # @else
- #
- # @brief Notify listeners.
- #
- # This calls the Callback method of the registered listener.
- #
- # @param info ConnectorInfo
- # @endif
- #
- def notify(self, state):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for listener in self._listeners:
- listener.listener(state)
- return
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ self._listeners = []
+ self._mutex = threading.RLock()
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+ def __del__(self):
+ pass
+ ##
+ # @if jp
+ #
+ # @brief リスナーの追加
+ #
+ # リスナーを追加する。
+ #
+ # @param listener 追加するリスナ
+ # @else
+ #
+ # @brief Add the listener.
+ #
+ # This method adds the listener.
+ #
+ # @param listener Added listener
+ # @endif
+ #
+
+ def addListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ self._listeners.append(listener)
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーの削除
+ #
+ # リスナを削除する。
+ #
+ # @param listener 削除するリスナ
+ # @else
+ #
+ # @brief Remove the listener.
+ #
+ # This method removes the listener.
+ #
+ # @param listener Removed listener
+ # @endif
+ #
+ def removeListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ len_ = len(self._listeners)
+ for i in range(len_):
+ idx = (len_ - 1) - i
+ if self._listeners[idx] == listener:
+ del self._listeners[idx]
+ return
+ ##
+ # @if jp
+ #
+ # @brief リスナーへ通知する
+ #
+ # 登録されているリスナのコールバックメソッドを呼び出す。
+ #
+ # @param info ConnectorInfo
+ # @else
+ #
+ # @brief Notify listeners.
+ #
+ # This calls the Callback method of the registered listener.
+ #
+ # @param info ConnectorInfo
+ # @endif
+ #
+ def notify(self, state):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ for listener in self._listeners:
+ listener(state)
+ return
##
# @if jp
# @class PostFsmActionListenerHolder
-# @brief PostFsmActionListener ۥ饹
+# @brief PostFsmActionListener ホルダクラス
#
-# ʣ PostFsmActionListener ݻ륯饹
+# 複数の PostFsmActionListener を保持し管理するクラス。
#
# @else
# @class PostFsmActionListenerHolder
@@ -1190,115 +1162,104 @@ def notify(self, state):
# @endif
#
class PostFsmActionListenerHolder:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- self._listeners = []
- self._mutex = threading.RLock()
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for (idx, listener) in enumerate(self._listeners):
- if listener.autoclean:
- self._listeners[idx] = None
-
-
-
- ##
- # @if jp
- #
- # @brief ꥹʡɲ
- #
- # ꥹʡɲä롣
- #
- # @param listener ɲäꥹ
- # @param autoclean true:ǥȥ饯Ǻ,
- # false:ǥȥ饯Ǻʤ
- # @else
- #
- # @brief Add the listener.
- #
- # This method adds the listener.
- #
- # @param listener Added listener
- # @param autoclean true:The listener is deleted at the destructor.,
- # false:The listener is not deleted at the destructor.
- # @endif
- #
- def addListener(self, listener, autoclean):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- self._listeners.append(Entry(listener, autoclean))
-
- ##
- # @if jp
- #
- # @brief ꥹʡκ
- #
- # ꥹʤ롣
- #
- # @param listener ꥹ
- # @else
- #
- # @brief Remove the listener.
- #
- # This method removes the listener.
- #
- # @param listener Removed listener
- # @endif
- #
- def removeListener(self, listener):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- len_ = len(self._listeners)
- for i in range(len_):
- idx = (len_ - 1) - i
- if self._listeners[idx].listener == listener:
- if self._listeners[idx].autoclean:
- self._listeners[idx].listener = None
- del self._listeners[idx]
- return
-
- ##
- # @if jp
- #
- # @brief ꥹʡΤ
- #
- # ϿƤꥹʤΥХååɤƤӽФ
- #
- # @param info ConnectorInfo
- # @else
- #
- # @brief Notify listeners.
- #
- # This calls the Callback method of the registered listener.
- #
- # @param info ConnectorInfo
- # @endif
- #
- def notify(self, state, ret):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for listener in self._listeners:
- listener.listener(state, ret)
- return
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ self._listeners = []
+ self._mutex = threading.RLock()
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーの追加
+ #
+ # リスナーを追加する。
+ #
+ # @param listener 追加するリスナ
+ # @else
+ #
+ # @brief Add the listener.
+ #
+ # This method adds the listener.
+ #
+ # @param listener Added listener
+ # @endif
+ #
+ def addListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ self._listeners.append(listener)
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーの削除
+ #
+ # リスナを削除する。
+ #
+ # @param listener 削除するリスナ
+ # @else
+ #
+ # @brief Remove the listener.
+ #
+ # This method removes the listener.
+ #
+ # @param listener Removed listener
+ # @endif
+ #
+ def removeListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ len_ = len(self._listeners)
+ for i in range(len_):
+ idx = (len_ - 1) - i
+ if self._listeners[idx] == listener:
+ del self._listeners[idx]
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーへ通知する
+ #
+ # 登録されているリスナのコールバックメソッドを呼び出す。
+ #
+ # @param info ConnectorInfo
+ # @else
+ #
+ # @brief Notify listeners.
+ #
+ # This calls the Callback method of the registered listener.
+ #
+ # @param info ConnectorInfo
+ # @endif
+ #
+ def notify(self, state, ret):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ for listener in self._listeners:
+ listener(state, ret)
+ return
##
# @if jp
# @class FsmProfileListenerHolder
-# @brief FsmProfileListener ۥ饹
+# @brief FsmProfileListener ホルダクラス
#
-# ʣ FsmProfileListener ݻ륯饹
+# 複数の FsmProfileListener を保持し管理するクラス。
#
# @else
# @class FsmProfileListenerHolder
@@ -1310,114 +1271,104 @@ def notify(self, state, ret):
# @endif
#
class FsmProfileListenerHolder:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- self._listeners = []
- self._mutex = threading.RLock()
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for (idx, listener) in enumerate(self._listeners):
- if listener.autoclean:
- self._listeners[idx] = None
-
-
-
- ##
- # @if jp
- #
- # @brief ꥹʡɲ
- #
- # ꥹʡɲä롣
- #
- # @param listener ɲäꥹ
- # @param autoclean true:ǥȥ饯Ǻ,
- # false:ǥȥ饯Ǻʤ
- # @else
- #
- # @brief Add the listener.
- #
- # This method adds the listener.
- #
- # @param listener Added listener
- # @param autoclean true:The listener is deleted at the destructor.,
- # false:The listener is not deleted at the destructor.
- # @endif
- #
- def addListener(self, listener, autoclean):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- self._listeners.append(Entry(listener, autoclean))
-
- ##
- # @if jp
- #
- # @brief ꥹʡκ
- #
- # ꥹʤ롣
- #
- # @param listener ꥹ
- # @else
- #
- # @brief Remove the listener.
- #
- # This method removes the listener.
- #
- # @param listener Removed listener
- # @endif
- #
- def removeListener(self, listener):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- len_ = len(self._listeners)
- for i in range(len_):
- idx = (len_ - 1) - i
- if self._listeners[idx].listener == listener:
- if self._listeners[idx].autoclean:
- self._listeners[idx].listener = None
- del self._listeners[idx]
- return
-
- ##
- # @if jp
- #
- # @brief ꥹʡΤ
- #
- # ϿƤꥹʤΥХååɤƤӽФ
- #
- # @param info ConnectorInfo
- # @else
- #
- # @brief Notify listeners.
- #
- # This calls the Callback method of the registered listener.
- #
- # @param info ConnectorInfo
- # @endif
- #
- def notify(self, state):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for listener in self._listeners:
- listener.listener(state)
- return
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ self._listeners = []
+ self._mutex = threading.RLock()
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーの追加
+ #
+ # リスナーを追加する。
+ #
+ # @param listener 追加するリスナ
+ # @else
+ #
+ # @brief Add the listener.
+ #
+ # This method adds the listener.
+ #
+ # @param listener Added listener
+ # @endif
+ #
+
+ def addListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ self._listeners.append(listener)
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーの削除
+ #
+ # リスナを削除する。
+ #
+ # @param listener 削除するリスナ
+ # @else
+ #
+ # @brief Remove the listener.
+ #
+ # This method removes the listener.
+ #
+ # @param listener Removed listener
+ # @endif
+ #
+ def removeListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ len_ = len(self._listeners)
+ for i in range(len_):
+ idx = (len_ - 1) - i
+ if self._listeners[idx] == listener:
+ del self._listeners[idx]
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーへ通知する
+ #
+ # 登録されているリスナのコールバックメソッドを呼び出す。
+ #
+ # @param info ConnectorInfo
+ # @else
+ #
+ # @brief Notify listeners.
+ #
+ # This calls the Callback method of the registered listener.
+ #
+ # @param info ConnectorInfo
+ # @endif
+ #
+ def notify(self, state):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ for listener in self._listeners:
+ listener(state)
+ return
##
# @if jp
# @class FsmStructureListenerHolder
-# @brief FsmStructureListener ۥ饹
+# @brief FsmStructureListener ホルダクラス
#
-# ʣ FsmStructureListener ݻ륯饹
+# 複数の FsmStructureListener を保持し管理するクラス。
#
# @else
# @class FsmStructureListenerHolder
@@ -1428,116 +1379,106 @@ def notify(self, state):
#
# @endif
#
+
+
class FsmStructureListenerHolder:
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- def __init__(self):
- self._listeners = []
- self._mutex = threading.RLock()
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for (idx, listener) in enumerate(self._listeners):
- if listener.autoclean:
- self._listeners[idx] = None
-
-
-
- ##
- # @if jp
- #
- # @brief ꥹʡɲ
- #
- # ꥹʡɲä롣
- #
- # @param listener ɲäꥹ
- # @param autoclean true:ǥȥ饯Ǻ,
- # false:ǥȥ饯Ǻʤ
- # @else
- #
- # @brief Add the listener.
- #
- # This method adds the listener.
- #
- # @param listener Added listener
- # @param autoclean true:The listener is deleted at the destructor.,
- # false:The listener is not deleted at the destructor.
- # @endif
- #
- def addListener(self, listener, autoclean):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- self._listeners.append(Entry(listener, autoclean))
-
- ##
- # @if jp
- #
- # @brief ꥹʡκ
- #
- # ꥹʤ롣
- #
- # @param listener ꥹ
- # @else
- #
- # @brief Remove the listener.
- #
- # This method removes the listener.
- #
- # @param listener Removed listener
- # @endif
- #
- def removeListener(self, listener):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- len_ = len(self._listeners)
- for i in range(len_):
- idx = (len_ - 1) - i
- if self._listeners[idx].listener == listener:
- if self._listeners[idx].autoclean:
- self._listeners[idx].listener = None
- del self._listeners[idx]
- return
-
- ##
- # @if jp
- #
- # @brief ꥹʡΤ
- #
- # ϿƤꥹʤΥХååɤƤӽФ
- #
- # @param info ConnectorInfo
- # @else
- #
- # @brief Notify listeners.
- #
- # This calls the Callback method of the registered listener.
- #
- # @param info ConnectorInfo
- # @endif
- #
- def notify(self, state):
- guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
- for listener in self._listeners:
- listener.listener(state)
- return
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ def __init__(self):
+ self._listeners = []
+ self._mutex = threading.RLock()
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+ def __del__(self):
+ pass
+ ##
+ # @if jp
+ #
+ # @brief リスナーの追加
+ #
+ # リスナーを追加する。
+ #
+ # @param listener 追加するリスナ
+ # @else
+ #
+ # @brief Add the listener.
+ #
+ # This method adds the listener.
+ #
+ # @param listener Added listener
+ # @endif
+ #
+ def addListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ self._listeners.append(listener)
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーの削除
+ #
+ # リスナを削除する。
+ #
+ # @param listener 削除するリスナ
+ # @else
+ #
+ # @brief Remove the listener.
+ #
+ # This method removes the listener.
+ #
+ # @param listener Removed listener
+ # @endif
+ #
+ def removeListener(self, listener):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ len_ = len(self._listeners)
+ for i in range(len_):
+ idx = (len_ - 1) - i
+ if self._listeners[idx] == listener:
+ del self._listeners[idx]
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief リスナーへ通知する
+ #
+ # 登録されているリスナのコールバックメソッドを呼び出す。
+ #
+ # @param info ConnectorInfo
+ # @else
+ #
+ # @brief Notify listeners.
+ #
+ # This calls the Callback method of the registered listener.
+ #
+ # @param info ConnectorInfo
+ # @endif
+ #
+ def notify(self, state):
+ guard = OpenRTM_aist.Guard.ScopedLock(self._mutex)
+ for listener in self._listeners:
+ listener(state)
+ return
##
# @if jp
# @class FsmActionListeners
-# @brief FsmActionListeners 饹
+# @brief FsmActionListeners クラス
#
#
# @else
@@ -1547,53 +1488,350 @@ def notify(self, state):
#
# @endif
class FsmActionListeners:
- def __init__(self):
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @param self
+ #
+ # @endif
+ def __init__(self):
+
+ ##
+ # @if jp
+ # @brief PreFsmActionListenerType
+ # PreFsmActionListenerTypeリスナを格納
+ # @else
+ # @brief PreFsmActionListenerType listener array
+ # The PreFsmActionListenerType listener is stored.
+ # @endif
+ self.preaction_num = PreFsmActionListenerType.PRE_FSM_ACTION_LISTENER_NUM
+ self.preaction_ = [PreFsmActionListenerHolder()
+ for i in range(self.preaction_num)]
+
+ ##
+ # @if jp
+ # @brief PostFsmActionTypeリスナ配列
+ # PostFsmActionTypeリスナを格納
+ # @else
+ # @brief PostFsmActionType listener array
+ # The PostFsmActionType listener is stored.
+ # @endif
+ self.postaction_num = PostFsmActionListenerType.POST_FSM_ACTION_LISTENER_NUM
+ self.postaction_ = [PostFsmActionListenerHolder()
+ for i in range(self.postaction_num)]
+
+ ##
+ # @if jp
+ # @brief FsmProfileType
+ # FsmProfileTypeリスナを格納
+ # @else
+ # @brief FsmProfileType listener array
+ # The FsmProfileType listener is stored.
+ # @endif
+ self.profile_num = FsmProfileListenerType.FSM_PROFILE_LISTENER_NUM
+ self.profile_ = [FsmProfileListenerHolder()
+ for i in range(self.profile_num)]
+
+ ##
+ # @if jp
+ # @brief FsmStructureTypeリスナ配列
+ # FsmStructureTypeリスナを格納
+ # @else
+ # @brief FsmStructureTypelistener array
+ # The FsmStructureType listener is stored.
+ # @endif
+ self.structure_num = FsmStructureListenerType.FSM_STRUCTURE_LISTENER_NUM
+ self.structure_ = [FsmStructureListenerHolder()
+ for i in range(self.structure_num)]
+
+ ##
+ # @if jp
+ # @brief リスナーの追加
+ #
+ # 指定の種類のPreFsmActionListenerを追加する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 追加するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
+ # @endif
+ def addPreActionListener(self, ltype, listener):
+ if ltype < len(self.preaction_):
+ self.preaction_[ltype].addListener(listener)
+ return True
+ return False
+
+ ##
+ # @if jp
+ # @brief リスナーの追加
+ #
+ # 指定の種類のPostFsmActionListenerを追加する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 追加するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
+ # @endif
+ def addPostActionListener(self, ltype, listener):
+ if ltype < len(self.postaction_):
+ self.postaction_[ltype].addListener(listener)
+ return True
+ return False
+
+ ##
+ # @if jp
+ # @brief リスナーの追加
+ #
+ # 指定の種類のFsmProfileListenerを追加する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 追加するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
+ # @endif
+ def addProfileListener(self, ltype, listener):
+ if ltype < len(self.profile_):
+ self.profile_[ltype].addListener(listener)
+ return True
+ return False
##
# @if jp
- # @brief PreFsmActionListenerType
- # PreFsmActionListenerTypeꥹʤǼ
+ # @brief リスナーの追加
+ #
+ # 指定の種類のFsmStructureListenerを追加する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 追加するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
# @else
- # @brief PreFsmActionListenerType listener array
- # The PreFsmActionListenerType listener is stored.
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
# @endif
- self.preaction_num = PreFsmActionListenerType.PRE_FSM_ACTION_LISTENER_NUM
- self.preaction_ = [PreFsmActionListenerHolder()
- for i in range(self.preaction_num)]
+ def addStructureListener(self, ltype, listener):
+ if ltype < len(self.structure_):
+ self.structure_[ltype].addListener(listener)
+ return True
+ return False
##
# @if jp
- # @brief PostFsmActionTypeꥹ
- # PostFsmActionTypeꥹʤǼ
+ # @brief リスナーの削除
+ #
+ # 指定の種類のPreFsmActionListenerを削除する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 削除するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
# @else
- # @brief PostFsmActionType listener array
- # The PostFsmActionType listener is stored.
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
# @endif
- self.postaction_num = PostFsmActionListenerType.POST_FSM_ACTION_LISTENER_NUM
- self.postaction_ = [PostFsmActionListenerHolder()
- for i in range(self.postaction_num)]
+ def removePreActionListener(self, ltype, listener):
+ if ltype < len(self.preaction_):
+ self.preaction_[ltype].removeListener(listener)
+ return True
+ return False
##
# @if jp
- # @brief FsmProfileType
- # FsmProfileTypeꥹʤǼ
+ # @brief リスナーの削除
+ #
+ # 指定の種類のPostFsmActionListenerを削除する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 削除するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
# @else
- # @brief FsmProfileType listener array
- # The FsmProfileType listener is stored.
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
# @endif
- self.profile_num = FsmProfileListenerType.FSM_PROFILE_LISTENER_NUM
- self.profile_ = [FsmProfileListenerHolder()
- for i in range(self.profile_num)]
-
+ def removePostActionListener(self, ltype, listener):
+ if ltype < len(self.postaction_):
+ self.postaction_[ltype].removeListener(listener)
+ return True
+ return False
+
+ ##
+ # @if jp
+ # @brief リスナーの削除
+ #
+ # 指定の種類のFsmProfileListenerを削除する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 削除するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
+ # @endif
+ def removeProfileListener(self, ltype, listener):
+ if ltype < len(self.profile_):
+ self.profile_[ltype].removeListener(listener)
+ return True
+ return False
+
+ ##
+ # @if jp
+ # @brief リスナーの削除
+ #
+ # 指定の種類のFsmStructureListenerを削除する。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param listener 削除するリスナ
+ # @return False：指定の種類のリスナが存在しない
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param listener
+ # @return
+ #
+ # @endif
+ def removeStructureListener(self, ltype, listener):
+ if ltype < len(self.structure_):
+ self.structure_[ltype].removeListener(listener)
+ return True
+ return False
+
##
# @if jp
- # @brief FsmStructureTypeꥹ
- # FsmStructureTypeꥹʤǼ
+ # @brief リスナーへ通知する
+ #
+ # 指定の種類のPreFsmActionListenerのコールバック関数を呼び出す。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param ec_id 実行コンテキストのID
+ #
# @else
- # @brief FsmStructureTypelistener array
- # The FsmStructureType listener is stored.
+ #
+ # @param self
+ # @param ltype
+ # @param ec_id
+ #
# @endif
- self.structure_num = FsmStructureListenerType.FSM_STRUCTURE_LISTENER_NUM
- self.structure_ = [FsmStructureListenerHolder()
- for i in range(self.structure_num)]
+ def notifyPreAction(self, ltype, ec_id):
+ if ltype < len(self.preaction_):
+ self.preaction_[ltype].notify(ec_id)
+ ##
+ # @if jp
+ # @brief リスナーへ通知する
+ #
+ # 指定の種類のPostFsmActionListenerのコールバック関数を呼び出す。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param ec_id 実行コンテキストのID
+ # @param ret リターンコード
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param ec_id
+ # @param ret
+ #
+ # @endif
+ def notifyPostAction(self, ltype, ec_id, ret):
+ if ltype < len(self.postaction_):
+ self.postaction_[ltype].notify(ec_id, ret)
+
+ ##
+ # @if jp
+ # @brief リスナーへ通知する
+ #
+ # 指定の種類のFsmStructureListenerのコールバック関数を呼び出す。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param pprofile ポートプロファイル
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param pprofile
+ #
+ # @endif
+ def notifyProfile(self, ltype, pprofile):
+ if ltype < len(self.profile_):
+ self.profile_[ltype].notify(pprofile)
+
+ ##
+ # @if jp
+ # @brief リスナーへ通知する
+ #
+ # 指定の種類のFsmStructureListenerのコールバック関数を呼び出す。
+ #
+ # @param self
+ # @param ltype リスナの種類
+ # @param ec_id 実行コンテキストのID
+ #
+ # @else
+ #
+ # @param self
+ # @param ltype
+ # @param ec_id
+ #
+ # @endif
+ def notifyStructure(self, ltype, ec_id):
+ if ltype < len(self.structure_):
+ self.structure_[ltype].notify(ec_id)
diff --git a/OpenRTM_aist/FsmObject.py b/OpenRTM_aist/FsmObject.py
index 7cd2873d..63639bb9 100644
--- a/OpenRTM_aist/FsmObject.py
+++ b/OpenRTM_aist/FsmObject.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file FsmObject.py
@@ -15,74 +15,73 @@
# All rights reserved.
-
-
import OpenRTM_aist
-import RTC, RTC__POA
+import RTC
+import RTC__POA
##
# @if jp
-# @brief
-# FiniteStateMachineΥ١饹
-# 桼RTݡͥȤϡΥ饹ĥ롣
-# RTݡͥȤΥ١Ȥʤ륯饹}
+# @brief
+# FiniteStateMachineのベースクラス。
+# ユーザが新たなRTコンポーネントを作成する場合は、このクラスを拡張する。
+# 各RTコンポーネントのベースとなるクラス。}
#
#
# @else
-# @brief
+# @brief
# This is a class to be a base of each RT-Component.
# This is a implementation class of lightweightRTComponent in Robotic
# Technology Component specification
#
# @endif
class FsmObject_impl(RTC__POA.FsmObject):
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- #
- # @brief Consructor
- #
- #
- # @endif
- def __init__(self):
- pass
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief Consructor
+ #
+ #
+ # @endif
+ def __init__(self):
+ pass
- ##
- # @if jp
- # @brief
- #
- #
- #
- # @param self
- #
- # @else
- #Send a stimulus to an FSM that realizes this interface.
- # If the stimulus corresponds to any outgoing transition of the
- # current state, that transition shall be taken and the state
- # shall change. Any FSM participants associated with the exit of
- # the current state, the transition to the new state, or the
- # entry to the new state shall be invoked. If the stimulus does
- # not correspond to any such transition, this operation shall
- # succeed but have no effect.
- #
- # If the given execution context is a non-nil reference to a
- # context in which this FSM participates, the transition shall be
- # executed in that context. If the argument is nil, the FSM shall
- # choose an EVENT_DRIVEN context in which to execute the
- # transition. If the argument is non-nil, but this FSM does not
- # participate in the given context, this operation shall fail
- # with * ReturnCode_t::BAD_PARAMETER.
- #
- # @brief Consructor
- #
- #
- # @endif
- def send_stimulus(self, ids, id):
- return RTC.RTC_OK
+ ##
+ # @if jp
+ # @brief
+ #
+ #
+ #
+ # @param self
+ #
+ # @else
+ # Send a stimulus to an FSM that realizes this interface.
+ # If the stimulus corresponds to any outgoing transition of the
+ # current state, that transition shall be taken and the state
+ # shall change. Any FSM participants associated with the exit of
+ # the current state, the transition to the new state, or the
+ # entry to the new state shall be invoked. If the stimulus does
+ # not correspond to any such transition, this operation shall
+ # succeed but have no effect.
+ #
+ # If the given execution context is a non-nil reference to a
+ # context in which this FSM participates, the transition shall be
+ # executed in that context. If the argument is nil, the FSM shall
+ # choose an EVENT_DRIVEN context in which to execute the
+ # transition. If the argument is non-nil, but this FSM does not
+ # participate in the given context, this operation shall fail
+ # with * ReturnCode_t::BAD_PARAMETER.
+ #
+ # @brief Consructor
+ #
+ #
+ # @endif
+ def send_stimulus(self, ids, id):
+ return RTC.RTC_OK
diff --git a/OpenRTM_aist/GlobalFactory.py b/OpenRTM_aist/GlobalFactory.py
index 8f60cc9b..c5a652e4 100644
--- a/OpenRTM_aist/GlobalFactory.py
+++ b/OpenRTM_aist/GlobalFactory.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file GlobalFactory.py
@@ -17,297 +17,86 @@
#
-
-
-
class Factory:
- """
- """
-
- FACTORY_OK = 0
- FACTORY_ERROR = 1
- ALREADY_EXISTS = 2
- NOT_FOUND = 3
- INVALID_ARG = 4
- UNKNOWN_ERROR = 5
-
- ##
- # @if jp
- #
- # @class FactoryEntry
- # @brief FactoryEntry 饹
- #
- # @else
- #
- # @class FactoryEntry
- # @brief FactoryEntry class
- #
- # @endif
- class FactoryEntry:
"""
"""
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param creator ꥨѥե
- # @param destructor ǥȥ饯ѥե
- #
- # @else
- #
- # @brief Constructor
- #
- # Constructor
- #
- # @param creator Functor for creator.
- # @param destructor Functor for destructor.
- #
- # @endif
- # FactoryEntry(Identifier id, Creator creator, Destructor destructor)
- def __init__(self, id, creator, destructor):
- self.id_ = id
- self.creator_ = creator
- self.destructor_ = destructor
- return
-
-
- def __init__(self):
- self._creators = {}
- self._objects = {}
-
-
- ## bool hasFactory(const Identifier& id)
- def hasFactory(self, id):
- if not id in self._creators:
- return False
- return True
-
-
- ## std::vector getIdentifiers()
- def getIdentifiers(self):
- idlist = []
-
- for id in self._creators.keys():
- idlist.append(id)
- idlist.sort()
- return idlist
+ FACTORY_OK = 0
+ FACTORY_ERROR = 1
+ ALREADY_EXISTS = 2
+ NOT_FOUND = 3
+ INVALID_ARG = 4
+ UNKNOWN_ERROR = 5
+ def __init__(self):
+ self._creators = {}
- ## ReturnCode addFactory(const Identifier& id,
- ## Creator creator,
- ## Destructor destructor)
- def addFactory(self, id, creator, destructor):
- if not creator or not destructor:
- return self.INVALID_ARG
+ # bool hasFactory(const Identifier& id)
- if id in self._creators:
- return self.ALREADY_EXISTS
-
- self._creators[id] = Factory.FactoryEntry(id, creator, destructor)
- return self.FACTORY_OK
+ def hasFactory(self, id):
+ if not id in self._creators:
+ return False
+ return True
+ # std::vector getIdentifiers()
- ## ReturnCode removeFactory(const Identifier& id)
- def removeFactory(self, id):
- if not id in self._creators:
- return self.NOT_FOUND
+ def getIdentifiers(self):
+ idlist = []
- del self._creators[id]
- return self.FACTORY_OK
+ for id in self._creators.keys():
+ idlist.append(id)
+ idlist.sort()
+ return idlist
+ # ReturnCode addFactory(const Identifier& id,
+ # Creator creator)
- ## AbstractClass* createObject(const Identifier& id)
- def createObject(self, id):
- if not id in self._creators:
- print("Factory.createObject return None id: ", id)
- return None
- obj_ = self._creators[id].creator_()
- #assert(not obj_ in self._objects)
- self._objects[obj_] = self._creators[id]
- return obj_
+ def addFactory(self, id, creator):
+ if not creator:
+ return self.INVALID_ARG
+ if id in self._creators:
+ return self.ALREADY_EXISTS
- ## ReturnCode deleteObject(const Identifier& id, AbstractClass*& obj)
- def deleteObject(self, obj, id=None):
- if id:
- if id in self._creators:
- self._creators[id].destructor_(obj)
- del self._objects[obj]
+ self._creators[id] = creator
return self.FACTORY_OK
- if not obj in self._objects:
- return self.NOT_FOUND
+ # ReturnCode removeFactory(const Identifier& id)
- tmp = obj
- self._objects[obj].destructor_(obj)
- del self._objects[tmp]
- return self.FACTORY_OK
+ def removeFactory(self, id):
+ if not id in self._creators:
+ return self.NOT_FOUND
+ del self._creators[id]
+ return self.FACTORY_OK
- ##
- # @if jp
- #
- # @brief Ѥߥ֥ȥꥹȤμ
- #
- # Υեȥ줿֥ȤΥꥹȤ롣
- #
- # @return Ѥߥ֥ȥꥹ
- #
- # @else
- #
- # @brief Getting created objects
- #
- # This operation returns a list of created objects by the factory.
- #
- # @return created object list
- #
- # @endif
- # std::vector createdObjects()
- def createdObjects(self):
- objects_ = []
- for id_ in self._objects.keys():
- objects_.append(id_)
-
- return objects_
-
-
- ##
- # @if jp
- #
- # @brief ֥ȤΥեȥʪɤĴ٤
- #
- # @param obj оݥ֥
- # @return true: Υեȥʪ
- # false: ΥեȥʪǤϤʤ
- #
- # @else
- #
- # @brief Whether a object is a product of this factory
- #
- # @param obj A target object
- # @return true: The object is a product of the factory
- # false: The object is not a product of the factory
- #
- # @return created object list
- #
- # @endif
- # bool isProducerOf(AbstractClass* obj)
- def isProducerOf(self, obj):
- return obj in self._objects
-
-
- ##
- # @if jp
- #
- # @brief ֥Ȥ饯饹̻(ID)
- #
- # ֥ȤΥ饹̻(ID)롣
- #
- # @param obj [in] 饹̻(ID)֥
- # @param id [out] 饹̻(ID)
- # @return NOT_FOUND: ̻Ҥ¸ߤʤ
- # FACTORY_OK: ｪλ
- # @else
- #
- # @brief Getting class identifier (ID) from a object
- #
- # This operation returns a class identifier (ID) from a object.
- #
- # @param obj [in] An object to investigate its class ID.
- # @param id [out] Class identifier (ID)
- # @return Return code NOT_FOUND: ID not found
- # FACTORY_OK: normal return
- # @endif
- # ReturnCode objectToIdentifier(AbstractClass* obj, Identifier& id)
- def objectToIdentifier(self, obj, id):
- if not obj in self._objects:
- return self.NOT_FOUND
-
- id[0] = self._objects[obj].id_
- return self.FACTORY_OK
-
-
- ##
- # @if jp
- #
- # @brief ֥ȤΥȥ饯
- #
- # Υեȥ줿֥ȤΥȥ饯롣
- # obj ϤΥեȥ줿ΤǤʤФʤʤͽ
- # isProducerOf() ؿ֥ȤΥեȥʪ
- # 뤫ɤåʤФʤʤ
- #
- # @return ֥ȤΥǥȥ饯
- #
- # @else
- #
- # @brief Getting destructor of the object
- #
- # This operation returns a constructor of the object created by
- # the factory. obj must be a product of the factory. User must
- # check if the object is a product of the factory by using
- # isProducerOf()-function, before using this function.
- #
- # @return destructor of the object
- #
- # @endif
- #Creator objectToCreator(AbstractClass* obj)
- def objectToCreator(self, obj):
- return self._objects[obj].creator_
-
+ # AbstractClass* createObject(const Identifier& id)
- ##
- # @if jp
- #
- # @brief ֥ȤΥǥȥ饯
- #
- # Υեȥ줿֥ȤΥǥȥ饯롣
- # obj ϤΥեȥ줿ΤǤʤФʤʤͽ
- # isProducerOf() ؿ֥ȤΥեȥʪ
- # 뤫ɤåʤФʤʤ
- #
- # @return ֥ȤΥǥȥ饯
- #
- # @else
- #
- # @brief Getting destructor of the object
- #
- # This operation returns a destructor of the object created by
- # the factory. obj must be a product of the factory. User must
- # check if the object is a product of the factory by using
- # isProducerOf()-function, before using this function.
- #
- # @return destructor of the object
- #
- # @endif
- #Destructor objectToDestructor(AbstractClass* obj)
- def objectToDestructor(self, obj):
- return self._objects[obj].destructor_
+ def createObject(self, id):
+ if not id in self._creators:
+ print("Factory.createObject return None id: ", id)
+ return None
+ obj_ = self._creators[id]()
+ return obj_
-
gfactory = None
-class GlobalFactory(Factory):
- def __init__(self):
- Factory.__init__(self)
- pass
+class GlobalFactory(Factory):
+ def __init__(self):
+ Factory.__init__(self)
+ pass
- def instance():
- global gfactory
-
- if gfactory is None:
- gfactory = GlobalFactory()
+ def instance():
+ global gfactory
- return gfactory
+ if gfactory is None:
+ gfactory = GlobalFactory()
- instance = staticmethod(instance)
+ return gfactory
+ instance = staticmethod(instance)
- def __del__(self):
- pass
+ def __del__(self):
+ pass
diff --git a/OpenRTM_aist/Guard.py b/OpenRTM_aist/Guard.py
index 8dcf17c4..914f3171 100644
--- a/OpenRTM_aist/Guard.py
+++ b/OpenRTM_aist/Guard.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file Guard.py
@@ -20,9 +20,9 @@
##
# @if jp
# @class ScopedLock
-# @brief ScopedLock 饹
+# @brief ScopedLock クラス
#
-# ¾ѥå饹
+# 排他処理用ロッククラス。
#
# @since 0.4.0
#
@@ -30,37 +30,36 @@
#
# @endif
class ScopedLock:
- """
- """
+ """
+ """
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- # @param mutex åѥߥ塼ƥå
- #
- # @else
- #
- # @endif
- def __init__(self, mutex):
- self.mutex = mutex
- self.mutex.acquire()
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ # @param mutex ロック用ミューテックス
+ #
+ # @else
+ #
+ # @endif
+ def __init__(self, mutex):
+ self.mutex = mutex
+ self.mutex.acquire()
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- #
- # @endif
- def __del__(self):
- self.mutex.release()
-
+ def __del__(self):
+ self.mutex.release()
diff --git a/OpenRTM_aist/InPort.py b/OpenRTM_aist/InPort.py
index adf3bde1..eeb3a75d 100644
--- a/OpenRTM_aist/InPort.py
+++ b/OpenRTM_aist/InPort.py
@@ -1,12 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPort.py
# @brief InPort template class
# @date $Date: 2007/09/20 $
# @author Noriaki Ando and Shinji Kurihara
-#
+#
# Copyright (C) 2003-2008
# Task-intelligence Research Group,
# Intelligent Systems Research Institute,
@@ -15,7 +15,6 @@
# All rights reserved.
-
import copy
@@ -27,15 +26,15 @@
#
# @class InPort
#
-# @brief InPort 饹
-#
-# InPort μ饹
-# InPort ˥Хåե줿ǡ缡
-# ΥХåե˳Ǽ롣ХåեΥϥǥեȤ64
-# ʤäƤ뤬ȥ饯ˤꥵꤹ뤳ȤǤ롣
-# ǡϥե饰ˤä̤ɡɾ֤졢isNew(), getNewDataLen()
-# getNewList(), getNewListReverse() Υåɤˤϥɥ뤳Ȥ
-# Ǥ롣
+# @brief InPort クラス
+#
+# InPort の実装クラス。
+# InPort は内部にリングバッファを持ち、外部から送信されたデータを順次
+# このリングバッファに格納する。リングバッファのサイズはデフォルトで64と
+# なっているが、コンストラクタ引数によりサイズを指定することができる。
+# データはフラグによって未読、既読状態が管理され、isNew(), getNewDataLen()
+# getNewList(), getNewListReverse() 等のメソッドによりハンドリングすることが
+# できる。
#
# @since 0.2.0
#
@@ -50,437 +49,427 @@
# port from other components, using this template.
# This is class template. This class have to be incarnated class as port
# value types. This value types are previously define RtComponent IDL.
-# ex. type T: TimedFload, TimedLong etc...
+# ex. type T: TimedFload, TimedLong etc...
#
# @since 0.2.0
#
# @endif
+
+
class InPort(OpenRTM_aist.InPortBase):
- """
- """
-
-
-
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- # @param name InPort ̾InPortBase:name() ˤ껲Ȥ롣
- # @param value InPort ˥Хɤѿ
- # @param read_block ɹ֥åե饰
- # ǡɹ̤ɥǡʤ硢Υǡޤǥ֥å
- # ɤ(ǥե:False)
- # @param write_block ֥åե饰
- # ǡ˥ХåեեǤä硢Хåե˶Ǥ
- # ޤǥ֥å뤫ɤ(ǥե:False)
- # @param read_timeout ɹ֥åꤷƤʤΡǡɼ西
- # Ȼ(ߥ)(ǥե:0)
- # @param write_timeout ֥åꤷƤʤΡǡ
- # Ȼ(ߥ)(ǥե:0)
- #
- # @else
- #
- # @brief A constructor.
- #
- # Setting channel name and registering channel value.
- #
- # @param self
- # @param name A name of the InPort. This name is referred by
- # InPortBase::name().
- # @param value A channel value related with the channel.
- # @param read_block
- # @param write_block
- # @param read_timeout
- # @param write_timeout
- #
- # @endif
- def __init__(self, name, value, buffer=None,
- read_block=False, write_block=False,
- read_timeout=0, write_timeout = 0):
- OpenRTM_aist.InPortBase.__init__(self, name, OpenRTM_aist.toTypename(value))
- self._name = name
- self._value = value
- self._OnRead = None
- self._OnReadConvert = None
-
- self._directNewData = False
- self._valueMutex = threading.RLock()
-
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, OpenRTM_aist.Timestamp("on_received"))
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, OpenRTM_aist.Timestamp("on_read"))
-
-
-
- def __del__(self, InPortBase=OpenRTM_aist.InPortBase):
- InPortBase.__del__(self)
- return
-
- ##
- # @if jp
- # @brief ݡ̾Τ롣
- #
- # ݡ̾Τ롣
- #
- # @param self
- #
- # @return ݡ̾
- #
- # @else
- #
- # @endif
- #
- # const char* name()
- def name(self):
- return self._name
-
-
- ##
- # @if jp
- # @brief ǿǡǧ
- #
- # ߤΥХåե֤˳ǼƤǡǿǡǧ롣
- #
- # @param self
- #
- # @return ǿǡǧ
- # ( true:ǿǡǡϤޤɤ߽ФƤʤ
- # false:Υǡǡϴɤ߽ФƤ)
- #
- # @else
- #
- # @endif
- #
- # bool isNew()
- def isNew(self, names=None):
- self._rtcout.RTC_TRACE("isNew()")
-
-
- guard = OpenRTM_aist.ScopedLock(self._valueMutex)
- if self._directNewData == True:
- self._rtcout.RTC_TRACE("isNew() returns true because of direct write.")
- return True
- del guard
-
- if len(self._connectors) == 0:
- self._rtcout.RTC_DEBUG("no connectors")
- return False
-
- if names is None:
- r = self._connectors[0].getBuffer().readable()
- if r > 0:
- self._rtcout.RTC_DEBUG("isNew() = True, readable data: %d",r)
- return True
- else:
- self._rtcout.RTC_DEBUG("isNew() = False, no readable data")
- return False
- elif isinstance(names, str):
- for con in self._connectors:
- if con.name() == names:
- r = con.getBuffer().readable()
- if r > 0:
- self._rtcout.RTC_DEBUG("isNew() = True, connector name: %s, readable data: %d",(names, r))
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ。
+ #
+ # @param self
+ # @param name InPort 名。InPortBase:name() により参照される。
+ # @param value この InPort にバインドされる変数
+ #
+ # @else
+ #
+ # @brief A constructor.
+ #
+ # Setting channel name and registering channel value.
+ #
+ # @param self
+ # @param name A name of the InPort. This name is referred by
+ # InPortBase::name().
+ # @param value A channel value related with the channel.
+ #
+ # @endif
+ def __init__(self, name, value):
+ OpenRTM_aist.InPortBase.__init__(
+ self, name, OpenRTM_aist.toTypename(value))
+ self._name = name
+ self._value = value
+ self._OnRead = None
+ self._OnReadConvert = None
+
+ self._directNewData = False
+ self._valueMutex = threading.RLock()
+
+ marshaling_types = OpenRTM_aist.SerializerFactories.instance().getSerializerList(value)
+ marshaling_types = OpenRTM_aist.flatten(marshaling_types).lstrip()
+ self.addProperty("dataport.marshaling_types", marshaling_types)
+
+ self._listeners.setDataType(copy.deepcopy(value))
+ self._listeners.setPortType(OpenRTM_aist.PortType.InPortType)
+
+ self.addConnectorDataListener(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,
+ OpenRTM_aist.Timestamp("on_received"))
+ self.addConnectorDataListener(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ,
+ OpenRTM_aist.Timestamp("on_read"))
+
+ def __del__(self, InPortBase=OpenRTM_aist.InPortBase):
+ InPortBase.__del__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief ポート名称を取得する。
+ #
+ # ポート名称を取得する。
+ #
+ # @param self
+ #
+ # @return ポート名称
+ #
+ # @else
+ #
+ # @endif
+ #
+ # const char* name()
+ def name(self):
+ return self._name
+
+ ##
+ # @if jp
+ # @brief 最新データか確認
+ #
+ # 現在のバッファ位置に格納されているデータが最新データか確認する。
+ #
+ # @param self
+ #
+ # @return 最新データ確認結果
+ # ( true:最新データ．データはまだ読み出されていない
+ # false:過去のデータ．データは既に読み出されている)
+ #
+ # @else
+ #
+ # @endif
+ #
+ # bool isNew()
+
+ def isNew(self, names=None):
+ self._rtcout.RTC_TRACE("isNew()")
+
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ if self._directNewData == True:
+ self._rtcout.RTC_TRACE(
+ "isNew() returns true because of direct write.")
return True
- else:
- self._rtcout.RTC_DEBUG("isNew() = False, connector name: %s, no readable data",names)
+ del guard
+
+ if not self._connectors:
+ self._rtcout.RTC_DEBUG("no connectors")
return False
- elif isinstance(names, list):
- del names[:]
- for con in self._connectors:
- r = con.getBuffer().readable()
- if r > 0:
- self._rtcout.RTC_DEBUG("isNew() = True, connector name: %s, readable data: %d",(names, r))
- names.append(con.name())
- if len(names) > 0:
- return True
- else:
- self._rtcout.RTC_DEBUG("isNew() = False, no readable data")
+
+ if names is None:
+ r = self._connectors[0].getBuffer().readable()
+ if r > 0:
+ self._rtcout.RTC_DEBUG("isNew() = True, readable data: %d", r)
+ return True
+ else:
+ self._rtcout.RTC_DEBUG("isNew() = False, no readable data")
+ return False
+ elif isinstance(names, str):
+ for con in self._connectors:
+ if con.name() == names:
+ r = con.getBuffer().readable()
+ if r > 0:
+ self._rtcout.RTC_DEBUG(
+ "isNew() = True, connector name: %s, readable data: %d", (names, r))
+ return True
+ else:
+ self._rtcout.RTC_DEBUG(
+ "isNew() = False, connector name: %s, no readable data", names)
+ return False
+ elif isinstance(names, list):
+ del names[:]
+ for con in self._connectors:
+ r = con.getBuffer().readable()
+ if r > 0:
+ self._rtcout.RTC_DEBUG(
+ "isNew() = True, connector name: %s, readable data: %d", (names, r))
+ names.append(con.name())
+ if names:
+ return True
+ else:
+ self._rtcout.RTC_DEBUG("isNew() = False, no readable data")
+ return False
+
+ self._rtcout.RTC_ERROR("isNew() = False, Unknown Errow")
return False
-
-
- self._rtcout.RTC_ERROR("isNew() = False, Unknown Errow")
- return False
-
-
- ##
- # @if jp
- #
- # @brief Хåեɤǧ
- #
- # InPortΥХåեɤ bool ֤ͤ
- # ξ true, ̤ɥǡ false ֤
- #
- # @return true Хåե϶
- # false Хåե̤ɥǡ
- #
- # @else
- #
- # @brief Check whether the data is newest
- #
- # Check whether the data stored at a current buffer position is newest.
- #
- # @return Newest data check result
- # ( true:Newest data. Data has not been readout yet.
- # false:Past dataData has already been readout.)
- #
- # @endif
- #
- # bool isEmpty()
- def isEmpty(self, names=None):
- self._rtcout.RTC_TRACE("isEmpty()")
- if self._directNewData == True:
- return False
- if len(self._connectors) == 0:
- self._rtcout.RTC_DEBUG("no connectors")
- return True
-
- if names is None:
- r = self._connectors[0].getBuffer().readable()
- if r == 0:
- self._rtcout.RTC_DEBUG("isEmpty() = true, buffer is empty")
- return True
- elif isinstance(names, str):
- for con in self._connectors:
- if con.name() == names:
- r = con.getBuffer().readable()
- if r == 0:
- self._rtcout.RTC_DEBUG("isEmpty() = True, connector name: %s, buffer is empty",(names))
- return True
- else:
- self._rtcout.RTC_DEBUG("isEmpty() = False, connector name: %s, readable data: %d",(names,r))
+
+ ##
+ # @if jp
+ #
+ # @brief バッファが空かどうか確認する
+ #
+ # InPortのバッファが空かどうかを bool 値で返す。
+ # 空の場合は true, 未読データがある場合は false を返す。
+ #
+ # @return true バッファは空
+ # false バッファに未読データがある
+ #
+ # @else
+ #
+ # @brief Check whether the data is newest
+ #
+ # Check whether the data stored at a current buffer position is newest.
+ #
+ # @return Newest data check result
+ # ( true:Newest data. Data has not been readout yet.
+ # false:Past data．Data has already been readout.)
+ #
+ # @endif
+ #
+ # bool isEmpty()
+
+ def isEmpty(self, names=None):
+ self._rtcout.RTC_TRACE("isEmpty()")
+ if self._directNewData == True:
return False
- elif isinstance(names, list):
- del names[:]
- for con in self._connectors:
- r = con.getBuffer().readable()
- if r == 0:
- self._rtcout.RTC_DEBUG("isEmpty() = True, connector name: %s",(names))
- names.append(con.name())
- if len(names) > 0:
- return True
- else:
- self._rtcout.RTC_DEBUG("isEmpty() = False, no readable data")
- return False
-
- self._rtcout.RTC_DEBUG("isEmpty() = false, data exists in the buffer")
- return False
-
-
- ##
- # @if jp
- #
- # @brief DataPort ͤɤ߽Ф
- #
- # InPort˽ޤ줿ǡɤߤ³0ޤϥХåե
- # ǡޤƤʤ֤ɤߤͤǤ롣
- # Хåեξ֤ΤȤ
- # ꤵ줿⡼ (readback, do_nothing, block) ˱ơ
- # ʲΤ褦ư롣
- #
- # - readback: Ǹͤɤߤʤ
- #
- # - do_nothing: ⤷ʤ
- #
- # - block: ֥å롣ॢȤꤵƤϡ
- # ॢȤޤԤġ
- #
- # Хåեξ֤ǤϡInPort˥Хɤ줿ѿ֤ͤ롣
- # äơɤ߽Фˤ֤ͤǽ롣
- # δؿѤݤˤϡ
- #
- # - isNew(), isEmpty() ʻѤ˥Хåե֤å롣
- #
- # - ɤ߽Ф֤ͤʤ褦˥Хѿ˽
- #
- #
- # ƥХåؿϰʲΤ褦˸ƤӽФ롣
- # - OnRead: read() ؿƤФݤɬƤФ롣
- #
- # - OnReadConvert: ǡɤ߽Ф硢ɤߤǡ
- # ȤOnReadConvertƤӽФ졢ͤread()
- # Ȥ֤
- #
- # - OnEmpty: ХåեΤǡɤ߽Ф˼ԤƤӽФ롣
- # OnEmpty ͤ read() ͤȤ֤
- #
- # - OnBufferTimeout: ǡեPushξˡɤ߽Ф
- # ॢȤΤ˥ǡɤ߽Ф˼Ԥ˸ƤФ롣
- #
- # - OnRecvTimeout: ǡեPullξˡɤ߽Фॢ
- # Τ˥ǡɤ߽Ф˼Ԥ˸ƤФ롣
- #
- # - OnReadError: 嵭ʳͳɤߤ˼Ԥ˸ƤФ롣
- # ͳȤƤϡХåե硢㳰ȯʤɤͤ
- # ̾ϵꤨʤХβǽ롣
- #
- # @return ɤ߽Фǡ
- #
- # @else
- #
- # @brief Readout the value from DataPort
- #
- # Readout the value from DataPort
- #
- # - When Callback functor OnRead is already set, OnRead will be invoked
- # before reading from the buffer held by DataPort.
- # - When the buffer held by DataPort can detect the underflow,
- # and when it detected the underflow at reading, callback functor
- # OnUnderflow will be invoked.
- # - When callback functor OnReadConvert is already set, the return value of
- # operator() of OnReadConvert will be the return value of read().
- # - When timeout of reading is already set by setReadTimeout(),
- # it waits for only timeout time until the state of the buffer underflow
- # is reset, and if OnUnderflow is already set, this will be invoked to
- # return.
- #
- # @return Readout data
- #
- # @endif
- #
- # DataType read()
- def read(self, name=None):
- self._rtcout.RTC_TRACE("DataType read()")
-
- if self._OnRead is not None:
- self._OnRead()
- self._rtcout.RTC_TRACE("OnRead called")
-
- guard = OpenRTM_aist.ScopedLock(self._valueMutex)
- if self._directNewData == True:
-
- self._rtcout.RTC_TRACE("Direct data transfer")
- if self._OnReadConvert is not None:
- self._value = self._OnReadConvert(self._value)
- self._rtcout.RTC_TRACE("OnReadConvert for direct data called")
- self._directNewData = False
- return self._value
- del guard
-
-
-
-
- if len(self._connectors) == 0:
- self._rtcout.RTC_DEBUG("no connectors")
- return self._value
-
- _val = copy.deepcopy(self._value)
- cdr = [_val]
-
-
- if name is None:
- ret = self._connectors[0].read(cdr)
- else:
- ret = OpenRTM_aist.DataPortStatus.PRECONDITION_NOT_MET
- for con in self._connectors:
- if con.name() == name:
- ret = con.read(cdr)
- if ret == OpenRTM_aist.DataPortStatus.PRECONDITION_NOT_MET:
- self._rtcout.RTC_DEBUG("not found %s",name)
- return self._value
+ if not self._connectors:
+ self._rtcout.RTC_DEBUG("no connectors")
+ return True
+ if names is None:
+ r = self._connectors[0].getBuffer().readable()
+ if r == 0:
+ self._rtcout.RTC_DEBUG("isEmpty() = true, buffer is empty")
+ return True
+ elif isinstance(names, str):
+ for con in self._connectors:
+ if con.name() == names:
+ r = con.getBuffer().readable()
+ if r == 0:
+ self._rtcout.RTC_DEBUG(
+ "isEmpty() = True, connector name: %s, buffer is empty", (names))
+ return True
+ else:
+ self._rtcout.RTC_DEBUG(
+ "isEmpty() = False, connector name: %s, readable data: %d", (names, r))
+ return False
+ elif isinstance(names, list):
+ del names[:]
+ for con in self._connectors:
+ r = con.getBuffer().readable()
+ if r == 0:
+ self._rtcout.RTC_DEBUG(
+ "isEmpty() = True, connector name: %s", (names))
+ names.append(con.name())
+ if names:
+ return True
+ else:
+ self._rtcout.RTC_DEBUG("isEmpty() = False, no readable data")
+ return False
- if ret == OpenRTM_aist.DataPortStatus.PORT_OK:
- self._rtcout.RTC_DEBUG("data read succeeded")
- self._value = cdr[0]
+ self._rtcout.RTC_DEBUG("isEmpty() = false, data exists in the buffer")
+ return False
- if self._OnReadConvert is not None:
- self._value = self._OnReadConvert(self._value)
- self._rtcout.RTC_DEBUG("OnReadConvert called")
+ ##
+ # @if jp
+ #
+ # @brief DataPort から値を読み出す
+ #
+ # InPortに書き込まれたデータを読みだす。接続数が0、またはバッファに
+ # データが書き込まれていない状態で読みだした場合の戻り値は不定である。
+ # バッファが空の状態のとき、
+ # 事前に設定されたモード (readback, do_nothing, block) に応じて、
+ # 以下のような動作をする。
+ #
+ # - readback: 最後の値を読みなおす。
+ #
+ # - do_nothing: 何もしない
+ #
+ # - block: ブロックする。タイムアウトが設定されている場合は、
+ # タイムアウトするまで待つ。
+ #
+ # バッファが空の状態では、InPortにバインドされた変数の値が返される。
+ # したがって、初回読み出し時には不定値を返す可能性がある。
+ # この関数を利用する際には、
+ #
+ # - isNew(), isEmpty() と併用し、事前にバッファ状態をチェックする。
+ #
+ # - 初回読み出し時に不定値を返さないようにバインド変数を事前に初期化する
+ #
+ #
+ # 各コールバック関数は以下のように呼び出される。
+ # - OnRead: read() 関数が呼ばれる際に必ず呼ばれる。
+ #
+ # - OnReadConvert: データの読み出しが成功した場合、読みだしたデータを
+ # 引数としてOnReadConvertが呼び出され、戻り値をread()が戻り値
+ # として返す。
+ #
+ # - OnEmpty: バッファが空のためデータの読み出しに失敗した場合呼び出される。
+ # OnEmpty の戻り値を read() の戻り値として返す。
+ #
+ # - OnBufferTimeout: データフロー型がPush型の場合に、読み出し
+ # タイムアウトのためにデータの読み出しに失敗した場合に呼ばれる。
+ #
+ # - OnRecvTimeout: データフロー型がPull型の場合に、読み出しタイムアウト
+ # のためにデータ読み出しに失敗した場合に呼ばれる。
+ #
+ # - OnReadError: 上記以外の理由で読みだしに失敗した場合に呼ばれる。
+ # 理由としては、バッファ設定の不整合、例外の発生などが考えられる
+ # が通常は起こりえないためバグの可能性がある。
+ #
+ # @return 読み出したデータ
+ #
+ # @else
+ #
+ # @brief Readout the value from DataPort
+ #
+ # Readout the value from DataPort
+ #
+ # - When Callback functor OnRead is already set, OnRead will be invoked
+ # before reading from the buffer held by DataPort.
+ # - When the buffer held by DataPort can detect the underflow,
+ # and when it detected the underflow at reading, callback functor
+ # OnUnderflow will be invoked.
+ # - When callback functor OnReadConvert is already set, the return value of
+ # operator() of OnReadConvert will be the return value of read().
+ # - When timeout of reading is already set by setReadTimeout(),
+ # it waits for only timeout time until the state of the buffer underflow
+ # is reset, and if OnUnderflow is already set, this will be invoked to
+ # return.
+ #
+ # @return Readout data
+ #
+ # @endif
+ #
+ # DataType read()
+
+ def read(self, name=None):
+ self._rtcout.RTC_TRACE("DataType read()")
+
+ if self._OnRead is not None:
+ self._OnRead()
+ self._rtcout.RTC_TRACE("OnRead called")
+
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ if self._directNewData == True:
+
+ self._rtcout.RTC_TRACE("Direct data transfer")
+ if self._OnReadConvert is not None:
+ self._value = self._OnReadConvert(self._value)
+ self._rtcout.RTC_TRACE("OnReadConvert for direct data called")
+ self._directNewData = False
+ return self._value
+ del guard
+
+ if not self._connectors:
+ self._rtcout.RTC_DEBUG("no connectors")
+ return self._value
+
+ _val = copy.deepcopy(self._value)
+
+ if name is None:
+ ret, _val = self._connectors[0].read(_val)
+ else:
+ ret = OpenRTM_aist.DataPortStatus.PRECONDITION_NOT_MET
+ for con in self._connectors:
+ if con.name() == name:
+ ret, _val = con.read(_val)
+ if ret == OpenRTM_aist.DataPortStatus.PRECONDITION_NOT_MET:
+ self._rtcout.RTC_DEBUG("not found %s", name)
+ return self._value
+
+ if ret == OpenRTM_aist.DataPortStatus.PORT_OK:
+ self._rtcout.RTC_DEBUG("data read succeeded")
+ self._value = _val
+
+ if self._OnReadConvert is not None:
+ self._value = self._OnReadConvert(self._value)
+ self._rtcout.RTC_DEBUG("OnReadConvert called")
+ return self._value
+ return self._value
+
+ elif ret == OpenRTM_aist.DataPortStatus.BUFFER_EMPTY:
+ self._rtcout.RTC_WARN("buffer empty")
+ return self._value
+
+ elif ret == OpenRTM_aist.DataPortStatus.BUFFER_TIMEOUT:
+ self._rtcout.RTC_WARN("buffer read timeout")
+ return self._value
+
+ self._rtcout.RTC_ERROR("unknown retern value from buffer.read()")
return self._value
- return self._value
-
- elif ret == OpenRTM_aist.DataPortStatus.BUFFER_EMPTY:
- self._rtcout.RTC_WARN("buffer empty")
- return self._value
-
- elif ret == OpenRTM_aist.DataPortStatus.BUFFER_TIMEOUT:
- self._rtcout.RTC_WARN("buffer read timeout")
- return self._value
-
- self._rtcout.RTC_ERROR("unknown retern value from buffer.read()")
- return self._value
-
-
- ##
- # @if jp
- #
- # @brief Хɤ줿ѿ InPort Хåեκǿͤɤ߹
- #
- # Хɤ줿ǡ InPort κǿͤɤ߹ࡣ
- # ȥ饯ѿ InPort ХɤƤʤФʤʤ
- # Υåɤϥݥ⡼եå˻ѤȤƤ뤿ᡢ
- # ˰¸ʤͤȤʤäƤ롣
- #
- # @param self
- #
- # @else
- #
- # @brief Read into bound T-type data from current InPort
- #
- # @endif
- def update(self):
- self.read()
-
-
- ##
- # @if jp
- #
- # @brief InPort Хåեإǡɤ߹ΥХå
- #
- # InPort ĥХåեǡɤ߹ޤľ˸ƤФ륳Хå
- # ֥Ȥꤹ롣
- #
- # @param self
- # @param on_read оݥХå֥
- #
- # @else
- #
- # @endif
- def setOnRead(self, on_read):
- self._OnRead = on_read
-
-
- ##
- # @if jp
- #
- # @brief InPort Хåեإǡɤ߽ФΥХå
- #
- # InPort ĥХåեǡɤ߽Фݤ˸ƤФ륳Хå
- # ֥Ȥꤹ롣Хå֥Ȥͤread()å
- # θƽз̤Ȥʤ롣
- #
- # @param self
- # @param on_rconvert оݥХå֥
- #
- # @else
- #
- # @endif
- def setOnReadConvert(self, on_rconvert):
- self._OnReadConvert = on_rconvert
-
- ##
- # @if jp
- #
- # @brief ǡ쥯Ȥ˽
- #
- # @param self
- # @param data ǡ
- #
- # @else
- # @brief
- #
- # @param self
- # @param data
- # @endif
- # void write(const DataType& data)
- def write(self, data):
- guard = OpenRTM_aist.ScopedLock(self._valueMutex)
- self._value = data
- self._directNewData = True
- del guard
-
-
-
\ No newline at end of file
+
+ ##
+ # @if jp
+ #
+ # @brief バインドされた変数に InPort バッファの最新値を読み込む
+ #
+ # バインドされたデータに InPort の最新値を読み込む。
+ # コンストラクタで変数と InPort がバインドされていなければならない。
+ # このメソッドはポリモーフィックに使用される事を前提としているため、
+ # 型に依存しない引数、戻り値となっている。
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief Read into bound T-type data from current InPort
+ #
+ # @endif
+
+ def update(self):
+ self.read()
+
+ ##
+ # @if jp
+ #
+ # @brief InPort バッファへデータ読み込み時のコールバックの設定
+ #
+ # InPort が持つバッファからデータが読み込まれる直前に呼ばれるコールバック
+ # オブジェクトを設定する。
+ #
+ # @param self
+ # @param on_read 設定対象コールバックオブジェクト
+ #
+ # @else
+ #
+ # @endif
+
+ def setOnRead(self, on_read):
+ self._OnRead = on_read
+
+ ##
+ # @if jp
+ #
+ # @brief InPort バッファへデータ読み出し時のコールバックの設定
+ #
+ # InPort が持つバッファからデータが読み出される際に呼ばれるコールバック
+ # オブジェクトを設定する。コールバックオブジェクトの戻り値がread()メソッド
+ # の呼出結果となる。
+ #
+ # @param self
+ # @param on_rconvert 設定対象コールバックオブジェクト
+ #
+ # @else
+ #
+ # @endif
+
+ def setOnReadConvert(self, on_rconvert):
+ self._OnReadConvert = on_rconvert
+
+ ##
+ # @if jp
+ #
+ # @brief データをダイレクトに書き込む
+ #
+ # @param self
+ # @param data 書き込むデータ
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @endif
+ # void write(const DataType& data)
+ def write(self, data):
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ self._value = data
+ self._directNewData = True
+ del guard
diff --git a/OpenRTM_aist/InPortBase.py b/OpenRTM_aist/InPortBase.py
index 5f36eadd..b1e238df 100644
--- a/OpenRTM_aist/InPortBase.py
+++ b/OpenRTM_aist/InPortBase.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortBase.py
@@ -25,7 +25,7 @@
# @if jp
# @namespace RTC
#
-# @brief RTݡͥ
+# @brief RTコンポーネント
#
# @else
#
@@ -39,9 +39,9 @@
##
# @if jp
# @class InPortBase
-# @brief InPort Port
+# @brief InPort 用 Port
#
-# ǡϥݡȤμ饹
+# データ入力ポートの実装クラス。
#
# @since 0.4.0
#
@@ -55,1276 +55,1429 @@
#
# @endif
#
+
+
class InPortBase(OpenRTM_aist.PortBase, OpenRTM_aist.DataPortStatus):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param name ݡ̾
- # @param inport ǡϥݡȤ˴ϢդInPort֥
- # InPort֥ȤǰǡХåեפꤹ
- # @param prop ݡѥץѥƥ
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param name Port name
- # @param inport InPort object that is associated with this data input port.
- # Specify also the data type and the buffer type used in
- # the InPort object.
- # @param prop Property for setting ports
- #
- # @endif
- #
- # InPortBase(const char* name, const char* data_type);
- def __init__(self, name, data_type):
- OpenRTM_aist.PortBase.__init__(self,name)
- self._rtcout.RTC_DEBUG("Port name: %s", name)
- self._singlebuffer = True
- self._thebuffer = None
- self._properties = OpenRTM_aist.Properties()
- self._providerTypes = ""
- self._consumerTypes = ""
- self._connectors = []
- self._connector_mutex = threading.RLock()
-
- # PortProfile::properties
- self._rtcout.RTC_DEBUG("setting port.port_type: DataInPort")
- self.addProperty("port.port_type", "DataInPort")
-
- self._rtcout.RTC_DEBUG("setting port.data_type: %s", data_type)
- self.addProperty("dataport.data_type", data_type)
-
- self.addProperty("dataport.subscription_type", "Any")
- self._value = None
- self._listeners = OpenRTM_aist.ConnectorListeners()
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self, PortBase=OpenRTM_aist.PortBase):
- self._rtcout.RTC_TRACE("InPortBase destructor")
-
- if len(self._connectors) != 0:
- self._rtcout.RTC_ERROR("connector.size should be 0 in InPortBase's dtor.")
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- for connector in self._connectors:
- connector.disconnect()
-
- if self._thebuffer is not None:
- OpenRTM_aist.CdrBufferFactory.instance().deleteObject(self._thebuffer)
- if not self._singlebuffer:
- self._rtcout.RTC_ERROR("Although singlebuffer flag is true, the buffer != 0")
-
- PortBase.__del__(self)
- return
-
-
- ##
- # @if jp
- # @brief ץѥƥν
- #
- # ꤵ줿ץѥƥǽ롣
- #
- # @param prop ꤹץѥƥ
- # @else
- # @brief Initializing properties
- #
- # This method initializes the port in the specified property.
- #
- # @param prop Property for setting ports
- # @endif
- #
- # void init(coil::Properties& prop);
- def init(self,prop):
- self._rtcout.RTC_TRACE("init()")
- self._properties.mergeProperties(prop)
- if self._singlebuffer:
- self._rtcout.RTC_DEBUG("single buffer mode.")
- self._thebuffer = OpenRTM_aist.CdrBufferFactory.instance().createObject("ring_buffer")
-
- if self._thebuffer is None:
- self._rtcout.RTC_ERROR("default buffer creation failed")
- else:
- self._rtcout.RTC_DEBUG("multi buffer mode.")
-
- self.initProviders()
- self.initConsumers()
-
- num = [-1]
- if not OpenRTM_aist.stringTo(num, self._properties.getProperty("connection_limit","-1")):
- self._rtcout.RTC_ERROR("invalid connection_limit value: %s",
- self._properties.getProperty("connection_limit"))
-
- self.setConnectionLimit(num[0])
- return
-
-
- ##
- # @if jp
- # @brief RTObject_impl::readAll()ƤФ벾۴ؿ
- #
- # DataPort ǡɤ߽Ф
- #
- # @return true:,false:
- # @else
- # @brief It is a virtual method that is called from RTObject_impl::readAll().
- # This method reads out data from DataPort.
- #
- # @return true:Success,false:Failure
- # @endif
- #
- # virtual bool read() = 0;
- def read(self):
- pass
-
- ##
- # @if jp
- # @brief ץѥƥ
- #
- # InPortΥץѥƥ롣
- #
- # @return ץѥƥ
- #
- # @else
- #
- # @brief Get properties
- #
- # Getting properties of this InPort
- #
- # @return InPort's properties
- #
- # @endif
- #
- def properties(self):
- self._rtcout.RTC_TRACE("properties()")
- return self._properties
-
-
- ##
- # @if jp
- # @brief Connector
- #
- # ߽ͭƤ륳ͥ롣
- #
- # @return connector Υꥹ
- #
- # @else
- #
- # @brief Connector list
- #
- # This operation returns connector list
- #
- # @return connector list
- #
- # @endif
- #
- # const std::vector& connectors();
- def connectors(self):
- self._rtcout.RTC_TRACE("connectors(): size = %d", len(self._connectors))
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- return self._connectors
-
-
- ##
- # @if jp
- # @brief ConnectorProfile
- #
- # ߽ͭƤ륳ͥProfile롣
- #
- # @return ConnectorProfile Υꥹ
- #
- # @else
- #
- # @brief ConnectorProfile list
- #
- # This operation returns ConnectorProfile list
- #
- # @return connector list
- #
- # @endif
- #
- # ConnectorInfoList getConnectorProfiles();
- def getConnectorProfiles(self):
- self._rtcout.RTC_TRACE("getConnectorProfiles(): size = %d", len(self._connectors))
- profs = []
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- for con in self._connectors:
- profs.append(con.profile())
-
- return profs
-
- ##
- # @if jp
- # @brief ConnectorId
- #
- # ߽ͭƤ륳ͥID롣
- #
- # @return ConnectorId Υꥹ
- #
- # @else
- #
- # @brief ConnectorId list
- #
- # This operation returns ConnectorId list
- #
- # @return connector list
- #
- # @endif
- #
- # coil::vstring getConnectorIds();
- def getConnectorIds(self):
- ids = []
-
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- for con in self._connectors:
- ids.append(con.id())
-
- self._rtcout.RTC_TRACE("getConnectorIds(): %s", OpenRTM_aist.flatten(ids))
- return ids
-
- ##
- # @if jp
- # @brief Connector̾
- #
- # ߽ͭƤ륳ͥ̾롣
- #
- # @return Connector̾Υꥹ
- #
- # @else
- #
- # @brief Connector name list
- #
- # This operation returns Connector name list
- #
- # @return connector name list
- #
- # @endif
- #
- # coil::vstring getConnectorNames();
- def getConnectorNames(self):
- names = []
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- for con in self._connectors:
- names.append(con.name())
-
- self._rtcout.RTC_TRACE("getConnectorNames(): %s", OpenRTM_aist.flatten(names))
- return names
-
- ##
- # @if jp
- # @brief ConnectorProfileIDǼ
- #
- # ߽ͭƤ륳ͥIDǼ롣
- #
- # @param id Connector ID
- # @return ͥؤΥݥ
- #
- # @else
- #
- # @brief Getting ConnectorProfile by ID
- #
- # This operation returns Connector specified by ID.
- #
- # @param id Connector ID
- # @return A pointer to connector
- #
- # @endif
- #
- # InPortConnector* getConnectorById(const char* id);
- def getConnectorById(self, id):
- self._rtcout.RTC_TRACE("getConnectorById(id = %s)", id)
-
- for con in self._connectors:
- if id == con.id():
- return con
-
- self._rtcout.RTC_WARN("ConnectorProfile with the id(%s) not found.", id)
- return None
-
- ##
- # @if jp
- # @brief ConnectorProfile̾Ǽ
- #
- # ߽ͭƤ륳ͥ̾Ǽ롣
- #
- # @param name Connector name
- # @return ͥؤΥݥ
- #
- # @else
- #
- # @brief Getting Connector by name
- #
- # This operation returns Connector specified by name.
- #
- # @param id Connector ID
- # @return A pointer to connector
- #
- # @endif
- #
- # InPortConnector* getConnectorByName(const char* name);
- def getConnectorByName(self, name):
- self._rtcout.RTC_TRACE("getConnectorByName(name = %s)", name)
-
- for con in self._connectors:
- if name == con.name():
- return con
-
- self._rtcout.RTC_WARN("ConnectorProfile with the name(%s) not found.", name)
- return None
-
- ##
- # @if jp
- # @brief ConnectorProfileIDǼ
- #
- # ߽ͭƤ륳ͥIDǼ롣
- #
- # @param id Connector ID
- # @param prof ConnectorProfile
- # @return false ꤷIDʤ
- #
- # @else
- #
- # @brief Getting ConnectorProfile by name
- #
- # This operation returns ConnectorProfile specified by name
- #
- # @param id Connector ID
- # @param prof ConnectorProfile
- # @return falsespecified ID does not exist
- #
- # @endif
- #
- # bool getConnectorProfileById(const char* id,
- # ConnectorInfo& prof);
- def getConnectorProfileById(self, id, prof):
- self._rtcout.RTC_TRACE("getConnectorProfileById(id = %s)", id)
-
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- conn = self.getConnectorById(id)
- if not conn:
- return False
- prof[0] = conn.profile()
- return True
-
-
- ##
- # @if jp
- # @brief ConnectorProfile̾Ǽ
- #
- # ߽ͭƤ륳ͥ̾Ǽ롣
- #
- # @param name Connector name
- # @param prof ConnectorProfile
- # @return false ꤷ̾ʤ
- #
- # @else
- #
- # @brief Getting ConnectorProfile by name
- #
- # This operation returns ConnectorProfile specified by name
- #
- # @param id Connector ID
- # @param prof ConnectorProfile
- # @return false specified name does not exist
- #
- # @endif
- #
- # bool getConnectorProfileByName(const char* name,
- # ConnectorInfo& prof);
- def getConnectorProfileByName(self, name, prof):
- self._rtcout.RTC_TRACE("getConnectorProfileByName(name = %s)", name)
-
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- conn = self.getConnectorByName(name)
- if not conn:
- return False
- prof[0] = conn.profile()
- return True
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] Port ³Ԥ
- #
- # Ϳ줿 ConnectoionProfile ξ˴ŤPort֤³Ω
- # 롣δؿϼ˥ץꥱץġ뤫Ƥӽ
- # ȤȤƤ롣
- #
- # @param connector_profile ConnectorProfile
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [CORBA interface] Connect the Port
- #
- # This operation establishes connection according to the given
- # ConnectionProfile inforamtion. This function is premised on
- # calling from mainly application program or tools.
- #
- # @param connector_profile The ConnectorProfile.
- # @return ReturnCode_t The return code of ReturnCode_t type.
- #
- # @endif
- #
- def connect(self, connector_profile):
- self._rtcout.RTC_TRACE("InPortBase.connect()")
-
-
-
-
-
-
- if OpenRTM_aist.NVUtil.find_index(connector_profile.properties,
- "dataport.serializer.cdr.endian") is -1:
- self._rtcout.RTC_TRACE("ConnectorProfile dataport.serializer.cdr.endian set.")
- connector_profile.properties.append(OpenRTM_aist.NVUtil.newNV("dataport.serializer.cdr.endian","little,big"))
-
- return OpenRTM_aist.PortBase.connect(self, connector_profile)
-
- ##
- # @if jp
- #
- # @brief
- #
- # @param self
- # @param connector_profile
- # @return
- #
- # @else
- #
- # @brief
- #
- # @param self
- # @param connector_profile
- # @return
- #
- # @endif
- #
- def notify_connect(self, connector_profile):
-
- prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
-
- node = prop.getNode("dataport.inport")
- portprop = copy.deepcopy(self._properties)
- portprop.mergeProperties(node)
- node.mergeProperties(portprop)
- OpenRTM_aist.NVUtil.copyFromProperties(connector_profile.properties, prop)
-
-
- #_str = self._properties.getProperty("fan_in")
- _str = node.getProperty("fan_in")
- _type = [int(100)]
-
- OpenRTM_aist.stringTo(_type, _str)
-
-
-
- _str = prop.getProperty("dataport.fan_in")
- OpenRTM_aist.stringTo(_type, _str)
-
- value = _type[0]
-
- if value <= len(self._connectors):
- return (RTC.PRECONDITION_NOT_MET, connector_profile)
-
- return OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
-
-
- ##
- # @if jp
- #
- # @brief InPort activates
- #
- # InPort activate 롣
- #
- # @else
- #
- # @brief Activate all Port interfaces
- #
- # This operation activate all interfaces that is registered in the
- # ports.
- #
- # @endif
- #
- # void activateInterfaces();
- def activateInterfaces(self):
- self._rtcout.RTC_TRACE("activateInterfaces()")
-
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- for connector in self._connectors:
- connector.activate()
- self._rtcout.RTC_DEBUG("activate connector: %s %s",
- (connector.name(),connector.id()))
-
- return
-
-
- ##
- # @if jp
- #
- # @brief Ƥ Port Υե deactivates
- #
- # Port ϿƤƤΥե deactivate 롣
- #
- # @else
- #
- # @brief Deactivate all Port interfaces
- #
- # This operation deactivate all interfaces that is registered in the
- # ports.
- #
- # @endif
- #
- # void deactivateInterfaces();
- def deactivateInterfaces(self):
- self._rtcout.RTC_TRACE("deactivateInterfaces()")
-
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- for connector in self._connectors:
- connector.deactivate()
- self._rtcout.RTC_DEBUG("deactivate connector: %s %s",
- (connector.name(),connector.id()))
- return
-
-
- ##
- # @if jp
- # @brief ConnectorDataListener ꥹʤɲä
- #
- # Хåեߤޤɤ߽Ф٥Ȥ˴ϢƼꥹʤꤹ롣
- #
- # ǤꥹʤΥפȥХå٥Ȥϰʲ̤
- #
- # - ON_BUFFER_WRITE: Хåե
- # - ON_BUFFER_FULL: Хåեե
- # - ON_BUFFER_WRITE_TIMEOUT: ХåեߥॢȻ
- # - ON_BUFFER_OVERWRITE: Хåե
- # - ON_BUFFER_READ: Хåեɤ߽Ф
- # - ON_SEND: InProtؤ
- # - ON_RECEIVED: InProtؤλ
- # - ON_SEND_ERTIMEOUT: OutPort¦ॢȻ
- # - ON_SEND_ERERROR: OutPort¦顼
- # - ON_RECEIVER_FULL: InProt¦Хåեե
- # - ON_RECEIVER_TIMEOUT: InProt¦ХåեॢȻ
- # - ON_RECEIVER_ERROR: InProt¦顼
- #
- # ꥹʤ ConnectorDataListener ѾʲΥ˥
- # operator() Ƥɬפ롣
- #
- # ConnectorDataListener::
- # operator()(const ConnectorProfile&, const cdrStream&)
- #
- # ǥեȤǤϡδؿͿꥹʥ֥Ȥνͭ
- # OutPort˰ܤꡢOutPortλ⤷ϡ
- # removeConnectorDataListener() ˤ˼ưŪ˲Τ롣
- # ꥹʥ֥ȤνͭƤӽФ¦ǰݻϡ3
- # false ꤷưŪʲΤ뤳ȤǤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- # @param autoclean ꥹʥ֥ȤμưŪΤԤɤΥե饰
- #
- # @else
- # @brief Adding BufferDataListener type listener
- #
- # This operation adds certain listeners related to buffer writing and
- # reading events.
- # The following listener types are available.
- #
- # - ON_BUFFER_WRITE: At the time of buffer write
- # - ON_BUFFER_FULL: At the time of buffer full
- # - ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
- # - ON_BUFFER_OVERWRITE: At the time of buffer overwrite
- # - ON_BUFFER_READ: At the time of buffer read
- # - ON_SEND: At the time of sending to InPort
- # - ON_RECEIVED: At the time of finishing sending to InPort
- # - ON_SENDER_TIMEOUT: At the time of timeout of OutPort
- # - ON_SENDER_ERROR: At the time of error of OutPort
- # - ON_RECEIVER_FULL: At the time of bufferfull of InPort
- # - ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
- # - ON_RECEIVER_ERROR: At the time of error of InPort
- #
- # Listeners should have the following function operator().
- #
- # ConnectorDataListener::
- # operator()(const ConnectorProfile&, const cdrStream&)
- #
- # The ownership of the given listener object is transferred to
- # this OutPort object in default. The given listener object will
- # be destroied automatically in the OutPort's dtor or if the
- # listener is deleted by removeConnectorDataListener() function.
- # If you want to keep ownership of the listener object, give
- # "false" value to 3rd argument to inhibit automatic destruction.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- # @param autoclean A flag for automatic listener destruction
- #
- # @endif
- #
- # void
- # addConnectorDataListener(ConnectorDataListenerType type,
- # ConnectorDataListener* listener,
- # bool autoclean)
- def addConnectorDataListener(self, listener_type, listener, autoclean = True):
- self._rtcout.RTC_TRACE("addConnectorDataListener()")
-
- if listener_type < OpenRTM_aist.ConnectorDataListenerType.CONNECTOR_DATA_LISTENER_NUM:
- self._listeners.connectorData_[listener_type].addListener(listener, autoclean)
- return
-
- self._rtcout.RTC_ERROR("addConnectorDataListener(): Invalid listener type.")
- return
-
-
- ##
- # @if jp
- # @brief ConnectorDataListener ꥹʤ
- #
- # ꤷƼꥹʤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- #
- # @else
- # @brief Removing BufferDataListener type listener
- #
- # This operation removes a specified listener.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- #
- # @endif
- #
- # void removeConnectorDataListener(ConnectorDataListenerType type,
- # ConnectorDataListener* listener)
- def removeConnectorDataListener(self, listener_type, listener):
- self._rtcout.RTC_TRACE("removeConnectorDataListener()")
-
- if listener_type < OpenRTM_aist.ConnectorDataListenerType.CONNECTOR_DATA_LISTENER_NUM:
- self._listeners.connectorData_[listener_type].removeListener(listener)
- return
-
- self._rtcout.RTC_ERROR("removeConnectorDataListener(): Invalid listener type.")
- return
-
-
- ##
- # @if jp
- # @brief ConnectorListener ꥹʤɲä
- #
- # Хåեߤޤɤ߽Ф٥Ȥ˴ϢƼꥹʤꤹ롣
- #
- # ǤꥹʤΥפ
- #
- # - ON_BUFFER_EMPTY: Хåեξ
- # - ON_BUFFER_READTIMEOUT: ХåեǥॢȤ
- #
- # ꥹʤϰʲΥ˥ operator() Ƥɬפ롣
- #
- # ConnectorListener::operator()(const ConnectorProfile&)
- #
- # ǥեȤǤϡδؿͿꥹʥ֥Ȥνͭ
- # OutPort˰ܤꡢOutPortλ⤷ϡ
- # removeConnectorListener() ˤ˼ưŪ˲Τ롣
- # ꥹʥ֥ȤνͭƤӽФ¦ǰݻϡ3
- # false ꤷưŪʲΤ뤳ȤǤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- # @param autoclean ꥹʥ֥ȤμưŪΤԤɤΥե饰
- #
- # @else
- # @brief Adding ConnectorListener type listener
- #
- # This operation adds certain listeners related to buffer writing and
- # reading events.
- # The following listener types are available.
- #
- # - ON_BUFFER_EMPTY: At the time of buffer empty
- # - ON_BUFFER_READTIMEOUT: At the time of buffer read timeout
- #
- # Listeners should have the following function operator().
- #
- # ConnectorListener::operator()(const ConnectorProfile&)
- #
- # The ownership of the given listener object is transferred to
- # this OutPort object in default. The given listener object will
- # be destroied automatically in the OutPort's dtor or if the
- # listener is deleted by removeConnectorListener() function.
- # If you want to keep ownership of the listener object, give
- # "false" value to 3rd argument to inhibit automatic destruction.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- # @param autoclean A flag for automatic listener destruction
- #
- # @endif
- #
- # void addConnectorListener(ConnectorListenerType type,
- # ConnectorListener* listener,
- # bool autoclean)
- def addConnectorListener(self, listener_type, listener, autoclean = True):
- self._rtcout.RTC_TRACE("addConnectorListener()")
-
- if listener_type < OpenRTM_aist.ConnectorListenerType.CONNECTOR_LISTENER_NUM:
- self._listeners.connector_[listener_type].addListener(listener, autoclean)
- return
-
- self._rtcout.RTC_ERROR("addConnectorListener(): Invalid listener type.")
- return
-
-
- ##
- # @if jp
- # @brief ConnectorDataListener ꥹʤ
- #
- # ꤷƼꥹʤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- #
- # @else
- # @brief Removing BufferDataListener type listener
- #
- # This operation removes a specified listener.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- #
- # @endif
- #
- # void removeConnectorListener(ConnectorListenerType type,
- # ConnectorListener* listener)
- def removeConnectorListener(self, listener_type, listener):
- self._rtcout.RTC_TRACE("removeConnectorListener()")
-
- if listener_type < OpenRTM_aist.ConnectorListenerType.CONNECTOR_LISTENER_NUM:
- self._listeners.connector_[listener_type].removeListener(listener)
- return
-
- self._rtcout.RTC_ERROR("removeConnectorListener(): Invalid listener type.")
- return
-
-
- ##
- # @if jp
- # @brief Interface
- #
- # Interface롣
- # ConnectorProfile ˳ǼƤ dataflow_type push
- # ξϡꤵ줿 interface_type InPortProvider ˴ؤ
- # ConnectorProfile::properties ˽߸ƤӽФ¦᤹
- #
- # dataport.dataflow_type
- #
- # @param connector_profile ͥץե
- #
- # @return ReturnCode_t Υ
- #
- # @else
- # @brief Publish interface information
- #
- # Publish interface information.
- # Assign the Provider information that owned by this port
- # to ConnectorProfile#properties
- #
- # @param connector_profile The connector profile
- #
- # @return The return code of ReturnCode_t type
- #
- # @endif
- #
- # ReturnCode_t publishInterfaces(ConnectorProfile& connector_profile);
- def publishInterfaces(self, cprof):
- self._rtcout.RTC_TRACE("publishInterfaces()")
-
- retval = self._publishInterfaces()
- if retval != RTC.RTC_OK:
- return retval
-
- # prop: [port.outport].
- prop = copy.deepcopy(self._properties)
-
- conn_prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
- prop.mergeProperties(conn_prop.getNode("dataport")) # marge ConnectorProfile
-
- # marge ConnectorProfile for buffer property.
- prop.mergeProperties(conn_prop.getNode("dataport.inport"))
-
- #
- # , ConnectorProfile properties ޡ줿ᡢ
- # prop["dataflow_type"]: ǡե
- # prop["interface_type"]: ե
- # ʤɤǽˤʤ롣
- #
- dflow_type = prop.getProperty("dataflow_type")
- dflow_type = OpenRTM_aist.normalize([dflow_type])
-
- if dflow_type == "push":
- self._rtcout.RTC_DEBUG("dataflow_type = push .... create PushConnector")
-
- # create InPortProvider
- provider = self.createProvider(cprof, prop)
-
- if not provider:
- self._rtcout.RTC_ERROR("InPort provider creation failed.")
- return RTC.BAD_PARAMETER
+ """
+ """
- # create InPortPushConnector
- connector = self.createConnector(cprof, prop, provider_=provider)
- if not connector:
- self._rtcout.RTC_ERROR("PushConnector creation failed.")
- return RTC.RTC_ERROR
-
- connector.setDataType(self._value)
- provider.setConnector(connector) # So that a provider gets endian information from a connector.
-
- self._rtcout.RTC_DEBUG("publishInterfaces() successfully finished.")
- return RTC.RTC_OK
-
- elif dflow_type == "pull":
- self._rtcout.RTC_DEBUG("dataflow_type = pull .... do nothing")
- return RTC.RTC_OK
-
- self._rtcout.RTC_ERROR("unsupported dataflow_type")
- return RTC.BAD_PARAMETER
-
-
- ##
- # @if jp
- # @brief Interface³
- #
- # Interface³롣
- # PortͭConsumerŬ礹Provider˴ؤ
- # ConnectorProfile#properties Ф
- # ConsumerCORBA֥ȻȤꤹ롣
- #
- # @param connector_profile ͥץե
- #
- # @return ReturnCode_t Υ
- #
- # @else
- # @brief Subscribe to the interface
- #
- # Subscribe to interface.
- # Derive Provider information that matches Consumer owned by the Port
- # from ConnectorProfile#properties and
- # set the Consumer to the reference of the CORBA object.
- #
- # @param connector_profile The connector profile
- #
- # @return ReturnCode_t The return code of ReturnCode_t type
- #
- # @endif
- #
- # ReturnCode_t subscribeInterfaces(const ConnectorProfile& connector_profile);
- def subscribeInterfaces(self, cprof):
- self._rtcout.RTC_TRACE("subscribeInterfaces()")
-
- # prop: [port.outport].
- prop = copy.deepcopy(self._properties)
- conn_prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
- prop.mergeProperties(conn_prop.getNode("dataport")) # marge ConnectorProfile
- prop.mergeProperties(conn_prop.getNode("dataport.inport")) # marge ConnectorProfile for buffer property.
-
- #
- # , ConnectorProfile properties ޡ줿ᡢ
- # prop["dataflow_type"]: ǡե
- # prop["interface_type"]: ե
- # ʤɤǽˤʤ롣
- #
- dflow_type = prop.getProperty("dataflow_type")
- dtype = [dflow_type]
- OpenRTM_aist.normalize(dtype)
- dflow_type = dtype[0]
-
- profile = OpenRTM_aist.ConnectorInfo(cprof.name,
- cprof.connector_id,
- OpenRTM_aist.CORBA_SeqUtil.refToVstring(cprof.ports),
- prop)
- if dflow_type == "push":
- self._rtcout.RTC_DEBUG("dataflow_type = push .... do nothing")
-
- conn = self.getConnectorById(cprof.connector_id)
-
- if not conn:
- self._rtcout.RTC_ERROR("specified connector not found: %s",
- cprof.connector_id)
- return RTC.RTC_ERROR
-
- ret = conn.setConnectorInfo(profile)
- if ret == RTC.RTC_OK:
- self._rtcout.RTC_DEBUG("subscribeInterfaces() successfully finished.")
-
- return ret
-
- elif dflow_type == "pull":
- self._rtcout.RTC_DEBUG("dataflow_type = pull .... create PullConnector")
-
- # create OutPortConsumer
- consumer = self.createConsumer(cprof, prop)
- if not consumer:
- return RTC.BAD_PARAMETER
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param name ポート名称
+ # @param inport 当該データ入力ポートに関連付けるInPortオブジェクト
+ # InPortオブジェクトで扱うデータ型、バッファタイプも指定する
+ # @param prop ポート設定用プロパティ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param name Port name
+ # @param inport InPort object that is associated with this data input port.
+ # Specify also the data type and the buffer type used in
+ # the InPort object.
+ # @param prop Property for setting ports
+ #
+ # @endif
+ #
+ # InPortBase(const char* name, const char* data_type);
+ def __init__(self, name, data_type):
+ OpenRTM_aist.PortBase.__init__(self, name)
+ self._rtcout.RTC_DEBUG("Port name: %s", name)
+ self._singlebuffer = True
+ self._thebuffer = None
+ self._properties = OpenRTM_aist.Properties()
+ self._providerTypes = ""
+ self._consumerTypes = ""
+ self._connectors = []
+ self._connector_mutex = threading.RLock()
+
+ # PortProfile::properties を設定
+ self._rtcout.RTC_DEBUG("setting port.port_type: DataInPort")
+ self.addProperty("port.port_type", "DataInPort")
+
+ self._rtcout.RTC_DEBUG("setting port.data_type: %s", data_type)
+ self.addProperty("dataport.data_type", data_type)
+ self._properties.setProperty("data_type", data_type)
+
+ self.addProperty("dataport.subscription_type", "Any")
+ self._value = None
+ self._listeners = OpenRTM_aist.ConnectorListeners()
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
- # create InPortPullConnector
- connector = self.createConnector(cprof, prop, consumer_=consumer)
- if not connector:
- return RTC.RTC_ERROR
-
- ret = connector.setConnectorInfo(profile)
-
- if ret == RTC.RTC_OK:
- self._rtcout.RTC_DEBUG("publishInterface() successfully finished.")
-
- return ret
-
- self._rtcout.RTC_ERROR("unsupported dataflow_type")
- return RTC.BAD_PARAMETER
-
-
- ##
- # @if jp
- # @brief Interfaceؤ³
- #
- # Interfaceؤ³롣
- # Ϳ줿ConnectorProfile˴ϢConsumerꤵ줿ƤObject
- # ³롣
- #
- # @param connector_profile ͥץե
- #
- # @else
- # @brief Disconnect the interface connection
- #
- # Disconnect the interface connection.
- # Release all objects set in Consumer associated with
- # given ConnectorProfile and unscribe the interface.
- #
- # @param connector_profile The connector profile
- #
- # @endif
- #
- # void unsubscribeInterfaces(const ConnectorProfile& connector_profile);
- def unsubscribeInterfaces(self, connector_profile):
- self._rtcout.RTC_TRACE("unsubscribeInterfaces()")
-
- id = connector_profile.connector_id
- self._rtcout.RTC_PARANOID("connector_id: %s", id)
-
- len_ = len(self._connectors)
- for i in range(len_):
- idx = (len_ - 1) - i
- # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- if id == self._connectors[idx].id():
- # Connector's dtor must call disconnect()
- self._connectors[idx].deactivate()
- self._connectors[idx].disconnect()
- del self._connectors[idx]
- self._rtcout.RTC_TRACE("delete connector: %s", id)
+ def __del__(self, PortBase=OpenRTM_aist.PortBase):
+ self._rtcout.RTC_TRACE("InPortBase destructor")
+
+ if self._connectors:
+ self._rtcout.RTC_ERROR(
+ "connector.size should be 0 in InPortBase's dtor.")
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ for connector in self._connectors:
+ prop_list = []
+ prop = OpenRTM_aist.Properties()
+ node = prop.getNode("dataport")
+ node.mergeProperties(connector.profile().properties)
+ OpenRTM_aist.NVUtil.copyFromProperties(prop_list, prop)
+ connector.unsubscribeInterface(prop_list)
+ connector.disconnect()
+
+ if self._thebuffer is not None:
+ if not self._singlebuffer:
+ self._rtcout.RTC_ERROR(
+ "Although singlebuffer flag is true, the buffer != 0")
+
+ PortBase.__del__(self)
return
- self._rtcout.RTC_ERROR("specified connector not found: %s", id)
- return
-
-
- ##
- # @if jp
- # @brief InPort provider ν
- # @else
- # @brief InPort provider initialization
- # @endif
- #
- # void initProviders();
- def initProviders(self):
- self._rtcout.RTC_TRACE("initProviders()")
-
- # create InPort providers
- factory = OpenRTM_aist.InPortProviderFactory.instance()
- provider_types = factory.getIdentifiers()
-
- self._rtcout.RTC_DEBUG("available providers: %s",
- OpenRTM_aist.flatten(provider_types))
-
- if self._properties.hasKey("provider_types") and \
- OpenRTM_aist.normalize([self._properties.getProperty("provider_types")]) != "all":
- self._rtcout.RTC_DEBUG("allowed providers: %s",
- self._properties.getProperty("provider_types"))
-
- temp_types = provider_types
- provider_types = []
- active_types = OpenRTM_aist.split(self._properties.getProperty("provider_types"), ",")
-
- temp_types.sort()
- active_types.sort()
-
- set_ptypes = set(temp_types).intersection(set(active_types))
- provider_types = provider_types + list(set_ptypes)
-
- # InPortProvider supports "push" dataflow type
- if len(provider_types) > 0:
- self._rtcout.RTC_DEBUG("dataflow_type push is supported")
- self.appendProperty("dataport.dataflow_type", "push")
- for provider_type in provider_types:
- self.appendProperty("dataport.interface_type",provider_type)
-
-
- self._providerTypes = provider_types
- return
-
-
- ##
- # @if jp
- # @brief OutPort consumer ν
- # @else
- # @brief OutPort consumer initialization
- # @endif
- #
- # void initConsumers();
- def initConsumers(self):
- self._rtcout.RTC_TRACE("initConsumers()")
-
- # create OuPort consumers
- factory = OpenRTM_aist.OutPortConsumerFactory.instance()
- consumer_types = factory.getIdentifiers()
- self._rtcout.RTC_DEBUG("available consumers: %s",
- OpenRTM_aist.flatten(consumer_types))
-
- if self._properties.hasKey("consumer_types") and \
- OpenRTM_aist.normalize([self._properties.getProperty("consumer_types")]) != "all":
- self._rtcout.RTC_DEBUG("allowed consumers: %s",
- self._properties.getProperty("consumer_types"))
-
- temp_types = consumer_types
- consumer_types = []
- active_types = OpenRTM_aist.split(self._properties.getProperty("consumer_types"), ",")
-
- temp_types.sort()
- active_types.sort()
-
- set_ctypes = set(temp_types).intersection(set(active_types))
- consumer_types = consumer_types + list(set_ctypes)
-
- # OutPortConsumer supports "pull" dataflow type
- if len(consumer_types) > 0:
- self._rtcout.RTC_PARANOID("dataflow_type pull is supported")
- self.appendProperty("dataport.dataflow_type", "pull")
- for consumer_type in consumer_types:
- self.appendProperty("dataport.interface_type",consumer_type)
-
-
- self._consumerTypes = consumer_types
- return
-
-
- ##
- # @if jp
- # @brief InPort provider
- #
- # InPortProvider ConnectorProfile ˸롣
- # ˼Ԥ 0 ֤
- #
- # @else
- # @brief InPort provider creation
- # @endif
- #
- # InPortProvider*
- # createProvider(ConnectorProfile& cprof, coil::Properties& prop);
- def createProvider(self, cprof, prop):
- if not prop.getProperty("interface_type") or \
- not OpenRTM_aist.includes(self._providerTypes, prop.getProperty("interface_type")):
- self._rtcout.RTC_ERROR("no provider found")
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- self._rtcout.RTC_DEBUG("interface_types: %s",
- OpenRTM_aist.flatten(self._providerTypes))
- return None
-
-
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- provider = OpenRTM_aist.InPortProviderFactory.instance().createObject(prop.getProperty("interface_type"))
-
-
- if provider is not None:
- self._rtcout.RTC_DEBUG("provider created")
- provider.init(prop.getNode("provider"))
-
- if not provider.publishInterface(cprof.properties):
- self._rtcout.RTC_ERROR("publishing interface information error")
- OpenRTM_aist.InPortProviderFactory.instance().deleteObject(provider)
- return None
- return provider
-
- self._rtcout.RTC_ERROR("provider creation failed")
- return None
-
-
- ##
- # @if jp
- # @brief OutPort consumer
- #
- # OutPortConsumer 롣
- # ˼Ԥ 0 ֤
- #
- # @else
- # @brief InPort provider creation
- # @endif
- #
- # OutPortConsumer*
- # createConsumer(const ConnectorProfile& cprof, coil::Properties& prop);
- def createConsumer(self, cprof, prop):
- if not prop.getProperty("interface_type") or \
- not OpenRTM_aist.includes(self._consumerTypes, prop.getProperty("interface_type")):
- self._rtcout.RTC_ERROR("no consumer found")
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- self._rtcout.RTC_DEBUG("interface_types: %s",
- OpenRTM_aist.flatten(self._consumerTypes))
- return None
-
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- consumer = OpenRTM_aist.OutPortConsumerFactory.instance().createObject(prop.getProperty("interface_type"))
-
- if consumer is not None:
- self._rtcout.RTC_DEBUG("consumer created")
- consumer.init(prop.getNode("consumer"))
-
- if not consumer.subscribeInterface(cprof.properties):
- self._rtcout.RTC_ERROR("interface subscription failed.")
- OpenRTM_aist.OutPortConsumerFactory.instance().deleteObject(consumer)
- return None
- return consumer
-
- self._rtcout.RTC_ERROR("consumer creation failed")
- return None
-
-
- ##
- # @if jp
- # @brief InPortPushConnector
- #
- # Connector m_connectors ¸롣
- # ˼Ԥ 0 ֤
- #
- # @else
- # @brief InPortPushConnector creation
- # @endif
- #
- # InPortConnector*
- # createConnector(ConnectorProfile& cprof, coil::Properties& prop,
- # InPortProvider* provider);
- def createConnector(self, cprof, prop, provider_=None, consumer_=None):
- profile = OpenRTM_aist.ConnectorInfo(cprof.name,
- cprof.connector_id,
- OpenRTM_aist.CORBA_SeqUtil.refToVstring(cprof.ports),
- prop)
- connector = None
-
-
- try:
- if provider_ is not None:
- if self._singlebuffer:
- connector = OpenRTM_aist.InPortPushConnector(profile, provider_,
- self._listeners,
- self._thebuffer)
- else:
- connector = OpenRTM_aist.InPortPushConnector(profile, provider_,
- self._listeners)
+ ##
+ # @if jp
+ # @brief プロパティの初期化
+ #
+ # 指定されたプロパティで初期化する。
+ #
+ # @param prop 設定するプロパティ
+ # @else
+ # @brief Initializing properties
+ #
+ # This method initializes the port in the specified property.
+ #
+ # @param prop Property for setting ports
+ # @endif
+ #
+ # void init(coil::Properties& prop);
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self._properties.mergeProperties(prop)
+ prop_list = []
+ OpenRTM_aist.NVUtil.copyFromProperties(prop_list, self._properties)
+ self._profile.properties.extend(prop_list)
- elif consumer_ is not None:
if self._singlebuffer:
- connector = OpenRTM_aist.InPortPullConnector(profile, consumer_,
- self._listeners,
- self._thebuffer)
+ self._rtcout.RTC_DEBUG("single buffer mode.")
+ self._thebuffer = OpenRTM_aist.CdrBufferFactory.instance().createObject("ring_buffer")
+
+ if self._thebuffer is None:
+ self._rtcout.RTC_ERROR("default buffer creation failed")
else:
- connector = OpenRTM_aist.InPortPullConnector(profile, consumer_,
- self._listeners)
+ self._rtcout.RTC_DEBUG("multi buffer mode.")
+
+ self.initProviders()
+ self.initConsumers()
+ if self._consumerTypes and self._providerTypes:
+ self.appendProperty("dataport.dataflow_type", "duplex")
+
+ num = -1
+ ret, num = OpenRTM_aist.stringTo(
+ num, self._properties.getProperty(
+ "connection_limit", "-1"))
+ if not ret:
+ self._rtcout.RTC_ERROR("invalid connection_limit value: %s",
+ self._properties.getProperty("connection_limit"))
+
+ self.setConnectionLimit(num)
+ return
+
+ ##
+ # @if jp
+ # @brief RTObject_impl::readAll()から呼ばれる仮想関数
+ #
+ # DataPort からデータを読み出す
+ #
+ # @return true:成功,false:失敗
+ # @else
+ # @brief It is a virtual method that is called from RTObject_impl::readAll().
+ # This method reads out data from DataPort.
+ #
+ # @return true:Success,false:Failure
+ # @endif
+ #
+ # virtual bool read() = 0;
+
+ def read(self):
+ pass
- else:
- self._rtcout.RTC_ERROR("provider or consumer is not passed. returned 0;")
+ ##
+ # @if jp
+ # @brief プロパティを取得する
+ #
+ # InPortのプロパティを取得する。
+ #
+ # @return プロパティ
+ #
+ # @else
+ #
+ # @brief Get properties
+ #
+ # Getting properties of this InPort
+ #
+ # @return InPort's properties
+ #
+ # @endif
+ #
+ def properties(self):
+ self._rtcout.RTC_TRACE("properties()")
+ return self._properties
+
+ ##
+ # @if jp
+ # @brief Connector を取得
+ #
+ # 現在所有しているコネクタを取得する。
+ #
+ # @return connector のリスト
+ #
+ # @else
+ #
+ # @brief Connector list
+ #
+ # This operation returns connector list
+ #
+ # @return connector list
+ #
+ # @endif
+ #
+ # const std::vector& connectors();
+
+ def connectors(self):
+ self._rtcout.RTC_TRACE(
+ "connectors(): size = %d", len(
+ self._connectors))
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ return self._connectors
+
+ ##
+ # @if jp
+ # @brief ConnectorProfile を取得
+ #
+ # 現在所有しているコネクタのProfileを取得する。
+ #
+ # @return ConnectorProfile のリスト
+ #
+ # @else
+ #
+ # @brief ConnectorProfile list
+ #
+ # This operation returns ConnectorProfile list
+ #
+ # @return connector list
+ #
+ # @endif
+ #
+ # ConnectorInfoList getConnectorProfiles();
+
+ def getConnectorProfiles(self):
+ self._rtcout.RTC_TRACE(
+ "getConnectorProfiles(): size = %d", len(
+ self._connectors))
+ profs = []
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ for con in self._connectors:
+ profs.append(con.profile())
+
+ return profs
+
+ ##
+ # @if jp
+ # @brief ConnectorId を取得
+ #
+ # 現在所有しているコネクタのIDを取得する。
+ #
+ # @return ConnectorId のリスト
+ #
+ # @else
+ #
+ # @brief ConnectorId list
+ #
+ # This operation returns ConnectorId list
+ #
+ # @return connector list
+ #
+ # @endif
+ #
+ # coil::vstring getConnectorIds();
+ def getConnectorIds(self):
+ ids = []
+
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ for con in self._connectors:
+ ids.append(con.id())
+
+ self._rtcout.RTC_TRACE(
+ "getConnectorIds(): %s",
+ OpenRTM_aist.flatten(ids))
+ return ids
+
+ ##
+ # @if jp
+ # @brief Connectorの名前を取得
+ #
+ # 現在所有しているコネクタの名前を取得する。
+ #
+ # @return Connector名のリスト
+ #
+ # @else
+ #
+ # @brief Connector name list
+ #
+ # This operation returns Connector name list
+ #
+ # @return connector name list
+ #
+ # @endif
+ #
+ # coil::vstring getConnectorNames();
+ def getConnectorNames(self):
+ names = []
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ for con in self._connectors:
+ names.append(con.name())
+
+ self._rtcout.RTC_TRACE(
+ "getConnectorNames(): %s",
+ OpenRTM_aist.flatten(names))
+ return names
+
+ ##
+ # @if jp
+ # @brief ConnectorProfileをIDで取得
+ #
+ # 現在所有しているコネクタをIDで取得する。
+ #
+ # @param id Connector ID
+ # @return コネクタへのポインタ
+ #
+ # @else
+ #
+ # @brief Getting ConnectorProfile by ID
+ #
+ # This operation returns Connector specified by ID.
+ #
+ # @param id Connector ID
+ # @return A pointer to connector
+ #
+ # @endif
+ #
+ # InPortConnector* getConnectorById(const char* id);
+ def getConnectorById(self, id):
+ self._rtcout.RTC_TRACE("getConnectorById(id = %s)", id)
+
+ for con in self._connectors:
+ if id == con.id():
+ return con
+
+ self._rtcout.RTC_WARN(
+ "ConnectorProfile with the id(%s) not found.", id)
+ return None
+
+ ##
+ # @if jp
+ # @brief ConnectorProfileを名前で取得
+ #
+ # 現在所有しているコネクタを名前で取得する。
+ #
+ # @param name Connector name
+ # @return コネクタへのポインタ
+ #
+ # @else
+ #
+ # @brief Getting Connector by name
+ #
+ # This operation returns Connector specified by name.
+ #
+ # @param id Connector ID
+ # @return A pointer to connector
+ #
+ # @endif
+ #
+ # InPortConnector* getConnectorByName(const char* name);
+ def getConnectorByName(self, name):
+ self._rtcout.RTC_TRACE("getConnectorByName(name = %s)", name)
+
+ for con in self._connectors:
+ if name == con.name():
+ return con
+
+ self._rtcout.RTC_WARN(
+ "ConnectorProfile with the name(%s) not found.", name)
return None
-
- #if connector is None:
- # self._rtcout.RTC_ERROR("InPortConnector creation failed")
- # return 0
+ ##
+ # @if jp
+ # @brief ConnectorProfileをIDで取得
+ #
+ # 現在所有しているコネクタをIDで取得する。
+ #
+ # @param id Connector ID
+ # @param prof ConnectorProfile
+ # @return false 指定したIDがない
+ #
+ # @else
+ #
+ # @brief Getting ConnectorProfile by name
+ #
+ # This operation returns ConnectorProfile specified by name
+ #
+ # @param id Connector ID
+ # @param prof ConnectorProfile
+ # @return false specified ID does not exist
+ #
+ # @endif
+ #
+ # bool getConnectorProfileById(const char* id,
+ # ConnectorInfo& prof);
+ def getConnectorProfileById(self, id):
+ self._rtcout.RTC_TRACE("getConnectorProfileById(id = %s)", id)
+
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ conn = self.getConnectorById(id)
+ if not conn:
+ return False, None
+ prof = conn.profile()
+ return True, prof
+
+ ##
+ # @if jp
+ # @brief ConnectorProfileを名前で取得
+ #
+ # 現在所有しているコネクタを名前で取得する。
+ #
+ # @param name Connector name
+ # @param prof ConnectorProfile
+ # @return false 指定した名前がない
+ #
+ # @else
+ #
+ # @brief Getting ConnectorProfile by name
+ #
+ # This operation returns ConnectorProfile specified by name
+ #
+ # @param id Connector ID
+ # @param prof ConnectorProfile
+ # @return false specified name does not exist
+ #
+ # @endif
+ #
+ # bool getConnectorProfileByName(const char* name,
+ # ConnectorInfo& prof);
+
+ def getConnectorProfileByName(self, name):
+ self._rtcout.RTC_TRACE("getConnectorProfileByName(name = %s)", name)
+
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ conn = self.getConnectorByName(name)
+ if not conn:
+ return False, None
+ prof = conn.profile()
+ return True, prof
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Port の接続を行う
+ #
+ # 与えられた ConnectoionProfile の情報に基づき、Port間の接続を確立
+ # する。この関数は主にアプリケーションプログラムやツールから呼び出
+ # すことを前提としている。
+ #
+ # @param connector_profile ConnectorProfile
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Connect the Port
+ #
+ # This operation establishes connection according to the given
+ # ConnectionProfile inforamtion. This function is premised on
+ # calling from mainly application program or tools.
+ #
+ # @param connector_profile The ConnectorProfile.
+ # @return ReturnCode_t The return code of ReturnCode_t type.
+ #
+ # @endif
+ #
+
+ def connect(self, connector_profile):
+ self._rtcout.RTC_TRACE("InPortBase.connect()")
+
+ if OpenRTM_aist.NVUtil.find_index(connector_profile.properties,
+ "dataport.serializer.cdr.endian") == -1:
+ self._rtcout.RTC_TRACE(
+ "ConnectorProfile dataport.serializer.cdr.endian set.")
+ connector_profile.properties.append(
+ OpenRTM_aist.NVUtil.newNV(
+ "dataport.serializer.cdr.endian",
+ "little,big"))
+
+ return OpenRTM_aist.PortBase.connect(self, connector_profile)
+
+ ##
+ # @if jp
+ #
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @endif
+ #
+ def notify_connect(self, connector_profile):
+
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(
+ prop, connector_profile.properties)
+
+ node = prop.getNode("dataport.inport")
+ portprop = copy.deepcopy(self._properties)
+ portprop.mergeProperties(node)
+ node.mergeProperties(portprop)
+ OpenRTM_aist.NVUtil.copyFromProperties(
+ connector_profile.properties, prop)
+
+ #_str = self._properties.getProperty("fan_in")
+ _str = node.getProperty("fan_in")
+ _type = int(100)
+
+ _, _type = OpenRTM_aist.stringTo(_type, _str)
+
+ _str = prop.getProperty("dataport.fan_in")
+ _, _type = OpenRTM_aist.stringTo(_type, _str)
- if provider_ is not None:
- self._rtcout.RTC_TRACE("InPortPushConnector created")
- elif consumer_ is not None:
- self._rtcout.RTC_TRACE("InPortPullConnector created")
+ value = _type
- if OpenRTM_aist.StringUtil.normalize([prop.getProperty("interface_type")]) == "direct":
- if consumer_ is not None:
- outport = self.getLocalOutPort(profile)
+ if value <= len(self._connectors):
+ return (RTC.PRECONDITION_NOT_MET, connector_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 OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
+
+ ##
+ # @if jp
+ #
+ # @brief InPortを activates する
+ #
+ # InPortを activate する。
+ #
+ # @else
+ #
+ # @brief Activate all Port interfaces
+ #
+ # This operation activate all interfaces that is registered in the
+ # ports.
+ #
+ # @endif
+ #
+ # void activateInterfaces();
+
+ def activateInterfaces(self):
+ self._rtcout.RTC_TRACE("activateInterfaces()")
+
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ for connector in self._connectors:
+ connector.activate()
+ self._rtcout.RTC_DEBUG("activate connector: %s %s",
+ (connector.name(), connector.id()))
+
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief 全ての Port のインターフェースを deactivates する
+ #
+ # Port に登録されている全てのインターフェースを deactivate する。
+ #
+ # @else
+ #
+ # @brief Deactivate all Port interfaces
+ #
+ # This operation deactivate all interfaces that is registered in the
+ # ports.
+ #
+ # @endif
+ #
+ # void deactivateInterfaces();
+
+ def deactivateInterfaces(self):
+ self._rtcout.RTC_TRACE("deactivateInterfaces()")
+
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ for connector in self._connectors:
+ connector.deactivate()
+ self._rtcout.RTC_DEBUG("deactivate connector: %s %s",
+ (connector.name(), connector.id()))
+ return
+
+ ##
+ # @if jp
+ # @brief ConnectorDataListener リスナを追加する
+ #
+ # バッファ書き込みまたは読み出しイベントに関連する各種リスナを設定する。
+ #
+ # 設定できるリスナのタイプとコールバックイベントは以下の通り
+ #
+ # - ON_BUFFER_WRITE: バッファ書き込み時
+ # - ON_BUFFER_FULL: バッファフル時
+ # - ON_BUFFER_WRITE_TIMEOUT: バッファ書き込みタイムアウト時
+ # - ON_BUFFER_OVERWRITE: バッファ上書き時
+ # - ON_BUFFER_READ: バッファ読み出し時
+ # - ON_SEND: InProtへの送信時
+ # - ON_RECEIVED: InProtへの送信完了時
+ # - ON_SEND_ERTIMEOUT: OutPort側タイムアウト時
+ # - ON_SEND_ERERROR: OutPort側エラー時
+ # - ON_RECEIVER_FULL: InProt側バッファフル時
+ # - ON_RECEIVER_TIMEOUT: InProt側バッファタイムアウト時
+ # - ON_RECEIVER_ERROR: InProt側エラー時
+ #
+ # リスナは ConnectorDataListener を継承し、以下のシグニチャを持つ
+ # operator() を実装している必要がある。
+ #
+ # ConnectorDataListener::
+ # operator()(const ConnectorProfile&, const cdrStream&)
+ #
+ # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は
+ # OutPortに移り、OutPort解体時もしくは、
+ # removeConnectorDataListener() により削除時に自動的に解体される。
+ # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引
+ # 数に false を指定し、自動的な解体を抑制することができる。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Adding BufferDataListener type listener
+ #
+ # This operation adds certain listeners related to buffer writing and
+ # reading events.
+ # The following listener types are available.
+ #
+ # - ON_BUFFER_WRITE: At the time of buffer write
+ # - ON_BUFFER_FULL: At the time of buffer full
+ # - ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
+ # - ON_BUFFER_OVERWRITE: At the time of buffer overwrite
+ # - ON_BUFFER_READ: At the time of buffer read
+ # - ON_SEND: At the time of sending to InPort
+ # - ON_RECEIVED: At the time of finishing sending to InPort
+ # - ON_SENDER_TIMEOUT: At the time of timeout of OutPort
+ # - ON_SENDER_ERROR: At the time of error of OutPort
+ # - ON_RECEIVER_FULL: At the time of bufferfull of InPort
+ # - ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
+ # - ON_RECEIVER_ERROR: At the time of error of InPort
+ #
+ # Listeners should have the following function operator().
+ #
+ # ConnectorDataListener::
+ # operator()(const ConnectorProfile&, const cdrStream&)
+ #
+ # The ownership of the given listener object is transferred to
+ # this OutPort object in default. The given listener object will
+ # be destroied automatically in the OutPort's dtor or if the
+ # listener is deleted by removeConnectorDataListener() function.
+ # If you want to keep ownership of the listener object, give
+ # "false" value to 3rd argument to inhibit automatic destruction.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void
+ # addConnectorDataListener(ConnectorDataListenerType type,
+ # ConnectorDataListener* listener)
+
+ def addConnectorDataListener(self, listener_type, listener):
+ self._rtcout.RTC_TRACE("addConnectorDataListener()")
+
+ if self._listeners.addDataListener(listener_type, listener):
+ return
+
+ self._rtcout.RTC_ERROR(
+ "addConnectorDataListener(): Invalid listener type.")
+ return
+
+ ##
+ # @if jp
+ # @brief ConnectorDataListener リスナを削除する
+ #
+ # 設定した各種リスナを削除する。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Removing BufferDataListener type listener
+ #
+ # This operation removes a specified listener.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void removeConnectorDataListener(ConnectorDataListenerType type,
+ # ConnectorDataListener* listener)
+
+ def removeConnectorDataListener(self, listener_type, listener):
+ self._rtcout.RTC_TRACE("removeConnectorDataListener()")
+
+ if self._listeners.removeDataListener(listener_type, listener):
+ return
+
+ self._rtcout.RTC_ERROR(
+ "removeConnectorDataListener(): Invalid listener type.")
+ return
+
+ ##
+ # @if jp
+ # @brief ConnectorListener リスナを追加する
+ #
+ # バッファ書き込みまたは読み出しイベントに関連する各種リスナを設定する。
+ #
+ # 設定できるリスナのタイプは
+ #
+ # - ON_BUFFER_EMPTY: バッファが空の場合
+ # - ON_BUFFER_READTIMEOUT: バッファが空でタイムアウトした場合
+ #
+ # リスナは以下のシグニチャを持つ operator() を実装している必要がある。
+ #
+ # ConnectorListener::operator()(const ConnectorProfile&)
+ #
+ # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は
+ # OutPortに移り、OutPort解体時もしくは、
+ # removeConnectorListener() により削除時に自動的に解体される。
+ # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引
+ # 数に false を指定し、自動的な解体を抑制することができる。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Adding ConnectorListener type listener
+ #
+ # This operation adds certain listeners related to buffer writing and
+ # reading events.
+ # The following listener types are available.
+ #
+ # - ON_BUFFER_EMPTY: At the time of buffer empty
+ # - ON_BUFFER_READTIMEOUT: At the time of buffer read timeout
+ #
+ # Listeners should have the following function operator().
+ #
+ # ConnectorListener::operator()(const ConnectorProfile&)
+ #
+ # The ownership of the given listener object is transferred to
+ # this OutPort object in default. The given listener object will
+ # be destroied automatically in the OutPort's dtor or if the
+ # listener is deleted by removeConnectorListener() function.
+ # If you want to keep ownership of the listener object, give
+ # "false" value to 3rd argument to inhibit automatic destruction.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void addConnectorListener(ConnectorListenerType type,
+ # ConnectorListener* listener)
+
+ def addConnectorListener(self, listener_type, listener):
+ self._rtcout.RTC_TRACE("addConnectorListener()")
+
+ if listener_type < OpenRTM_aist.ConnectorListenerType.CONNECTOR_LISTENER_NUM:
+ self._listeners.addListener(listener_type, listener)
+ return
+
+ self._rtcout.RTC_ERROR(
+ "addConnectorListener(): Invalid listener type.")
+ return
+
+ ##
+ # @if jp
+ # @brief ConnectorDataListener リスナを削除する
+ #
+ # 設定した各種リスナを削除する。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Removing BufferDataListener type listener
+ #
+ # This operation removes a specified listener.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void removeConnectorListener(ConnectorListenerType type,
+ # ConnectorListener* listener)
+
+ def removeConnectorListener(self, listener_type, listener):
+ self._rtcout.RTC_TRACE("removeConnectorListener()")
+
+ if listener_type < OpenRTM_aist.ConnectorListenerType.CONNECTOR_LISTENER_NUM:
+ self._listeners.removeListener(listener_type, listener)
+ return
+
+ self._rtcout.RTC_ERROR(
+ "removeConnectorListener(): Invalid listener type.")
+ return
+
+ ##
+ # @if jp
+ # @brief Interface情報を公開する
+ #
+ # Interface情報を公開する。
+ # 引数の ConnectorProfile に格納されている dataflow_type が push 型
+ # の場合は、指定された interface_type の InPortProvider に関する情報
+ # を ConnectorProfile::properties に書込み呼び出し側に戻す。
+ #
+ # dataport.dataflow_type
+ #
+ # @param connector_profile コネクタプロファイル
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ # @brief Publish interface information
+ #
+ # Publish interface information.
+ # Assign the Provider information that owned by this port
+ # to ConnectorProfile#properties
+ #
+ # @param connector_profile The connector profile
+ #
+ # @return The return code of ReturnCode_t type
+ #
+ # @endif
+ #
+ # ReturnCode_t publishInterfaces(ConnectorProfile& connector_profile);
+
+ def publishInterfaces(self, cprof):
+ self._rtcout.RTC_TRACE("publishInterfaces()")
+
+ retval = self._publishInterfaces()
+ if retval != RTC.RTC_OK:
+ return retval
+
+ # prop: [port.outport].
+ prop = copy.deepcopy(self._properties)
+
+ conn_prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
+ prop.mergeProperties(conn_prop.getNode("dataport")
+ ) # marge ConnectorProfile
+
+ # marge ConnectorProfile for buffer property.
+ prop.mergeProperties(conn_prop.getNode("dataport.inport"))
+
+ if not self.isExistingMarshalingType(prop):
+ return RTC.RTC_ERROR
+
+ #
+ # ここで, ConnectorProfile からの properties がマージされたため、
+ # prop["dataflow_type"]: データフロータイプ
+ # prop["interface_type"]: インターフェースタイプ
+ # などがアクセス可能になる。
+ #
+ dflow_type = prop.getProperty("dataflow_type")
+ dflow_type = OpenRTM_aist.normalize(dflow_type)
+
+ if dflow_type == "push":
+ self._rtcout.RTC_DEBUG(
+ "dataflow_type = push .... create PushConnector")
+
+ # create InPortProvider
+ provider = self.createProvider(cprof, prop)
+
+ if not provider:
+ self._rtcout.RTC_ERROR("InPort provider creation failed.")
+ return RTC.BAD_PARAMETER
+
+ # create InPortPushConnector
+ connector = self.createConnector(cprof, prop, provider_=provider)
+ if not connector:
+ self._rtcout.RTC_ERROR("PushConnector creation failed.")
+ return RTC.RTC_ERROR
+
+ connector.setDataType(self._value)
+ # So that a provider gets endian information from a connector.
+ provider.setConnector(connector)
+
+ self._rtcout.RTC_DEBUG(
+ "publishInterfaces() successfully finished.")
+ return RTC.RTC_OK
+
+ elif dflow_type == "pull":
+ self._rtcout.RTC_DEBUG("dataflow_type = pull .... do nothing")
+ return RTC.RTC_OK
+
+ elif dflow_type == "duplex":
+ self._rtcout.RTC_DEBUG(
+ "dataflow_type = duplex .... create DuplexConnector")
+
+ # create InPortProvider
+ provider = self.createProvider(cprof, prop)
+ if not provider:
+ self._rtcout.RTC_ERROR("InPort provider creation failed.")
+ return RTC.BAD_PARAMETER
+
+ # create InPortDuplexConnector
+ connector = self.createDuplexConnector(cprof, prop, provider)
+ if not connector:
+ self._rtcout.RTC_ERROR("PushConnector creation failed.")
+ return RTC.RTC_ERROR
+
+ connector.setDataType(self._value)
+ # So that a provider gets endian information from a connector.
+ provider.setConnector(connector)
+
+ self._rtcout.RTC_DEBUG(
+ "publishInterfaces() successfully finished.")
+ return RTC.RTC_OK
+
+ self._rtcout.RTC_ERROR("unsupported dataflow_type")
+ return RTC.BAD_PARAMETER
+
+ ##
+ # @if jp
+ # @brief Interfaceに接続する
+ #
+ # Interfaceに接続する。
+ # Portが所有するConsumerに適合するProviderに関する情報を
+ # ConnectorProfile#properties から抽出し、
+ # ConsumerにCORBAオブジェクト参照を設定する。
+ #
+ # @param connector_profile コネクタ・プロファイル
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ # @brief Subscribe to the interface
+ #
+ # Subscribe to interface.
+ # Derive Provider information that matches Consumer owned by the Port
+ # from ConnectorProfile#properties and
+ # set the Consumer to the reference of the CORBA object.
+ #
+ # @param connector_profile The connector profile
+ #
+ # @return ReturnCode_t The return code of ReturnCode_t type
+ #
+ # @endif
+ #
+ # ReturnCode_t subscribeInterfaces(const ConnectorProfile&
+ # connector_profile);
+
+ def subscribeInterfaces(self, cprof):
+ self._rtcout.RTC_TRACE("subscribeInterfaces()")
+
+ # prop: [port.outport].
+ prop = copy.deepcopy(self._properties)
+ conn_prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
+ prop.mergeProperties(conn_prop.getNode("dataport")
+ ) # marge ConnectorProfile
+ # marge ConnectorProfile for buffer property.
+ prop.mergeProperties(conn_prop.getNode("dataport.inport"))
+
+ if not self.isExistingMarshalingType(prop):
+ return RTC.RTC_ERROR
+
+ #
+ # ここで, ConnectorProfile からの properties がマージされたため、
+ # prop["dataflow_type"]: データフロータイプ
+ # prop["interface_type"]: インターフェースタイプ
+ # などがアクセス可能になる。
+ #
+ dflow_type = prop.getProperty("dataflow_type")
+ dflow_type = OpenRTM_aist.normalize(dflow_type)
+
+ profile = OpenRTM_aist.ConnectorInfo(cprof.name,
+ cprof.connector_id,
+ OpenRTM_aist.CORBA_SeqUtil.refToVstring(
+ cprof.ports),
+ prop)
+ if dflow_type == "push":
+ self._rtcout.RTC_DEBUG("dataflow_type = push .... do nothing")
+
+ conn = self.getConnectorById(cprof.connector_id)
+
+ if not conn:
+ self._rtcout.RTC_ERROR("specified connector not found: %s",
+ cprof.connector_id)
+ return RTC.RTC_ERROR
+
+ ret = conn.setConnectorInfo(profile)
+ if ret == RTC.RTC_OK:
+ self._rtcout.RTC_DEBUG(
+ "subscribeInterfaces() successfully finished.")
+
+ return ret
+
+ elif dflow_type == "pull":
+ self._rtcout.RTC_DEBUG(
+ "dataflow_type = pull .... create PullConnector")
+
+ # create OutPortConsumer
+ consumer = self.createConsumer(cprof, prop)
+ if not consumer:
+ return RTC.BAD_PARAMETER
+
+ # create InPortPullConnector
+ connector = self.createConnector(cprof, prop, consumer_=consumer)
+
+ if not connector:
+ return RTC.RTC_ERROR
+
+ connector.setDataType(self._value)
+
+ ret = connector.setConnectorInfo(profile)
+
+ if ret == RTC.RTC_OK:
+ self._rtcout.RTC_DEBUG(
+ "publishInterface() successfully finished.")
+
+ return ret
+
+ elif dflow_type == "duplex":
+ self._rtcout.RTC_DEBUG(
+ "dataflow_type = duplex .... set Consumer Object")
+ # create OutPortConsumer
+ consumer = self.createConsumer(cprof, prop)
+ if not consumer:
+ return RTC.BAD_PARAMETER
+
+ connector = self.getConnectorById(cprof.connector_id)
+ if not connector:
+ return RTC.RTC_ERROR
+
+ connector.setConsumer(consumer)
+ ret = connector.setConnectorInfo(profile)
+ connector.setDataType(self._value)
+
+ if ret == RTC.RTC_OK:
+ self._rtcout.RTC_DEBUG(
+ "publishInterface() successfully finished.")
+
+ return ret
+
+ self._rtcout.RTC_ERROR("unsupported dataflow_type")
+ return RTC.BAD_PARAMETER
+
+ ##
+ # @if jp
+ # @brief Interfaceへの接続を解除する
+ #
+ # Interfaceへの接続を解除する。
+ # 与えられたConnectorProfileに関連するConsumerに設定された全てのObjectを
+ # 解放し接続を解除する。
+ #
+ # @param connector_profile コネクタ・プロファイル
+ #
+ # @else
+ # @brief Disconnect the interface connection
+ #
+ # Disconnect the interface connection.
+ # Release all objects set in Consumer associated with
+ # given ConnectorProfile and unscribe the interface.
+ #
+ # @param connector_profile The connector profile
+ #
+ # @endif
+ #
+ # void unsubscribeInterfaces(const ConnectorProfile& connector_profile);
+
+ def unsubscribeInterfaces(self, connector_profile):
+ self._rtcout.RTC_TRACE("unsubscribeInterfaces()")
+
+ id = connector_profile.connector_id
+ self._rtcout.RTC_PARANOID("connector_id: %s", id)
+
+ len_ = len(self._connectors)
+ for i in range(len_):
+ idx = (len_ - 1) - i
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ if id == self._connectors[idx].id():
+ # Connector's dtor must call disconnect()
+ self._connectors[idx].unsubscribeInterface(
+ connector_profile.properties)
+ self._connectors[idx].deactivate()
+ self._connectors[idx].disconnect()
+ del self._connectors[idx]
+ self._rtcout.RTC_TRACE("delete connector: %s", id)
+ return
+
+ self._rtcout.RTC_ERROR("specified connector not found: %s", id)
+ return
+
+ ##
+ # @if jp
+ # @brief InPort provider の初期化
+ # @else
+ # @brief InPort provider initialization
+ # @endif
+ #
+ # void initProviders();
+
+ def initProviders(self):
+ self._rtcout.RTC_TRACE("initProviders()")
+
+ # create InPort providers
+ factory = OpenRTM_aist.InPortProviderFactory.instance()
+ provider_types = factory.getIdentifiers()
+
+ self._rtcout.RTC_DEBUG("available providers: %s",
+ OpenRTM_aist.flatten(provider_types))
+
+ if self._properties.hasKey("provider_types") and \
+ OpenRTM_aist.normalize(self._properties.getProperty("provider_types")) != "all":
+ self._rtcout.RTC_DEBUG("allowed providers: %s",
+ self._properties.getProperty("provider_types"))
+
+ temp_types = provider_types
+ provider_types = []
+ active_types = OpenRTM_aist.split(
+ self._properties.getProperty("provider_types"), ",")
+
+ temp_types.sort()
+ active_types.sort()
+
+ set_ptypes = set(temp_types).intersection(set(active_types))
+ provider_types = provider_types + list(set_ptypes)
+
+ # InPortProvider supports "push" dataflow type
+ if provider_types:
+ self._rtcout.RTC_DEBUG("dataflow_type push is supported")
+ self.appendProperty("dataport.dataflow_type", "push")
+ for provider_type in provider_types:
+ self.appendProperty("dataport.interface_type", provider_type)
+
+ self._providerTypes = provider_types
+ return
+
+ ##
+ # @if jp
+ # @brief OutPort consumer の初期化
+ # @else
+ # @brief OutPort consumer initialization
+ # @endif
+ #
+ # void initConsumers();
+
+ def initConsumers(self):
+ self._rtcout.RTC_TRACE("initConsumers()")
+
+ # create OuPort consumers
+ factory = OpenRTM_aist.OutPortConsumerFactory.instance()
+ consumer_types = factory.getIdentifiers()
+ self._rtcout.RTC_DEBUG("available consumers: %s",
+ OpenRTM_aist.flatten(consumer_types))
+
+ if self._properties.hasKey("consumer_types") and \
+ OpenRTM_aist.normalize(self._properties.getProperty("consumer_types")) != "all":
+ self._rtcout.RTC_DEBUG("allowed consumers: %s",
+ self._properties.getProperty("consumer_types"))
+
+ temp_types = consumer_types
+ consumer_types = []
+ active_types = OpenRTM_aist.split(
+ self._properties.getProperty("consumer_types"), ",")
+
+ temp_types.sort()
+ active_types.sort()
+
+ set_ctypes = set(temp_types).intersection(set(active_types))
+ consumer_types = consumer_types + list(set_ctypes)
+
+ # OutPortConsumer supports "pull" dataflow type
+ if consumer_types:
+ self._rtcout.RTC_PARANOID("dataflow_type pull is supported")
+ self.appendProperty("dataport.dataflow_type", "pull")
+ for consumer_type in consumer_types:
+ self.appendProperty("dataport.interface_type", consumer_type)
+
+ self._consumerTypes = consumer_types
+ return
+
+ ##
+ # @if jp
+ # @brief InPort provider の生成
+ #
+ # InPortProvider を生成し、情報を ConnectorProfile に公開する。
+ # 生成に失敗した場合 0 を返す。
+ #
+ # @else
+ # @brief InPort provider creation
+ # @endif
+ #
+ # InPortProvider*
+ # createProvider(ConnectorProfile& cprof, coil::Properties& prop);
+
+ def createProvider(self, cprof, prop):
+ if not prop.getProperty("interface_type") or \
+ not OpenRTM_aist.includes(self._providerTypes, prop.getProperty("interface_type")):
+ self._rtcout.RTC_ERROR("no provider found")
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ self._rtcout.RTC_DEBUG("interface_types: %s",
+ OpenRTM_aist.flatten(self._providerTypes))
+ return None
+
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ provider = OpenRTM_aist.InPortProviderFactory.instance(
+ ).createObject(prop.getProperty("interface_type"))
+
+ if provider is not None:
+ self._rtcout.RTC_DEBUG("provider created")
+ provider.init(prop.getNode("provider"))
+
+ if not provider.publishInterface(cprof.properties):
+ self._rtcout.RTC_ERROR(
+ "publishing interface information error")
+ return None
+ return provider
+
+ self._rtcout.RTC_ERROR("provider creation failed")
+ return None
+
+ ##
+ # @if jp
+ # @brief OutPort consumer の生成
+ #
+ # OutPortConsumer を生成する。
+ # 生成に失敗した場合 0 を返す。
+ #
+ # @else
+ # @brief InPort provider creation
+ # @endif
+ #
+ # OutPortConsumer*
+ # createConsumer(const ConnectorProfile& cprof, coil::Properties& prop);
+
+ def createConsumer(self, cprof, prop):
+ if not prop.getProperty("interface_type") or \
+ not OpenRTM_aist.includes(self._consumerTypes, prop.getProperty("interface_type")):
+ self._rtcout.RTC_ERROR("no consumer found")
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ self._rtcout.RTC_DEBUG("interface_types: %s",
+ OpenRTM_aist.flatten(self._consumerTypes))
+ return None
+
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ consumer = OpenRTM_aist.OutPortConsumerFactory.instance(
+ ).createObject(prop.getProperty("interface_type"))
+
+ if consumer is not None:
+ self._rtcout.RTC_DEBUG("consumer created")
+ consumer.init(prop.getNode("consumer"))
+
+ if not consumer.subscribeInterface(cprof.properties):
+ self._rtcout.RTC_ERROR("interface subscription failed.")
+ return None
+ return consumer
+
+ self._rtcout.RTC_ERROR("consumer creation failed")
+ return None
+
+ ##
+ # @if jp
+ # @brief InPortPushConnector の生成
+ #
+ # Connector を生成し、生成が成功すれば m_connectors に保存する。
+ # 生成に失敗した場合 None を返す。
+ #
+ # @else
+ # @brief InPortPushConnector creation
+ # @endif
+ #
+ # InPortConnector*
+ # createConnector(ConnectorProfile& cprof, coil::Properties& prop,
+ # InPortProvider* provider);
+
+ def createConnector(self, cprof, prop, provider_=None, consumer_=None):
+ profile = OpenRTM_aist.ConnectorInfo(cprof.name,
+ cprof.connector_id,
+ OpenRTM_aist.CORBA_SeqUtil.refToVstring(
+ cprof.ports),
+ prop)
+ connector = None
+
+ try:
+ if provider_ is not None:
+ if self._singlebuffer:
+ connector = OpenRTM_aist.InPortPushConnector(profile, provider_,
+ self._listeners,
+ self._thebuffer)
+ else:
+ connector = OpenRTM_aist.InPortPushConnector(profile, provider_,
+ self._listeners)
+
+ elif consumer_ is not None:
+ if self._singlebuffer:
+ connector = OpenRTM_aist.InPortPullConnector(profile, consumer_,
+ self._listeners,
+ self._thebuffer)
+ else:
+ connector = OpenRTM_aist.InPortPullConnector(profile, consumer_,
+ self._listeners)
+
+ else:
+ self._rtcout.RTC_ERROR(
+ "provider or consumer is not passed. returned 0;")
+ return None
+
+ # if connector is None:
+ # self._rtcout.RTC_ERROR("InPortConnector creation failed")
+ # return 0
+
+ if provider_ is not None:
+ self._rtcout.RTC_TRACE("InPortPushConnector created")
+ 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))
+ return connector
+ except BaseException:
+ self._rtcout.RTC_ERROR("InPortPushConnector creation failed")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return None
+
+ ##
+ # @if jp
+ # @brief InPortDuplexConnector の生成
+ #
+ # 双方向通信用コネクタを生成し、生成が成功すれば m_connectors に保存する。
+ #
+ #
+ # @param cprof コネクタプロファイル
+ # @param prop コネクタプロファイルをプロパティに変換
+ # @param provider_ プロバイダ
+ # @return 生成したコネクタ。生成に失敗した場合 None を返す。
+ #
+ # @else
+ # @brief InPortDuplexConnector creation
+ #
+ # @param cprof
+ # @param prop
+ # @param provider_
+ # @return
+ #
+ # @endif
+ #
+ def createDuplexConnector(self, cprof, prop, provider_):
+ profile = OpenRTM_aist.ConnectorInfo(cprof.name,
+ cprof.connector_id,
+ OpenRTM_aist.CORBA_SeqUtil.refToVstring(
+ cprof.ports),
+ prop)
+ connector = None
+ try:
+ if self._singlebuffer:
+ connector = OpenRTM_aist.InPortDuplexConnector(profile, provider_,
+ self._listeners,
+ self._thebuffer)
+ else:
+ connector = OpenRTM_aist.InPortDuplexConnector(profile, provider_,
+ self._listeners)
+
+ self._rtcout.RTC_TRACE("InPortDuplexConnector created")
+
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ self._connectors.append(connector)
+ self._rtcout.RTC_PARANOID(
+ "connector duplex backed: %d", len(
+ self._connectors))
+ return connector
+ except BaseException:
+ self._rtcout.RTC_ERROR("InPortDuplexConnector creation failed")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
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))
- return connector
- except:
- self._rtcout.RTC_ERROR("InPortPushConnector creation failed")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return None
-
-
- ##
- # @if jp
- # @brief ΥԥOutPort
- # @param self
- # @param profile ͥץե
- # @return OutPortΥХ(˼ԤNone)
- # @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
+
+ ##
+ # @if jp
+ # @brief ローカルのピアOutPortを取得
+ # @param self
+ # @param profile コネクタプロファイル
+ # @return OutPortのサーバント(取得に失敗した場合はNone)
+ # @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 BaseException:
+ self._rtcout.RTC_DEBUG("Peer port might be a remote port")
+ return None
diff --git a/OpenRTM_aist/InPortCSPConsumer.py b/OpenRTM_aist/InPortCSPConsumer.py
new file mode 100644
index 00000000..660f0d4e
--- /dev/null
+++ b/OpenRTM_aist/InPortCSPConsumer.py
@@ -0,0 +1,194 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+##
+# @file InPortCSPConsumer.py
+# @brief InPortCSPConsumer class
+# @date $Date: 2016/01/08 $
+# @author Nobuhiko Miyamoto
+
+
+import OpenRTM_aist
+import OpenRTM
+import CSP
+
+
+##
+# @if jp
+# @class InPortCSPConsumer
+# @brief InPortCSPConsumer クラス
+#
+# CSPモデルのチャネルを模擬した入力ポートプロバイダーの実装クラス。
+#
+#
+# @else
+# @class InPortCSPConsumer
+# @brief InPortCSPConsumer class
+#
+#
+#
+# @endif
+#
+class InPortCSPConsumer(OpenRTM_aist.InPortCorbaCdrConsumer):
+
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # Interface Typeにはshared_memoryを指定する
+ # 共有メモリの空間名はUUIDで作成し、コネクタプロファイルのdataport.shared_memory.addressに保存する
+ #
+ # self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # self
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortCorbaCdrConsumer.__init__(self)
+ OpenRTM_aist.CorbaConsumer.__init__(self, CSP.InPortCsp)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortCSPConsumer")
+ self._properties = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~InPortCSPConsumer()")
+ CorbaConsumer.__del__(self)
+
+ # void init(coil::Properties& prop)
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self._properties = prop
+
+ ##
+ # @if jp
+ # @brief バッファをセットする
+ #
+ #
+ # @param buffer OutPortProviderがデータを取り出すバッファへのポインタ
+ #
+ # @else
+ # @brief Setting outside buffer's pointer
+ #
+ # @param buffer A pointer to a data buffer to be used by OutPortProvider
+ #
+ # @endif
+ #
+ # virtual void setBuffer(CdrBufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ pass
+
+ # void OutPortCorbaCdrConsumer::setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners)
+
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListener()")
+ self._listeners = listeners
+ self._profile = info
+ return
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+
+ ##
+ # @if jp
+ # @brief バッファにデータを書き込む
+ #
+ #
+ # @param self
+ # @param data 書込対象データ
+ # @return リターンコード
+ # PORT_OK：正常完了
+ # PORT_ERROR：バッファ書き込みエラー、通常は発生しない
+ # SEND_FULL：バッファがフル
+ # SEND_TIMEOUT：書き込みタイムアウト
+ # UNKNOWN_ERROR：その他のエラー
+ # CONNECTION_LOST：通信エラー
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @endif
+ #
+ def put(self, data):
+ self._rtcout.RTC_PARANOID("get()")
+
+ try:
+ outportcsp = self._ptr()
+ if outportcsp:
+ ret = outportcsp.put(data)
+ return self.convertReturnCode(ret)
+ return self.CONNECTION_LOST
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
+ ##
+ # @if jp
+ # @brief 書き込み可能かを接続先のProviderに確認
+ #
+ #
+ # @param self
+ # @param retry True：再検索、False：通常の書き込み確認
+ # @return True：書き込み可能、False：書き込み不可
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param retry
+ # @return
+ #
+ # @endif
+ #
+ def isWritable(self, retry=False):
+ self._rtcout.RTC_PARANOID("isWritable()")
+ try:
+ outportcsp = self._ptr()
+ if outportcsp:
+ return outportcsp.is_writable(retry)
+ return False
+ except BaseException:
+ self._rtcout.RTC_WARN("Exception caught from InPort.isWritable().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return False
+
+
+def InPortCSPConsumerInit():
+ factory = OpenRTM_aist.InPortConsumerFactory.instance()
+ factory.addFactory("csp_channel",
+ OpenRTM_aist.InPortCSPConsumer)
diff --git a/OpenRTM_aist/InPortCSPProvider.py b/OpenRTM_aist/InPortCSPProvider.py
new file mode 100644
index 00000000..f65d9f18
--- /dev/null
+++ b/OpenRTM_aist/InPortCSPProvider.py
@@ -0,0 +1,276 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+##
+# @file InPortSHMProvider.py
+# @brief InPortSHMProvider class
+# @date $Date: 2016/01/08 $
+# @author Nobuhiko Miyamoto
+
+
+import OpenRTM_aist
+import OpenRTM
+import CSP__POA
+
+
+##
+# @if jp
+# @class InPortCSPProvider
+# @brief InPortCSPProvider クラス
+#
+# CSPモデルのチャネルを模擬した入力ポートプロバイダーの実装クラス。
+#
+#
+# @else
+# @class InPortCSPProvider
+# @brief InPortCSPProvider class
+#
+#
+#
+# @endif
+#
+class InPortCSPProvider(OpenRTM_aist.InPortProvider, CSP__POA.InPortCsp):
+
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # Interface Typeにはshared_memoryを指定する
+ # 共有メモリの空間名はUUIDで作成し、コネクタプロファイルのdataport.shared_memory.addressに保存する
+ #
+ # self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # self
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortProvider.__init__(self)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("CSPOutPort")
+
+ # PortProfile setting
+ self.setInterfaceType("csp_channel")
+ self._objref = self._this()
+
+ self._buffer = None
+
+ self._profile = None
+ self._listeners = None
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ref",
+ self._objref))
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
+
+ # void init(coil::Properties& prop)
+
+ def init(self, prop):
+ pass
+
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+ ##
+ # @if jp
+ # @brief バッファにデータを書き込む
+ #
+ # データのサイズは共有メモリも先頭8byteから取得する
+ # 共有メモリからデータを取り出しバッファに書き込む
+ #
+ # @param data 書込対象データ
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @param data
+ #
+ # @endif
+ #
+ # ::OpenRTM::PortStatus put()
+ # throw (CORBA::SystemException);
+ def put(self, data):
+
+ try:
+ self._rtcout.RTC_PARANOID("InPortCSPProvider.put()")
+
+ if not self._connector:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ self._rtcout.RTC_PARANOID("received data size: %d", len(data))
+
+ data = self.onReceived(data)
+
+ ret = self._connector.write(data)
+
+ return self.convertReturn(ret, data)
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return OpenRTM.UNKNOWN_ERROR
+
+ ##
+ # @if jp
+ # @brief データ書き込み可能かを確認
+ #
+ # @param self
+ # @param retry True：再検索、False：通常の書き込み確認
+ # @return True：書き込み可能、False：書き込み不可
+ #
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param retry
+ # @return
+ #
+ # @endif
+ #
+
+ def is_writable(self, retry):
+ self._rtcout.RTC_PARANOID("is_writable()")
+ if self._connector:
+ return self._connector.isWritable(retry)
+ return False
+
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ return data
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+ return data
+
+ def onBufferWriteTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, self._profile, data)
+ return data
+
+ def onBufferWriteOverwrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ return data
+
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return
+
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ self.onBufferWrite(data)
+ return OpenRTM.PORT_OK
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ data = self.onBufferFull(data)
+ self.onReceiverFull(data)
+ return OpenRTM.BUFFER_FULL
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ return OpenRTM.BUFFER_EMPTY
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ data = self.onBufferWriteTimeout(data)
+ self.onReceiverTimeout(data)
+ return OpenRTM.BUFFER_TIMEOUT
+
+ else:
+ self.onReceiverError(data)
+ return OpenRTM.UNKNOWN_ERROR
+
+
+def InPortCSPProviderInit():
+ factory = OpenRTM_aist.InPortProviderFactory.instance()
+ factory.addFactory("csp_channel",
+ OpenRTM_aist.InPortCSPProvider)
diff --git a/OpenRTM_aist/InPortConnector.py b/OpenRTM_aist/InPortConnector.py
index cd7536d6..7b530691 100644
--- a/OpenRTM_aist/InPortConnector.py
+++ b/OpenRTM_aist/InPortConnector.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortConnector.py
@@ -23,16 +23,16 @@
##
# @if jp
# @class InPortConnector
-# @brief InPortConnector 쥯饹
+# @brief InPortConnector 基底クラス
#
-# InPort Push/Pull Ƽ Connector 뤿
-# 쥯饹
+# InPort の Push/Pull 各種 Connector を派生させるための
+# 基底クラス。
#
# @since 1.0.0
#
# @else
# @class InPortConnector
-# @brief IPortConnector base class
+# @brief IｎPortConnector base class
#
# The base class to derive subclasses for InPort's Push/Pull Connectors
#
@@ -41,179 +41,254 @@
# @endif
#
class InPortConnector(OpenRTM_aist.ConnectorBase):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- # InPortConnector(ConnectorInfo& info,
- # CdrBufferBase* buffer);
- def __init__(self, info, buffer):
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortConnector")
- self._profile = info
- self._buffer = buffer
- self._dataType = None
- self._endian = None
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- # @brief ConnectorInfo
- #
- # Connector ConnectorInfo
- #
- # @else
- # @brief Getting ConnectorInfo
- #
- # This operation returns ConnectorInfo
- #
- # @endif
- #
- # const ConnectorInfo& profile();
- def profile(self):
- self._rtcout.RTC_TRACE("profile()")
- return self._profile
-
-
- ##
- # @if jp
- # @brief Connector ID
- #
- # Connector ID
- #
- # @else
- # @brief Getting Connector ID
- #
- # This operation returns Connector ID
- #
- # @endif
- #
- # const char* id();
- def id(self):
- self._rtcout.RTC_TRACE("id() = %s", self.profile().id)
- return self.profile().id
-
-
- ##
- # @if jp
- # @brief Connector ̾
- #
- # Connector ̾
- #
- # @else
- # @brief Getting Connector name
- #
- # This operation returns Connector name
- #
- # @endif
- #
- # const char* name();
- def name(self):
- self._rtcout.RTC_TRACE("name() = %s", self.profile().name)
- return self.profile().name
-
-
- ##
- # @if jp
- # @brief ³ؿ
- #
- # Connector ݻƤ³
- #
- # @else
- # @brief Disconnect connection
- #
- # This operation disconnect this connection
- #
- # @endif
- #
- # virtual ReturnCode disconnect() = 0;
- def disconnect(self):
- pass
-
- ##
- # @if jp
- # @brief Buffer
- #
- # Connector ݻƤ Buffer ֤
- #
- # @else
- # @brief Getting Buffer
- #
- # This operation returns this connector's buffer
- #
- # @endif
- #
- # virtual CdrBufferBase* getBuffer();
- def getBuffer(self):
- return self._buffer
-
- ##
- # @if jp
- # @brief read ؿ
- #
- # Buffer ǡ InPort read ؿ
- #
- # @else
- # @brief Destructor
- #
- # The read function to read data from buffer to InPort
- #
- # @endif
- #
- # virtual ReturnCode read(cdrMemoryStream& data) = 0;
- def read(self, data):
- pass
-
- # void setConnectorInfo(ConnectorInfo profile);
- def setConnectorInfo(self, profile):
- self._profile = profile
-
- if self._profile.properties.hasKey("serializer"):
- endian = self._profile.properties.getProperty("serializer.cdr.endian")
- if not endian:
- self._rtcout.RTC_ERROR("InPortConnector.setConnectorInfo(): endian is not supported.")
- return RTC.RTC_ERROR
-
- endian = OpenRTM_aist.split(endian, ",") # Maybe endian is ["little","big"]
- endian = OpenRTM_aist.normalize(endian) # Maybe self._endian is "little" or "big"
-
- if endian == "little":
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ # InPortConnector(ConnectorInfo& info,
+ # CdrBufferBase* buffer);
+ def __init__(self, info, buffer):
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortConnector")
+ self._profile = info
+ self._buffer = buffer
+ self._dataType = None
self._endian = True
- elif endian == "big":
- self._endian = False
- else:
- self._endian = None
-
- else:
- self._endian = True # little endian
- return RTC.RTC_OK
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief ConnectorInfo 取得
+ #
+ # Connector ConnectorInfo を取得する
+ #
+ # @else
+ # @brief Getting ConnectorInfo
+ #
+ # This operation returns ConnectorInfo
+ #
+ # @endif
+ #
+ # const ConnectorInfo& profile();
+
+ def profile(self):
+ self._rtcout.RTC_TRACE("profile()")
+ return self._profile
+
+ ##
+ # @if jp
+ # @brief Connector ID 取得
+ #
+ # Connector ID を取得する
+ #
+ # @else
+ # @brief Getting Connector ID
+ #
+ # This operation returns Connector ID
+ #
+ # @endif
+ #
+ # const char* id();
+
+ def id(self):
+ self._rtcout.RTC_TRACE("id() = %s", self.profile().id)
+ return self.profile().id
+
+ ##
+ # @if jp
+ # @brief Connector 名取得
+ #
+ # Connector 名を取得する
+ #
+ # @else
+ # @brief Getting Connector name
+ #
+ # This operation returns Connector name
+ #
+ # @endif
+ #
+ # const char* name();
+
+ def name(self):
+ self._rtcout.RTC_TRACE("name() = %s", self.profile().name)
+ return self.profile().name
+
+ ##
+ # @if jp
+ # @brief 接続解除関数
+ #
+ # Connector が保持している接続を解除する
+ #
+ # @else
+ # @brief Disconnect connection
+ #
+ # This operation disconnect this connection
+ #
+ # @endif
+ #
+ # virtual ReturnCode disconnect() = 0;
+
+ def disconnect(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief Buffer を所得する
+ #
+ # Connector が保持している Buffer を返す
+ #
+ # @else
+ # @brief Getting Buffer
+ #
+ # This operation returns this connector's buffer
+ #
+ # @endif
+ #
+ # virtual CdrBufferBase* getBuffer();
+ def getBuffer(self):
+ return self._buffer
+
+ ##
+ # @if jp
+ # @brief read 関数
+ #
+ # Buffer からデータを InPort へ read する関数
+ #
+ # @else
+ # @brief
+ #
+ # The read function to read data from buffer to InPort
+ #
+ # @endif
+ #
+ # virtual ReturnCode read(cdrMemoryStream& data) = 0;
+ def read(self, data=None):
+ pass
+
+ # void setConnectorInfo(ConnectorInfo profile);
+ def setConnectorInfo(self, profile):
+ self._profile = profile
+
+ if self._profile.properties.hasKey("serializer"):
+ endian = self._profile.properties.getProperty(
+ "serializer.cdr.endian")
+ if not endian:
+ self._rtcout.RTC_ERROR(
+ "InPortConnector.setConnectorInfo(): endian is not supported.")
+ return RTC.RTC_ERROR
+
+ # Maybe endian is ["little","big"]
+ endian = OpenRTM_aist.split(endian, ",")
+ # Maybe self._endian is "little" or "big"
+ endian = OpenRTM_aist.normalize(endian[0])
+
+ if endian == "little":
+ self._endian = True
+ elif endian == "big":
+ self._endian = False
+ else:
+ self._endian = None
+
+ else:
+ self._endian = True # little endian
+
+ return RTC.RTC_OK
+
+ # template
+ # void setDataTyep(DataType data);
+
+ def setDataType(self, data):
+ self._dataType = data
+
+ def write(self, data):
+ pass
+
+ #
+ # @if jp
+ # @brief データ書き込み時のリスナ設定
+ # @param self
+ # @param listener リスナ
+ # @else
+ # @brief
+ # @param self
+ # @param listener
+ # @endif
+ def setWriteListener(self, listener):
+ pass
+
+ #
+ # @if jp
+ # @brief データ書き込み判定時のリスナ設定
+ # @param self
+ # @param listener リスナ
+ # @else
+ # @brief
+ # @param self
+ # @param listener
+ # @endif
+ def setIsWritableListener(self, listener):
+ pass
+ #
+ # @if jp
+ # @brief データを書き込める状態かを判定
+ # @param self
+ # @return True：書き込み可能
+ # @else
+ # @brief
+ # @param self
+ # @return
+ # @endif
+ def isWritable(self):
+ return False
+ #
+ # @if jp
+ # @brief データを読み込める状態かを判定
+ # @param self
+ # @param retry True：再確認、False：通常の読み込み確認
+ # @return True：読み込み可能
+ # @else
+ # @brief
+ # @param self
+ # @param retry
+ # @return
+ # @endif
- # template
- # void setDataTyep(DataType data);
- def setDataType(self, data):
- self._dataType = data
+ def isReadable(self, retry):
+ return False
+ ##
+ # @if jp
+ # @brief コンシューマの設定
+ # @else
+ # @brief set Consumer
+ # @endif
+ def setConsumer(self, consumer):
+ pass
- def write(self, data):
- pass
- def read(self, data):
- pass
\ No newline at end of file
+ ##
+ # @if jp
+ # @brief コンシューマのインターフェースの登録を取り消す
+ # @param prop コネクタプロファイルのプロパティ
+ # @else
+ # @brief
+ # @param prop
+ # @endif
+ def unsubscribeInterface(self, prop):
+ pass
diff --git a/OpenRTM_aist/InPortConsumer.py b/OpenRTM_aist/InPortConsumer.py
index 1b316f9b..477da4c3 100644
--- a/OpenRTM_aist/InPortConsumer.py
+++ b/OpenRTM_aist/InPortConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -24,14 +24,14 @@
#
# @class InPortConsumer
#
-# @brief InPortConsumer 쥯饹
+# @brief InPortConsumer 基底クラス
#
-# ϥݡȥ塼ޤΤݥե饹
-# ƶݥ饹ϡʲδؿμʤФʤʤ
-# - push(): ǡ
-# - clone(): ݡȤΥԡ
-# - subscribeInterface(): ǡΤؤϿ
-# - unsubscribeInterface(): ǡΤϿ
+# 入力ポートコンシューマのための抽象インターフェースクラス
+# 各具象クラスは、以下の関数の実装を提供しなければならない。
+# - push(): データ送信
+# - clone(): ポートのコピー
+# - subscribeInterface(): データ送出通知への登録
+# - unsubscribeInterface(): データ送出通知の登録解除
#
# @since 0.4.0
#
@@ -39,62 +39,67 @@
# @class InPortConsumer
# @brief InPortConsumer class
# @endif
-class InPortConsumer(OpenRTM_aist.DataPortStatus):
- """
- """
+class InPortConsumer(OpenRTM_aist.DataPortStatus):
+ """
+ """
- ##
- # @if jp
- # @brief եץե뤿Υե
- # @else
- # @brief Functor to publish interface profile
- # @endif
- #
- class publishInterfaceProfileFunc:
- def __init__(self, prop):
- self._prop = prop
+ def put(self, data):
+ return self.CONNECTION_LOST
- def __call__(self, consumer):
- consumer.publishInterfaceProfile(self._prop)
+ def isWritable(self):
+ return True
+ ##
+ # @if jp
+ # @brief インターフェースプロファイルを公開するたのファンクタ
+ # @else
+ # @brief Functor to publish interface profile
+ # @endif
+ #
- ##
- # @if jp
- # @brief եץե뤿Υե
- # @else
- # @brief Functor to publish interface profile
- # @endif
- #
- class subscribeInterfaceFunc:
- def __init__(self, prop):
- self._prop = prop
+ class publishInterfaceProfileFunc:
+ def __init__(self, prop):
+ self._prop = prop
- def __call__(self, consumer):
- return consumer.subscribeInterface(self._prop)
+ def __call__(self, consumer):
+ consumer.publishInterfaceProfile(self._prop)
+ ##
+ # @if jp
+ # @brief インターフェースプロファイルを公開するたのファンクタ
+ # @else
+ # @brief Functor to publish interface profile
+ # @endif
+ #
-inportconsumerfactory = None
+ class subscribeInterfaceFunc:
+ def __init__(self, prop):
+ self._prop = prop
-class InPortConsumerFactory(OpenRTM_aist.Factory,InPortConsumer):
+ def __call__(self, consumer):
+ return consumer.subscribeInterface(self._prop)
- def __init__(self):
- OpenRTM_aist.Factory.__init__(self)
- pass
+
+inportconsumerfactory = None
- def __del__(self):
- pass
+class InPortConsumerFactory(OpenRTM_aist.Factory, InPortConsumer):
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self)
+ pass
- def instance():
- global inportconsumerfactory
+ def __del__(self):
+ pass
- if inportconsumerfactory is None:
- inportconsumerfactory = InPortConsumerFactory()
+ def instance():
+ global inportconsumerfactory
- return inportconsumerfactory
+ if inportconsumerfactory is None:
+ inportconsumerfactory = InPortConsumerFactory()
- instance = staticmethod(instance)
+ return inportconsumerfactory
+ instance = staticmethod(instance)
diff --git a/OpenRTM_aist/InPortCorbaCdrConsumer.py b/OpenRTM_aist/InPortCorbaCdrConsumer.py
index c61a6586..f658c328 100644
--- a/OpenRTM_aist/InPortCorbaCdrConsumer.py
+++ b/OpenRTM_aist/InPortCorbaCdrConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortCorbaCdrConsumer.py
@@ -27,11 +27,11 @@
#
# @class InPortCorbaCdrConsumer
#
-# @brief InPortCorbaCdrConsumer 饹
+# @brief InPortCorbaCdrConsumer クラス
#
-# ̿ʤ CORBA Ѥϥݡȥ塼ޤμ饹
+# 通信手段に CORBA を利用した入力ポートコンシューマの実装クラス。
#
-# @param DataType ܥݡȤˤưǡ
+# @param DataType 本ポートにて扱うデータ型
#
# @since 1.0
#
@@ -40,7 +40,7 @@
#
# @brief InPortCorbaCdrConsumer class
#
-# This is an implementation class of the input port Consumer
+# This is an implementation class of the input port Consumer
# that uses CORBA for means of communication.
#
# @param DataType Data type for this port
@@ -49,409 +49,411 @@
#
# @endif
#
-class InPortCorbaCdrConsumer(OpenRTM_aist.InPortConsumer,OpenRTM_aist.CorbaConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param buffer 塼ޤ˳ƤХåե֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param buffer The buffer object that is attached to this Consumer
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.CorbaConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortCorbaCdrConsumer")
- self._properties = None
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
- self._rtcout.RTC_PARANOID("~InPortCorbaCdrConsumer()")
- CorbaConsumer.__del__(self)
- return
-
- ##
- # @if jp
- # @brief
- #
- # InPortConsumerγƼԤ
- #
- # @else
- # @brief Initializing configuration
- #
- # This operation would be called to configure this consumer
- # in initialization.
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- self._properties = prop
- return
-
- ##
- # @if jp
- # @brief ³ؤΥǡ
- #
- # ³ΥݡȤإǡ뤿ν貾۴ؿ
- #
- # δؿϡʲΥɤ֤
- #
- # - PORT_OK: ｪλ
- # - PORT_ERROR: ǡβDz餫Υ顼ȯ
- # - SEND_FULL: ǡ¦Хåեեä
- # - SEND_TIMEOUT: ǡ¦ХåեॢȤ
- # - UNKNOWN_ERROR: Υ顼
- #
- # @param data ǡ
- # @return
- #
- # @else
- # @brief Send data to the destination port
- #
- # Pure virtual function to send data to the destination port.
- #
- # This function might the following return codes
- #
- # - PORT_OK: Normal return
- # - PORT_ERROR: Error occurred in data transfer process
- # - SEND_FULL: Buffer full although OutPort tried to send data
- # - SEND_TIMEOUT: Timeout although OutPort tried to send data
- # - UNKNOWN_ERROR: Unknown error
- #
- # @endif
- #
- # virtual ReturnCode put(const cdrMemoryStream& data);
- def put(self, data):
- self._rtcout.RTC_PARANOID("put()")
-
- try:
- ref_ = self.getObject()
- if ref_:
- inportcdr = ref_._narrow(OpenRTM.InPortCdr)
- return self.convertReturnCode(inportcdr.put(data))
- return self.CONNECTION_LOST
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
- ##
- # @if jp
- # @brief InterfaceProfile
- #
- # InterfaceProfile롣
- # ǻꤹץѥƥ NameValue ֥Ȥ
- # dataport.interface_type ͤĴ١ݡȤꤵƤ
- # եפȰפΤ߾롣
- #
- # @param properties InterfaceProfileץѥƥ
- #
- # @else
- # @brief Publish InterfaceProfile information
- #
- # Publish interfaceProfile information.
- # Check the dataport.interface_type value of the NameValue object
- # specified by an argument in property information and get information
- # only when the interface type of the specified port is matched.
- #
- # @param properties Properties to get InterfaceProfile information
- #
- # @endif
- #
- # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
- def publishInterfaceProfile(self, properties):
- return
-
- ##
- # @if jp
- # @brief ǡΤؤϿ
- #
- # ꤵ줿ץѥƥ˴ŤơǡΤμϿ롣
- #
- # @param properties Ͽ
- #
- # @return Ͽ(Ͽ:trueϿ:false)
- #
- # @else
- # @brief Subscribe to the data sending notification
- #
- # Subscribe to the data sending notification based on specified
- # property information.
- #
- # @param properties Information for subscription
- #
- # @return Subscription result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
- def subscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("subscribeInterface()")
- # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
-
- # getting InPort's ref from IOR string
- if self.subscribeFromIor(properties):
- return True
-
- # getting InPort's ref from Object reference
- if self.subscribeFromRef(properties):
- return True
-
- return False
-
- ##
- # @if jp
- # @brief ǡΤϿ
- #
- # ǡΤμ꤫Ͽ롣
- #
- # @param properties Ͽ
- #
- # @else
- # @brief Unsubscribe the data send notification
- #
- # Unsubscribe the data send notification.
- #
- # @param properties Information for unsubscription
- #
- # @endif
- #
- # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
- def unsubscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeInterface()")
- # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
-
- if self.unsubscribeFromIor(properties):
- return
-
- self.unsubscribeFromRef(properties)
- return
-
- ##
- # @if jp
- # @brief IORʸ饪֥ȻȤ
- #
- # @return true: , false:
- #
- # @else
- # @brief Getting object reference fromn IOR string
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool subscribeFromIor(const SDOPackage::NVList& properties);
- def subscribeFromIor(self, properties):
- self._rtcout.RTC_TRACE("subscribeFromIor()")
-
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.corba_cdr.inport_ior")
- if index < 0:
- self._rtcout.RTC_ERROR("inport_ior not found")
- return False
-
- ior = ""
- try:
- ior = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not ior:
- self._rtcout.RTC_ERROR("inport_ior has no string")
- return False
-
- orb = OpenRTM_aist.Manager.instance().getORB()
- obj = orb.string_to_object(ior)
-
- if CORBA.is_nil(obj):
- self._rtcout.RTC_ERROR("invalid IOR string has been passed")
- return False
-
- if not self.setObject(obj):
- self._rtcout.RTC_WARN("Setting object to consumer failed.")
- return False
-
- return True
-
- ##
- # @if jp
- # @brief Anyľܥ֥ȻȤ
- #
- # @return true: , false:
- #
- # @else
- # @brief Getting object reference fromn Any directry
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool subscribeFromRef(const SDOPackage::NVList& properties);
- def subscribeFromRef(self, properties):
- self._rtcout.RTC_TRACE("subscribeFromRef()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.corba_cdr.inport_ref")
- if index < 0:
- self._rtcout.RTC_ERROR("inport_ref not found")
- return False
-
- obj = None
- try:
- obj = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not obj:
- self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
- return False
-
- if CORBA.is_nil(obj):
- self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
- return False
-
- if not self.setObject(obj):
- self._rtcout.RTC_ERROR("Setting object to consumer failed.")
- return False
-
- return True
-
- ##
- # @if jp
- # @brief ³(IOR)
- #
- # @return true: , false:
- #
- # @else
- # @brief ubsubscribing (IOR version)
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool unsubscribeFromIor(const SDOPackage::NVList& properties);
- def unsubscribeFromIor(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeFromIor()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.corba_cdr.inport_ior")
- if index < 0:
- self._rtcout.RTC_ERROR("inport_ior not found")
- return False
-
- ior = ""
- try:
- ior = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not ior:
- self._rtcout.RTC_ERROR("prop[inport_ior] is not string")
- return False
-
- orb = OpenRTM_aist.Manager.instance().getORB()
- var = orb.string_to_object(ior)
- if not self._ptr(True)._is_equivalent(var):
- self._rtcout.RTC_ERROR("connector property inconsistency")
- return False
-
- self.releaseObject()
- return True
-
- ##
- # @if jp
- # @brief ³(Object reference)
- #
- # @return true: , false:
- #
- # @else
- # @brief ubsubscribing (Object reference version)
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool unsubscribeFromRef(const SDOPackage::NVList& properties);
- def unsubscribeFromRef(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeFromRef()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.corba_cdr.inport_ref")
-
- if index < 0:
- return False
-
- obj = None
- try:
- obj = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not obj:
- return False
-
- obj_ptr = self._ptr(True)
-
- if obj_ptr is None or not obj_ptr._is_equivalent(obj):
- return False
-
- self.releaseObject()
- return True
-
- ##
- # @if jp
- # @brief Ѵ
- # @else
- # @brief Return codes conversion
- # @endif
- #
- # ReturnCode convertReturnCode(OpenRTM::PortStatus ret)
- def convertReturnCode(self, ret):
- if ret == OpenRTM.PORT_OK:
- return self.PORT_OK
-
- elif ret == OpenRTM.PORT_ERROR:
- return self.PORT_ERROR
-
- elif ret == OpenRTM.BUFFER_FULL:
- return self.SEND_FULL
-
- elif ret == OpenRTM.BUFFER_TIMEOUT:
- return self.SEND_TIMEOUT
-
- elif ret == OpenRTM.UNKNOWN_ERROR:
- return self.UNKNOWN_ERROR
-
- else:
- return self.UNKNOWN_ERROR
+
+
+class InPortCorbaCdrConsumer(
+ OpenRTM_aist.InPortConsumer, OpenRTM_aist.CorbaConsumer):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param buffer 当該コンシューマに割り当てるバッファオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param buffer The buffer object that is attached to this Consumer
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.CorbaConsumer.__init__(self, OpenRTM.InPortCdr)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortCorbaCdrConsumer")
+ self._properties = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~InPortCorbaCdrConsumer()")
+ CorbaConsumer.__del__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure this consumer
+ # in initialization.
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self._properties = prop
+ return
+
+ ##
+ # @if jp
+ # @brief 接続先へのデータ送信
+ #
+ # 接続先のポートへデータを送信するための純粋仮想関数。
+ #
+ # この関数は、以下のリターンコードを返す。
+ #
+ # - PORT_OK: 正常終了。
+ # - PORT_ERROR: データ送信の過程で何らかのエラーが発生した。
+ # - SEND_FULL: データを送信したが、相手側バッファがフルだった。
+ # - SEND_TIMEOUT: データを送信したが、相手側バッファがタイムアウトした。
+ # - UNKNOWN_ERROR: 原因不明のエラー
+ #
+ # @param data 送信するデータ
+ # @return リターンコード
+ #
+ # @else
+ # @brief Send data to the destination port
+ #
+ # Pure virtual function to send data to the destination port.
+ #
+ # This function might the following return codes
+ #
+ # - PORT_OK: Normal return
+ # - PORT_ERROR: Error occurred in data transfer process
+ # - SEND_FULL: Buffer full although OutPort tried to send data
+ # - SEND_TIMEOUT: Timeout although OutPort tried to send data
+ # - UNKNOWN_ERROR: Unknown error
+ #
+ # @endif
+ #
+ # virtual ReturnCode put(const cdrMemoryStream& data);
+ def put(self, data):
+ self._rtcout.RTC_PARANOID("put()")
+
+ try:
+ inportcdr = self._ptr()
+ if inportcdr:
+ return self.convertReturnCode(inportcdr.put(data))
+ return self.CONNECTION_LOST
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
+ ##
+ # @if jp
+ # @brief InterfaceProfile情報を公開する
+ #
+ # InterfaceProfile情報を公開する。
+ # 引数で指定するプロパティ情報内の NameValue オブジェクトの
+ # dataport.interface_type 値を調べ、当該ポートに設定されている
+ # インターフェースタイプと一致する場合のみ情報を取得する。
+ #
+ # @param properties InterfaceProfile情報を受け取るプロパティ
+ #
+ # @else
+ # @brief Publish InterfaceProfile information
+ #
+ # Publish interfaceProfile information.
+ # Check the dataport.interface_type value of the NameValue object
+ # specified by an argument in property information and get information
+ # only when the interface type of the specified port is matched.
+ #
+ # @param properties Properties to get InterfaceProfile information
+ #
+ # @endif
+ #
+ # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
+
+ def publishInterfaceProfile(self, properties):
+ return
+
+ ##
+ # @if jp
+ # @brief データ送信通知への登録
+ #
+ # 指定されたプロパティに基づいて、データ送出通知の受け取りに登録する。
+ #
+ # @param properties 登録情報
+ #
+ # @return 登録処理結果(登録成功:true、登録失敗:false)
+ #
+ # @else
+ # @brief Subscribe to the data sending notification
+ #
+ # Subscribe to the data sending notification based on specified
+ # property information.
+ #
+ # @param properties Information for subscription
+ #
+ # @return Subscription result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
+ def subscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("subscribeInterface()")
+ # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
+
+ # getting InPort's ref from IOR string
+ if self.subscribeFromIor(properties):
+ return True
+
+ # getting InPort's ref from Object reference
+ if self.subscribeFromRef(properties):
+ return True
+
+ return False
+
+ ##
+ # @if jp
+ # @brief データ送信通知からの登録解除
+ #
+ # データ送出通知の受け取りから登録を解除する。
+ #
+ # @param properties 登録解除情報
+ #
+ # @else
+ # @brief Unsubscribe the data send notification
+ #
+ # Unsubscribe the data send notification.
+ #
+ # @param properties Information for unsubscription
+ #
+ # @endif
+ #
+ # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
+ def unsubscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeInterface()")
+ # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
+
+ if self.unsubscribeFromIor(properties):
+ return
+
+ self.unsubscribeFromRef(properties)
+ return
+
+ ##
+ # @if jp
+ # @brief IOR文字列からオブジェクト参照を取得する
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief Getting object reference fromn IOR string
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool subscribeFromIor(const SDOPackage::NVList& properties);
+ def subscribeFromIor(self, properties):
+ self._rtcout.RTC_TRACE("subscribeFromIor()")
+
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.corba_cdr.inport_ior")
+ if index < 0:
+ self._rtcout.RTC_ERROR("inport_ior not found")
+ return False
+
+ ior = ""
+ try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not ior:
+ self._rtcout.RTC_ERROR("inport_ior has no string")
+ return False
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ obj = orb.string_to_object(ior)
+
+ if CORBA.is_nil(obj):
+ self._rtcout.RTC_ERROR("invalid IOR string has been passed")
+ return False
+
+ if not self.setObject(obj):
+ self._rtcout.RTC_WARN("Setting object to consumer failed.")
+ return False
+
+ return True
+
+ ##
+ # @if jp
+ # @brief Anyから直接オブジェクト参照を取得する
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief Getting object reference fromn Any directry
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool subscribeFromRef(const SDOPackage::NVList& properties);
+ def subscribeFromRef(self, properties):
+ self._rtcout.RTC_TRACE("subscribeFromRef()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.corba_cdr.inport_ref")
+ if index < 0:
+ self._rtcout.RTC_ERROR("inport_ref not found")
+ return False
+
+ obj = None
+ try:
+ obj = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not obj:
+ self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
+ return False
+
+ if CORBA.is_nil(obj):
+ self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
+ return False
+
+ if not self.setObject(obj):
+ self._rtcout.RTC_ERROR("Setting object to consumer failed.")
+ return False
+
+ return True
+
+ ##
+ # @if jp
+ # @brief 接続解除(IOR版)
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief ubsubscribing (IOR version)
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool unsubscribeFromIor(const SDOPackage::NVList& properties);
+ def unsubscribeFromIor(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeFromIor()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.corba_cdr.inport_ior")
+ if index < 0:
+ self._rtcout.RTC_ERROR("inport_ior not found")
+ return False
+
+ ior = ""
+ try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not ior:
+ self._rtcout.RTC_ERROR("prop[inport_ior] is not string")
+ return False
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ var = orb.string_to_object(ior)
+ ptr = self._ptr(True)
+ if ptr:
+ if not ptr._is_equivalent(var):
+ self._rtcout.RTC_ERROR("connector property inconsistency")
+ return False
+
+ self.releaseObject()
+ return True
+
+ ##
+ # @if jp
+ # @brief 接続解除(Object reference版)
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief ubsubscribing (Object reference version)
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool unsubscribeFromRef(const SDOPackage::NVList& properties);
+ def unsubscribeFromRef(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeFromRef()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.corba_cdr.inport_ref")
+
+ if index < 0:
+ return False
+
+ obj = None
+ try:
+ obj = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not obj:
+ return False
+
+ obj_ptr = self._ptr(True)
+
+ if obj_ptr is None or not obj_ptr._is_equivalent(obj):
+ return False
+
+ self.releaseObject()
+ return True
+
+ ##
+ # @if jp
+ # @brief リターンコード変換
+ # @else
+ # @brief Return codes conversion
+ # @endif
+ #
+ # ReturnCode convertReturnCode(OpenRTM::PortStatus ret)
+ def convertReturnCode(self, ret):
+ if ret == OpenRTM.PORT_OK:
+ return self.PORT_OK
+
+ elif ret == OpenRTM.PORT_ERROR:
+ return self.PORT_ERROR
+
+ elif ret == OpenRTM.BUFFER_FULL:
+ return self.SEND_FULL
+
+ elif ret == OpenRTM.BUFFER_TIMEOUT:
+ return self.SEND_TIMEOUT
+
+ elif ret == OpenRTM.UNKNOWN_ERROR:
+ return self.UNKNOWN_ERROR
+
+ else:
+ return self.UNKNOWN_ERROR
def InPortCorbaCdrConsumerInit():
- factory = OpenRTM_aist.InPortConsumerFactory.instance()
- factory.addFactory("corba_cdr",
- OpenRTM_aist.InPortCorbaCdrConsumer,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortConsumerFactory.instance()
+ factory.addFactory("corba_cdr",
+ OpenRTM_aist.InPortCorbaCdrConsumer)
diff --git a/OpenRTM_aist/InPortCorbaCdrProvider.py b/OpenRTM_aist/InPortCorbaCdrProvider.py
index 8de7328e..4f84b92d 100644
--- a/OpenRTM_aist/InPortCorbaCdrProvider.py
+++ b/OpenRTM_aist/InPortCorbaCdrProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortCorbaCdrProvider.py
@@ -16,19 +16,18 @@
# All rights reserved.
-
-
import OpenRTM_aist
-import OpenRTM__POA,OpenRTM
+import OpenRTM__POA
+import OpenRTM
##
# @if jp
# @class InPortCorbaCdrProvider
-# @brief InPortCorbaCdrProvider 饹
+# @brief InPortCorbaCdrProvider クラス
#
-# ̿ʤ CORBA ѤϥݡȥץХμ饹
+# 通信手段に CORBA を利用した入力ポートプロバイダーの実装クラス。
#
-# @param DataType ץХ˳ƤХåեݻǡ
+# @param DataType 当該プロバイダに割り当てたバッファが保持するデータ型
#
# @since 0.4.0
#
@@ -36,253 +35,257 @@
# @class InPortCorbaCdrProvider
# @brief InPortCorbaCdrProvider class
#
-# This is an implementation class of the input port Provider
+# This is an implementation class of the input port Provider
# that uses CORBA for means of communication.
#
-# @param DataType Data type held by the buffer that attached
+# @param DataType Data type held by the buffer that attached
# to this provider.
#
# @since 0.4.0
#
# @endif
#
+
+
class InPortCorbaCdrProvider(OpenRTM_aist.InPortProvider,
OpenRTM__POA.InPortCdr):
-
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- # ݡȥץѥƥ˰ʲιܤꤹ롣
- # - ե : CORBA_Any
- # - ǡե : Push, Pull
- # - ֥ץ : Any
- #
- # @param buffer ץХ˳ƤХåե֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- # Set the following items to port properties
- # - Interface type : CORBA_Any
- # - Data flow type : Push, Pull
- # - Subscription type : Any
- #
- # @param buffer Buffer object that is attached to this provider
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.InPortProvider.__init__(self)
-
- # PortProfile setting
- self.setInterfaceType("corba_cdr")
-
- # ConnectorProfile setting
- self._objref = self._this()
-
- self._buffer = None
-
- self._profile = None
- self._listeners = None
-
- # set InPort's reference
- orb = OpenRTM_aist.Manager.instance().getORB()
-
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ior",
- orb.object_to_string(self._objref)))
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ref",
- self._objref))
-
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- return
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
- OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
-
- ## virtual void init(coil::Properties& prop);
- def init(self, prop):
- pass
-
- ## virtual void setBuffer(BufferBase* buffer);
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
- # void setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
- ##
- # @if jp
- # @brief [CORBA interface] Хåե˥ǡ
- #
- # ꤵ줿Хåե˥ǡࡣ
- #
- # @param data оݥǡ
- #
- # @else
- # @brief [CORBA interface] Write data into the buffer
- #
- # Write data into the specified buffer.
- #
- # @param data The target data for writing
- #
- # @endif
- #
- # virtual ::OpenRTM::PortStatus put(const ::OpenRTM::CdrData& data)
- # throw (CORBA::SystemException);
- def put(self, data):
- try:
- self._rtcout.RTC_PARANOID("InPortCorbaCdrProvider.put()")
-
- if not self._connector:
- self.onReceiverError(data)
- return OpenRTM.PORT_ERROR
-
- self._rtcout.RTC_PARANOID("received data size: %d", len(data))
-
- self.onReceived(data)
-
- if not self._connector:
- return OpenRTM.PORT_ERROR
-
- ret = self._connector.write(data)
-
- return self.convertReturn(ret, data)
-
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
- return OpenRTM.UNKNOWN_ERROR
-
-
-
- def convertReturn(self, status, data):
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- self.onBufferWrite(data)
- return OpenRTM.PORT_OK
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- self.onReceiverError(data)
- return OpenRTM.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- self.onBufferFull(data)
- self.onReceiverFull(data)
- return OpenRTM.BUFFER_FULL
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
- return OpenRTM.BUFFER_EMPTY
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- self.onReceiverError(data)
- return OpenRTM.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferWriteTimeout(data)
- self.onReceiverTimeout(data)
- return OpenRTM.BUFFER_TIMEOUT
-
- else:
- self.onReceiverError(data)
- return OpenRTM.UNKNOWN_ERROR
-
-
- ##
- # @brief Connector data listener functions
- #
- # inline void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- return
-
-
- ## inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
- return
-
-
- ## inline void onBufferWriteTimeout(const cdrMemoryStream& data)
- def onBufferWriteTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT].notify(self._profile, data)
- return
-
- ## inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
- def onBufferWriteOverwrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
- return
-
-
- ## inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- return
-
- ## inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- return
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # ポートプロパティに以下の項目を設定する。
+ # - インターフェースタイプ : CORBA_Any
+ # - データフロータイプ : Push, Pull
+ # - サブスクリプションタイプ : Any
+ #
+ # @param buffer 当該プロバイダに割り当てるバッファオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ # Set the following items to port properties
+ # - Interface type : CORBA_Any
+ # - Data flow type : Push, Pull
+ # - Subscription type : Any
+ #
+ # @param buffer Buffer object that is attached to this provider
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortProvider.__init__(self)
+
+ # PortProfile setting
+ self.setInterfaceType("corba_cdr")
+
+ # ConnectorProfile setting
+ self._objref = self._this()
+
+ self._buffer = None
+
+ self._profile = None
+ self._listeners = None
+
+ # set InPort's reference
+ orb = OpenRTM_aist.Manager.instance().getORB()
+
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ref",
+ self._objref))
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
+
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+ # virtual void setBuffer(BufferBase* buffer);
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ # void setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners);
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ ##
+ # @if jp
+ # @brief [CORBA interface] バッファにデータを書き込む
+ #
+ # 設定されたバッファにデータを書き込む。
+ #
+ # @param data 書込対象データ
+ #
+ # @else
+ # @brief [CORBA interface] Write data into the buffer
+ #
+ # Write data into the specified buffer.
+ #
+ # @param data The target data for writing
+ #
+ # @endif
+ #
+ # virtual ::OpenRTM::PortStatus put(const ::OpenRTM::CdrData& data)
+ # throw (CORBA::SystemException);
+ def put(self, data):
+ try:
+ self._rtcout.RTC_PARANOID("InPortCorbaCdrProvider.put()")
+
+ if not self._connector:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ self._rtcout.RTC_PARANOID("received data size: %d", len(data))
+
+ data = self.onReceived(data)
+
+ ret = self._connector.write(data)
+
+ return self.convertReturn(ret, data)
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return OpenRTM.UNKNOWN_ERROR
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ self.onBufferWrite(data)
+ return OpenRTM.PORT_OK
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ data = self.onBufferFull(data)
+ self.onReceiverFull(data)
+ return OpenRTM.BUFFER_FULL
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ return OpenRTM.BUFFER_EMPTY
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ data = self.onBufferWriteTimeout(data)
+ self.onReceiverTimeout(data)
+ return OpenRTM.BUFFER_TIMEOUT
+
+ else:
+ self.onReceiverError(data)
+ return OpenRTM.UNKNOWN_ERROR
+
+ ##
+ # @brief Connector data listener functions
+ #
+ # inline void onBufferWrite(const cdrMemoryStream& data)
+
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ return data
+
+ # inline void onBufferFull(const cdrMemoryStream& data)
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+ return data
+
+ # inline void onBufferWriteTimeout(const cdrMemoryStream& data)
+
+ def onBufferWriteTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, self._profile, data)
+ return data
+
+ # inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
+ def onBufferWriteOverwrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ return data
+
+ # inline void onReceived(const cdrMemoryStream& data)
+
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+
+ # inline void onReceiverFull(const cdrMemoryStream& data)
+
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
+ # inline void onReceiverTimeout(const cdrMemoryStream& data)
- ## inline void onReceiverTimeout(const cdrMemoryStream& data)
- def onReceiverTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT].notify(self._profile, data)
- return
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+ # inline void onReceiverError(const cdrMemoryStream& data)
- ## inline void onReceiverError(const cdrMemoryStream& data)
- def onReceiverError(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR].notify(self._profile, data)
- return
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
def InPortCorbaCdrProviderInit():
- factory = OpenRTM_aist.InPortProviderFactory.instance()
- factory.addFactory("corba_cdr",
- OpenRTM_aist.InPortCorbaCdrProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortProviderFactory.instance()
+ factory.addFactory("corba_cdr",
+ OpenRTM_aist.InPortCorbaCdrProvider)
diff --git a/OpenRTM_aist/InPortDSConsumer.py b/OpenRTM_aist/InPortDSConsumer.py
index 49f927e1..cea3dd4d 100644
--- a/OpenRTM_aist/InPortDSConsumer.py
+++ b/OpenRTM_aist/InPortDSConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortDSConsumer.py
@@ -15,7 +15,6 @@
# All rights reserved.
-
from omniORB import any
from omniORB import CORBA
import OpenRTM_aist
@@ -26,11 +25,11 @@
#
# @class InPortDSConsumer
#
-# @brief InPortDSConsumer 饹
+# @brief InPortDSConsumer クラス
#
-# ̿ʤ CORBA Ѥϥݡȥ塼ޤμ饹
+# 通信手段に CORBA を利用した入力ポートコンシューマの実装クラス。
#
-# @param DataType ܥݡȤˤưǡ
+# @param DataType 本ポートにて扱うデータ型
#
# @since 1.2.0
#
@@ -39,7 +38,7 @@
#
# @brief InPortDSConsumer class
#
-# This is an implementation class of the input port Consumer
+# This is an implementation class of the input port Consumer
# that uses CORBA for means of communication.
#
# @param DataType Data type for this port
@@ -48,409 +47,409 @@
#
# @endif
#
-class InPortDSConsumer(OpenRTM_aist.InPortConsumer,OpenRTM_aist.CorbaConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param buffer 塼ޤ˳ƤХåե֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param buffer The buffer object that is attached to this Consumer
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.CorbaConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortDSConsumer")
- self._properties = None
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
- self._rtcout.RTC_PARANOID("~InPortDSConsumer()")
- CorbaConsumer.__del__(self)
- return
-
- ##
- # @if jp
- # @brief
- #
- # InPortConsumerγƼԤ
- #
- # @else
- # @brief Initializing configuration
- #
- # This operation would be called to configure this consumer
- # in initialization.
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- self._properties = prop
- return
-
- ##
- # @if jp
- # @brief ³ؤΥǡ
- #
- # ³ΥݡȤإǡ뤿ν貾۴ؿ
- #
- # δؿϡʲΥɤ֤
- #
- # - PORT_OK: ｪλ
- # - PORT_ERROR: ǡβDz餫Υ顼ȯ
- # - SEND_FULL: ǡ¦Хåեեä
- # - SEND_TIMEOUT: ǡ¦ХåեॢȤ
- # - UNKNOWN_ERROR: Υ顼
- #
- # @param data ǡ
- # @return
- #
- # @else
- # @brief Send data to the destination port
- #
- # Pure virtual function to send data to the destination port.
- #
- # This function might the following return codes
- #
- # - PORT_OK: Normal return
- # - PORT_ERROR: Error occurred in data transfer process
- # - SEND_FULL: Buffer full although OutPort tried to send data
- # - SEND_TIMEOUT: Timeout although OutPort tried to send data
- # - UNKNOWN_ERROR: Unknown error
- #
- # @endif
- #
- # virtual ReturnCode put(const cdrMemoryStream& data);
- def put(self, data):
- self._rtcout.RTC_PARANOID("put()")
-
- try:
- ref_ = self.getObject()
- if ref_:
- ds = ref_._narrow(RTC.DataPushService)
- return self.convertReturnCode(ds.push(data))
- return self.CONNECTION_LOST
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
- ##
- # @if jp
- # @brief InterfaceProfile
- #
- # InterfaceProfile롣
- # ǻꤹץѥƥ NameValue ֥Ȥ
- # dataport.interface_type ͤĴ١ݡȤꤵƤ
- # եפȰפΤ߾롣
- #
- # @param properties InterfaceProfileץѥƥ
- #
- # @else
- # @brief Publish InterfaceProfile information
- #
- # Publish interfaceProfile information.
- # Check the dataport.interface_type value of the NameValue object
- # specified by an argument in property information and get information
- # only when the interface type of the specified port is matched.
- #
- # @param properties Properties to get InterfaceProfile information
- #
- # @endif
- #
- # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
- def publishInterfaceProfile(self, properties):
- return
-
- ##
- # @if jp
- # @brief ǡΤؤϿ
- #
- # ꤵ줿ץѥƥ˴ŤơǡΤμϿ롣
- #
- # @param properties Ͽ
- #
- # @return Ͽ(Ͽ:trueϿ:false)
- #
- # @else
- # @brief Subscribe to the data sending notification
- #
- # Subscribe to the data sending notification based on specified
- # property information.
- #
- # @param properties Information for subscription
- #
- # @return Subscription result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
- def subscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("subscribeInterface()")
- # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
-
- # getting InPort's ref from IOR string
- if self.subscribeFromIor(properties):
- return True
-
- # getting InPort's ref from Object reference
- if self.subscribeFromRef(properties):
- return True
-
- return False
-
- ##
- # @if jp
- # @brief ǡΤϿ
- #
- # ǡΤμ꤫Ͽ롣
- #
- # @param properties Ͽ
- #
- # @else
- # @brief Unsubscribe the data send notification
- #
- # Unsubscribe the data send notification.
- #
- # @param properties Information for unsubscription
- #
- # @endif
- #
- # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
- def unsubscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeInterface()")
- # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
-
- if self.unsubscribeFromIor(properties):
- return
-
- self.unsubscribeFromRef(properties)
- return
-
- ##
- # @if jp
- # @brief IORʸ饪֥ȻȤ
- #
- # @return true: , false:
- #
- # @else
- # @brief Getting object reference fromn IOR string
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool subscribeFromIor(const SDOPackage::NVList& properties);
- def subscribeFromIor(self, properties):
- self._rtcout.RTC_TRACE("subscribeFromIor()")
-
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.data_service.inport_ior")
- if index < 0:
- self._rtcout.RTC_ERROR("inport_ior not found")
- return False
-
- ior = ""
- try:
- ior = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not ior:
- self._rtcout.RTC_ERROR("inport_ior has no string")
- return False
-
- orb = OpenRTM_aist.Manager.instance().getORB()
- obj = orb.string_to_object(ior)
-
- if CORBA.is_nil(obj):
- self._rtcout.RTC_ERROR("invalid IOR string has been passed")
- return False
-
- if not self.setObject(obj):
- self._rtcout.RTC_WARN("Setting object to consumer failed.")
- return False
-
- return True
-
- ##
- # @if jp
- # @brief Anyľܥ֥ȻȤ
- #
- # @return true: , false:
- #
- # @else
- # @brief Getting object reference fromn Any directry
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool subscribeFromRef(const SDOPackage::NVList& properties);
- def subscribeFromRef(self, properties):
- self._rtcout.RTC_TRACE("subscribeFromRef()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.data_service.inport_ref")
- if index < 0:
- self._rtcout.RTC_ERROR("inport_ref not found")
- return False
-
- obj = None
- try:
- obj = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not obj:
- self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
- return False
-
- if CORBA.is_nil(obj):
- self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
- return False
-
- if not self.setObject(obj):
- self._rtcout.RTC_ERROR("Setting object to consumer failed.")
- return False
-
- return True
-
- ##
- # @if jp
- # @brief ³(IOR)
- #
- # @return true: , false:
- #
- # @else
- # @brief ubsubscribing (IOR version)
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool unsubscribeFromIor(const SDOPackage::NVList& properties);
- def unsubscribeFromIor(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeFromIor()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.data_service.inport_ior")
- if index < 0:
- self._rtcout.RTC_ERROR("inport_ior not found")
- return False
-
- ior = ""
- try:
- ior = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not ior:
- self._rtcout.RTC_ERROR("prop[inport_ior] is not string")
- return False
-
- orb = OpenRTM_aist.Manager.instance().getORB()
- var = orb.string_to_object(ior)
- if not self._ptr(True)._is_equivalent(var):
- self._rtcout.RTC_ERROR("connector property inconsistency")
- return False
-
- self.releaseObject()
- return True
-
- ##
- # @if jp
- # @brief ³(Object reference)
- #
- # @return true: , false:
- #
- # @else
- # @brief ubsubscribing (Object reference version)
- #
- # @return true: succeeded, false: failed
- #
- # @endif
- #
- # bool unsubscribeFromRef(const SDOPackage::NVList& properties);
- def unsubscribeFromRef(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeFromRef()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.data_service.inport_ref")
-
- if index < 0:
- return False
-
- obj = None
- try:
- obj = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if not obj:
- return False
-
- obj_ptr = self._ptr(True)
-
- if obj_ptr is None or not obj_ptr._is_equivalent(obj):
- return False
-
- self.releaseObject()
- return True
-
- ##
- # @if jp
- # @brief Ѵ
- # @else
- # @brief Return codes conversion
- # @endif
- #
- # ReturnCode convertReturnCode(OpenRTM::PortStatus ret)
- def convertReturnCode(self, ret):
- if ret == RTC.PORT_OK:
- return self.PORT_OK
-
- elif ret == RTC.PORT_ERROR:
- return self.PORT_ERROR
-
- elif ret == RTC.BUFFER_FULL:
- return self.SEND_FULL
-
- elif ret == RTC.BUFFER_TIMEOUT:
- return self.SEND_TIMEOUT
-
- elif ret == RTC.UNKNOWN_ERROR:
- return self.UNKNOWN_ERROR
-
- else:
- return self.UNKNOWN_ERROR
+
+
+class InPortDSConsumer(OpenRTM_aist.InPortConsumer,
+ OpenRTM_aist.CorbaConsumer):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param buffer 当該コンシューマに割り当てるバッファオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param buffer The buffer object that is attached to this Consumer
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.CorbaConsumer.__init__(self, RTC.DataPushService)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortDSConsumer")
+ self._properties = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~InPortDSConsumer()")
+ CorbaConsumer.__del__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure this consumer
+ # in initialization.
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self._properties = prop
+ return
+
+ ##
+ # @if jp
+ # @brief 接続先へのデータ送信
+ #
+ # 接続先のポートへデータを送信するための純粋仮想関数。
+ #
+ # この関数は、以下のリターンコードを返す。
+ #
+ # - PORT_OK: 正常終了。
+ # - PORT_ERROR: データ送信の過程で何らかのエラーが発生した。
+ # - SEND_FULL: データを送信したが、相手側バッファがフルだった。
+ # - SEND_TIMEOUT: データを送信したが、相手側バッファがタイムアウトした。
+ # - UNKNOWN_ERROR: 原因不明のエラー
+ #
+ # @param data 送信するデータ
+ # @return リターンコード
+ #
+ # @else
+ # @brief Send data to the destination port
+ #
+ # Pure virtual function to send data to the destination port.
+ #
+ # This function might the following return codes
+ #
+ # - PORT_OK: Normal return
+ # - PORT_ERROR: Error occurred in data transfer process
+ # - SEND_FULL: Buffer full although OutPort tried to send data
+ # - SEND_TIMEOUT: Timeout although OutPort tried to send data
+ # - UNKNOWN_ERROR: Unknown error
+ #
+ # @endif
+ #
+ # virtual ReturnCode put(const cdrMemoryStream& data);
+ def put(self, data):
+ self._rtcout.RTC_PARANOID("put()")
+
+ try:
+ dataservice = self._ptr()
+ if dataservice:
+ return self.convertReturnCode(dataservice.push(data))
+ return self.CONNECTION_LOST
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
+ ##
+ # @if jp
+ # @brief InterfaceProfile情報を公開する
+ #
+ # InterfaceProfile情報を公開する。
+ # 引数で指定するプロパティ情報内の NameValue オブジェクトの
+ # dataport.interface_type 値を調べ、当該ポートに設定されている
+ # インターフェースタイプと一致する場合のみ情報を取得する。
+ #
+ # @param properties InterfaceProfile情報を受け取るプロパティ
+ #
+ # @else
+ # @brief Publish InterfaceProfile information
+ #
+ # Publish interfaceProfile information.
+ # Check the dataport.interface_type value of the NameValue object
+ # specified by an argument in property information and get information
+ # only when the interface type of the specified port is matched.
+ #
+ # @param properties Properties to get InterfaceProfile information
+ #
+ # @endif
+ #
+ # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
+
+ def publishInterfaceProfile(self, properties):
+ return
+
+ ##
+ # @if jp
+ # @brief データ送信通知への登録
+ #
+ # 指定されたプロパティに基づいて、データ送出通知の受け取りに登録する。
+ #
+ # @param properties 登録情報
+ #
+ # @return 登録処理結果(登録成功:true、登録失敗:false)
+ #
+ # @else
+ # @brief Subscribe to the data sending notification
+ #
+ # Subscribe to the data sending notification based on specified
+ # property information.
+ #
+ # @param properties Information for subscription
+ #
+ # @return Subscription result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
+ def subscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("subscribeInterface()")
+ # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
+
+ # getting InPort's ref from IOR string
+ if self.subscribeFromIor(properties):
+ return True
+
+ # getting InPort's ref from Object reference
+ if self.subscribeFromRef(properties):
+ return True
+
+ return False
+
+ ##
+ # @if jp
+ # @brief データ送信通知からの登録解除
+ #
+ # データ送出通知の受け取りから登録を解除する。
+ #
+ # @param properties 登録解除情報
+ #
+ # @else
+ # @brief Unsubscribe the data send notification
+ #
+ # Unsubscribe the data send notification.
+ #
+ # @param properties Information for unsubscription
+ #
+ # @endif
+ #
+ # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
+ def unsubscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeInterface()")
+ # self._rtcout.RTC_DEBUG_STR(OpenRTM_aist.NVUtil.toString(properties))
+
+ if self.unsubscribeFromIor(properties):
+ return
+
+ self.unsubscribeFromRef(properties)
+ return
+
+ ##
+ # @if jp
+ # @brief IOR文字列からオブジェクト参照を取得する
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief Getting object reference fromn IOR string
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool subscribeFromIor(const SDOPackage::NVList& properties);
+ def subscribeFromIor(self, properties):
+ self._rtcout.RTC_TRACE("subscribeFromIor()")
+
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.data_service.inport_ior")
+ if index < 0:
+ self._rtcout.RTC_ERROR("inport_ior not found")
+ return False
+
+ ior = ""
+ try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not ior:
+ self._rtcout.RTC_ERROR("inport_ior has no string")
+ return False
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ obj = orb.string_to_object(ior)
+
+ if CORBA.is_nil(obj):
+ self._rtcout.RTC_ERROR("invalid IOR string has been passed")
+ return False
+
+ if not self.setObject(obj):
+ self._rtcout.RTC_WARN("Setting object to consumer failed.")
+ return False
+
+ return True
+
+ ##
+ # @if jp
+ # @brief Anyから直接オブジェクト参照を取得する
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief Getting object reference fromn Any directry
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool subscribeFromRef(const SDOPackage::NVList& properties);
+ def subscribeFromRef(self, properties):
+ self._rtcout.RTC_TRACE("subscribeFromRef()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.data_service.inport_ref")
+ if index < 0:
+ self._rtcout.RTC_ERROR("inport_ref not found")
+ return False
+
+ obj = None
+ try:
+ obj = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not obj:
+ self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
+ return False
+
+ if CORBA.is_nil(obj):
+ self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
+ return False
+
+ if not self.setObject(obj):
+ self._rtcout.RTC_ERROR("Setting object to consumer failed.")
+ return False
+
+ return True
+
+ ##
+ # @if jp
+ # @brief 接続解除(IOR版)
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief ubsubscribing (IOR version)
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool unsubscribeFromIor(const SDOPackage::NVList& properties);
+ def unsubscribeFromIor(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeFromIor()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.data_service.inport_ior")
+ if index < 0:
+ self._rtcout.RTC_ERROR("inport_ior not found")
+ return False
+
+ ior = ""
+ try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not ior:
+ self._rtcout.RTC_ERROR("prop[inport_ior] is not string")
+ return False
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ var = orb.string_to_object(ior)
+ if not self._ptr(True)._is_equivalent(var):
+ self._rtcout.RTC_ERROR("connector property inconsistency")
+ return False
+
+ self.releaseObject()
+ return True
+
+ ##
+ # @if jp
+ # @brief 接続解除(Object reference版)
+ #
+ # @return true: 正常取得, false: 取得失敗
+ #
+ # @else
+ # @brief ubsubscribing (Object reference version)
+ #
+ # @return true: succeeded, false: failed
+ #
+ # @endif
+ #
+ # bool unsubscribeFromRef(const SDOPackage::NVList& properties);
+ def unsubscribeFromRef(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeFromRef()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.data_service.inport_ref")
+
+ if index < 0:
+ return False
+
+ obj = None
+ try:
+ obj = any.from_any(properties[index].value, keep_structs=True)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if not obj:
+ return False
+
+ obj_ptr = self._ptr(True)
+
+ if obj_ptr is None or not obj_ptr._is_equivalent(obj):
+ return False
+
+ self.releaseObject()
+ return True
+
+ ##
+ # @if jp
+ # @brief リターンコード変換
+ # @else
+ # @brief Return codes conversion
+ # @endif
+ #
+ # ReturnCode convertReturnCode(OpenRTM::PortStatus ret)
+ def convertReturnCode(self, ret):
+ if ret == RTC.PORT_OK:
+ return self.PORT_OK
+
+ elif ret == RTC.PORT_ERROR:
+ return self.PORT_ERROR
+
+ elif ret == RTC.BUFFER_FULL:
+ return self.SEND_FULL
+
+ elif ret == RTC.BUFFER_TIMEOUT:
+ return self.SEND_TIMEOUT
+
+ elif ret == RTC.UNKNOWN_ERROR:
+ return self.UNKNOWN_ERROR
+
+ else:
+ return self.UNKNOWN_ERROR
def InPortDSConsumerInit():
- factory = OpenRTM_aist.InPortConsumerFactory.instance()
- factory.addFactory("data_service",
- OpenRTM_aist.InPortDSConsumer,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortConsumerFactory.instance()
+ factory.addFactory("data_service",
+ OpenRTM_aist.InPortDSConsumer)
diff --git a/OpenRTM_aist/InPortDSProvider.py b/OpenRTM_aist/InPortDSProvider.py
index bbe5797e..92f5881d 100644
--- a/OpenRTM_aist/InPortDSProvider.py
+++ b/OpenRTM_aist/InPortDSProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortDSProvider.py
@@ -15,19 +15,18 @@
# All rights reserved.
-
-
import OpenRTM_aist
-import RTC__POA,RTC
+import RTC__POA
+import RTC
##
# @if jp
# @class InPortDSProvider
-# @brief InPortDSProvider 饹
+# @brief InPortDSProvider クラス
#
-# ̿ʤ CORBA ѤϥݡȥץХμ饹
+# 通信手段に CORBA を利用した入力ポートプロバイダーの実装クラス。
#
-# @param DataType ץХ˳ƤХåեݻǡ
+# @param DataType 当該プロバイダに割り当てたバッファが保持するデータ型
#
# @since 1.2.0
#
@@ -35,256 +34,261 @@
# @class InPortDSProvider
# @brief InPortDSProvider class
#
-# This is an implementation class of the input port Provider
+# This is an implementation class of the input port Provider
# that uses CORBA for means of communication.
#
-# @param DataType Data type held by the buffer that attached
+# @param DataType Data type held by the buffer that attached
# to this provider.
#
# @since 1.2.0
#
# @endif
#
+
+
class InPortDSProvider(OpenRTM_aist.InPortProvider,
- RTC__POA.DataPushService):
-
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- # ݡȥץѥƥ˰ʲιܤꤹ롣
- # - ե : CORBA_Any
- # - ǡե : Push, Pull
- # - ֥ץ : Any
- #
- # @param buffer ץХ˳ƤХåե֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- # Set the following items to port properties
- # - Interface type : CORBA_Any
- # - Data flow type : Push, Pull
- # - Subscription type : Any
- #
- # @param buffer Buffer object that is attached to this provider
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.InPortProvider.__init__(self)
-
- # PortProfile setting
- self.setInterfaceType("data_service")
-
- # ConnectorProfile setting
- self._objref = self._this()
-
- self._buffer = None
-
- self._profile = None
- self._listeners = None
-
- # set InPort's reference
- orb = OpenRTM_aist.Manager.instance().getORB()
-
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.inport_ior",
- orb.object_to_string(self._objref)))
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.inport_ref",
- self._objref))
-
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- return
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
- OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
-
- ## virtual void init(coil::Properties& prop);
- def init(self, prop):
- pass
-
- ## virtual void setBuffer(BufferBase* buffer);
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
- # void setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
- def put(self, data):
- self._rtcout.RTC_PARANOID("InPortDSProvider.put()")
- return RTC.UNKNOWN_ERROR
- ##
- # @if jp
- # @brief [CORBA interface] Хåե˥ǡ
- #
- # ꤵ줿Хåե˥ǡࡣ
- #
- # @param data оݥǡ
- #
- # @else
- # @brief [CORBA interface] Write data into the buffer
- #
- # Write data into the specified buffer.
- #
- # @param data The target data for writing
- #
- # @endif
- #
- # virtual ::OpenRTM::PortStatus push(const ::RTC::CdrData& data)
- # throw (CORBA::SystemException);
- def push(self, data):
- try:
- self._rtcout.RTC_PARANOID("InPortDSProvider.push()")
-
- if not self._buffer:
- self.onReceiverError(data)
- return RTC.PORT_ERROR
-
- self._rtcout.RTC_PARANOID("received data size: %d", len(data))
-
- self.onReceived(data)
-
- if not self._connector:
- return RTC.PORT_ERROR
-
- ret = self._connector.write(data)
-
- return self.convertReturn(ret, data)
-
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
- return RTC.UNKNOWN_ERROR
-
-
-
- def convertReturn(self, status, data):
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- self.onBufferWrite(data)
- return RTC.PORT_OK
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- self.onReceiverError(data)
- return RTC.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- self.onBufferFull(data)
- self.onReceiverFull(data)
- return RTC.BUFFER_FULL
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
- return RTC.BUFFER_EMPTY
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- self.onReceiverError(data)
- return RTC.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferWriteTimeout(data)
- self.onReceiverTimeout(data)
- return RTC.BUFFER_TIMEOUT
-
- else:
- self.onReceiverError(data)
- return RTC.UNKNOWN_ERROR
-
-
- ##
- # @brief Connector data listener functions
- #
- # inline void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- return
-
-
- ## inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
- return
-
-
- ## inline void onBufferWriteTimeout(const cdrMemoryStream& data)
- def onBufferWriteTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT].notify(self._profile, data)
- return
-
- ## inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
- def onBufferWriteOverwrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
- return
-
-
- ## inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- return
+ RTC__POA.DataPushService):
+
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # ポートプロパティに以下の項目を設定する。
+ # - インターフェースタイプ : CORBA_Any
+ # - データフロータイプ : Push, Pull
+ # - サブスクリプションタイプ : Any
+ #
+ # @param buffer 当該プロバイダに割り当てるバッファオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ # Set the following items to port properties
+ # - Interface type : CORBA_Any
+ # - Data flow type : Push, Pull
+ # - Subscription type : Any
+ #
+ # @param buffer Buffer object that is attached to this provider
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortProvider.__init__(self)
+
+ # PortProfile setting
+ self.setInterfaceType("data_service")
+
+ # ConnectorProfile setting
+ self._objref = self._this()
+
+ self._buffer = None
+
+ self._profile = None
+ self._listeners = None
+
+ # set InPort's reference
+ orb = OpenRTM_aist.Manager.instance().getORB()
+
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.inport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.inport_ref",
+ self._objref))
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
+
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+ # virtual void setBuffer(BufferBase* buffer);
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ # void setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners);
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ def put(self, data):
+ self._rtcout.RTC_PARANOID("InPortDSProvider.put()")
+ return RTC.UNKNOWN_ERROR
+ ##
+ # @if jp
+ # @brief [CORBA interface] バッファにデータを書き込む
+ #
+ # 設定されたバッファにデータを書き込む。
+ #
+ # @param data 書込対象データ
+ #
+ # @else
+ # @brief [CORBA interface] Write data into the buffer
+ #
+ # Write data into the specified buffer.
+ #
+ # @param data The target data for writing
+ #
+ # @endif
+ #
+ # virtual ::OpenRTM::PortStatus push(const ::RTC::CdrData& data)
+ # throw (CORBA::SystemException);
+
+ def push(self, data):
+ try:
+ self._rtcout.RTC_PARANOID("InPortDSProvider.push()")
+
+ if not self._connector:
+ self.onReceiverError(data)
+ return RTC.PORT_ERROR
+
+ self._rtcout.RTC_PARANOID("received data size: %d", len(data))
+
+ data = self.onReceived(data)
+
+ ret = self._connector.write(data)
+
+ return self.convertReturn(ret, data)
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return RTC.UNKNOWN_ERROR
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ self.onBufferWrite(data)
+ return RTC.PORT_OK
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onReceiverError(data)
+ return RTC.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ data = self.onBufferFull(data)
+ self.onReceiverFull(data)
+ return RTC.BUFFER_FULL
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ return RTC.BUFFER_EMPTY
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onReceiverError(data)
+ return RTC.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ data = self.onBufferWriteTimeout(data)
+ self.onReceiverTimeout(data)
+ return RTC.BUFFER_TIMEOUT
+
+ else:
+ self.onReceiverError(data)
+ return RTC.UNKNOWN_ERROR
+
+ ##
+ # @brief Connector data listener functions
+ #
+ # inline void onBufferWrite(const cdrMemoryStream& data)
+
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ return data
+
+ # inline void onBufferFull(const cdrMemoryStream& data)
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+ return data
+
+ # inline void onBufferWriteTimeout(const cdrMemoryStream& data)
+
+ def onBufferWriteTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, self._profile, data)
+ return data
+
+ # inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
+ def onBufferWriteOverwrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ return data
+
+ # inline void onReceived(const cdrMemoryStream& data)
+
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+ # inline void onReceiverFull(const cdrMemoryStream& data)
- ## inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- return
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
+ # inline void onReceiverTimeout(const cdrMemoryStream& data)
- ## inline void onReceiverTimeout(const cdrMemoryStream& data)
- def onReceiverTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT].notify(self._profile, data)
- return
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+ # inline void onReceiverError(const cdrMemoryStream& data)
- ## inline void onReceiverError(const cdrMemoryStream& data)
- def onReceiverError(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR].notify(self._profile, data)
- return
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
def InPortDSProviderInit():
- factory = OpenRTM_aist.InPortProviderFactory.instance()
- factory.addFactory("data_service",
- OpenRTM_aist.InPortDSProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortProviderFactory.instance()
+ factory.addFactory("data_service",
+ OpenRTM_aist.InPortDSProvider)
diff --git a/OpenRTM_aist/InPortDirectConsumer.py b/OpenRTM_aist/InPortDirectConsumer.py
index 6655e839..c4a9ade0 100644
--- a/OpenRTM_aist/InPortDirectConsumer.py
+++ b/OpenRTM_aist/InPortDirectConsumer.py
@@ -1,13 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortDirectConsumer.py
# @brief InPortDirectConsumer class
# @date $Date: 2016/01/08 $
# @author Nobuhiko Miyamoto
-#
-
+#
import OpenRTM_aist
@@ -18,9 +17,9 @@
#
# @class InPortDirectConsumer
#
-# @brief InPortDirectConsumer 饹
+# @brief InPortDirectConsumer クラス
#
-# ǡ쥯Ȥ˽push̿¸InPortޡ饹
+# データをダイレクトに書き込むpush型通信を実現するInPortコンシュマークラス
#
# @else
# @class InPortDirectConsumer
@@ -32,173 +31,168 @@
# @endif
#
class InPortDirectConsumer(OpenRTM_aist.InPortConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param self
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.InPortConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortDirectConsumer")
- self._properties = None
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @param self
- #
- # @endif
- #
- def __del__(self):
- self._rtcout.RTC_PARANOID("~InPortDirectConsumer()")
-
- return
-
- ##
- # @if jp
- # @brief
- #
- # InPortConsumerγƼԤ
- #
- # @self
- #
- #
- # @else
- # @brief Initializing configuration
- #
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- self._properties = prop
- return
-
- ##
- # @if jp
- # @brief
- #
- # @param self
- # @param data
- # @return
- #
- # @else
- # @brief
- #
- # @param self
- # @param data
- # @return
- #
- # @endif
- #
- # virtual ReturnCode put(const cdrMemoryStream& data);
- def put(self, data):
- self._rtcout.RTC_PARANOID("put()")
-
-
- return self.UNKNOWN_ERROR
-
- ##
- # @if jp
- # @brief InterfaceProfile
- #
- #
- # @param self
- # @param properties InterfaceProfileץѥƥ
- #
- # @else
- # @brief Publish InterfaceProfile information
- #
- #
- # @param self
- # @param properties Properties to get InterfaceProfile information
- #
- # @endif
- #
- # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
- def publishInterfaceProfile(self, properties):
- return
-
- ##
- # @if jp
- # @brief ǡΤؤϿ
- #
- # @param self
- # @param properties Ͽ
- #
- # @return Ͽ(Ͽ:trueϿ:false)
- #
- # @else
- # @brief Subscribe to the data sending notification
- #
- # @param self
- # @param properties Information for subscription
- #
- # @return Subscription result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
- def subscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("subscribeInterface()")
-
-
- return True
-
- ##
- # @if jp
- # @brief ǡΤϿ
- #
- # @param self
- # @param properties Ͽ
- #
- # @else
- # @brief Unsubscribe the data send notification
- #
- #
- # @param self
- # @param properties Information for unsubscription
- #
- # @endif
- #
- # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
- def unsubscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeInterface()")
-
- return
-
-
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortConsumer.__init__(self)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortDirectConsumer")
+ self._properties = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self):
+ self._rtcout.RTC_PARANOID("~InPortDirectConsumer()")
+
+ return
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う
+ #
+ # @self
+ #
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self._properties = prop
+ return
+
+ ##
+ # @if jp
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @endif
+ #
+ # virtual ReturnCode put(const cdrMemoryStream& data);
+ def put(self, data):
+ self._rtcout.RTC_PARANOID("put()")
+
+ return self.UNKNOWN_ERROR
+
+ ##
+ # @if jp
+ # @brief InterfaceProfile情報を公開する
+ #
+ #
+ # @param self
+ # @param properties InterfaceProfile情報を受け取るプロパティ
+ #
+ # @else
+ # @brief Publish InterfaceProfile information
+ #
+ #
+ # @param self
+ # @param properties Properties to get InterfaceProfile information
+ #
+ # @endif
+ #
+ # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
+ def publishInterfaceProfile(self, properties):
+ return
+
+ ##
+ # @if jp
+ # @brief データ送信通知への登録
+ #
+ # @param self
+ # @param properties 登録情報
+ #
+ # @return 登録処理結果(登録成功:true、登録失敗:false)
+ #
+ # @else
+ # @brief Subscribe to the data sending notification
+ #
+ # @param self
+ # @param properties Information for subscription
+ #
+ # @return Subscription result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
+ def subscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("subscribeInterface()")
+
+ return True
+
+ ##
+ # @if jp
+ # @brief データ送信通知からの登録解除
+ #
+ # @param self
+ # @param properties 登録解除情報
+ #
+ # @else
+ # @brief Unsubscribe the data send notification
+ #
+ #
+ # @param self
+ # @param properties Information for unsubscription
+ #
+ # @endif
+ #
+ # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
+ def unsubscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeInterface()")
+
+ return
def InPortDirectConsumerInit():
- factory = OpenRTM_aist.InPortConsumerFactory.instance()
- factory.addFactory("direct",
- OpenRTM_aist.InPortDirectConsumer,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortConsumerFactory.instance()
+ factory.addFactory("direct",
+ OpenRTM_aist.InPortDirectConsumer)
diff --git a/OpenRTM_aist/InPortDirectProvider.py b/OpenRTM_aist/InPortDirectProvider.py
index a4d4d39e..dc18e019 100644
--- a/OpenRTM_aist/InPortDirectProvider.py
+++ b/OpenRTM_aist/InPortDirectProvider.py
@@ -1,14 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortDirectProvider.py
# @brief InPortDirectProvider class
# @date $Date: 2016/01/08 $
# @author Nobuhiko Miyamoto
-#
-
-
+#
import OpenRTM_aist
@@ -17,9 +15,9 @@
##
# @if jp
# @class InPortDirectProvider
-# @brief InPortDirectProvider 饹
+# @brief InPortDirectProvider クラス
#
-# ǡ쥯Ȥ˽push̿¸InPortץХ饹
+# データをダイレクトに書き込むpush型通信を実現するInPortプロバイダクラス
#
# @param self
#
@@ -33,154 +31,155 @@
# @endif
#
class InPortDirectProvider(OpenRTM_aist.InPortProvider):
-
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- # @brief Constructor
- #
- # @param self
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.InPortProvider.__init__(self)
-
- # PortProfile setting
- self.setInterfaceType("direct")
-
-
-
- self._buffer = None
-
- self._profile = None
- self._listeners = None
- #self._connector = None
-
-
-
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @param self
- #
- # @endif
- #
- def __del__(self):
-
- return
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- pass
-
- ## void init(coil::Properties& prop);
- def init(self, prop):
- pass
-
- ## void setBuffer(BufferBase* buffer);
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
- # void setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
-
- ## void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- return
-
-
- ## inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
- return
-
-
- ## inline void onBufferWriteTimeout(const cdrMemoryStream& data)
- def onBufferWriteTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT].notify(self._profile, data)
- return
-
- ## inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
- def onBufferWriteOverwrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
- return
-
-
- ## inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- return
-
-
- ## inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- return
-
-
- ## inline void onReceiverTimeout(const cdrMemoryStream& data)
- def onReceiverTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT].notify(self._profile, data)
- return
-
-
- ## inline void onReceiverError(const cdrMemoryStream& data)
- def onReceiverError(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR].notify(self._profile, data)
- return
-
-
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortProvider.__init__(self)
+
+ # PortProfile setting
+ self.setInterfaceType("direct")
+
+ self._buffer = None
+
+ self._profile = None
+ self._listeners = None
+ #self._connector = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self):
+
+ return
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+
+ def exit(self):
+ pass
+
+ # void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+ # void setBuffer(BufferBase* buffer);
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ # void setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners);
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ # void onBufferWrite(const cdrMemoryStream& data)
+
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ return data
+
+ # inline void onBufferFull(const cdrMemoryStream& data)
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+ return data
+
+ # inline void onBufferWriteTimeout(const cdrMemoryStream& data)
+
+ def onBufferWriteTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, self._profile, data)
+ return data
+
+ # inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
+ def onBufferWriteOverwrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ return data
+
+ # inline void onReceived(const cdrMemoryStream& data)
+
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+
+ # inline void onReceiverFull(const cdrMemoryStream& data)
+
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
+
+ # inline void onReceiverTimeout(const cdrMemoryStream& data)
+
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+
+ # inline void onReceiverError(const cdrMemoryStream& data)
+
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
def InPortDirectProviderInit():
- factory = OpenRTM_aist.InPortProviderFactory.instance()
- factory.addFactory("direct",
- OpenRTM_aist.InPortDirectProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortProviderFactory.instance()
+ factory.addFactory("direct",
+ OpenRTM_aist.InPortDirectProvider)
diff --git a/OpenRTM_aist/InPortDuplexConnector.py b/OpenRTM_aist/InPortDuplexConnector.py
new file mode 100644
index 00000000..f3580184
--- /dev/null
+++ b/OpenRTM_aist/InPortDuplexConnector.py
@@ -0,0 +1,544 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+##
+#
+# @file InPortDuplexConnector.py
+# @brief Bidirectional type connector class
+# @date $Date$
+# @author Nobuhiko Miyamoto
+#
+# Copyright (C) 2019
+# Noriaki Ando
+# Robot Innovation Research Center,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+#
+
+
+import OpenRTM_aist
+import threading
+
+
+##
+# @if jp
+# @class InPortPushConnector
+# @brief InPortPushConnector クラス
+#
+#
+# @since 2.0.0
+#
+# @else
+# @class InPortPushConnector
+# @brief InPortPushConnector class
+#
+#
+# @since 2.0.0
+#
+# @endif
+#
+class InPortDuplexConnector(OpenRTM_aist.InPortConnector):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # @param info ConnectorInfo
+ # @param provider InPortProvider
+ # @param listeners ConnectorListeners 型のリスナオブジェクトリスト
+ # @param buffer CdrBufferBase 型のバッファ
+ #
+ # @elsek
+ # @brief Constructor
+ #
+ # @param info ConnectorInfo
+ # @param provider InPortProvider
+ # @param listeners ConnectorListeners type lsitener object list
+ # @param buffer CdrBufferBase type buffer
+ #
+ # @endif
+ #
+ def __init__(self, info, provider, listeners, buffer=None):
+ OpenRTM_aist.InPortConnector.__init__(self, info, buffer)
+ self._provider = provider
+ self._listeners = listeners
+
+ if not self._provider:
+ raise
+
+ self._buffer = None
+ self._info = info
+ self._provider.init(info.properties)
+ self._provider.setListener(info, self._listeners)
+ self.onConnect()
+
+ self._consumer = None
+ self._isWritableCallback = None
+ self._writeCallback = None
+
+ self._marshaling_type = info.properties.getProperty(
+ "marshaling_type", "cdr")
+ self._marshaling_type = self._marshaling_type.strip()
+
+ self._serializer = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # disconnect() が呼ばれ、consumer, publisher, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # This operation calls disconnect(), which destructs and deletes
+ # the consumer, the publisher and the buffer.
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief バッファからデータを読み出す。
+ # read関数と違い、アンマーシャリングを実行しない
+ #
+ # @param self
+ # @return リターンコード
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+ def readBuff(self):
+ self._rtcout.RTC_TRACE("readBuff()")
+ if self._consumer:
+ read_ret, data = self._consumer.get()
+ return read_ret, data
+ self._rtcout.RTC_ERROR("cunsumer is not set")
+ return self.PORT_ERROR, None
+
+ ##
+ # @if jp
+ # @brief データの読み出し
+ #
+ # バッファからデータを読み出す。正常に読み出せた場合、戻り値は
+ # PORT_OK となり、data に読み出されたデータが格納される。それ以外
+ # の場合には、エラー値として BUFFER_EMPTY, TIMEOUT,
+ # PRECONDITION_NOT_MET, PORT_ERROR が返される。
+ #
+ # @return PORT_OK 正常終了
+ # BUFFER_EMPTY バッファは空である
+ # TIMEOUT タイムアウトした
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ # PORT_ERROR その他のエラー
+ #
+ # @else
+ #
+ # @brief Reading data
+ #
+ # This function reads data from the buffer. If data is read
+ # properly, this function will return PORT_OK return code. Except
+ # normal return, BUFFER_EMPTY, TIMEOUT, PRECONDITION_NOT_MET and
+ # PORT_ERROR will be returned as error codes.
+ #
+ # @return PORT_OK Normal return
+ # BUFFER_EMPTY Buffer empty
+ # TIMEOUT Timeout
+ # PRECONDITION_NOT_MET Preconditin not met
+ # PORT_ERROR Other error
+ #
+ # @endif
+ #
+ # virtual ReturnCode read(cdrMemoryStream& data);
+ def read(self, data=None):
+ self._rtcout.RTC_TRACE("read()")
+ if not self._dataType:
+ return self.PRECONDITION_NOT_MET
+ ret, cdr = self.readBuff()
+ if ret != self.PORT_OK:
+ return ret, data
+ else:
+ cdr = self.onBufferRead(cdr)
+ ret, _data = self.deserializeData(cdr)
+ return ret, _data
+
+ #
+ # @if jp
+ # @brief データが読み込める状態かを判定
+ # @param self
+ # @param retry True：再検索、False：通常の読み込み確認
+ # @return True：読み込み可能
+ # @else
+ # @brief
+ # @param self
+ # @param retry
+ # @return
+ # @endif
+
+ def isReadable(self, retry=False):
+ if self._consumer:
+ return self._consumer.isReadable(retry)
+ return False
+
+ ##
+ # @if jp
+ # @brief 接続解除
+ #
+ # consumer, publisher, buffer が解体・削除される。
+ #
+ # @return PORT_OK
+ #
+ # @else
+ #
+ # @brief disconnect
+ #
+ # This operation destruct and delete the consumer, the publisher
+ # and the buffer.
+ #
+ # @return PORT_OK
+ #
+ # @endif
+ #
+ # virtual ReturnCode disconnect();
+
+ def disconnect(self):
+ self._rtcout.RTC_TRACE("disconnect()")
+ self.onDisconnect()
+ # delete consumer
+ if self._provider:
+ cfactory = OpenRTM_aist.InPortProviderFactory.instance()
+
+ self._provider.exit()
+
+ self._provider = None
+
+ self._consumer = None
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief アクティブ化
+ #
+ # このコネクタをアクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector activation
+ #
+ # This operation activates this connector
+ #
+ # @endif
+ #
+ # virtual void activate(){}; // do nothing
+ def activate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化
+ #
+ # このコネクタを非アクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector deactivation
+ #
+ # This operation deactivates this connector
+ #
+ # @endif
+ #
+ # virtual void deactivate(){}; // do nothing
+ def deactivate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief Bufferの生成
+ #
+ # 与えられた接続情報に基づきバッファを生成する。
+ #
+ # @param info 接続情報
+ # @return バッファへのポインタ
+ #
+ # @else
+ # @brief create buffer
+ #
+ # This function creates a buffer based on given information.
+ #
+ # @param info Connector information
+ # @return The poitner to the buffer
+ #
+ # @endif
+ #
+ # virtual CdrBufferBase* createBuffer(Profile& profile);
+
+ def createBuffer(self, profile):
+ return None
+
+ ##
+ # @if jp
+ # @brief データの書き出し
+ #
+ # バッファにデータを書き出す。正常に書き出せた場合、戻り値は
+ # BUFFER_OK となる。それ以外の場合には、エラー値として BUFFER_FULL,TIMEOUT
+ # PRECONDITION_NOT_MET, BUFFER_ERROR が返される。
+ #
+ # @return BUFFER_OK 正常終了
+ # BUFFER_FULL バッファはいっぱいである
+ # TIMEOUT タイムアウトした
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ # BUFFER_ERROR その他のエラー
+ #
+ # @else
+ #
+ # @brief Reading data
+ #
+ # This function write data to the buffer. If data is write
+ # properly, this function will return BUFFER_OK return code. Except
+ # normal return, BUFFER_FULL, TIMEOUT, PRECONDITION_NOT_MET and
+ # BUFFER_ERROR will be returned as error codes.
+ #
+ # @return BUFFER_OK Normal return
+ # BUFFER_FULL Buffer full
+ # TIMEOUT Timeout
+ # PRECONDITION_NOT_MET Preconditin not met
+ # BUFFER_ERROR Other error
+ #
+ # @endif
+ #
+ # ReturnCode write(const OpenRTM::CdrData& data);
+
+ def write(self, data):
+ if self._writeCallback:
+ return self._writeCallback(data)
+ return OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET
+
+ #
+ # @if jp
+ # @brief データを書き込める状態かを判定
+ # @param self
+ # @param retry True：再検索、False：通常の書き込み確認
+ # @return True：書き込み可能
+ # @else
+ # @brief
+ # @param self
+ # @param retry
+ # @return
+ # @endif
+ def isWritable(self, retry=False):
+ if self._isWritableCallback:
+ return self._isWritableCallback(self, retry)
+ return False
+
+ #
+ # @if jp
+ # @brief データ書き込み時のリスナ設定
+ # @param self
+ # @param listener リスナ
+ # @else
+ # @brief
+ # @param self
+ # @param listener
+ # @endif
+ def setWriteListener(self, listener):
+ self._writeCallback = listener
+
+ #
+ # @if jp
+ # @brief データ書き込み判定時のリスナ設定
+ # @param self
+ # @param listener リスナ
+ # @else
+ # @brief
+ # @param self
+ # @param listener
+ # @endif
+ def setIsWritableListener(self, listener):
+ self._isWritableCallback = listener
+
+ ##
+ # @if jp
+ # @brief 接続確立時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is established
+ # @endif
+ # void onConnect()
+ def onConnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(OpenRTM_aist.ConnectorListenerType.ON_CONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief 接続切断時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is destroied
+ # @endif
+ # void onDisconnect()
+ def onDisconnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief コンシューマの設定
+ # @else
+ # @brief set Consumer
+ # @endif
+ def setConsumer(self, consumer):
+ self._consumer = consumer
+ self._consumer.setListener(self._info, self._listeners)
+
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ def onBufferEmpty(self, data):
+ if self._listeners and self._profile:
+ self._listeners.notify(OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ def onBufferReadTimeout(self, data):
+ if self._listeners and self._profile:
+ self._listeners.notify(OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief データの復号化
+ # @param self
+ # @param cdr 復号化前のデータ
+ # @return ret, data
+ # ret：リターンコード
+ # PORT_OK：正常完了
+ # PRECONDITION_NOT_MET：サポートされていないエンディアン
+ # SERIALIZE_ERROR：復号化処理でエラー
+ # PRECONDITION_NOT_MET：その他のエラー
+ # data：復号化後のデータ
+ # @else
+ # @brief
+ # @param self
+ # @param cdr
+ # @return
+ # @endif
+ def deserializeData(self, cdr):
+ if self._serializer is None:
+ self._rtcout.RTC_ERROR("serializer creation failure.")
+ return self.UNKNOWN_ERROR, None
+
+ self._serializer.isLittleEndian(self._endian)
+ ser_ret, data = self._serializer.deserialize(cdr, self._dataType)
+
+ if ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_OK:
+ return self.PORT_OK, data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOT_SUPPORT_ENDIAN:
+ self._rtcout.RTC_ERROR("unknown endian from connector")
+ return self.UNKNOWN_ERROR, None
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_ERROR:
+ self._rtcout.RTC_ERROR("unknown error")
+ return self.UNKNOWN_ERROR, None
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOTFOUND:
+ self._rtcout.RTC_ERROR("unknown serializer from connector")
+ return self.UNKNOWN_ERROR, None
+ return self.UNKNOWN_ERROR, None
+
+ ##
+ # @if jp
+ # @brief コンシューマのインターフェースの登録を取り消す
+ # @param prop コネクタプロファイルのプロパティ
+ # @else
+ # @brief
+ # @param prop
+ # @endif
+ def unsubscribeInterface(self, prop):
+ if self._consumer:
+ self._consumer.unsubscribeInterface(prop)
+
+
+ def setDataType(self, data):
+ OpenRTM_aist.InPortConnector.setDataType(self, data)
+ self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
+
+
+##
+# @if jp
+# @class WriteListenerBase
+# @brief WriteListenerBase クラス
+#
+# 書き込み時リスナのベースクラス
+#
+# @since 2.0.0
+#
+# @else
+# @class WriteListenerBase
+# @brief WriteListenerBase class
+#
+#
+# @since 2.0.0
+#
+# @endif
+#
+class WriteListenerBase(object):
+ ##
+ # @if jp
+ # @brief 仮想コールバック関数
+ # @param self
+ # @param data 書き込むバイト列のデータ
+ # @else
+ # @brief Destructor
+ # @param self
+ # @param data 書き込むバイト列のデータ
+ # @endif
+ def __call__(self, data):
+ return OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET
+
+##
+# @if jp
+# @class IsWritableListenerBase
+# @brief IsWritableListenerBase クラス
+#
+# 書き込み確認時リスナのベースクラス
+#
+# @since 2.0.0
+#
+# @else
+# @class IsWritableListenerBase
+# @brief IsWritableListenerBase class
+#
+#
+# @since 2.0.0
+#
+# @endif
+#
+
+
+class IsWritableListenerBase(object):
+ ##
+ # @if jp
+ # @brief 仮想コールバック関数
+ # @param self
+ # @param con InPortConnector
+ # @return True：書き込み可、False：書き込み不可
+ # @else
+ # @brief Destructor
+ # @param self
+ # @param con
+ # @return
+ # @endif
+ def __call__(self, con):
+ return False
diff --git a/OpenRTM_aist/InPortProvider.py b/OpenRTM_aist/InPortProvider.py
index 6d7946bd..4ff7e679 100644
--- a/OpenRTM_aist/InPortProvider.py
+++ b/OpenRTM_aist/InPortProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortProvider.py
@@ -19,13 +19,12 @@
import OpenRTM_aist
-
##
# @if jp
# @class InPortProvider
-# @brief InPortProvider 饹
+# @brief InPortProvider クラス
#
-# InPortξݻ뤿Υ饹
+# InPortの情報を保持するためのクラス。
#
# @since 0.4.0
#
@@ -34,161 +33,155 @@
# @brief InPortProvider class
# @endif
class InPortProvider(OpenRTM_aist.DataPortStatus):
- """
- """
-
-
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- # @brief Constructor
- # @endif
- def __init__(self):
- self._properties = []
- self._interfaceType = ""
- self._dataflowType = ""
- self._subscriptionType = ""
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortProvider")
- self._connector = None
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- pass
-
- ##
- # @if jp
- # @brief InterfaceProfile
- #
- # InterfaceProfile롣
- #
- # @param self
- # @param prop InterfaceProfileץѥƥ
- #
- # @else
- #
- # @endif
- def publishInterfaceProfile(self, prop):
- self._rtcout.RTC_TRACE("publishInterfaceProfile()")
- OpenRTM_aist.NVUtil.appendStringValue(prop, "dataport.interface_type",
- self._interfaceType)
- OpenRTM_aist.NVUtil.append(prop, self._properties)
-
- ##
- # @if jp
- # @brief Interface
- #
- # Interface롣
- #
- # @param self
- # @param prop Interfaceץѥƥ
- #
- # @else
- #
- # @endif
- def publishInterface(self, prop):
- self._rtcout.RTC_TRACE("publishInterface()")
- if not OpenRTM_aist.NVUtil.isStringValue(prop,
- "dataport.interface_type",
- self._interfaceType):
- return False
-
- OpenRTM_aist.NVUtil.append(prop, self._properties)
- return True
-
-
- ##
- # @if jp
- # @brief եפꤹ
- #
- # եפꤹ롣
- #
- # @param self
- # @param interface_type оݥե
- #
- # @else
- #
- # @endif
- def setInterfaceType(self, interface_type):
- self._rtcout.RTC_TRACE("setInterfaceType(%s)", interface_type)
- self._interfaceType = interface_type
-
-
- ##
- # @if jp
- # @brief ǡեפꤹ
- #
- # ǡեפꤹ롣
- #
- # @param self
- # @param dataflow_type оݥǡե
- #
- # @else
- #
- # @endif
- def setDataFlowType(self, dataflow_type):
- self._rtcout.RTC_TRACE("setDataFlowType(%s)", dataflow_type)
- self._dataflowType = dataflow_type
-
-
- ##
- # @if jp
- # @brief ֥ץפꤹ
- #
- # ֥ץפꤹ롣
- #
- # @param self
- # @param subs_type оݥ֥ץ
- #
- # @else
- #
- # @endif
- def setSubscriptionType(self, subs_type):
- self._rtcout.RTC_TRACE("setSubscriptionType(%s)", subs_type)
- self._subscriptionType = subs_type
-
-
-
- def setConnector(self, connector):
- self._connector = connector
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ # @endif
+ def __init__(self):
+ self._properties = []
+ self._interfaceType = ""
+ self._dataflowType = ""
+ self._subscriptionType = ""
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortProvider")
+ self._connector = None
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief InterfaceProfile情報を公開する
+ #
+ # InterfaceProfile情報を公開する。
+ #
+ # @param self
+ # @param prop InterfaceProfile情報を受け取るプロパティ
+ #
+ # @else
+ #
+ # @endif
+ def publishInterfaceProfile(self, prop):
+ self._rtcout.RTC_TRACE("publishInterfaceProfile()")
+ OpenRTM_aist.NVUtil.appendStringValue(prop, "dataport.interface_type",
+ self._interfaceType)
+ OpenRTM_aist.NVUtil.append(prop, self._properties)
+
+ ##
+ # @if jp
+ # @brief Interface情報を公開する
+ #
+ # Interface情報を公開する。
+ #
+ # @param self
+ # @param prop Interface情報を受け取るプロパティ
+ #
+ # @else
+ #
+ # @endif
+ def publishInterface(self, prop):
+ self._rtcout.RTC_TRACE("publishInterface()")
+ if not OpenRTM_aist.NVUtil.isStringValue(prop,
+ "dataport.interface_type",
+ self._interfaceType):
+ return False
+
+ OpenRTM_aist.NVUtil.append(prop, self._properties)
+ return True
+
+ ##
+ # @if jp
+ # @brief インタフェースタイプを設定する
+ #
+ # インタフェースタイプを設定する。
+ #
+ # @param self
+ # @param interface_type 設定対象インタフェースタイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setInterfaceType(self, interface_type):
+ self._rtcout.RTC_TRACE("setInterfaceType(%s)", interface_type)
+ self._interfaceType = interface_type
+
+ ##
+ # @if jp
+ # @brief データフロータイプを設定する
+ #
+ # データフロータイプを設定する。
+ #
+ # @param self
+ # @param dataflow_type 設定対象データフロータイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setDataFlowType(self, dataflow_type):
+ self._rtcout.RTC_TRACE("setDataFlowType(%s)", dataflow_type)
+ self._dataflowType = dataflow_type
+
+ ##
+ # @if jp
+ # @brief サブスクリプションタイプを設定する
+ #
+ # サブスクリプションタイプを設定する。
+ #
+ # @param self
+ # @param subs_type 設定対象サブスクリプションタイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setSubscriptionType(self, subs_type):
+ self._rtcout.RTC_TRACE("setSubscriptionType(%s)", subs_type)
+ self._subscriptionType = subs_type
+
+ def setConnector(self, connector):
+ self._connector = connector
inportproviderfactory = None
-class InPortProviderFactory(OpenRTM_aist.Factory,InPortProvider):
- def __init__(self):
- OpenRTM_aist.Factory.__init__(self) # Call GlobalFactory.Factory()
- InPortProvider.__init__(self)
- return
-
-
- def instance():
- global inportproviderfactory
+class InPortProviderFactory(OpenRTM_aist.Factory, InPortProvider):
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self) # Call GlobalFactory.Factory()
+ InPortProvider.__init__(self)
+ return
- if inportproviderfactory is None:
- inportproviderfactory = InPortProviderFactory()
+ def instance():
+ global inportproviderfactory
- return inportproviderfactory
+ if inportproviderfactory is None:
+ inportproviderfactory = InPortProviderFactory()
- instance = staticmethod(instance)
+ return inportproviderfactory
+ instance = staticmethod(instance)
- def __del__(self):
- pass
+ def __del__(self):
+ pass
diff --git a/OpenRTM_aist/InPortPullConnector.py b/OpenRTM_aist/InPortPullConnector.py
index 3cad3bbd..389c4556 100644
--- a/OpenRTM_aist/InPortPullConnector.py
+++ b/OpenRTM_aist/InPortPullConnector.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortPullConnector.py
@@ -16,8 +16,6 @@
# All rights reserved.
#
-from omniORB import cdrUnmarshal
-from omniORB import any
import OpenRTM_aist
@@ -25,25 +23,25 @@
##
# @if jp
# @class InPortPullConnector
-# @brief InPortPullConnector 饹
+# @brief InPortPullConnector クラス
#
-# InPort pull ǡեΤ Connector 饹Υ
-# Ȥϡ³ dataflow_type pull ꤵ줿硢
-# InPort ˤäͭ졢OutPortPullConnector Фˤʤäơ
-# ǡݡȤ pull Υǡե¸롣Ĥ³Фơ
-# ĤΥǡȥͣ Connector б롣
-# Connector ³ UUID ID ˤ̤롣
+# InPort の pull 型データフローのための Connector クラス。このオブ
+# ジェクトは、接続時に dataflow_type に pull が指定された場合、
+# InPort によって生成・所有され、OutPortPullConnector と対になって、
+# データポートの pull 型のデータフローを実現する。一つの接続に対して、
+# 一つのデータストリームを提供する唯一の Connector が対応する。
+# Connector は 接続時に生成される UUID 形式の ID により区別される。
#
-# InPortPullConnector ϰʲλĤΥ֥Ȥͭ롣
+# InPortPullConnector は以下の三つのオブジェクトを所有し管理する。
#
# - InPortConsumer
# - Buffer
#
-# OutPort ˽ޤ줿ǡ OutPortPullConnector::write()
-# Buffer ˽ޤ롣InPort::read(),
-# InPortPullConnector::read() Ϸ̤ȤơOutPortConsumer::get()
-# ƤӽФOutPortPullConnector λĥХåեǡɤ߽
-# InPortPullConnector ΤĥХåե˥ǡࡣ
+# OutPort に書き込まれたデータは OutPortPullConnector::write() に渡
+# され Buffer に書き込まれる。InPort::read(),
+# InPortPullConnector::read() は結果として、OutPortConsumer::get()
+# を呼び出し、OutPortPullConnector の持つバッファからデータを読み出
+# し、InPortPullConnector のもつバッファにデータを書き込む。
#
# @since 1.0.0
#
@@ -77,305 +75,343 @@
# @endif
#
class InPortPullConnector(OpenRTM_aist.InPortConnector):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # InPortPullConnector Υȥ饯ϥ֥˲
- # ˤȤ롣ConnectorInfo ³ޤߡξ˽Х
- # ե롣OutPort եΥץХ֥
- # ȤؤΥݥꡢͭĤΤǡInPortPullConnector
- # OutPortConsumer βǤġƼ磻٥ȤФ륳Х
- # ConnectorListeners Ŭڤʥߥǥ
- # ХåƤӽФǡХåե⤷ InPortBase
- # ϤΥݥ롣
- #
- # @param info ConnectorInfo
- # @param consumer OutPortConsumer
- # @param listeners ConnectorListeners Υꥹʥ֥ȥꥹ
- # @param buffer CdrBufferBase ΥХåե
- #
- # @else
- # @brief Constructor
- #
- # InPortPullConnector's constructor is given the following
- # arguments. According to ConnectorInfo which includes
- # connection information, a buffer is created. It is also given
- # a pointer to the consumer object for the OutPort interface.
- # The owner-ship of the pointer is owned by this
- # OutPortPullConnector, it has responsibility to destruct the
- # OutPortConsumer. OutPortPullConnector also has
- # ConnectorListeners to provide event callback mechanisms, and
- # they would be called at the proper timing. If data buffer is
- # given by OutPortBase, the pointer to the buffer is also given
- # as arguments.
- #
- # @param info ConnectorInfo
- # @param consumer OutPortConsumer
- # @param listeners ConnectorListeners type lsitener object list
- # @param buffer CdrBufferBase type buffer
- #
- # @endif
- #
- # InPortPullConnector(ConnectorInfo info,
- # OutPortConsumer* consumer,
- # ConnectorListeners& listeners,
- # CdrBufferBase* 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 is None:
- self._buffer = self.createBuffer(self._profile)
-
- if not self._buffer or not self._consumer:
- raise
-
- self._buffer.init(info.properties.getNode("buffer"))
- self._consumer.init(info.properties)
- self._consumer.setBuffer(self._buffer)
- self._consumer.setListener(info, self._listeners)
- self.onConnect()
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # disconnect() ƤФ졢consumer, publisher, buffer Ρ롣
- #
- # @else
- #
- # @brief Destructor
- #
- # This operation calls disconnect(), which destructs and deletes
- # the consumer, the publisher and the buffer.
- #
- # @endif
- #
- def __del__(self):
- return
-
-
- ##
- # @if jp
- # @brief read ؿ
- #
- # OutPortConsumer ǡ롣ɤ߽Ф硢
- # ͤ PORT_OK Ȥʤꡢdata ɤ߽Ф줿ǡǼ롣
- # ʳξˤϡ顼ͤȤ BUFFER_EMPTY, TIMEOUT,
- # PRECONDITION_NOT_MET, PORT_ERROR ֤롣
- #
- # @return PORT_OK ｪλ
- # BUFFER_EMPTY Хåե϶Ǥ
- # TIMEOUT ॢȤ
- # PRECONDITION_NOT_MET ʤ
- # PORT_ERROR ¾Υ顼
- #
- # @else
- # @brief Destructor
- #
- # This function get data from OutPortConsumer. If data is read
- # properly, this function will return PORT_OK return code. Except
- # normal return, BUFFER_EMPTY, TIMEOUT, PRECONDITION_NOT_MET and
- # PORT_ERROR will be returned as error codes.
- #
- # @return PORT_OK Normal return
- # BUFFER_EMPTY Buffer empty
- # TIMEOUT Timeout
- # PRECONDITION_NOT_MET Preconditin not met
- # PORT_ERROR Other error
- #
- # @endif
- #
- # 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
-
-
-
- cdr_data = [None]
- ret = self._consumer.get(cdr_data)
-
- if ret == self.PORT_OK:
- # CDR -> (conversion) -> data
- if self._endian is not None:
- data[0] = cdrUnmarshal(any.to_any(data[0]).typecode(),cdr_data[0],self._endian)
-
- else:
- self._rtcout.RTC_ERROR("unknown endian from connector")
- return OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET
-
- return ret
-
-
- ##
- # @if jp
- # @brief ³ؿ
- #
- # Connector ݻƤ³
- #
- # @else
- # @brief Disconnect connection
- #
- # This operation disconnect this connection
- #
- # @endif
- #
- # virtual ReturnCode disconnect();
- def disconnect(self):
- self._rtcout.RTC_TRACE("disconnect()")
- self.onDisconnect()
- # delete consumer
- if self._consumer:
- OpenRTM_aist.OutPortConsumerFactory.instance().deleteObject(self._consumer)
- self._consumer = 0
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector activation
- #
- # This operation activates this connector
- #
- # @endif
- #
- # virtual void activate(){}; // do nothing
- def activate(self): # do nothing
- pass
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector deactivation
- #
- # This operation deactivates this connector
- #
- # @endif
- #
- # virtual void deactivate(){}; // do nothing
- def deactivate(self): # do nothing
- pass
-
- ##
- # @if jp
- # @brief Buffer
- #
- # Ϳ줿³˴ŤХåե롣
- #
- # @param info ³
- # @return ХåեؤΥݥ
- #
- # @else
- # @brief create buffer
- #
- # This function creates a buffer based on given information.
- #
- # @param info Connector information
- # @return The poitner to the buffer
- #
- # @endif
- #
- # CdrBufferBase* createBuffer(Profile& profile);
- def createBuffer(self, profile):
- buf_type = profile.properties.getProperty("buffer_type","ring_buffer")
- return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
-
- ##
- # @if jp
- # @brief ³Ω˥ХåƤ
- # @else
- # @brief Invoke callback when connection is established
- # @endif
- # void onConnect()
- def onConnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_CONNECT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ³ǻ˥ХåƤ
- # @else
- # @brief Invoke callback when connection is destroied
- # @endif
- # void onDisconnect()
- def onDisconnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
- return
-
-
-
- ##
- # @if jp
- # @brief ǡ쥯Ȥ˽िOutPortΥХȤꤹ
- #
- # @param self
- # @param directOutPort OutPortΥХ
- # @return True: False: ѤߤΤἺ
- # @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
-
-
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # InPortPullConnector のコンストラクタはオブジェクト生成時に下記
+ # を引数にとる。ConnectorInfo は接続情報を含み、この情報に従いバッ
+ # ファ等を生成する。OutPort インターフェースのプロバイダオブジェク
+ # トへのポインタを取り、所有権を持つので、InPortPullConnector は
+ # OutPortConsumer の解体責任を持つ。各種イベントに対するコールバッ
+ # ク機構を提供する ConnectorListeners を持ち、適切なタイミングでコー
+ # ルバックを呼び出す。データバッファがもし InPortBase から提供さ
+ # れる場合はそのポインタを取る。
+ #
+ # @param info ConnectorInfo
+ # @param consumer OutPortConsumer
+ # @param listeners ConnectorListeners 型のリスナオブジェクトリスト
+ # @param buffer CdrBufferBase 型のバッファ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # InPortPullConnector's constructor is given the following
+ # arguments. According to ConnectorInfo which includes
+ # connection information, a buffer is created. It is also given
+ # a pointer to the consumer object for the OutPort interface.
+ # The owner-ship of the pointer is owned by this
+ # OutPortPullConnector, it has responsibility to destruct the
+ # OutPortConsumer. OutPortPullConnector also has
+ # ConnectorListeners to provide event callback mechanisms, and
+ # they would be called at the proper timing. If data buffer is
+ # given by OutPortBase, the pointer to the buffer is also given
+ # as arguments.
+ #
+ # @param info ConnectorInfo
+ # @param consumer OutPortConsumer
+ # @param listeners ConnectorListeners type lsitener object list
+ # @param buffer CdrBufferBase type buffer
+ #
+ # @endif
+ #
+ # InPortPullConnector(ConnectorInfo info,
+ # OutPortConsumer* consumer,
+ # ConnectorListeners& listeners,
+ # CdrBufferBase* 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 is None:
+ self._buffer = self.createBuffer(self._profile)
+
+ if not self._buffer or not self._consumer:
+ raise
+
+ self._buffer.init(info.properties.getNode("buffer"))
+ self._consumer.init(info.properties)
+ self._consumer.setBuffer(self._buffer)
+ self._consumer.setListener(info, self._listeners)
+ self.onConnect()
+
+ self._marshaling_type = info.properties.getProperty(
+ "marshaling_type", "cdr")
+ self._marshaling_type = self._marshaling_type.strip()
+
+ self._serializer = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # disconnect() が呼ばれ、consumer, publisher, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # This operation calls disconnect(), which destructs and deletes
+ # the consumer, the publisher and the buffer.
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief read 関数
+ #
+ # OutPortConsumer からデータを取得する。正常に読み出せた場合、戻り
+ # 値は PORT_OK となり、data に読み出されたデータが格納される。それ
+ # 以外の場合には、エラー値として BUFFER_EMPTY, TIMEOUT,
+ # PRECONDITION_NOT_MET, UNKNOWN_ERROR, PORT_ERROR が返される。
+ #
+ # @return PORT_OK 正常終了
+ # BUFFER_EMPTY バッファは空である
+ # TIMEOUT タイムアウトした
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ # UNKNOWN_ERROR 不明のエラー
+ # PORT_ERROR その他のエラー
+ #
+ # @else
+ # @brief Destructor
+ #
+ # This function get data from OutPortConsumer. If data is read
+ # properly, this function will return PORT_OK return code. Except
+ # normal return, BUFFER_EMPTY, TIMEOUT, PRECONDITION_NOT_MET,
+ # UNKNOWN_ERROR and PORT_ERROR will be returned as error codes.
+ #
+ # @return PORT_OK Normal return
+ # BUFFER_EMPTY Buffer empty
+ # TIMEOUT Timeout
+ # PRECONDITION_NOT_MET Preconditin not met
+ # UNKNOWN_ERROR Unknown errot
+ # PORT_ERROR Other error
+ #
+ # @endif
+ #
+ # virtual ReturnCode read(cdrMemoryStream& data);
+
+ def read(self, data=None):
+ self._rtcout.RTC_TRACE("InPortPullConnector.read()")
+
+ if self._directOutPort is not None:
+ if self._directOutPort.isEmpty():
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ self._outPortListeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, 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.")
+
+ data = self._directOutPort.read()
+ #self._outPortListeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ self._rtcout.RTC_TRACE("ON_BUFFER_READ(OutPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ #self._outPortListeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ self._rtcout.RTC_TRACE("ON_SEND(OutPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ #self._listeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ self._rtcout.RTC_TRACE("ON_RECEIVED(InPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ #self._listeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ self._rtcout.RTC_TRACE("ON_BUFFER_WRITE(InPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ return self.PORT_OK, data
+
+ if not self._consumer:
+ return self.PORT_ERROR, data
+
+ datatype = self._dataType
+ if datatype is None:
+ if data is None:
+ self._rtcout.RTC_ERROR("invalid data type")
+ return self.UNKNOWN_ERROR, data
+ datatype = data
+
+ ret, cdr_data = self._consumer.get()
+
+ if ret == self.PORT_OK:
+
+ if self._serializer is None:
+ self._rtcout.RTC_ERROR("serializer creation failure.")
+ return self.UNKNOWN_ERROR, data
+
+ self._serializer.isLittleEndian(self._endian)
+ ser_ret, data = self._serializer.deserialize(cdr_data, datatype)
+
+ if ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOT_SUPPORT_ENDIAN:
+ self._rtcout.RTC_ERROR("unknown endian from connector")
+ return self.UNKNOWN_ERROR, data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_ERROR:
+ self._rtcout.RTC_ERROR("unknown error")
+ return self.UNKNOWN_ERROR, data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOTFOUND:
+ self._rtcout.RTC_ERROR("unknown serializer from connector")
+ return self.UNKNOWN_ERROR, data
+
+ return ret, data
+
+ ##
+ # @if jp
+ # @brief 接続解除関数
+ #
+ # Connector が保持している接続を解除する
+ #
+ # @else
+ # @brief Disconnect connection
+ #
+ # This operation disconnect this connection
+ #
+ # @endif
+ #
+ # virtual ReturnCode disconnect();
+
+ def disconnect(self):
+ self._rtcout.RTC_TRACE("disconnect()")
+ self.onDisconnect()
+
+ self._consumer = None
+ self._serializer = None
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief アクティブ化
+ #
+ # このコネクタをアクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector activation
+ #
+ # This operation activates this connector
+ #
+ # @endif
+ #
+ # virtual void activate(){}; // do nothing
+ def activate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化
+ #
+ # このコネクタを非アクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector deactivation
+ #
+ # This operation deactivates this connector
+ #
+ # @endif
+ #
+ # virtual void deactivate(){}; // do nothing
+ def deactivate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief Bufferの生成
+ #
+ # 与えられた接続情報に基づきバッファを生成する。
+ #
+ # @param info 接続情報
+ # @return バッファへのポインタ
+ #
+ # @else
+ # @brief create buffer
+ #
+ # This function creates a buffer based on given information.
+ #
+ # @param info Connector information
+ # @return The poitner to the buffer
+ #
+ # @endif
+ #
+ # CdrBufferBase* createBuffer(Profile& profile);
+ def createBuffer(self, profile):
+ buf_type = profile.properties.getProperty("buffer_type", "ring_buffer")
+ return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
+
+ ##
+ # @if jp
+ # @brief 接続確立時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is established
+ # @endif
+ # void onConnect()
+ def onConnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_CONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief 接続切断時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is destroied
+ # @endif
+ # void onDisconnect()
+ def onDisconnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief データをダイレクトに書き込むためのOutPortのサーバントを設定する
+ #
+ # @param self
+ # @param directOutPort OutPortのサーバント
+ # @return True: 設定に成功 False: 既に設定済みのため失敗
+ # @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
+
+ ##
+ # @if jp
+ # @brief コンシューマのインターフェースの登録を取り消す
+ # @param prop コネクタプロファイルのプロパティ
+ # @else
+ # @brief
+ # @param prop
+ # @endif
+
+ def unsubscribeInterface(self, prop):
+ if self._consumer:
+ self._consumer.unsubscribeInterface(prop)
+
+
+ def setDataType(self, data):
+ OpenRTM_aist.InPortConnector.setDataType(self, data)
+ self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
\ No newline at end of file
diff --git a/OpenRTM_aist/InPortPushConnector.py b/OpenRTM_aist/InPortPushConnector.py
index a8de20bc..639f46fd 100644
--- a/OpenRTM_aist/InPortPushConnector.py
+++ b/OpenRTM_aist/InPortPushConnector.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
#
@@ -18,9 +18,6 @@
#
-from omniORB import cdrUnmarshal
-from omniORB import any
-
import OpenRTM_aist
import threading
@@ -28,23 +25,23 @@
##
# @if jp
# @class InPortPushConnector
-# @brief InPortPushConnector 饹
+# @brief InPortPushConnector クラス
#
-# InPort push ǡեΤ Connector 饹Υ
-# Ȥϡ³ dataflow_type push ꤵ줿硢
-# InPort ˤäͭ졢OutPortPushConnector Фˤʤäơ
-# ǡݡȤ push Υǡե¸롣Ĥ³Фơ
-# ĤΥǡȥͣ Connector б롣
-# Connector ³ UUID ID ˤ̤롣
+# InPort の push 型データフローのための Connector クラス。このオブ
+# ジェクトは、接続時に dataflow_type に push が指定された場合、
+# InPort によって生成・所有され、OutPortPushConnector と対になって、
+# データポートの push 型のデータフローを実現する。一つの接続に対して、
+# 一つのデータストリームを提供する唯一の Connector が対応する。
+# Connector は 接続時に生成される UUID 形式の ID により区別される。
#
-# InPortPushConnector ϰʲλĤΥ֥Ȥͭ롣
+# InPortPushConnector は以下の三つのオブジェクトを所有し管理する。
#
# - InPortProvider
# - Buffer
#
-# OutPort ˽ޤ줿ǡϡOutPortConnector ˤä
-# InPortProvider::put() ˥ǡϤ롣ޤ줿ǡ
-# Connector Buffer ˥ǡޤ롣
+# OutPort に書き込まれたデータは、OutPortConnector によって
+# InPortProvider::put() にデータが渡される。書き込まれたデータは
+# Connector 内で Buffer にデータが書き込まれる。
#
# @since 1.0.0
#
@@ -75,413 +72,459 @@
# @endif
#
class InPortPushConnector(OpenRTM_aist.InPortConnector):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # InPortPushConnector Υȥ饯ϥ֥˲
- # ˤȤ롣ConnectorInfo ³ޤߡξ˽Хåե
- # 롣InPort եΥץХ֥Ȥ
- # ΥݥꡢͭĤΤǡInPortPushConnector
- # InPortProvider βǤġƼ磻٥ȤФ륳Х
- # ConnectorListeners Ŭڤʥߥǥ
- # ХåƤӽФǡХåե⤷ InPortBase
- # ϤΥݥ롣
- #
- # @param info ConnectorInfo
- # @param provider InPortProvider
- # @param listeners ConnectorListeners Υꥹʥ֥ȥꥹ
- # @param buffer CdrBufferBase ΥХåե
- #
- # @elsek
- # @brief Constructor
- #
- # InPortPushConnector's constructor is given the following
- # arguments. According to ConnectorInfo which includes
- # connection information, a buffer is created.
- # It is also given a pointer to the provider object for the
- # InPort interface. The owner-ship of the pointer is owned by
- # this InPortPushConnector, it has responsibility to destruct
- # the InPortProvider. InPortPushConnector also has
- # ConnectorListeners to provide event callback mechanisms, and
- # they would be called at the proper timing. If data buffer is
- # given by InPortBase, the pointer to the buffer is also given
- # as arguments.
- #
- # @param info ConnectorInfo
- # @param provider InPortProvider
- # @param listeners ConnectorListeners type lsitener object list
- # @param buffer CdrBufferBase type buffer
- #
- # @endif
- #
- # InPortPushConnector(ConnectorInfo info, InPortProvider* provider,
- # ConnectorListeners listeners, CdrBufferBase* buffer = 0);
- def __init__(self, info, provider, listeners, buffer = None):
- OpenRTM_aist.InPortConnector.__init__(self, info, buffer)
- self._provider = provider
- self._listeners = listeners
-
- if buffer:
- self._deleteBuffer = True
- else:
- self._deleteBuffer = False
-
-
- if self._buffer is None:
- self._buffer = self.createBuffer(info)
-
-
- if self._buffer is None or not self._provider:
- raise
-
- self._buffer.init(info.properties.getNode("buffer"))
- self._provider.init(info.properties)
- self._provider.setBuffer(self._buffer)
- self._provider.setListener(info, self._listeners)
- self.onConnect()
-
-
- self._sync_readwrite = False
- if OpenRTM_aist.toBool(info.properties.getProperty("sync_readwrite"),"YES","NO",False):
- self._sync_readwrite = True
-
-
-
-
-
-
- self._writecompleted_worker = InPortPushConnector.WorkerThreadCtrl()
- self._readcompleted_worker = InPortPushConnector.WorkerThreadCtrl()
- self._readready_worker = InPortPushConnector.WorkerThreadCtrl()
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # disconnect() ƤФ졢consumer, publisher, buffer Ρ롣
- #
- # @else
- #
- # @brief Destructor
- #
- # This operation calls disconnect(), which destructs and deletes
- # the consumer, the publisher and the buffer.
- #
- # @endif
- #
- def __del__(self):
- return
-
-
- ##
- # @if jp
- # @brief ǡɤ߽Ф
- #
- # Хåեǡɤ߽Фɤ߽Ф硢ͤ
- # PORT_OK Ȥʤꡢdata ɤ߽Ф줿ǡǼ롣ʳ
- # ξˤϡ顼ͤȤ BUFFER_EMPTY, TIMEOUT,
- # PRECONDITION_NOT_MET, PORT_ERROR ֤롣
- #
- # @return PORT_OK ｪλ
- # BUFFER_EMPTY Хåե϶Ǥ
- # TIMEOUT ॢȤ
- # PRECONDITION_NOT_MET ʤ
- # PORT_ERROR ¾Υ顼
- #
- # @else
- #
- # @brief Reading data
- #
- # This function reads data from the buffer. If data is read
- # properly, this function will return PORT_OK return code. Except
- # normal return, BUFFER_EMPTY, TIMEOUT, PRECONDITION_NOT_MET and
- # PORT_ERROR will be returned as error codes.
- #
- # @return PORT_OK Normal return
- # BUFFER_EMPTY Buffer empty
- # TIMEOUT Timeout
- # PRECONDITION_NOT_MET Preconditin not met
- # PORT_ERROR Other error
- #
- # @endif
- #
- # virtual ReturnCode read(cdrMemoryStream& data);
- def read(self, data):
- self._rtcout.RTC_TRACE("read()")
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # InPortPushConnector のコンストラクタはオブジェクト生成時に下記を
+ # 引数にとる。ConnectorInfo は接続情報を含み、この情報に従いバッファ
+ # 等を生成する。InPort インターフェースのプロバイダオブジェクトへ
+ # のポインタを取り、所有権を持つので、InPortPushConnector は
+ # InPortProvider の解体責任を持つ。各種イベントに対するコールバッ
+ # ク機構を提供する ConnectorListeners を持ち、適切なタイミングでコー
+ # ルバックを呼び出す。データバッファがもし InPortBase から提供され
+ # る場合はそのポインタを取る。
+ #
+ # @param info ConnectorInfo
+ # @param provider InPortProvider
+ # @param listeners ConnectorListeners 型のリスナオブジェクトリスト
+ # @param buffer CdrBufferBase 型のバッファ
+ #
+ # @elsek
+ # @brief Constructor
+ #
+ # InPortPushConnector's constructor is given the following
+ # arguments. According to ConnectorInfo which includes
+ # connection information, a buffer is created.
+ # It is also given a pointer to the provider object for the
+ # InPort interface. The owner-ship of the pointer is owned by
+ # this InPortPushConnector, it has responsibility to destruct
+ # the InPortProvider. InPortPushConnector also has
+ # ConnectorListeners to provide event callback mechanisms, and
+ # they would be called at the proper timing. If data buffer is
+ # given by InPortBase, the pointer to the buffer is also given
+ # as arguments.
+ #
+ # @param info ConnectorInfo
+ # @param provider InPortProvider
+ # @param listeners ConnectorListeners type lsitener object list
+ # @param buffer CdrBufferBase type buffer
+ #
+ # @endif
+ #
+ # InPortPushConnector(ConnectorInfo info, InPortProvider* provider,
+ # ConnectorListeners listeners, CdrBufferBase* buffer = 0);
+ def __init__(self, info, provider, listeners, buffer=None):
+ OpenRTM_aist.InPortConnector.__init__(self, info, buffer)
+ self._provider = provider
+ self._listeners = listeners
+
+ if buffer:
+ self._deleteBuffer = True
+ else:
+ self._deleteBuffer = False
+
+ if self._buffer is None:
+ self._buffer = self.createBuffer(info)
+
+ if self._buffer is None or not self._provider:
+ raise
+
+ self._buffer.init(info.properties.getNode("buffer"))
+ self._provider.init(info.properties)
+ self._provider.setBuffer(self._buffer)
+ self._provider.setListener(info, self._listeners)
+ self.onConnect()
+
+ self._sync_readwrite = False
+ if OpenRTM_aist.toBool(info.properties.getProperty(
+ "sync_readwrite"), "YES", "NO", False):
+ self._sync_readwrite = True
+
+ self._writecompleted_worker = InPortPushConnector.WorkerThreadCtrl()
+ self._readcompleted_worker = InPortPushConnector.WorkerThreadCtrl()
+ self._readready_worker = InPortPushConnector.WorkerThreadCtrl()
+
+ self._marshaling_type = info.properties.getProperty(
+ "marshaling_type", "cdr")
+ self._marshaling_type = self._marshaling_type.strip()
+
+ self._serializer = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # disconnect() が呼ばれ、consumer, publisher, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # This operation calls disconnect(), which destructs and deletes
+ # the consumer, the publisher and the buffer.
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief バッファからデータを読み出す。
+ # read関数と違い、アンマーシャリングを実行しない
+ #
+ # @param self
+ # @return リターンコード
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+ def readBuff(self):
+ self._rtcout.RTC_TRACE("readBuff()")
+ ##
+ # buffer returns
+ # BUFFER_OK
+ # BUFFER_EMPTY
+ # TIMEOUT
+ # PRECONDITION_NOT_MET
+ #
+ if not self._buffer:
+ return self.PRECONDITION_NOT_MET, None
+
+ if self._sync_readwrite:
+ self._readcompleted_worker._completed = False
+
+ self._readready_worker._completed = True
+ self._readready_worker._cond.acquire()
+ self._readready_worker._cond.notify()
+ self._readready_worker._cond.release()
+
+ self._writecompleted_worker._cond.acquire()
+ while not self._writecompleted_worker._completed:
+ self._writecompleted_worker._cond.wait()
+ self._writecompleted_worker._cond.release()
+
+ ret, cdr = self._buffer.read()
+
+ if self._sync_readwrite:
+ self._readcompleted_worker._completed = True
+ self._readcompleted_worker._cond.acquire()
+ self._readcompleted_worker._cond.notify()
+ self._readcompleted_worker._cond.release()
+
+ self._readready_worker._completed = False
+
+ if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ return self.PORT_OK, cdr
+
+ if ret == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ cdr = self.onBufferEmpty(cdr)
+ return self.BUFFER_EMPTY, cdr
+
+ elif ret == OpenRTM_aist.BufferStatus.TIMEOUT:
+ cdr = self.onBufferReadTimeout(cdr)
+ return self.BUFFER_TIMEOUT, cdr
+
+ elif ret == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ return self.PRECONDITION_NOT_MET, cdr
+
+ return self.PORT_ERROR, cdr
+
+ ##
+ # @if jp
+ # @brief データの読み出し
+ #
+ # バッファからデータを読み出す。正常に読み出せた場合、戻り値は
+ # PORT_OK となり、data に読み出されたデータが格納される。それ以外
+ # の場合には、エラー値として BUFFER_EMPTY, TIMEOUT,
+ # PRECONDITION_NOT_MET, UNKNOWN_ERROR, PORT_ERROR が返される。
+ #
+ # @return PORT_OK 正常終了
+ # BUFFER_EMPTY バッファは空である
+ # TIMEOUT タイムアウトした
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ # UNKNOWN_ERROR 不明のエラー
+ # PORT_ERROR その他のエラー
+ #
+ # @else
+ #
+ # @brief Reading data
+ #
+ # This function reads data from the buffer. If data is read
+ # properly, this function will return PORT_OK return code. Except
+ # normal return, BUFFER_EMPTY, TIMEOUT, PRECONDITION_NOT_MET,
+ # UNKNOWN_ERROR and PORT_ERROR will be returned as error codes.
+ #
+ # @return PORT_OK Normal return
+ # BUFFER_EMPTY Buffer empty
+ # TIMEOUT Timeout
+ # PRECONDITION_NOT_MET Preconditin not met
+ # UNKNOWN_ERROR Unknown errot
+ # PORT_ERROR Other error
+ #
+ # @endif
+ #
+ # virtual ReturnCode read(cdrMemoryStream& data);
+ def read(self, data=None):
+ self._rtcout.RTC_TRACE("read()")
+
+ datatype = self._dataType
+ if datatype is None:
+ if data is None:
+ self._rtcout.RTC_ERROR("invalid data type")
+ return self.UNKNOWN_ERROR, data
+ datatype = data
+
+ ret, cdr = self.readBuff()
+
+ if ret != self.PORT_OK:
+ return ret, data
+ else:
+ cdr = self.onBufferRead(cdr)
+ if self._serializer is None:
+ self._rtcout.RTC_ERROR("serializer creation failure.")
+ return self.UNKNOWN_ERROR, data
+ self._serializer.isLittleEndian(self._endian)
+ ser_ret, _data = self._serializer.deserialize(cdr, datatype)
+
+ if ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_OK:
+ data = _data
+ return self.PORT_OK, data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOT_SUPPORT_ENDIAN:
+ self._rtcout.RTC_ERROR("unknown endian from connector")
+ return self.UNKNOWN_ERROR, data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_ERROR:
+ self._rtcout.RTC_ERROR("unknown error")
+ return self.UNKNOWN_ERROR, data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOTFOUND:
+ self._rtcout.RTC_ERROR("unknown serializer from connector")
+ return self.UNKNOWN_ERROR, data
+
+ return self.PORT_ERROR, data
+
+ ##
+ # @if jp
+ # @brief 接続解除
+ #
+ # consumer, publisher, buffer が解体・削除される。
+ #
+ # @return PORT_OK
+ #
+ # @else
+ #
+ # @brief disconnect
+ #
+ # This operation destruct and delete the consumer, the publisher
+ # and the buffer.
+ #
+ # @return PORT_OK
+ #
+ # @endif
+ #
+ # virtual ReturnCode disconnect();
+
+ def disconnect(self):
+ self._rtcout.RTC_TRACE("disconnect()")
+ self.onDisconnect()
+ # delete consumer
+ if self._provider:
+ cfactory = OpenRTM_aist.InPortProviderFactory.instance()
+
+ self._provider.exit()
+
+ self._provider = None
+
+ # delete buffer
+ if self._buffer and self._deleteBuffer == True:
+ bfactory = OpenRTM_aist.CdrBufferFactory.instance()
+
+ self._buffer = None
+
+ self._serializer = None
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief アクティブ化
+ #
+ # このコネクタをアクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector activation
+ #
+ # This operation activates this connector
+ #
+ # @endif
+ #
+ # virtual void activate(){}; // do nothing
+ def activate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化
+ #
+ # このコネクタを非アクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector deactivation
+ #
+ # This operation deactivates this connector
+ #
+ # @endif
+ #
+ # virtual void deactivate(){}; // do nothing
+ def deactivate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief Bufferの生成
+ #
+ # 与えられた接続情報に基づきバッファを生成する。
+ #
+ # @param info 接続情報
+ # @return バッファへのポインタ
+ #
+ # @else
+ # @brief create buffer
+ #
+ # This function creates a buffer based on given information.
+ #
+ # @param info Connector information
+ # @return The poitner to the buffer
+ #
+ # @endif
+ #
+ # virtual CdrBufferBase* createBuffer(Profile& profile);
+
+ def createBuffer(self, profile):
+ buf_type = profile.properties.getProperty("buffer_type", "ring_buffer")
+ return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
+
+ ##
+ # @if jp
+ # @brief データの書き出し
+ #
+ # バッファにデータを書き出す。正常に書き出せた場合、戻り値は
+ # BUFFER_OK となる。それ以外の場合には、エラー値として BUFFER_FULL,TIMEOUT
+ # PRECONDITION_NOT_MET, BUFFER_ERROR が返される。
+ #
+ # @return BUFFER_OK 正常終了
+ # BUFFER_FULL バッファはいっぱいである
+ # TIMEOUT タイムアウトした
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ # BUFFER_ERROR その他のエラー
+ #
+ # @else
+ #
+ # @brief Reading data
+ #
+ # This function write data to the buffer. If data is write
+ # properly, this function will return BUFFER_OK return code. Except
+ # normal return, BUFFER_FULL, TIMEOUT, PRECONDITION_NOT_MET and
+ # BUFFER_ERROR will be returned as error codes.
+ #
+ # @return BUFFER_OK Normal return
+ # BUFFER_FULL Buffer full
+ # TIMEOUT Timeout
+ # PRECONDITION_NOT_MET Preconditin not met
+ # BUFFER_ERROR Other error
+ #
+ # @endif
+ #
+ # ReturnCode write(const OpenRTM::CdrData& data);
+
+ def write(self, data):
+ if self._sync_readwrite:
+ self._readready_worker._cond.acquire()
+ while not self._readready_worker._completed:
+ self._readready_worker._cond.wait()
+ self._readready_worker._cond.release()
+
+ ret = self._buffer.write(data)
+
+ if self._sync_readwrite:
+ self._writecompleted_worker._completed = True
+ self._writecompleted_worker._cond.acquire()
+ self._writecompleted_worker._cond.notify()
+ self._writecompleted_worker._cond.release()
+
+ self._readcompleted_worker._cond.acquire()
+ while not self._readcompleted_worker._completed:
+ self._readcompleted_worker._cond.wait()
+ self._readcompleted_worker._cond.release()
+
+ self._writecompleted_worker._completed = False
+
+ return ret
+
+ ##
+ # @if jp
+ # @brief 接続確立時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is established
+ # @endif
+ # void onConnect()
+
+ def onConnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_CONNECT, self._profile)
+ return
##
- # buffer returns
- # BUFFER_OK
- # BUFFER_EMPTY
- # TIMEOUT
- # PRECONDITION_NOT_MET
- #
- if not self._buffer:
- return self.PRECONDITION_NOT_MET
-
- cdr = [""]
-
- if self._sync_readwrite:
- self._readcompleted_worker._completed = False
-
- self._readready_worker._completed = True
- self._readready_worker._cond.acquire()
- self._readready_worker._cond.notify()
- self._readready_worker._cond.release()
-
- self._writecompleted_worker._cond.acquire()
- while not self._writecompleted_worker._completed:
- self._writecompleted_worker._cond.wait()
- self._writecompleted_worker._cond.release()
-
- ret = self._buffer.read(cdr)
-
- if self._sync_readwrite:
- self._readcompleted_worker._completed = True
- self._readcompleted_worker._cond.acquire()
- self._readcompleted_worker._cond.notify()
- self._readcompleted_worker._cond.release()
-
- self._readready_worker._completed = False
-
- if not self._dataType:
- return self.PRECONDITION_NOT_MET
- if self._endian is not None:
- if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
- _data = cdrUnmarshal(any.to_any(self._dataType).typecode(),cdr[0],self._endian)
- if type(data) == list:
- data[0] = _data
- else:
- self._rtcout.RTC_ERROR("unknown endian from connector")
- return self.PRECONDITION_NOT_MET
-
-
-
- if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
- self.onBufferRead(cdr[0])
- return self.PORT_OK
-
- elif ret == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
- self.onBufferEmpty(cdr[0])
- return self.BUFFER_EMPTY
-
- elif ret == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferReadTimeout(cdr[0])
- return self.BUFFER_TIMEOUT
-
- elif ret == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- return self.PRECONDITION_NOT_MET
-
- return self.PORT_ERROR
-
-
- ##
- # @if jp
- # @brief ³
- #
- # consumer, publisher, buffer Ρ롣
- #
- # @return PORT_OK
- #
- # @else
- #
- # @brief disconnect
- #
- # This operation destruct and delete the consumer, the publisher
- # and the buffer.
- #
- # @return PORT_OK
- #
- # @endif
- #
- # virtual ReturnCode disconnect();
- def disconnect(self):
- self._rtcout.RTC_TRACE("disconnect()")
- self.onDisconnect()
- # delete consumer
- if self._provider:
- cfactory = OpenRTM_aist.InPortProviderFactory.instance()
- cfactory.deleteObject(self._provider)
-
- self._provider.exit()
-
- self._provider = None
-
- # delete buffer
- if self._buffer and self._deleteBuffer == True:
- bfactory = OpenRTM_aist.CdrBufferFactory.instance()
- bfactory.deleteObject(self._buffer)
-
- self._buffer = None
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector activation
- #
- # This operation activates this connector
- #
- # @endif
- #
- # virtual void activate(){}; // do nothing
- def activate(self): # do nothing
- pass
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector deactivation
- #
- # This operation deactivates this connector
- #
- # @endif
- #
- # virtual void deactivate(){}; // do nothing
- def deactivate(self): # do nothing
- pass
-
-
- ##
- # @if jp
- # @brief Buffer
- #
- # Ϳ줿³˴ŤХåե롣
- #
- # @param info ³
- # @return ХåեؤΥݥ
- #
- # @else
- # @brief create buffer
- #
- # This function creates a buffer based on given information.
- #
- # @param info Connector information
- # @return The poitner to the buffer
- #
- # @endif
- #
- # virtual CdrBufferBase* createBuffer(Profile& profile);
- def createBuffer(self, profile):
- buf_type = profile.properties.getProperty("buffer_type","ring_buffer")
- return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
-
-
- ##
- # @if jp
- # @brief ǡνФ
- #
- # Хåե˥ǡФ˽Ф硢ͤ
- # BUFFER_OK Ȥʤ롣ʳξˤϡ顼ͤȤ BUFFER_FULL,TIMEOUT
- # PRECONDITION_NOT_MET, BUFFER_ERROR ֤롣
- #
- # @return BUFFER_OK ｪλ
- # BUFFER_FULL ХåեϤäѤǤ
- # TIMEOUT ॢȤ
- # PRECONDITION_NOT_MET ʤ
- # BUFFER_ERROR ¾Υ顼
- #
- # @else
- #
- # @brief Reading data
- #
- # This function write data to the buffer. If data is write
- # properly, this function will return BUFFER_OK return code. Except
- # normal return, BUFFER_FULL, TIMEOUT, PRECONDITION_NOT_MET and
- # BUFFER_ERROR will be returned as error codes.
- #
- # @return BUFFER_OK Normal return
- # BUFFER_FULL Buffer full
- # TIMEOUT Timeout
- # PRECONDITION_NOT_MET Preconditin not met
- # BUFFER_ERROR Other error
- #
- # @endif
- #
- # ReturnCode write(const OpenRTM::CdrData& data);
- def write(self, data):
- if self._sync_readwrite:
- self._readready_worker._cond.acquire()
- while not self._readready_worker._completed:
- self._readready_worker._cond.wait()
- self._readready_worker._cond.release()
-
- ret = self._buffer.write(data)
-
- if self._sync_readwrite:
- self._writecompleted_worker._completed = True
- self._writecompleted_worker._cond.acquire()
- self._writecompleted_worker._cond.notify()
- self._writecompleted_worker._cond.release()
-
- self._readcompleted_worker._cond.acquire()
- while not self._readcompleted_worker._completed:
- self._readcompleted_worker._cond.wait()
- self._readcompleted_worker._cond.release()
-
- self._writecompleted_worker._completed = False
-
- return ret
-
-
- ##
- # @if jp
- # @brief ³Ω˥ХåƤ
- # @else
- # @brief Invoke callback when connection is established
- # @endif
- # void onConnect()
- def onConnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_CONNECT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ³ǻ˥ХåƤ
- # @else
- # @brief Invoke callback when connection is destroied
- # @endif
- # void onDisconnect()
- def onDisconnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
- return
-
-
-
- def onBufferRead(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- return
- def onBufferEmpty(self, data):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
- return
- def onBufferReadTimeout(self, data):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile)
- return
-
- class WorkerThreadCtrl:
- def __init__(self):
- self._mutex = threading.RLock()
- self._cond = threading.Condition(self._mutex)
- self._completed = False
\ No newline at end of file
+ # @if jp
+ # @brief 接続切断時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is destroied
+ # @endif
+ # void onDisconnect()
+ def onDisconnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT, self._profile)
+ return
+
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ def onBufferEmpty(self, data):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ def onBufferReadTimeout(self, data):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT, self._profile)
+ return
+
+ def setDataType(self, data):
+ OpenRTM_aist.InPortConnector.setDataType(self, data)
+ self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(
+ self._marshaling_type, data)
+
+ class WorkerThreadCtrl:
+ def __init__(self):
+ self._mutex = threading.RLock()
+ self._cond = threading.Condition(self._mutex)
+ self._completed = False
diff --git a/OpenRTM_aist/InPortSHMConsumer.py b/OpenRTM_aist/InPortSHMConsumer.py
index 4340c183..881f78a7 100644
--- a/OpenRTM_aist/InPortSHMConsumer.py
+++ b/OpenRTM_aist/InPortSHMConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortSHMConsumer.py
@@ -9,7 +9,6 @@
#
-
import OpenRTM_aist
import OpenRTM__POA
@@ -20,9 +19,9 @@
#
# @class InPortSHMConsumer
#
-# @brief InPortSHMConsumer 饹
+# @brief InPortSHMConsumer クラス
#
-# ̿ʤ ͭ Ѥϥݡȥ塼ޤμ饹
+# 通信手段に 共有メモリ を利用した入力ポートコンシューマの実装クラス。
#
#
# @else
@@ -34,185 +33,172 @@
#
# @endif
#
+
+
class InPortSHMConsumer(OpenRTM_aist.InPortCorbaCdrConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param self
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.InPortCorbaCdrConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortSHMConsumer")
- self._properties = None
-
- self._shm_address = str(OpenRTM_aist.uuid1())
-
- self._shmem = OpenRTM_aist.SharedMemory()
-
-
-
- self._mutex = threading.RLock()
-
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- # @param CorbaConsumer
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @param self
- # @param CorbaConsumer
- #
- # @endif
- #
- def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
- self._rtcout.RTC_PARANOID("~InPortSHMConsumer()")
- CorbaConsumer.__del__(self)
- self._shmem.close_memory(True)
-
- oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self._shmem)
- OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
- self._endian = True
-
- return
-
- ##
- # @if jp
- # @brief
- #
- # InPortConsumerγƼԤ
- # ץХǥͥץե˶ͭζ̾¸뤿ᡢinitؿǶͭνԤ
- #
- # @param self
- # @param prop ͥץѥƥ
- #
- # @else
- # @brief Initializing configuration
- #
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
-
- self._rtcout.RTC_TRACE("init()")
- self._properties = prop
-
-
-
-
- ds = prop.getProperty("shem_default_size")
- self._memory_size = self._shmem.string_to_MemorySize(ds)
-
-
-
-
- if prop.hasKey("serializer"):
- endian = prop.getProperty("serializer.cdr.endian")
- if not endian:
- self._rtcout.RTC_ERROR("init(): endian is not set.")
- endian = "little"
-
-
- endian = OpenRTM_aist.split(endian, ",")
-
- endian = OpenRTM_aist.normalize(endian)
- if endian == "little":
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortCorbaCdrConsumer.__init__(self)
+ OpenRTM_aist.CorbaConsumer.__init__(
+ self, OpenRTM__POA.PortSharedMemory)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("InPortSHMConsumer")
+ self._properties = None
+
+ self._shm_address = str(OpenRTM_aist.uuid1())
+
+ self._shmem = OpenRTM_aist.SharedMemory()
+
+ self._mutex = threading.RLock()
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ # @param CorbaConsumer
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ # @param CorbaConsumer
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~InPortSHMConsumer()")
+ CorbaConsumer.__del__(self)
+ self._shmem.close_memory(True)
+
+ oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self._shmem)
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
self._endian = True
- elif endian == "big":
- self._endian = False
- else:
- self._endian = True
-
- return
-
- def setObject(self, obj):
- if OpenRTM_aist.CorbaConsumer.setObject(self, obj):
- ref_ = self.getObject()
- if ref_:
- inportcdr = ref_._narrow(OpenRTM__POA.PortSharedMemory)
- if inportcdr is None:
- return False
- self._shmem.setInterface(inportcdr)
-
- return True
- return False
-
-
- ##
- # @if jp
- # @brief ³ؤΥǡ
- #
- # ³ΥݡȤإǡ
- #
- # ǡΥ϶ͭƬ8byte
- # ǡ϶ͭ˽
- #
- # @param self
- # @param data ǡ
- # @return
- #
- # @else
- # @brief Send data to the destination port
- #
- # @param self
- # @param data
- # @return
- #
- # @endif
- #
- # virtual ReturnCode put(const cdrMemoryStream& data);
- def put(self, data):
- self._rtcout.RTC_PARANOID("put()")
-
- try:
- ref_ = self.getObject()
- if ref_:
- inportcdr = ref_._narrow(OpenRTM__POA.PortSharedMemory)
-
- guard = OpenRTM_aist.ScopedLock(self._mutex)
-
- self._shmem.setEndian(self._endian)
- self._shmem.create_memory(self._memory_size, self._shm_address)
- self._shmem.write(data)
-
-
- ret = inportcdr.put()
- del guard
- return self.convertReturnCode(ret)
- return self.CONNECTION_LOST
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
+
+ return
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う
+ # プロバイダでコネクタプロファイルに共有メモリの空間名を保存するため、init関数で共有メモリの初期化を行う
+ #
+ # @param self
+ # @param prop コネクタプロパティ
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+
+ self._rtcout.RTC_TRACE("init()")
+ self._properties = prop
+
+ ds = prop.getProperty("shem_default_size")
+ self._memory_size = self._shmem.string_to_MemorySize(ds)
+
+ if prop.hasKey("serializer"):
+ endian = prop.getProperty("serializer.cdr.endian")
+ if not endian:
+ self._rtcout.RTC_ERROR("init(): endian is not set.")
+ endian = "little"
+
+ endian = OpenRTM_aist.split(endian, ",")
+ endian = OpenRTM_aist.normalize(endian[0])
+ if endian == "little":
+ self._endian = True
+ elif endian == "big":
+ self._endian = False
+ else:
+ self._endian = True
+
+ return
+
+ def setObject(self, obj):
+ if OpenRTM_aist.CorbaConsumer.setObject(self, obj):
+ portshmem = self._ptr()
+ if portshmem:
+ self._shmem.setInterface(portshmem)
+
+ return True
+ return False
+
+ ##
+ # @if jp
+ # @brief 接続先へのデータ送信
+ #
+ # 接続先のポートへデータを送信する
+ #
+ # データのサイズは共有メモリも先頭8byteから取得する
+ # データは共有メモリに書き込む
+ #
+ # @param self
+ # @param data 送信するデータ
+ # @return リターンコード
+ #
+ # @else
+ # @brief Send data to the destination port
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @endif
+ #
+ # virtual ReturnCode put(const cdrMemoryStream& data);
+
+ def put(self, data):
+ self._rtcout.RTC_PARANOID("put()")
+
+ try:
+ portshmem = self._ptr()
+ if portshmem:
+
+ guard = OpenRTM_aist.ScopedLock(self._mutex)
+
+ self._shmem.setEndian(self._endian)
+ self._shmem.create_memory(self._memory_size, self._shm_address)
+ self._shmem.write(data)
+
+ ret = portshmem.put()
+ del guard
+ return self.convertReturnCode(ret)
+ return self.CONNECTION_LOST
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
def InPortSHMConsumerInit():
- factory = OpenRTM_aist.InPortConsumerFactory.instance()
- factory.addFactory("shared_memory",
- OpenRTM_aist.InPortSHMConsumer,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortConsumerFactory.instance()
+ factory.addFactory("shared_memory",
+ OpenRTM_aist.InPortSHMConsumer)
diff --git a/OpenRTM_aist/InPortSHMProvider.py b/OpenRTM_aist/InPortSHMProvider.py
index 76002b99..cb0618fd 100644
--- a/OpenRTM_aist/InPortSHMProvider.py
+++ b/OpenRTM_aist/InPortSHMProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file InPortSHMProvider.py
@@ -8,9 +8,6 @@
# @author Nobuhiko Miyamoto
-
-
-
import OpenRTM_aist
import OpenRTM
@@ -18,255 +15,236 @@
##
# @if jp
# @class InPortSHMProvider
-# @brief InPortSHMProvider 饹
+# @brief InPortSHMProvider クラス
#
-# ̿ʤ ͭ ѤϥݡȥץХμ饹
+# 通信手段に 共有メモリ を利用した入力ポートプロバイダーの実装クラス。
#
#
# @else
-# @class InPortCorbaCdrProvider
-# @brief InPortCorbaCdrProvider class
+# @class InPortSHMProvider
+# @brief InPortSHMProvider class
#
#
#
# @endif
#
-class InPortSHMProvider(OpenRTM_aist.InPortProvider, OpenRTM_aist.SharedMemory):
-
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- # Interface Typeˤshared_memoryꤹ
- # ͭζ̾UUIDǺͥץեdataport.shared_memory.address¸
- #
- # self
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # self
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.InPortProvider.__init__(self)
- OpenRTM_aist.SharedMemory.__init__(self)
-
- # PortProfile setting
- self.setInterfaceType("shared_memory")
- self._objref = self._this()
-
-
-
- self._buffer = None
-
- self._profile = None
- self._listeners = None
-
- orb = OpenRTM_aist.Manager.instance().getORB()
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ior",
- orb.object_to_string(self._objref)))
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ref",
- self._objref))
-
-
-
-
-
-
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @param self
- #
- # @endif
- #
- def __del__(self):
- return
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
- OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
-
-
- # void init(coil::Properties& prop)
- def init(self, prop):
-
- pass
-
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
-
- ##
- # @if jp
- # @brief Хåե˥ǡ
- #
- # ǡΥ϶ͭƬ8byte
- # ꤫ͭǡФХåե˽
- #
- # @param data оݥǡ
- #
- # @else
- # @brief
- #
- #
- #
- # @param data
- #
- # @endif
- #
- # ::OpenRTM::PortStatus put()
- # throw (CORBA::SystemException);
- def put(self):
-
- try:
- self._rtcout.RTC_PARANOID("InPortCorbaCdrProvider.put()")
-
-
-
-
-
- shm_data = self.read()
-
- if not self._buffer:
- self.onReceiverError(shm_data)
- return OpenRTM.PORT_ERROR
-
- self._rtcout.RTC_PARANOID("received data size: %d", len(shm_data))
-
- self.onReceived(shm_data)
-
- if not self._connector:
- return OpenRTM.PORT_ERROR
-
-
-
- ret = self._connector.write(shm_data)
-
-
- return self.convertReturn(ret, shm_data)
-
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
- return OpenRTM.UNKNOWN_ERROR
-
-
-
-
-
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- return
-
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
- return
-
- def onBufferWriteTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT].notify(self._profile, data)
- return
-
- def onBufferWriteOverwrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
- return
-
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- return
-
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- return
-
- def onReceiverTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT].notify(self._profile, data)
- return
-
- def onReceiverError(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR].notify(self._profile, data)
- return
-
-
- def convertReturn(self, status, data):
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- self.onBufferWrite(data)
- return OpenRTM.PORT_OK
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- self.onReceiverError(data)
- return OpenRTM.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- self.onBufferFull(data)
- self.onReceiverFull(data)
- return OpenRTM.BUFFER_FULL
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
- return OpenRTM.BUFFER_EMPTY
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- self.onReceiverError(data)
- return OpenRTM.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferWriteTimeout(data)
- self.onReceiverTimeout(data)
- return OpenRTM.BUFFER_TIMEOUT
-
- else:
- self.onReceiverError(data)
- return OpenRTM.UNKNOWN_ERROR
-
-
+class InPortSHMProvider(OpenRTM_aist.InPortProvider,
+ OpenRTM_aist.SharedMemory):
+
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # Interface Typeにはshared_memoryを指定する
+ # 共有メモリの空間名はUUIDで作成し、コネクタプロファイルのdataport.shared_memory.addressに保存する
+ #
+ # self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # self
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.InPortProvider.__init__(self)
+ OpenRTM_aist.SharedMemory.__init__(self)
+
+ # PortProfile setting
+ self.setInterfaceType("shared_memory")
+ self._objref = self._this()
+
+ self._buffer = None
+
+ self._profile = None
+ self._listeners = None
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.inport_ref",
+ self._objref))
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
+
+ # void init(coil::Properties& prop)
+ def init(self, prop):
+
+ pass
+
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ ##
+ # @if jp
+ # @brief バッファにデータを書き込む
+ #
+ # データのサイズは共有メモリも先頭8byteから取得する
+ # 共有メモリからデータを取り出しバッファに書き込む
+ #
+ # @param data 書込対象データ
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @param data
+ #
+ # @endif
+ #
+ # ::OpenRTM::PortStatus put()
+ # throw (CORBA::SystemException);
+ def put(self):
+
+ try:
+ self._rtcout.RTC_PARANOID("InPortCorbaCdrProvider.put()")
+
+ shm_data = self.read()
+
+ if not self._connector:
+ self.onReceiverError(shm_data)
+ return OpenRTM.PORT_ERROR
+
+ self._rtcout.RTC_PARANOID("received data size: %d", len(shm_data))
+
+ shm_data = self.onReceived(shm_data)
+
+ ret = self._connector.write(shm_data)
+
+ return self.convertReturn(ret, shm_data)
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return OpenRTM.UNKNOWN_ERROR
+
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ return data
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+ return data
+
+ def onBufferWriteTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, self._profile, data)
+ return data
+
+ def onBufferWriteOverwrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ return data
+
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
+
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ self.onBufferWrite(data)
+ return OpenRTM.PORT_OK
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ data = self.onBufferFull(data)
+ self.onReceiverFull(data)
+ return OpenRTM.BUFFER_FULL
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ return OpenRTM.BUFFER_EMPTY
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onReceiverError(data)
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ data = self.onBufferWriteTimeout(data)
+ self.onReceiverTimeout(data)
+ return OpenRTM.BUFFER_TIMEOUT
+
+ else:
+ self.onReceiverError(data)
+ return OpenRTM.UNKNOWN_ERROR
-
def InPortSHMProviderInit():
- factory = OpenRTM_aist.InPortProviderFactory.instance()
- factory.addFactory("shared_memory",
- OpenRTM_aist.InPortSHMProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.InPortProviderFactory.instance()
+ factory.addFactory("shared_memory",
+ OpenRTM_aist.InPortSHMProvider)
diff --git a/OpenRTM_aist/Listener.py b/OpenRTM_aist/Listener.py
index 8313b6e1..49b97ddc 100644
--- a/OpenRTM_aist/Listener.py
+++ b/OpenRTM_aist/Listener.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file Listener.py
@@ -15,13 +15,12 @@
# All rights reserved.
-
##
# @if jp
# @class ListenerBase
-# @brief ListenerBase 饹
+# @brief ListenerBase クラス
#
-# ޡϿꥹʡݥե饹
+# タイマーに登録するリスナー用抽象インターフェースクラス。
#
# @since 0.4.0
#
@@ -30,32 +29,31 @@
# @brief ListenerBase class
# @endif
class ListenerBase:
- """
- """
-
- ##
- # @if jp
- # @brief Хå(֥饹)
- #
- # ХåѴؿ
# class MyListenerBase
# {
# public:
-# // Хåؿ1: ؿƤӽФ黻Ҥˤ륳Хåؿ
-# // եΤ褦˥Хåؿ㡣
-# virtual void operator()(std::string strarg) = 0; // 貾۴ؿ
-#
-# // Хåδؿ˥㤬¿ͤǤ硢Τ褦ñ
-# // дؿȤ뤳Ȥǽ
+# // コールバック関数1: 関数呼び出し演算子によるコールバック関数
+# // いわゆるファンクタのようにコールバック関数を定義する例。
+# virtual void operator()(std::string strarg) = 0; // 純粋仮想関数
+#
+# // コールバックの関数シグニチャが多様である場合、このように単な
+# // るメンバ関数として定義することも可能。
# virtual void onEvent0(const char* arg0) = 0;
# virtual void onEvent1(int arg0) = 0;
# virtual void onEvent2(double arg0) = 0;
@@ -64,25 +64,25 @@
# };
#
#
-# @section ListenerHolder饹
+# @section ListenerHolder実装クラス
#
-# ListenerHolder饹ϤLsitenerHolder饹ƥץ졼Ȥ
-# ơ MyListenerBase 饹ɲäȺʤɴ
-# ļºݤ˥ХåؿƤӽФʬ뤳Ȥˤʤ롣
-# ºݤ˥ХåƤӽФʬǤϡؿ˥㤬¿¿ͤǤ
-# ꡢҤȤĤΥꥹʥ饹ʣΥХåؿľ礬
-# ᡢ̤Υꥹʥ饹б뤿ᡢθƤӽФʬɬפȤ
-# 롣ListenerHolder饹ϡMyListenerBase饹Ʊ˥
-# ĥдؿؿǤϡListenerHolder饹ġ
-# m_listeners, m_mutex ΤĤΥѿѤơϿ
-# ꥹʥ֥ȤΥѿƤӽФ
+# ListenerHolder実装クラスはこのLsitenerHolderクラステンプレートを継
+# 承して、上で定義した MyListenerBase クラスの追加と削除など管理を行
+# い、かつ実際にコールバック関数を呼び出す部分を実装することになる。
+# 実際にコールバックを呼び出す部分では、関数シグニチャが多種多様であっ
+# たり、ひとつのリスナクラスが複数のコールバック関数を持つ場合がある
+# ため、個別のリスナクラスに対応するため、この呼び出し部分が必要とな
+# る。ListenerHolder実装クラスは、MyListenerBaseクラスと同じシグニチャ
+# を持つメンバ関数をもち、関数内部では、ListenerHolderクラスが持つ、
+# m_listeners, m_mutex のこれら二つのメンバ変数を利用して、登録され
+# たリスナオブジェクトのメンバ変数を呼び出す。
#
#
# class MyListenerHolderImpl
# : public ::RTM::util::ListenerHolder
# {
# public:
-# // ؿƤӽФ黻ҤΥХåؿξ
+# // 関数呼び出し演算子のコールバック関数の場合
# virtual void operator()(std::string strarg)
# {
# Gurad gurad(m_mutex);
@@ -103,25 +103,25 @@
# };
#
#
-# ꥹʥ֥ȤؤΥݥǼƤEntry֥Ȥ
-# std::pair ȤƤꡢfirst
-# Listener֥ȤؤΥݥsecondưե饰Ǥ롣
-# äơꥹʥ֥ȤإˤfirstѤ롣
-# ޥåɴĶѤ뤳ȤꤵϡGuard
-# guard(m_mutex) ˤå˺줺˹Ԥȡ
-#
-# @section ListenerHolder饹
-# 줿MyListenerHolderImplϰȤưʲΤ褦Ѥ롣
+# リスナオブジェクトへのポインタを格納しているEntryオブジェクトは
+# std::pair として定義されており、firstが
+# Listenerオブジェクトへのポインタ、secondが自動削除フラグである。し
+# たがって、リスナオブジェクトへアクセスする場合にはfirstを使用する。
+# マルチスレッド環境で利用することが想定される場合は、Guard
+# guard(m_mutex) によるロックを忘れずに行うこと。
+#
+# @section ListenerHolder実装クラスの利用
+# 実装されたMyListenerHolderImplは一例として以下のように利用する。
#
#
-# // ȤХ饹ФȤ
+# // たとえばクラスメンバとして宣言
# MyListenerHolderImpl m_holder;
#
-# // Ͽư⡼ɤϿ
-# // ֥ȤκHolder饹Ǥ
-# m_holder.addListener(new MyListener0(), true); // MyListener0
-#
-# // ХåƤӽФ
+# // 登録、自動クリーンモードで登録、
+# // オブジェクトの削除はHolderクラスに任せる
+# m_holder.addListener(new MyListener0(), true); // MyListener0の
+#
+# // コールバックを呼び出す
# m_holder.operator()(strarg);
# m_holder.onEvent0("HogeHoge);
#
@@ -133,70 +133,70 @@
# @endif
#
class ListenerHolder:
- """
- """
+ """
+ """
- ##
- # @if jp
- # @brief ListenerHolder饹ȥ饯
- # @else
- # @brief ListenerHolder class ctor
- # @endif
- def __init__(self):
- self.listener_mutex = threading.RLock()
- self.listeners = []
- return
+ ##
+ # @if jp
+ # @brief ListenerHolderクラスコンストラクタ
+ # @else
+ # @brief ListenerHolder class ctor
+ # @endif
+ def __init__(self):
+ self.listener_mutex = threading.RLock()
+ self.listeners = []
+ return
+ ##
+ # @if jp
+ # @brief ListenerHolderデストラクタ
+ # @else
+ # @brief ListenerHolder class dtor
+ # @endif
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief リスナを追加する
+ # @else
+ # @brief add listener object
+ # @endif
+ # virtual void addListener(ListenerClass* listener)
+ def addListener(self, listener):
+ guard = OpenRTM_aist.ScopedLock(self.listener_mutex)
+ self.listeners.append(listener)
+ del guard
+ return
- ##
- # @if jp
- # @brief ListenerHolderǥȥ饯
- # @else
- # @brief ListenerHolder class dtor
- # @endif
- def __del__(self):
- guard = OpenRTM_aist.ScopedLock(self.listener_mutex)
-
- for listener_ in self.listeners:
- for (l,f) in listener_.items():
- if f:
- del l
- #del guard
- #return
-
- ##
- # @if jp
- # @brief ꥹʤɲä
- # @else
- # @brief add listener object
- # @endif
- # virtual void addListener(ListenerClass* listener,
- # bool autoclean)
- def addListener(self, listener, autoclean):
- guard = OpenRTM_aist.ScopedLock(self.listener_mutex)
- self.listeners.append({listener:autoclean})
- del guard
- return
-
- ##
- # @if jp
- # @brief ꥹʤ
- # @else
- # @brief remove listener object
- # @endif
- # virtual void removeListener(ListenerClass* listener)
- def removeListener(self, listener):
- guard = OpenRTM_aist.ScopedLock(self.listener_mutex)
- for (i, listener_) in enumerate(self.listeners):
- if listener == listener:
- del self.listeners[i]
+ ##
+ # @if jp
+ # @brief リスナを削除する
+ # @else
+ # @brief remove listener object
+ # @endif
+ # virtual void removeListener(ListenerClass* listener)
+ def removeListener(self, listener):
+ guard = OpenRTM_aist.ScopedLock(self.listener_mutex)
+ for (i, listener_) in enumerate(self.listeners):
+ if self.listeners[i] == listener:
+ del self.listeners[i]
+ return
return
- return
- def LISTENERHOLDER_CALLBACK(self, func, *args):
- guard = OpenRTM_aist.ScopedLock(self.listener_mutex)
- for listener in self.listeners:
- for (l,f) in listener.items():
- func_ = getattr(l,func,None)
- func_(*args)
- return
+ def LISTENERHOLDER_CALLBACK(self, func, *args):
+ guard = OpenRTM_aist.ScopedLock(self.listener_mutex)
+ for listener in self.listeners:
+ func_ = getattr(listener, func, None)
+ if len(args) == 1:
+ ret = func_(args[0])
+ args = (ret,)
+ else:
+ ret = func_(*args)
+ if ret is not None:
+ args = ret
+ if len(args) == 1:
+ return args[0]
+ else:
+ return args
diff --git a/OpenRTM_aist/LocalServiceAdmin.py b/OpenRTM_aist/LocalServiceAdmin.py
index 0247b29f..08d35f9e 100644
--- a/OpenRTM_aist/LocalServiceAdmin.py
+++ b/OpenRTM_aist/LocalServiceAdmin.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file LocalServiceAdmin.py
@@ -25,7 +25,7 @@
# @if jp
#
# @class LocalService administration class
-# @brief LocalService 饹
+# @brief LocalService 管理クラス
#
# TODO: Documentation
#
@@ -42,288 +42,291 @@
# @since 1.1.0
#
# @endif
+
+
class LocalServiceAdmin:
- """
- """
-
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @else
- #
- # @brief Constructor
- #
- # Constructor
- #
- # @endif
- def __init__(self):
- self._services = []
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("LocalServiceAdmin")
- self._rtcout.RTC_TRACE("LocalServiceAdmin.__init__()")
- self._factory = OpenRTM_aist.LocalServiceFactory.instance()
- return
-
-
- def __del__(self):
- self.finalize()
- return
-
-
- ##
- # @if jp
- #
- # @brief LocaServiceAdminν
- #
- # TODO: Documentation
- #
- # @else
- #
- # @brief Initialization of LocalServiceAdmin
- #
- # TODO: Documentation
- #
- # @endif
- # void init(coil::Properties& props);
- def init(self, props):
- self._rtcout.RTC_TRACE("LocalServiceAdmin.init()")
- svcs_ = props.getProperty("enabled_services").split(",")
- svcs_lower_ = [s.lower() for s in svcs_]
- all_enable_ = False
- if "all" in svcs_lower_:
- self._rtcout.RTC_INFO("All the local services are enabled.")
- all_enable_ = True
-
- ids_ = self._factory.getIdentifiers()
- self._rtcout.RTC_DEBUG("Available services: %s", OpenRTM_aist.flatten(ids_))
- for id_ in ids_:
- if all_enable_ or self.isEnabled(id_, svcs_):
- if self.notExisting(id_):
- service_ = self._factory.createObject(id_)
- self._rtcout.RTC_DEBUG("Service created: %s", id_)
- prop_ = props.getNode(id_)
- service_.init(prop_)
- self.addLocalService(service_)
- return
-
-
- ##
- # @if jp
- #
- # @brief LocalserviceAdmin νλ
- #
- # TODO: Documentation
- #
- # @else
- #
- # @brief Finalization ofLocalServiceAdmin
- #
- # TODO: Documentation
- #
- # @endif
- # void finalize();
- def finalize(self):
- for svc_ in self._services:
- svc_.finalize()
- self._factory.deleteObject(svc_)
- self._services = []
-
- return
-
-
- ##
- # @if jp
- #
- # @brief LocalServiceProfileListμ
- #
- # TODO: Documentation
- #
- # @else
- #
- # @brief Getting LocalServiceProfileList
- #
- # TODO: Documentation
- #
- # @endif
- # ::RTM::LocalServiceProfileList getServiceProfiles();
- def getServiceProfiles(self):
- profs_ = []
- for svc_ in self._services:
- profs_.append(svc_.getProfile())
- return profs_
-
-
- ##
- # @if jp
- #
- # @brief LocalServiceProfile
- #
- # id ǻꤵ줿IDLocalService
- # LocalServiceProfile 롣id NULL ݥξ硢ꤵ줿
- # id ˳ServiceProfile ¸ߤʤ硢false֤
- #
- # @param id LocalService IFR ID
- # @return ꤵ줿 id LocalServiceProfile
- #
- # @else
- #
- # @brief Get LocalServiceProfile of an LocalService
- #
- # This operation returns LocalServiceProfile of a LocalService
- # which has the specified id. If the specified id is
- # NULL pointer or the specified id does not exist in the
- # ServiceProfile list, false will be returned.
- #
- # @param id ID of an LocalService
- # @return LocalServiceProfile which has the specified id
- #
- # @endif
- # bool getServiceProfile(std::string name,
- # ::RTM::LocalServiceProfile& prof);
- def getServiceProfile(self, name, prof):
- global services_mutex
- guard_ = OpenRTM_aist.ScopedLock(services_mutex)
- for svc_ in self._services:
- if name == svc_.getProfile().name:
- prof[0] = svc_.getProfile()
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @else
+ #
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @endif
+ def __init__(self):
+ self._services = []
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("LocalServiceAdmin")
+ self._rtcout.RTC_TRACE("LocalServiceAdmin.__init__()")
+ self._factory = OpenRTM_aist.LocalServiceFactory.instance()
+ return
+
+ def __del__(self):
+ self.finalize()
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief LocaServiceAdminの初期化
+ #
+ # TODO: Documentation
+ #
+ # @else
+ #
+ # @brief Initialization of LocalServiceAdmin
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # void init(coil::Properties& props);
+
+ def init(self, props):
+ self._rtcout.RTC_TRACE("LocalServiceAdmin.init()")
+ svcs_ = props.getProperty("enabled_services").split(",")
+ svcs_lower_ = [s.lower() for s in svcs_]
+ all_enable_ = False
+ if "all" in svcs_lower_:
+ self._rtcout.RTC_INFO("All the local services are enabled.")
+ all_enable_ = True
+
+ ids_ = self._factory.getIdentifiers()
+ self._rtcout.RTC_DEBUG(
+ "Available services: %s",
+ OpenRTM_aist.flatten(ids_))
+ for id_ in ids_:
+ if all_enable_ or self.isEnabled(id_, svcs_):
+ if self.notExisting(id_):
+ service_ = self._factory.createObject(id_)
+ self._rtcout.RTC_DEBUG("Service created: %s", id_)
+ prop_ = props.getNode(id_)
+ service_.init(prop_)
+ self.addLocalService(service_)
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief LocalserviceAdmin の終了処理
+ #
+ # TODO: Documentation
+ #
+ # @else
+ #
+ # @brief Finalization ofLocalServiceAdmin
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # void finalize();
+
+ def finalize(self):
+ for svc_ in self._services:
+ svc_.finalize()
+ self._services = []
+
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief LocalServiceProfileListの取得
+ #
+ # TODO: Documentation
+ #
+ # @else
+ #
+ # @brief Getting LocalServiceProfileList
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # ::RTM::LocalServiceProfileList getServiceProfiles();
+
+ def getServiceProfiles(self):
+ profs_ = []
+ for svc_ in self._services:
+ profs_.append(svc_.getProfile())
+ return profs_
+
+ ##
+ # @if jp
+ #
+ # @brief LocalServiceProfile を取得する
+ #
+ # id で指定されたIDを持つLocalService の
+ # LocalServiceProfile を取得する。id が NULL ポインタの場合、指定された
+ # id に該当するServiceProfile が存在しない場合、falseを返す。
+ #
+ # @param id LocalService の IFR ID
+ # @return 指定された id を持つ LocalServiceProfile
+ #
+ # @else
+ #
+ # @brief Get LocalServiceProfile of an LocalService
+ #
+ # This operation returns LocalServiceProfile of a LocalService
+ # which has the specified id. If the specified id is
+ # NULL pointer or the specified id does not exist in the
+ # ServiceProfile list, false will be returned.
+ #
+ # @param id ID of an LocalService
+ # @return LocalServiceProfile which has the specified id
+ #
+ # @endif
+ # bool getServiceProfile(std::string name,
+ # ::RTM::LocalServiceProfile& prof);
+
+ def getServiceProfile(self, name):
+ global services_mutex
+ guard_ = OpenRTM_aist.ScopedLock(services_mutex)
+ for svc_ in self._services:
+ if name == svc_.getProfile().name:
+ prof = svc_.getProfile()
+ del guard_
+ return True, prof
+ del guard_
+ return False, None
+
+ ##
+ # @if jp
+ #
+ # @brief LocalService の Service を取得する
+ #
+ # id で指定されたIDを持つLocalService のポインタを取得する。id が
+ # NULL ポインタの場合、指定された id に該当するServiceProfile が存
+ # 在しない場合、NULLを返す。
+ #
+ # @param id LocalService の ID
+ # @return 指定された id を持つ LocalService のポインタ
+ #
+ # @else
+ #
+ # @brief Get a pointer of a LocalService
+ #
+ # This operation returnes a pointer to the LocalService
+ # which has the specified id. If the specified id is
+ # NULL pointer or the specified id does not exist in the
+ # ServiceProfile list, NULL pointer will be returned.
+ #
+ # @param id ID of a LocalService
+ # @return a pointer which has the specified id
+ #
+ # @endif
+ # ::RTM::LocalServiceBase* getService(const char* id);
+
+ def getService(self, id):
+ for svc_ in self._services:
+ if svc_.getProfile().name == id:
+ return svc_
+ return None
+
+ ##
+ # @if jp
+ # @brief SDO service provider をセットする
+ #
+ # TODO: Documentation
+ #
+ # @else
+ # @brief Set a SDO service provider
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # bool addLocalService(::RTM::LocalServiceBase* service);
+
+ def addLocalService(self, service):
+ global services_mutex
+ if not service:
+ self._rtcout.RTC_ERROR(
+ "Invalid argument: addLocalService(service == NULL)")
+ return False
+ self._rtcout.RTC_TRACE("LocalServiceAdmin.addLocalService(%s)",
+ service.getProfile().name)
+ guard_ = OpenRTM_aist.ScopedLock(services_mutex)
+ self._services.append(service)
del guard_
return True
- del guard_
- return False
-
-
- ##
- # @if jp
- #
- # @brief LocalService Service
- #
- # id ǻꤵ줿IDLocalService Υݥ롣id
- # NULL ݥξ硢ꤵ줿 id ˳ServiceProfile ¸
- # ߤʤ硢NULL֤
- #
- # @param id LocalService ID
- # @return ꤵ줿 id LocalService Υݥ
- #
- # @else
- #
- # @brief Get a pointer of a LocalService
- #
- # This operation returnes a pointer to the LocalService
- # which has the specified id. If the specified id is
- # NULL pointer or the specified id does not exist in the
- # ServiceProfile list, NULL pointer will be returned.
- #
- # @param id ID of a LocalService
- # @return a pointer which has the specified id
- #
- # @endif
- # ::RTM::LocalServiceBase* getService(const char* id);
- def getService(self, id):
- for svc_ in self._services:
- if svc_.getProfile().name == id:
- return svc_
- return None
-
-
- ##
- # @if jp
- # @brief SDO service provider åȤ
- #
- # TODO: Documentation
- #
- # @else
- # @brief Set a SDO service provider
- #
- # TODO: Documentation
- #
- # @endif
- # bool addLocalService(::RTM::LocalServiceBase* service);
- def addLocalService(self, service):
- global services_mutex
- if not service:
- self._rtcout.RTC_ERROR("Invalid argument: addLocalService(service == NULL)")
- return False
- self._rtcout.RTC_TRACE("LocalServiceAdmin.addLocalService(%s)",
- service.getProfile().name)
- guard_ = OpenRTM_aist.ScopedLock(services_mutex)
- self._services.append(service)
- del guard_
- return True
-
-
- ##
- # @if jp
- # @brief LocalService
- #
- # TODO: Documentation
- #
- # @else
- # @brief Remove a LocalService
- #
- # TODO: Documentation
- #
- # @endif
- # bool removeLocalService(const std::string name);
- def removeLocalService(self, name):
- global services_mutex
- self._rtcout.RTC_TRACE("removeLocalService(%s)", name)
- guard_ = OpenRTM_aist.ScopedLock(services_mutex)
-
- for (i,svc_) in enumerate(self._services):
- if name == svc_.getProfile().name:
- svc_.finalize()
- self._factory.deleteObject(svc_)
- del self._services[i]
- self._rtcout.RTC_INFO("SDO service has been deleted: %s", name)
+
+ ##
+ # @if jp
+ # @brief LocalService を削除する
+ #
+ # TODO: Documentation
+ #
+ # @else
+ # @brief Remove a LocalService
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # bool removeLocalService(const std::string name);
+
+ def removeLocalService(self, name):
+ global services_mutex
+ self._rtcout.RTC_TRACE("removeLocalService(%s)", name)
+ guard_ = OpenRTM_aist.ScopedLock(services_mutex)
+
+ for (i, svc_) in enumerate(self._services):
+ if name == svc_.getProfile().name:
+ svc_.finalize()
+ del self._services[i]
+ self._rtcout.RTC_INFO(
+ "SDO service has been deleted: %s", name)
+ del guard_
+ return True
+ self._rtcout.RTC_WARN("Specified SDO service not found: %s", name)
del guard_
- return True;
- self._rtcout.RTC_WARN("Specified SDO service not found: %s", name)
- del guard_
- return False
-
-
- ##
- # @if jp
- # @brief ꤵ줿IDͭɤå
- # @else
- # @brief Check if specified ID is enabled
- # @endif
- # bool isEnabled(const std::string& id, const coil::vstring& enabled);
- def isEnabled(self, id, enabled):
- if id in enabled:
- self._rtcout.RTC_DEBUG("Local service %s is enabled.", id)
- return True
- self._rtcout.RTC_DEBUG("Local service %s is not enabled.", id)
- return False
-
-
- ##
- # @if jp
- # @brief ꤵ줿IDǤ¸ߤ뤫ɤå
- # @else
- # @brief Check if specified ID is existing
- # @endif
- # bool notExisting(const std::string& id);
- def notExisting(self, id):
- for svc_ in self._services:
- if svc_.getProfile().name == id:
- self._rtcout.RTC_WARN("Local service %s already exists.", id)
return False
- self._rtcout.RTC_DEBUG("Local service %s does not exist.", id)
- return True
-
- def instance():
- global localserviceadmin
- global services_mutex
-
- if localserviceadmin is None:
- guard_ = OpenRTM_aist.ScopedLock(services_mutex)
- if localserviceadmin is None:
- localserviceadmin = LocalServiceAdmin()
- del guard_
- return localserviceadmin
-
- instance = staticmethod(instance)
+
+ ##
+ # @if jp
+ # @brief 指定されたIDが有効かどうかチェックする
+ # @else
+ # @brief Check if specified ID is enabled
+ # @endif
+ # bool isEnabled(const std::string& id, const coil::vstring& enabled);
+
+ def isEnabled(self, id, enabled):
+ if id in enabled:
+ self._rtcout.RTC_DEBUG("Local service %s is enabled.", id)
+ return True
+ self._rtcout.RTC_DEBUG("Local service %s is not enabled.", id)
+ return False
+
+ ##
+ # @if jp
+ # @brief 指定されたIDがすでに存在するかどうかチェックする
+ # @else
+ # @brief Check if specified ID is existing
+ # @endif
+ # bool notExisting(const std::string& id);
+
+ def notExisting(self, id):
+ for svc_ in self._services:
+ if svc_.getProfile().name == id:
+ self._rtcout.RTC_WARN("Local service %s already exists.", id)
+ return False
+ self._rtcout.RTC_DEBUG("Local service %s does not exist.", id)
+ return True
+
+ def instance():
+ global localserviceadmin
+ global services_mutex
+
+ if localserviceadmin is None:
+ guard_ = OpenRTM_aist.ScopedLock(services_mutex)
+ if localserviceadmin is None:
+ localserviceadmin = LocalServiceAdmin()
+ del guard_
+ return localserviceadmin
+
+ instance = staticmethod(instance)
diff --git a/OpenRTM_aist/LocalServiceBase.py b/OpenRTM_aist/LocalServiceBase.py
index e4018d4e..38275bdf 100644
--- a/OpenRTM_aist/LocalServiceBase.py
+++ b/OpenRTM_aist/LocalServiceBase.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file LocalServiceBase.py
@@ -21,128 +21,130 @@
##
# @if jp
-# @brief LocalServiceΥץեǡ
+# @brief LocalServiceのプロファイルデータ
# @else
# @brief Profile data structure of LocalService
# @endif
+
+
class LocalServiceProfile:
- """
- """
+ """
+ """
- def __init__(self):
- ##
- # @if jp
- # @brief LocalServiceΥӥ̾
- # @else
- # @brief The name of LocalService
- # @endif
- self.name = ""
+ def __init__(self):
+ ##
+ # @if jp
+ # @brief LocalServiceのサービス名
+ # @else
+ # @brief The name of LocalService
+ # @endif
+ self.name = ""
- ##
- # @if jp
- # @brief LocalServiceθͭID
- # @else
- # @brief The unique ID of LocalService
- # @endif
- self.uuid = ""
+ ##
+ # @if jp
+ # @brief LocalServiceの固有ID
+ # @else
+ # @brief The unique ID of LocalService
+ # @endif
+ self.uuid = ""
- ##
- # @if jp
- # @brief LocalServiceΥץѥƥ
- # @else
- # @brief Properties of LocalService
- # @endif
- self.properties = None
+ ##
+ # @if jp
+ # @brief LocalServiceのプロパティ
+ # @else
+ # @brief Properties of LocalService
+ # @endif
+ self.properties = None
- ##
- # @if jp
- # @brief LocalServiceΥݥ
- # @else
- # @brief The pointer to LocalService
- # @endif
- self.service = None
+ ##
+ # @if jp
+ # @brief LocalServiceのポインタ
+ # @else
+ # @brief The pointer to LocalService
+ # @endif
+ self.service = None
- return
+ return
##
# @if jp
#
-# @brief LocalService쥯饹
+# @brief LocalService 基底クラス
#
-# Local Service Ȥ RT-MiddlewareΥޥ͡ǡdzƼ掠
-# 뤿λȤߤǤ롣Local ServiceˤϤĤΥ桼
-# ͤ롣
+# Local Service とは RT-Middlewareのマネージャデーモン内で各種サービ
+# スを提供するための仕組みである。Local Serviceにはいくつかのユース
+# ケースが考えられる。
#
-# 1. RTCåФƥӥ롣ݡͥȤγ
-# ȯԤϡФơLocal ServiceΥؤλȤ
-# ơΥӥѤ뤳ȤǤ롣
+# 1. RTCの内部ロジックに対してサービスを提供する。コンポーネントの開
+# 発者は、一定の艇順を経て、Local Serviceのインスタンスへの参照を得
+# て、このサービスを利用することができる。
#
-# 2. ޥ͡˵ǽɲä뤿ΥӥȤϡRTC̾
-# ϿCORBA͡ॵӥˡʥǥ쥯ȥꥵ
-# ֥ɥ㥹Ȥˤ̾εǽʤɤʵǽޥ͡
-# ɲä뤿Ѥ뤳ȤǤ롣ޥ͡ˤϡ͡ʥ
-# ФեåѰդƤꡢѤ뤳Ȥǡޥ͡
-# ͡ʥ٥ȤФƥȤǤ롣
+# 2. マネージャ等に機能を追加するためのサービス。たとえは、RTCの名前
+# を登録するCORBAネームサービスの代わりに、新たなディレクトリサービ
+# スやブロードキャストによる名前通知機能などを新たな機能をマネージャ
+# に追加するために利用することができる。マネージャには、様々なアクショ
+# ンに対するフックが用意されており、これを利用することで、マネージャ
+# の様々なイベントに対してアクションを起こすことができる。
#
-# 3. ޥ͡ϼȤΥӥʳղŪ˳Фƥӥ
-# 뵡ǽͭ롣CORBAͳǡεǽȤ
-# ХǥХΥޥͥȵǽФƥˡ
-# 롣ӥΥˡޥ͡Фơޥ͡
-# ӥȤϿ뤳ȤǡΥդ뤳Ȥ
-# Ǥ褦ˤʤ롣
+# 3. マネージャは自身のサービス以外に付加的に外部に対してサービスを
+# 提供する機能を有する。外部からCORBA経由で、ローカルの機能、たとえ
+# ばデバイスやリソースのマネジメント機能に対してアクセスする方法を提
+# 供する。サービスのインスタンス化後に、マネージャに対して、マネージャ
+# サービスとして登録することで、外部からのアクセスを受け付けることが
+# できるようになる。
#
-# Local Service ϥ⥸塼Ȥƥɤ졢̾ͣΥ
-# 롣ʤLocalService ϥȥȤƼ
-# 롣줿ӥϥӥꥹȤϿ졢RTC
-# ̾UUIDˤäƥλȤꤹ뤳ȤǤ롣
+# Local Service はモジュールとしてロードされ、通常唯一のインスタンス
+# が生成される。すなわち、LocalService はシングルトンとして実装され
+# る。インスタンス化されたサービスはサービスリストに登録され、RTC等
+# からは名前やUUIDによってインスタンスの参照を入手することができる。
#
-# Υ֥ȤΥ饤եϰʲ̤ꡣ
+# このオブジェクトのライフサイクルは以下の通り。
#
-# -# ֥Ȥ֥̾ͭ (so, DLL) Ȥƥѥ롦
-# 롣
-# -# ޥ͡Фƥɤȥ⥸塼ؿˤꥪ
-# ȥեȥ꤬LocalServiceFactory ФϿ롣
-# ϿΥˤUUID̾Ѥ졢ˤꥵӥ̤
-# 롣
-# -# rtc.confΥե졼ˤꡢͭ뤳Ȥ
-# ꤵƤ륵ӥץХϡRTCεưƱ˥
-# 롣
-# -# 塢ؿ init() ƤФ롣ˤ
-# ӥΤΥե졼ץ coil::Property
-# Ϥ롣
-# -# ޥ͡㥵ӥڥ졼 reinit ƤФȡ٤Ƥ
-# Local Service reinit ƤӽФ졢줿ե졼
-# ɤ߹ޤ롣
-# -# ޥ͡λˤϡ٤Ƥ Local Service finalizeƤ
-# Ф졢ΤΤǡǥβʤɽλ
-#
+# -# オブジェクトは通常、共有オブジェクト (so, DLL) としてコンパイル・
+# リンクされる。
+# -# マネージャに対してロードされるとモジュール初期化関数によりオブ
+# ジェクトファクトリが、LocalServiceFactory に対して登録される。
+# 登録のキーにはUUIDと名前が利用され、これによりサービスが区別さ
+# れる。
+# -# rtc.conf等のコンフィギュレーション指定により、有効化することが
+# 指定されているサービスインプロバイダは、RTCの起動と同時にインス
+# タンス化される。
+# -# インスタンス化後、初期化関数 init() が呼ばれる。引数には当該サー
+# ビスのためのコンフィギュレーションオプションが coil::Propertyに
+# より渡される。
+# -# マネージャサービスオペレーション reinit が呼ばれると、すべての
+# Local Service お reinit が呼び出され、更新されたコンフィギュレー
+# ション情報が読み込まれる。
+# -# マネージャ解体時には、すべての Local Service の finalizeが呼び
+# 出され、解体されるので、ここでリソースの解放など終了処理を行
+# う。
#
-# Υ饹μäƤϡʤȤʲν貾۴ؿ
-# ɬפ롣
+# このクラスの実装に当たっては、少なくとも以下の純粋仮想関数を実装す
+# る必要がある。
#
-# - init(): ؿͿ줿 RTObject ServiceProfile
-# 顢֥Ȥ롣
-# - reinit(): ƽؿServiceProfile ΤƱ
-# IDǸƤӽФ뤳Ȥͭ뤬κݤˤδؿ
-# ServiceProfile ȤȤ˸ƤӽФ롣ؿǤϡѹʤ
-# ƽ롣
-# - getProfile(): ꤵ줿ץե֤ؿ
-# - finalize(): λ塼ޤǥåݤ˸ƤӽФ
-# ؿؿǤϽλ롣
+# - init(): 初期化関数。与えられた RTObject および ServiceProfile か
+# ら、当該オブジェクトを初期化する。
+# - reinit(): 再初期化関数。ServiceProfile は設定情報更新のため同一
+# IDで呼び出されることが有るが、その際にこの関数が新たな
+# ServiceProfile とともに呼び出される。関数内では、設定の変更など
+# 再初期化処理を実装する。
+# - getProfile(): 設定されたプロファイルを返す関数。
+# - finalize(): 終了処理。コンシューマがデタッチされる際に呼び出され
+# る関数。関数内では終了処理を実装する。
#
-# LocalService ̾ﶦ֥ͭȤȤƥѥ롦
-# 롣֥ͭȤΥȥݥȤ̾拾ѥ뤵줿ե
-# ̾ basename + "Init" ˤƤʲˡ饹̾ե
-# ̾ȥݥȴؿ̾ο侩
+# LocalService は通常共有オブジェクトとしてコンパイル・リンク
+# される。共有オブジェクトのエントリポイントは通常コンパイルされたファ
+# イル名の basename + "Init" にしておく。以下に、クラス名、ファイル
+# 名、エントリポイント関数名の推奨例を示す。
#
-# - 饹̾: MyLocalService
-# - ե̾: MyLocalService.h. MyLocalService.cpp
-# - ֥ͭ̾: MyLocalService.so (or DLL)
-# - ȥݥȴؿ̾: MyLocalServiceInit()
+# - 実装クラス名: MyLocalService
+# - ファイル名: MyLocalService.h. MyLocalService.cpp
+# - 共有オブジェクト名: MyLocalService.so (or DLL)
+# - エントリポイント関数名: MyLocalServiceInit()
#
-# ȥݥȴؿ̾ʲΤ褦ˡLocalServiceFactory
-# 塼ޤΥեȥ (ȲΥե) Ͽʲ
-# 褦ʴؿˤʤ롣
+# エントリポイント関数は通常以下のように、LocalServiceFactory
+# に当該コンシューマのファクトリ (と解体ファンクタ) を登録する以下の
+# ような関数になる。
#
#
# extern "C"
@@ -153,8 +155,6 @@ def __init__(self):
# = RTC::LocalServiceFactory::instance();
# factory.addFactory(::RTC::MyLocalSerivce::name,
# ::coil::Creator< ::RTC::LocalServiceBase,
-# ::RTC::MyLocalService>,
-# ::coil::Destructor< ::RTC::LocalServiceBase,
# ::RTC::MyLocalService>);
# }
# };
@@ -163,108 +163,111 @@ def __init__(self):
# @else
#
# @endif
+
+
class LocalServiceBase:
- """
- """
+ """
+ """
- ##
- # @if jp
- # @brief LocalService饹νؿ
- #
- # Υ֥ȤνԤLocalService 硢
- # ϡinit()ؿˤͿ롣
- #
- # @param profile Ϳ줿 LocalServiceProfile
- # @return Ϳ줿 LocalServiceProfile ξ false
- #
- # @else
- # @brief Initialization function of the LocalService class
- #
- # @endif
- # virtual bool
- # init(const coil::Properties& props) = 0;
- def init(self, props):
- pass
+ ##
+ # @if jp
+ # @brief LocalServiceクラスの初期化関数
+ #
+ # このオブジェクトの初期化を行う。LocalService を実装する場合、外
+ # 部からの設定情報は、このinit()関数により与えられる。
+ #
+ # @param profile 外部から与えられた LocalServiceProfile
+ # @return 与えられた LocalServiceProfile が不正の場合 false
+ #
+ # @else
+ # @brief Initialization function of the LocalService class
+ #
+ # @endif
+ # virtual bool
+ # init(const coil::Properties& props) = 0;
+ def init(self, props):
+ pass
+
+ ##
+ # @if jp
+ # @brief LocalServiceクラスの再初期化関数
+ #
+ # TODO: ドキュメント作成
+ #
+ # @param profile 新たに与えられた LocalServiceProfile
+ # @return 不正な LocalServiceProfile が与えられた場合は false
+ #
+ # @else
+ # @brief Reinitialization function of the LocalService class
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # virtual bool
+ # reinit(const coil::Properties& props) = 0;
+ def reinit(self, props):
+ pass
- ##
- # @if jp
- # @brief LocalService饹κƽؿ
- #
- # TODO: ɥȺ
- #
- # @param profile Ϳ줿 LocalServiceProfile
- # @return LocalServiceProfile Ϳ줿 false
- #
- # @else
- # @brief Reinitialization function of the LocalService class
- #
- # TODO: Documentation
- #
- # @endif
- # virtual bool
- # reinit(const coil::Properties& props) = 0;
- def reinit(self, props):
- pass
-
+ ##
+ # @if jp
+ # @brief LocalServiceProfile を返す
+ #
+ # init()/reinit()で与えられた LocalServiceProfile は通常オブジェク
+ # ト内で保持される。この関数では保持されている ServiceProfile を返
+ # す。
+ #
+ # @return このオブジェクトが保持している LocalServiceProfile
+ #
+ # @else
+ # @brief Getting LocalServiceProfile
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # virtual const LocalServiceProfile&
+ # getProfile() const = 0;
+
+ def getProfile(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # LocalService が終了する際に呼び出される終了処理用関数。当該オブ
+ # ジェクトが保持するリソースを解放するなどの処理を行う。
+ #
+ # @else
+ # @brief Finalization
+ #
+ # TODO: Documentation
+ #
+ # @endif
+ # virtual void
+ # finalize() = 0;
- ##
- # @if jp
- # @brief LocalServiceProfile ֤
- #
- # init()/reinit()Ϳ줿 LocalServiceProfile ̾索֥
- # ݻ롣δؿǤݻƤ ServiceProfile
- #
- #
- # @return Υ֥ȤݻƤ LocalServiceProfile
- #
- # @else
- # @brief Getting LocalServiceProfile
- #
- # TODO: Documentation
- #
- # @endif
- # virtual const LocalServiceProfile&
- # getProfile() const = 0;
- def getProfile(self):
- pass
-
+ def finalize(self):
+ pass
- ##
- # @if jp
- # @brief λ
- #
- # LocalService λݤ˸ƤӽФ뽪λѴؿ
- # ȤݻʤɤνԤ
- #
- # @else
- # @brief Finalization
- #
- # TODO: Documentation
- #
- # @endif
- # virtual void
- # finalize() = 0;
- def finalize(self):
- pass
localservicefactory = None
-class LocalServiceFactory(OpenRTM_aist.Factory,LocalServiceBase):
- def __init__(self):
- OpenRTM_aist.Factory.__init__(self)
- return
- def __del__(self):
- pass
+class LocalServiceFactory(OpenRTM_aist.Factory, LocalServiceBase):
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self)
+ return
- def instance():
- global localservicefactory
+ def __del__(self):
+ pass
- if localservicefactory is None:
- localservicefactory = LocalServiceFactory()
+ def instance():
+ global localservicefactory
- return localservicefactory
+ if localservicefactory is None:
+ localservicefactory = LocalServiceFactory()
- instance = staticmethod(instance)
+ return localservicefactory
+ instance = staticmethod(instance)
diff --git a/OpenRTM_aist/LogstreamBase.py b/OpenRTM_aist/LogstreamBase.py
index 8066efcc..5ea3fc48 100644
--- a/OpenRTM_aist/LogstreamBase.py
+++ b/OpenRTM_aist/LogstreamBase.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -15,7 +15,6 @@
# $Id$
-
import OpenRTM_aist
@@ -23,9 +22,9 @@
# @if jp
# @class LogstreamBase
#
-# @brief LogstreamBase 饹
+# @brief LogstreamBase クラス
+#
#
-#
#
#
# @else
@@ -37,151 +36,149 @@
# @endif
#
class LogstreamBase:
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @endif
- #
- def __init__(self):
- pass
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- pass
-
-
-
- ##
- # @if jp
- # @brief
- #
- # Logstream饹γƼԤ饹ǤϡͿ줿
- # PropertiesɬפʾƳƼԤ
- #
- # @param self
- # @param prop
- # @return
- #
- # @else
- # @brief Initializing configuration
- #
- # This operation would be called to configure in initialization.
- # In the concrete class, configuration should be performed
- # getting appropriate information from the given Properties data.
- #
- # @param self
- # @param prop Configuration information
- # @return
- #
- # @endif
- #
- def init(self, prop):
- return False
-
-
- ##
- # @if jp
- # @brief ʸϤ
- #
- #
- # @param self
- # @param msgϤʸ
- # @param level ٥
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @param msg
- # @param level
- # @return
- #
- # @endif
- #
- def log(self, msg, level, name):
- return False
-
-
-
- ##
- # @if jp
- # @brief ٥
- #
- #
- # @param self
- # @param level ٥
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @param level
- # @return
- #
- # @endif
- #
- def setLogLevel(self, level):
- pass
-
-
- ##
- # @if jp
- # @brief λ
- #
- #
- # @param self
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @return
- #
- # @endif
- #
- def shutdown(self):
- return True
-
-
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @endif
+ #
+ def __init__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # Logstreamクラスの各種設定を行う。実装クラスでは、与えられた
+ # Propertiesから必要な情報を取得して各種設定を行う。
+ #
+ # @param self
+ # @param prop 設定情報
+ # @return
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure in initialization.
+ # In the concrete class, configuration should be performed
+ # getting appropriate information from the given Properties data.
+ #
+ # @param self
+ # @param prop Configuration information
+ # @return
+ #
+ # @endif
+ #
+
+ def init(self, prop):
+ return False
+
+ ##
+ # @if jp
+ # @brief 指定文字列をログ出力する
+ #
+ #
+ # @param self
+ # @param msg ログ出力する文字列
+ # @param level ログレベル
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param msg
+ # @param level
+ # @return
+ #
+ # @endif
+ #
+
+ def log(self, msg, level, name):
+ return False
+
+ ##
+ # @if jp
+ # @brief ログレベル設定
+ #
+ #
+ # @param self
+ # @param level ログレベル
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param level
+ # @return
+ #
+ # @endif
+ #
+
+ def setLogLevel(self, level):
+ pass
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ #
+ # @param self
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+
+ def shutdown(self):
+ return True
logstreamfactory = None
+
class LogstreamFactory(OpenRTM_aist.Factory):
- def __init__(self):
- OpenRTM_aist.Factory.__init__(self)
- def instance():
- global logstreamfactory
- if logstreamfactory is None:
- logstreamfactory = LogstreamFactory()
- return logstreamfactory
- instance = staticmethod(instance)
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self)
+
+ def instance():
+ global logstreamfactory
+ if logstreamfactory is None:
+ logstreamfactory = LogstreamFactory()
+ return logstreamfactory
+ instance = staticmethod(instance)
diff --git a/OpenRTM_aist/LogstreamFile.py b/OpenRTM_aist/LogstreamFile.py
index 8e536d29..9f1e29e0 100644
--- a/OpenRTM_aist/LogstreamFile.py
+++ b/OpenRTM_aist/LogstreamFile.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -15,21 +15,19 @@
# $Id$
-
import OpenRTM_aist
import OpenRTM_aist.StringUtil
import logging
import logging.handlers
-
##
# @if jp
# @class LogstreamFile
#
-# @brief LogstreamFile 饹
+# @brief LogstreamFile クラス
+#
#
-#
#
#
# @else
@@ -41,308 +39,291 @@
# @endif
#
class LogstreamFile(OpenRTM_aist.LogstreamBase):
- """
- """
- s_logger = None
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.LogstreamBase.__init__(self)
- self.handlers = []
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- pass
-
-
-
- ##
- # @if jp
- # @brief
- #
- # Logstream饹γƼԤ饹ǤϡͿ줿
- # PropertiesɬפʾƳƼԤ
- #
- # @param self
- # @param prop
- # @return
- #
- # @else
- # @brief Initializing configuration
- #
- # This operation would be called to configure in initialization.
- # In the concrete class, configuration should be performed
- # getting appropriate information from the given Properties data.
- #
- # @param self
- # @param prop Configuration information
- # @return
- #
- # @endif
- #
- def init(self, prop):
- self.logger = logging.getLogger("file")
-
-
- if LogstreamFile.s_logger is None:
- LogstreamFile.s_logger = self
-
- logging.PARANOID = logging.DEBUG - 3
- logging.VERBOSE = logging.DEBUG - 2
- logging.TRACE = logging.DEBUG - 1
- logging.FATAL = logging.ERROR + 1
-
- logging.addLevelName(logging.PARANOID, "PARANOID")
- logging.addLevelName(logging.VERBOSE, "VERBOSE")
- logging.addLevelName(logging.TRACE, "TRACE")
- logging.addLevelName(logging.FATAL, "FATAL")
-
- files = prop.getProperty("file_name")
- files = [s.strip() for s in files.split(",")]
-
-
-
-
-
- for f in files:
- self.addHandler(f)
-
- if len(self.handlers) == 0:
- return False
-
-
- return True
-
-
- ##
- # @if jp
- # @brief ϥϥɥɲ
- #
- #
- # @param self
- # @param f ϥե̾⤷stdout
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @param f
- # @return
- #
- # @endif
- #
- def addHandler(self, f):
- formatter = logging.Formatter('%(asctime)s %(name)s %(levelname)s %(message)s')
- tmp = [f]
- OpenRTM_aist.eraseHeadBlank(tmp)
- OpenRTM_aist.eraseTailBlank(tmp)
- f = tmp[0]
- handlers = self.logger.handlers
- for h in handlers:
- if h.get_name() == f:
- return False
-
- tmp = [f]
- fname = OpenRTM_aist.StringUtil.normalize(tmp)
-
- if fname == "stdout":
- ch = logging.StreamHandler()
- ch.setLevel(logging.NOTSET)
- ch.setFormatter(formatter)
- ch.set_name(f)
- self.logger.addHandler(ch)
- self.handlers.append(ch)
- return True
-
- else:
- try:
- fhdlr = logging.FileHandler(fname)
- mhdlr = logging.handlers.MemoryHandler(1024,logging.NOTSET, fhdlr)
- fhdlr.setFormatter(formatter)
- mhdlr.set_name(f)
- self.logger.addHandler(mhdlr)
- self.handlers.append(mhdlr)
- self.logger.setLevel(logging.NOTSET)
- except:
+ """
+ """
+ s_logger = None
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @endif
+ #
+
+ def __init__(self):
+ OpenRTM_aist.LogstreamBase.__init__(self)
+ self.handlers = []
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self):
pass
-
- return True
-
- ##
- # @if jp
- # @brief ʸϤ
- #
- #
- # @param self
- # @param msgϤʸ
- # @param level ٥
- # @param name ν̾
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @param msg
- # @param level
- # @param name
- # @return
- #
- # @endif
- #
- def log(self, msg, level, name):
- log = self.getLogger(name)
- if level == OpenRTM_aist.Logger.FATAL:
- log.log(logging.FATAL,msg)
- elif level == OpenRTM_aist.Logger.ERROR:
- log.error(msg)
- elif level == OpenRTM_aist.Logger.WARN:
- log.warning(msg)
- elif level == OpenRTM_aist.Logger.INFO:
- log.info(msg)
- elif level == OpenRTM_aist.Logger.DEBUG:
- log.debug(msg)
- elif level == OpenRTM_aist.Logger.TRACE:
- log.log(logging.TRACE,msg)
- elif level == OpenRTM_aist.Logger.VERBOSE:
- log.log(logging.VERBOSE,msg)
- elif level == OpenRTM_aist.Logger.PARANOID:
- log.log(logging.PARANOID,msg)
- else:
- return False
- return True
-
-
-
- ##
- # @if jp
- # @brief ٥
- #
- #
- # @param self
- # @param level ٥
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @param level
- # @return
- #
- # @endif
- #
- def setLogLevel(self, level):
- if level == OpenRTM_aist.Logger.INFO:
- self.logger.setLevel(logging.INFO)
- elif level == OpenRTM_aist.Logger.FATAL:
- self.logger.setLevel(logging.FATAL)
- elif level == OpenRTM_aist.Logger.ERROR:
- self.logger.setLevel(logging.ERROR)
- elif level == OpenRTM_aist.Logger.WARN:
- self.logger.setLevel(logging.WARNING)
- elif level == OpenRTM_aist.Logger.DEBUG:
- self.logger.setLevel(logging.DEBUG)
- elif level == OpenRTM_aist.Logger.SILENT:
- self.logger.setLevel(logging.NOTSET)
- elif level == OpenRTM_aist.Logger.TRACE:
- self.logger.setLevel(logging.TRACE)
- elif level == OpenRTM_aist.Logger.VERBOSE:
- self.logger.setLevel(logging.VERBOSE)
- elif level == OpenRTM_aist.Logger.PARANOID:
- self.logger.setLevel(logging.PARANOID)
- else:
- self.logger.setLevel(logging.INFO)
-
-
-
- ##
- # @if jp
- # @brief λ
- #
- #
- # @param self
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @return
- #
- # @endif
- #
- def shutdown(self):
- for h in self.handlers:
- logging.Handler.close(h)
- self.logger.removeHandler(h)
-
- LogstreamFile.s_logger = None
- self.handlers = []
- return True
-
- ##
- # @if jp
- # @brief μ
- #
- #
- # @param self
- # @param name ν̾
- # @return
- #
- # @else
- # @brief
- #
- #
- # @param self
- # @param name
- # @return
- #
- # @endif
- #
- def getLogger(self, name):
- if name:
- return logging.getLogger("file."+name)
- else:
- return self.logger
-
-
-
-
-
-
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # Logstreamクラスの各種設定を行う。実装クラスでは、与えられた
+ # Propertiesから必要な情報を取得して各種設定を行う。
+ #
+ # @param self
+ # @param prop 設定情報
+ # @return
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure in initialization.
+ # In the concrete class, configuration should be performed
+ # getting appropriate information from the given Properties data.
+ #
+ # @param self
+ # @param prop Configuration information
+ # @return
+ #
+ # @endif
+ #
+
+ def init(self, prop):
+ self.logger = logging.getLogger("file")
+
+ if LogstreamFile.s_logger is None:
+ LogstreamFile.s_logger = self
+
+ logging.PARANOID = logging.DEBUG - 3
+ logging.VERBOSE = logging.DEBUG - 2
+ logging.TRACE = logging.DEBUG - 1
+ logging.FATAL = logging.ERROR + 1
+
+ logging.addLevelName(logging.PARANOID, "PARANOID")
+ logging.addLevelName(logging.VERBOSE, "VERBOSE")
+ logging.addLevelName(logging.TRACE, "TRACE")
+ logging.addLevelName(logging.FATAL, "FATAL")
+
+ files = prop.getProperty("file_name")
+ files = [s.strip() for s in files.split(",")]
+
+ for f in files:
+ self.addHandler(f)
+
+ if not self.handlers:
+ return False
+
+ return True
+
+ ##
+ # @if jp
+ # @brief ログ出力ハンドラ追加
+ #
+ #
+ # @param self
+ # @param f ログ出力ファイル名、もしくはstdout
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param f
+ # @return
+ #
+ # @endif
+ #
+
+ def addHandler(self, f):
+ formatter = logging.Formatter(
+ '%(asctime)s %(name)s %(levelname)s %(message)s')
+ f = OpenRTM_aist.eraseHeadBlank(f)
+ f = OpenRTM_aist.eraseTailBlank(f)
+ handlers = self.logger.handlers
+ for h in handlers:
+ if h.get_name() == f:
+ return False
+
+ fname = OpenRTM_aist.StringUtil.normalize(f)
+
+ if fname == "stdout":
+ ch = logging.StreamHandler()
+ ch.setLevel(logging.NOTSET)
+ ch.setFormatter(formatter)
+ ch.set_name(f)
+ self.logger.addHandler(ch)
+ self.handlers.append(ch)
+ return True
+
+ else:
+ try:
+ fhdlr = logging.FileHandler(fname)
+ mhdlr = logging.handlers.MemoryHandler(
+ 1024, logging.NOTSET, fhdlr)
+ fhdlr.setFormatter(formatter)
+ mhdlr.set_name(f)
+ self.logger.addHandler(mhdlr)
+ self.handlers.append(mhdlr)
+ self.logger.setLevel(logging.NOTSET)
+ except BaseException:
+ pass
+
+ return True
+
+ ##
+ # @if jp
+ # @brief 指定文字列をログ出力する
+ #
+ #
+ # @param self
+ # @param msg ログ出力する文字列
+ # @param level ログレベル
+ # @param name ログの出力名
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param msg
+ # @param level
+ # @param name
+ # @return
+ #
+ # @endif
+ #
+ def log(self, msg, level, name):
+ log = self.getLogger(name)
+ if level == OpenRTM_aist.Logger.FATAL:
+ log.log(logging.FATAL, msg)
+ elif level == OpenRTM_aist.Logger.ERROR:
+ log.error(msg)
+ elif level == OpenRTM_aist.Logger.WARN:
+ log.warning(msg)
+ elif level == OpenRTM_aist.Logger.INFO:
+ log.info(msg)
+ elif level == OpenRTM_aist.Logger.DEBUG:
+ log.debug(msg)
+ elif level == OpenRTM_aist.Logger.TRACE:
+ log.log(logging.TRACE, msg)
+ elif level == OpenRTM_aist.Logger.VERBOSE:
+ log.log(logging.VERBOSE, msg)
+ elif level == OpenRTM_aist.Logger.PARANOID:
+ log.log(logging.PARANOID, msg)
+ else:
+ return False
+ return True
+
+ ##
+ # @if jp
+ # @brief ログレベル設定
+ #
+ #
+ # @param self
+ # @param level ログレベル
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param level
+ # @return
+ #
+ # @endif
+ #
+
+ def setLogLevel(self, level):
+ if level == OpenRTM_aist.Logger.INFO:
+ self.logger.setLevel(logging.INFO)
+ elif level == OpenRTM_aist.Logger.FATAL:
+ self.logger.setLevel(logging.FATAL)
+ elif level == OpenRTM_aist.Logger.ERROR:
+ self.logger.setLevel(logging.ERROR)
+ elif level == OpenRTM_aist.Logger.WARN:
+ self.logger.setLevel(logging.WARNING)
+ elif level == OpenRTM_aist.Logger.DEBUG:
+ self.logger.setLevel(logging.DEBUG)
+ elif level == OpenRTM_aist.Logger.SILENT:
+ self.logger.setLevel(logging.NOTSET)
+ elif level == OpenRTM_aist.Logger.TRACE:
+ self.logger.setLevel(logging.TRACE)
+ elif level == OpenRTM_aist.Logger.VERBOSE:
+ self.logger.setLevel(logging.VERBOSE)
+ elif level == OpenRTM_aist.Logger.PARANOID:
+ self.logger.setLevel(logging.PARANOID)
+ else:
+ self.logger.setLevel(logging.INFO)
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ #
+ # @param self
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+
+ def shutdown(self):
+ for h in self.handlers:
+ logging.Handler.close(h)
+ self.logger.removeHandler(h)
+
+ LogstreamFile.s_logger = None
+ self.handlers = []
+ return True
+
+ ##
+ # @if jp
+ # @brief ロガーの取得
+ #
+ #
+ # @param self
+ # @param name ログの出力名
+ # @return ロガー
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param self
+ # @param name
+ # @return
+ #
+ # @endif
+ #
+ def getLogger(self, name):
+ if name:
+ return logging.getLogger("file." + name)
+ else:
+ return self.logger
-def LogstreamFileInit():
- OpenRTM_aist.LogstreamFactory.instance().addFactory("file",
- OpenRTM_aist.LogstreamFile,
- OpenRTM_aist.Delete)
+def LogstreamFileInit():
+ OpenRTM_aist.LogstreamFactory.instance().addFactory("file",
+ OpenRTM_aist.LogstreamFile)
diff --git a/OpenRTM_aist/Macho.py b/OpenRTM_aist/Macho.py
index be158cfc..d63ac113 100644
--- a/OpenRTM_aist/Macho.py
+++ b/OpenRTM_aist/Macho.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file Macho.py
@@ -14,858 +14,1031 @@
# All rights reserved.
-
import types
import OpenRTM_aist
import threading
-class _EmptyBox:
- def __init__(self):
- pass
-_EmptyBox.theEmptyBox = _EmptyBox()
+class _EmptyBox:
+ def __init__(self):
+ pass
+_EmptyBox.theEmptyBox = _EmptyBox()
class _KeyData:
- def __init__(self):
- self.instanceGenerator = None
- self.childPredicate = None
- self.name = None
- self.id = 0
+ def __init__(self):
+ self.instanceGenerator = None
+ self.childPredicate = None
+ self.name = None
+ self.id = 0
class _StateSpecification(object):
- HISTORY = False
- def __init__(self, instance):
- self._myStateInstance = instance
- def isChild(key):
- return False
- isChild = staticmethod(isChild)
-
- def set_state_direct(self, S, *args):
- return self.setStateDirect(S, *args)
-
- def setStateDirect(self, S, *args):
- #global _theDefaultInitializer
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
-
- instance.setHistory(0)
- m.setPendingState(instance, _Initializer(*args))
-
-
- def set_state(self, S, *args):
- return self.setState(S, *args)
-
-
- def setState(self, S, *args):
- #global _theDefaultInitializer
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _Initializer(*args))
-
- def setState0(self, S):
- global _theDefaultInitializer
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _theDefaultInitializer)
-
-
-
-
- def setState1(self,S,p1):
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _Initializer1(p1))
-
- def setState2(self,S,p1,p2):
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _Initializer2(p1,p2))
- def setState3(self,S,p1,p2,p3):
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _Initializer3(p1,p2,p3))
- def setState4(self,S,p1,p2,p3,p4):
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _Initializer4(p1,p2,p3,p4))
- def setState5(self,S,p1,p2,p3,p4,p5):
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _Initializer5(p1,p2,p3,p4,p5))
- def setState6(self,S,p1,p2,p3,p4,p5,p6):
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _Initializer6(p1,p2,p3,p4,p5,p6))
- def setStateHistory(self, S):
- global _theHistoryInitializer
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, S.SUPER, S)
- m.setPendingState(instance, _theHistoryInitializer)
- def setStateAlias(self,state):
- state.setState(self._myStateInstance.machine())
- def setStateBox(self, SUPERSTATE, S, box=None):
- #global _theDefaultInitializer
- m = self._myStateInstance.machine()
- instance = S._getInstance(m, SUPERSTATE, S)
- m.myPendingBox = box
- m.setPendingState(instance, _Initializer())
- #def setStateDirect(self, S, box=None):
- # #global _theDefaultInitializer
- # m = self._myStateInstance.machine()
- # instance = S._getInstance(m, S.SUPER, S)
- # m.myPendingBox = box
- # m.setPendingState(instance, _Initializer())
- def _restore(self, current):
- self._myStateInstance.machine().myCurrentState = current
- def setStateCurrent(self, current):
- #global _theDefaultInitializer
- self._myStateInstance.machine().setPendingState(current, _Initializer())
- def _shutdown(self):
- self._myStateInstance.machine()._shutdown()
- def _setHistorySuper(self, instance, deep):
- pass
+ HISTORY = False
- def _getInstance(machine, S=None, C=None):
- instance = machine.getInstances()
- if not instance[0]:
- instance[0] = _RootInstance(machine, 0)
- return instance[0]
- _getInstance = staticmethod(_getInstance)
- def _deleteBox(self, instance):
- pass
- def _saveHistory(self, instance, shallow, deep):
- pass
+ def __init__(self, instance):
+ self._myStateInstance = instance
+
+ def isChild(key):
+ return False
+ isChild = staticmethod(isChild)
+
+ def set_state_direct(self, S, *args):
+ return self.setStateDirect(S, *args)
+
+ def setStateDirect(self, S, *args):
+ #global _theDefaultInitializer
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+
+ instance.setHistory(0)
+ m.setPendingState(instance, _Initializer(*args))
+
+ def set_state(self, S, *args):
+ return self.setState(S, *args)
+
+ def setState(self, S, *args):
+ #global _theDefaultInitializer
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer(*args))
+
+ def setState0(self, S):
+ global _theDefaultInitializer
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _theDefaultInitializer)
+
+ def setState1(self, S, p1):
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer1(p1))
+
+ def setState2(self, S, p1, p2):
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer2(p1, p2))
+
+ def setState3(self, S, p1, p2, p3):
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer3(p1, p2, p3))
+
+ def setState4(self, S, p1, p2, p3, p4):
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer4(p1, p2, p3, p4))
+
+ def setState5(self, S, p1, p2, p3, p4, p5):
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer5(p1, p2, p3, p4, p5))
+
+ def setState6(self, S, p1, p2, p3, p4, p5, p6):
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _Initializer6(p1, p2, p3, p4, p5, p6))
+
+ def setStateHistory(self, S):
+ global _theHistoryInitializer
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, S.SUPER, S)
+ m.setPendingState(instance, _theHistoryInitializer)
+
+ def setStateAlias(self, state):
+ state.setState(self._myStateInstance.machine())
+
+ def setStateBox(self, SUPERSTATE, S, box=None):
+ #global _theDefaultInitializer
+ m = self._myStateInstance.machine()
+ instance = S._getInstance(m, SUPERSTATE, S)
+ m.myPendingBox = box
+ m.setPendingState(instance, _Initializer())
+ # def setStateDirect(self, S, box=None):
+ # #global _theDefaultInitializer
+ # m = self._myStateInstance.machine()
+ # instance = S._getInstance(m, S.SUPER, S)
+ # m.myPendingBox = box
+ # m.setPendingState(instance, _Initializer())
+
+ def _restore(self, current):
+ self._myStateInstance.machine().myCurrentState = current
+
+ def setStateCurrent(self, current):
+ #global _theDefaultInitializer
+ self._myStateInstance.machine().setPendingState(current, _Initializer())
+
+ def _shutdown(self):
+ self._myStateInstance.machine()._shutdown()
+
+ def _setHistorySuper(self, instance, deep):
+ pass
+ def _getInstance(machine, S=None, C=None):
+ instance = machine.getInstances()
+ if not instance[0]:
+ instance[0] = _RootInstance(machine, 0)
+ return instance[0]
+ _getInstance = staticmethod(_getInstance)
- def on_entry(self):
- pass
- def on_init(self):
- pass
- def on_exit(self):
- pass
+ def _deleteBox(self, instance):
+ pass
+ def _saveHistory(self, instance, shallow, deep):
+ pass
+ def on_entry(self):
+ pass
+ def on_init(self):
+ pass
+ def on_exit(self):
+ pass
+class Link(_StateSpecification):
+ def __init__(self, instance):
+ super(Link, self).__init__(instance)
+ self.super_obj = self.SUPER(
+ self.SUPER._getInstance(
+ instance.machine(),
+ self.SUPER.SUPER,
+ self.SUPER))
+
+ #super_class.__init__(self, instance)
+ #self.SUPER.__init__(self, self.SUPER._getInstance(instance.machine()))
+ self._myStateInstance = instance
+
+ def key(instance):
+ k = _KeyData()
+ k.instanceGenerator = Link._getInstance
+ k.childPredicate = Link.isChild
+ k.name = instance.SUPER._state_name()
+ k.id = instance.SUPER.StateID
+ return k
+ key = staticmethod(key)
+
+ def alias():
+ return Alias(Link.key(self))
+ alias = staticmethod(alias)
+
+ def isChild(other, SUPER):
+ if other.StateID == 0:
+ return False
+ return other.StateID == SUPER.StateID or Link.isChild(
+ other.SUPER, SUPER)
+ isChild = staticmethod(isChild)
+
+ def isParent(self, other):
+ return other.childPredicate(Link.key(self))
+ #isParent = staticmethod(isParent)
+
+ def isCurrent(self, machine):
+ return machine.currentState().isChild(Link.key(self))
+ #isCurrent = staticmethod(isCurrent)
+
+ def isCurrentDirect(self, machine):
+ return Link.key(self) == machine.currentState()
+ #isCurrentDirect = staticmethod(isCurrentDirect)
+
+ def clearHistory(self, machine, StateID):
+ instance = machine.getInstance(StateID)
+ if instance:
+ instance.setHistory(0)
+ #clearHistory = staticmethod(clearHistory)
+
+ def clearHistoryDeep(self, machine, StateID):
+ instance = machine.getInstance(StateID)
+ if instance:
+ instance.clearHistoryDeep(Machine.theStateCount, instance)
+ #clearHistoryDeep = staticmethod(clearHistoryDeep)
+
+ def clear_history(self, machine):
+ self._myStateInstance.setHistory(0)
+
+ def clear_history_deep(self, machine):
+ self._myStateInstance.setHistory(0)
+ self._myStateInstance.setHistorySuper(0)
+
+ def history(machine, StateID):
+ instance = machine.getInstance(StateID)
+ history = None
+ if instance:
+ history = instance.history()
+ if history:
+ return history.key()
+ else:
+ return Link.key(self)
+ history = staticmethod(history)
+
+ def on_entry(self):
+ pass
+ def on_init(self):
+ pass
-class Link(_StateSpecification):
- def __init__(self, instance):
- super(Link,self).__init__(instance)
- self.super_obj = self.SUPER(self.SUPER._getInstance(instance.machine(), self.SUPER.SUPER, self.SUPER))
-
- #super_class.__init__(self, instance)
- #self.SUPER.__init__(self, self.SUPER._getInstance(instance.machine()))
- self._myStateInstance = instance
- def key(instance):
- k = _KeyData()
- k.instanceGenerator = Link._getInstance
- k.childPredicate = Link.isChild
- k.name = instance.SUPER._state_name()
- k.id = instance.SUPER.StateID
- return k
- key = staticmethod(key)
- def alias():
- return Alias(Link.key(self))
- alias = staticmethod(alias)
- def isChild(other, SUPER):
- if other.StateID == 0:
- return False
- return other.StateID == SUPER.StateID or Link.isChild(other.SUPER, SUPER)
- isChild = staticmethod(isChild)
- def isParent(self, other):
- return other.childPredicate(Link.key(self))
- #isParent = staticmethod(isParent)
- def isCurrent(self, machine):
- return machine.currentState().isChild(Link.key(self))
- #isCurrent = staticmethod(isCurrent)
- def isCurrentDirect(self, machine):
- return Link.key(self) == machine.currentState()
- #isCurrentDirect = staticmethod(isCurrentDirect)
- def clearHistory(self, machine, StateID):
- instance = machine.getInstance(StateID)
- if instance:
- instance.setHistory(0)
- #clearHistory = staticmethod(clearHistory)
- def clearHistoryDeep(self, machine, StateID):
- instance = machine.getInstance(StateID)
- if instance:
- instance.clearHistoryDeep(Machine.theStateCount,instance)
- #clearHistoryDeep = staticmethod(clearHistoryDeep)
- def clear_history(self, machine):
- self._myStateInstance.setHistory(0)
- def clear_history_deep(self, machine):
- self._myStateInstance.setHistory(0)
- self._myStateInstance.setHistorySuper(0)
-
-
- def history(machine, StateID):
- instance = machine.getInstance(StateID)
- history = 0
- if instance:
- history = instance.history()
- if history:
- return history.key()
- else:
- return Link.key(self)
- history = staticmethod(history)
+ def on_exit(self):
+ pass
- def on_entry(self):
- pass
- def on_init(self):
- pass
- def on_exit(self):
- pass
- def _box(self):
-
- return self._myStateInstance.box()
- def _getInstance(machine, S, C):
-
- instance = machine.getInstances()
-
- if not instance[C.StateID]:
- instance[C.StateID] = _SubstateInstance(machine, S._getInstance(machine, S.SUPER, S), C)
- return instance[C.StateID]
- _getInstance = staticmethod(_getInstance)
- def _deleteBox(self, instance):
- instance.deleteBox()
- def _saveHistory(self,instance,shallow,deep):
- self._setHistorySuper(instance,deep)
- def __getitem__(self, class_):
- if isinstance(class_, str):
- if self.__class__.__name__ == class_:
- return self
- elif type(self) == class_:
- return self
- obj = self
- while hasattr(obj, "super_obj"):
- obj = obj.super_obj
-
- if isinstance(class_, str):
- if obj.__class__.__name__ == class_:
- return obj
- elif type(obj) == class_:
- return obj
-
- return None
- def data(self, class_=None):
- if class_:
- return self[class_]._box()
- else:
- return self._box()
-
+ def _box(self):
+
+ return self._myStateInstance.box()
+
+ def _getInstance(machine, S, C):
+
+ instance = machine.getInstances()
+
+ if not instance[C.StateID]:
+ instance[C.StateID] = _SubstateInstance(
+ machine, S._getInstance(machine, S.SUPER, S), C)
+ return instance[C.StateID]
+ _getInstance = staticmethod(_getInstance)
+
+ def _deleteBox(self, instance):
+ instance.deleteBox()
+
+ def _saveHistory(self, instance, shallow, deep):
+ self._setHistorySuper(instance, deep)
+
+ def __getitem__(self, class_):
+ if isinstance(class_, str):
+ if self.__class__.__name__ == class_:
+ return self
+ elif type(self) == class_:
+ return self
+ obj = self
+ while hasattr(obj, "super_obj"):
+ obj = obj.super_obj
+
+ if isinstance(class_, str):
+ if obj.__class__.__name__ == class_:
+ return obj
+ elif type(obj) == class_:
+ return obj
+
+ return None
+
+ def data(self, class_=None):
+ if class_:
+ return self[class_]._box()
+ else:
+ return self._box()
+
+ def dispatch(self, event):
+ self["TopBase_"].dispatch(event)
+
+ def defer(self, event):
+ self["TopBase_"].defer(event)
- def dispatch(self, event):
- self["TopBase_"].dispatch(event)
- def defer(self, event):
- self["TopBase_"].defer(event)
class StateID:
- def __init__(self):
- pass
- value = 0
+ def __init__(self):
+ pass
+ value = 0
+
class _StateInstance(object):
- def __init__(self, machine, parent):
- self.myMachine = machine
- self.mySpecification = None
- self.myHistory = None
- self.myParent = parent
-
- self.myBox = None
- self.myBoxPlace = None
- def entry(self,previous,first=True):
- if not self.myParent:
- return
- if first or not previous.isChild(self):
- self.myParent.entry(previous,False)
- self.createBox()
- self.mySpecification.on_entry()
- def exit(self,next):
-
- if not self.myParent:
- return
-
- if self is next or not next.isChild(self):
- self.mySpecification.on_exit()
- if self.myBox is not _EmptyBox.theEmptyBox:
- self.mySpecification._deleteBox(self)
- self.myParent.exit(next)
-
-
- def init(self, history, *args):
- #global _theDefaultInitializer
- if history and self.myHistory:
- self.myMachine.setPendingState(self.myHistory, _Initializer(*args))
- else:
- self.mySpecification.on_init(*args)
- self.myHistory = None
-
-
- def entry_next(self,next):
- pass
- def entry_history(self,history):
- pass
- def saveHistory(self,shallow,deep):
- self.mySpecification._saveHistory(self, shallow, deep)
- def setHistorySuper(self, deep):
- if self.myParent:
- self.myParent.saveHistory(self, deep)
- def copy(self, original):
- if original.myHistory:
- history = self.myMachine.getInstance(original.myHistory.id())
- self.setHistory(history)
- if original.myBox:
- self.cloneBox(original.myBox)
- def clone(self, newMachine):
- parent = None
- if self.myParent:
- parent = newMachine.createClone(self.myParent.id(), self.myParent)
- clone = self.create(newMachine, parent)
-
- def shutdown(self):
- self.mySpecification._shutdown()
- def restore(self, instance):
- self.mySpecification._restore(instance)
- def id(self):
- pass
- def key(self):
- pass
- def name(self):
- pass
- def create(self, machine, parent):
- pass
- def createBox(self):
- pass
- def deleteBox(self):
- pass
- def cloneBox(self,box):
- pass
- def setBox(self,box):
- if self.myBoxPlace:
- self.myBoxPlace = None
- self.myBox = box
- def isChild(self,instance):
-
- return self==instance or (self.myParent and self.myParent.isChild(instance))
- def specification(self):
- return self.mySpecification
- def box(self):
- return self.myBox
- def data(self):
- return self.myBox
- def machine(self):
- return self.myMachine
- def setHistory(self,history):
- self.myHistory = history
- def getHistory(self):
- return self.myHistory
-
+ def __init__(self, machine, parent):
+ self.myMachine = machine
+ self.mySpecification = None
+ self.myHistory = None
+ self.myParent = parent
+
+ self.myBox = None
+ self.myBoxPlace = None
+
+ def entry(self, previous, first=True):
+ if not self.myParent:
+ return
+ if first or not previous.isChild(self):
+ self.myParent.entry(previous, False)
+ self.createBox()
+ self.mySpecification.on_entry()
+
+ def exit(self, next):
+
+ if not self.myParent:
+ return
+
+ if self is next or not next.isChild(self):
+ self.mySpecification.on_exit()
+ if self.myBox is not _EmptyBox.theEmptyBox:
+ self.mySpecification._deleteBox(self)
+ self.myParent.exit(next)
+
+ def init(self, history, *args):
+ #global _theDefaultInitializer
+ if history and self.myHistory:
+ self.myMachine.setPendingState(self.myHistory, _Initializer(*args))
+ else:
+ self.mySpecification.on_init(*args)
+ self.myHistory = None
+
+ def entry_next(self, next):
+ pass
+
+ def entry_history(self, history):
+ pass
+
+ def saveHistory(self, shallow, deep):
+ self.mySpecification._saveHistory(self, shallow, deep)
+
+ def setHistorySuper(self, deep):
+ if self.myParent:
+ self.myParent.saveHistory(self, deep)
+
+ def copy(self, original):
+ if original.myHistory:
+ history = self.myMachine.getInstance(original.myHistory.id())
+ self.setHistory(history)
+ if original.myBox:
+ self.cloneBox(original.myBox)
+
+ def clone(self, newMachine):
+ parent = None
+ if self.myParent:
+ parent = newMachine.createClone(self.myParent.id(), self.myParent)
+ clone = self.create(newMachine, parent)
+
+ def shutdown(self):
+ self.mySpecification._shutdown()
+
+ def restore(self, instance):
+ self.mySpecification._restore(instance)
+
+ def id(self):
+ pass
+
+ def key(self):
+ pass
+
+ def name(self):
+ pass
+
+ def create(self, machine, parent):
+ pass
+
+ def createBox(self):
+ pass
+
+ def deleteBox(self):
+ pass
+
+ def cloneBox(self, box):
+ pass
+
+ def setBox(self, box):
+ if self.myBoxPlace:
+ self.myBoxPlace = None
+ self.myBox = box
+
+ def isChild(self, instance):
+
+ return self == instance or (
+ self.myParent and self.myParent.isChild(instance))
+
+ def specification(self):
+ return self.mySpecification
+
+ def box(self):
+ return self.myBox
+
+ def data(self):
+ return self.myBox
+
+ def machine(self):
+ return self.myMachine
+
+ def setHistory(self, history):
+ self.myHistory = history
+
+ def getHistory(self):
+ return self.myHistory
+
class _RootInstance(_StateInstance):
- def __init__(self, machine, parent):
- super(_RootInstance,self).__init__(machine, parent)
- self.mySpecification = _StateSpecification(self)
- def id(self):
- return 0
- def key(self):
- return 0
- def name(self):
- return ""
- def createBox(self):
- pass
- def deleteBox(self):
- pass
- def cloneBox(self, box):
- pass
- def name(self):
- return "Root"
- def create(self, machine, parent):
- return _RootInstance(machine,parent)
+ def __init__(self, machine, parent):
+ super(_RootInstance, self).__init__(machine, parent)
+ self.mySpecification = _StateSpecification(self)
+
+ def id(self):
+ return 0
+
+ def key(self):
+ return 0
+
+ def name(self):
+ return ""
+
+ def createBox(self):
+ pass
+
+ def deleteBox(self):
+ pass
+
+ def cloneBox(self, box):
+ pass
+
+ def name(self):
+ return "Root"
+
+ def create(self, machine, parent):
+ return _RootInstance(machine, parent)
+
class _SubstateInstance(_StateInstance):
- HISTORY = False
- def __init__(self, machine, parent, super_class):
- super(_SubstateInstance, self).__init__(machine, parent)
- self.mySpecification = super_class(self)
-
- self.SUPER = super_class
- def __del__(self):
- if self.myBox:
- _deleteBox(self.myBox,self.myBoxPlace)
- def id(self):
- return self.SUPER.StateID
- def key(self):
- return self.SUPER.key(self)
- def name(self):
- return self.SUPER._state_name()
- def create(self, machine, parent):
- _SubstateInstance(machine, parent, self.SUPER)
- def createBox(self):
- if not self.myBox:
- if hasattr(self.SUPER, "Box"):
- self.myBox = _createBox(self.myBoxPlace,self.SUPER.Box)
- else:
- self.myBox = _createBox(self.myBoxPlace)
- def deleteBox(self):
- _deleteBox(self.myBox,self.myBoxPlace)
- def cloneBox(self, box):
- self.myBox = _cloneBox(box)
+ HISTORY = False
+
+ def __init__(self, machine, parent, super_class):
+ super(_SubstateInstance, self).__init__(machine, parent)
+ self.mySpecification = super_class(self)
+
+ self.SUPER = super_class
+
+ def __del__(self):
+ if self.myBox:
+ _deleteBox(self.myBox, self.myBoxPlace)
+
+ def id(self):
+ return self.SUPER.StateID
+
+ def key(self):
+ return self.SUPER.key(self)
+
+ def name(self):
+ return self.SUPER._state_name()
+
+ def create(self, machine, parent):
+ _SubstateInstance(machine, parent, self.SUPER)
+
+ def createBox(self):
+ if not self.myBox:
+ if hasattr(self.SUPER, "Box"):
+ self.myBox = _createBox(self.myBoxPlace, self.SUPER.Box)
+ else:
+ self.myBox = _createBox(self.myBoxPlace)
+
+ def deleteBox(self):
+ _deleteBox(self.myBox, self.myBoxPlace)
+
+ def cloneBox(self, box):
+ self.myBox = _cloneBox(box)
+
class _IEventBase:
- def __init__(self):
- pass
- def dispatch(self, instance):
- pass
+ def __init__(self):
+ pass
+
+ def dispatch(self, instance):
+ pass
+
class IEvent(_IEventBase):
- def __init__(self):
- pass
+ def __init__(self):
+ pass
-class _Event6(IEvent):
- def __init__(self, handler, p1, p2, p3, p4, p5, p6):
- self.myHandler = handler
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- self.myParam4 = p4
- self.myParam5 = p5
- self.myParam6 = p6
- def dispatch(self, instance):
- behaviour = instance.specification()
- getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5,self.myParam6)
-class _Event5(IEvent):
- def __init__(self, handler, p1, p2, p3, p4, p5):
- self.myHandler = handler
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- self.myParam4 = p4
- self.myParam5 = p5
- def dispatch(self, instance):
- behaviour = instance.specification()
- getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5)
+class _Event6(IEvent):
+ def __init__(self, handler, p1, p2, p3, p4, p5, p6):
+ self.myHandler = handler
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+ self.myParam4 = p4
+ self.myParam5 = p5
+ self.myParam6 = p6
+
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+ getattr(
+ behaviour,
+ self.myHandler.__name__)(
+ self.myParam1,
+ self.myParam2,
+ self.myParam3,
+ self.myParam4,
+ self.myParam5,
+ self.myParam6)
+class _Event5(IEvent):
+ def __init__(self, handler, p1, p2, p3, p4, p5):
+ self.myHandler = handler
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+ self.myParam4 = p4
+ self.myParam5 = p5
+
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+ getattr(
+ behaviour,
+ self.myHandler.__name__)(
+ self.myParam1,
+ self.myParam2,
+ self.myParam3,
+ self.myParam4,
+ self.myParam5)
class _Event4(IEvent):
- def __init__(self, handler, p1, p2, p3, p4):
- self.myHandler = handler
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- self.myParam4 = p4
- def dispatch(self, instance):
- behaviour = instance.specification()
- getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3,self.myParam4)
-
+ def __init__(self, handler, p1, p2, p3, p4):
+ self.myHandler = handler
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+ self.myParam4 = p4
+
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+ getattr(
+ behaviour,
+ self.myHandler.__name__)(
+ self.myParam1,
+ self.myParam2,
+ self.myParam3,
+ self.myParam4)
class _Event3(IEvent):
- def __init__(self, handler, p1, p2, p3):
- self.myHandler = handler
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- def dispatch(self, instance):
- behaviour = instance.specification()
- getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2,self.myParam3)
-
+ def __init__(self, handler, p1, p2, p3):
+ self.myHandler = handler
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+ getattr(
+ behaviour,
+ self.myHandler.__name__)(
+ self.myParam1,
+ self.myParam2,
+ self.myParam3)
class _Event2(IEvent):
- def __init__(self, handler, p1, p2):
- self.myHandler = handler
- self.myParam1 = p1
- self.myParam2 = p2
- def dispatch(self, instance):
- behaviour = instance.specification()
- getattr(behaviour,self.myHandler.__name__)(self.myParam1,self.myParam2)
-
+ def __init__(self, handler, p1, p2):
+ self.myHandler = handler
+ self.myParam1 = p1
+ self.myParam2 = p2
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+ getattr(
+ behaviour,
+ self.myHandler.__name__)(
+ self.myParam1,
+ self.myParam2)
class _Event1(IEvent):
- def __init__(self, handler, p1):
- self.myHandler = handler
- self.myParam1 = p1
- def dispatch(self, instance):
- behaviour = instance.specification()
- getattr(behaviour,self.myHandler.__name__)(self.myParam1)
+ def __init__(self, handler, p1):
+ self.myHandler = handler
+ self.myParam1 = p1
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+ getattr(behaviour, self.myHandler.__name__)(self.myParam1)
class _Event0(IEvent):
- def __init__(self, handler):
- self.myHandler = handler
- def dispatch(self, instance):
- behaviour = instance.specification()
-
- getattr(behaviour,self.myHandler.__name__)()
+ def __init__(self, handler):
+ self.myHandler = handler
+
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+
+ getattr(behaviour, self.myHandler.__name__)()
class _Event(IEvent):
- def __init__(self, handler, *args):
- self.myHandler = handler
- self.myParams = args
- def dispatch(self, instance):
- behaviour = instance.specification()
- getattr(behaviour,self.myHandler.__name__)(*self.myParams)
+ def __init__(self, handler, *args):
+ self.myHandler = handler
+ self.myParams = args
+ def dispatch(self, instance):
+ behaviour = instance.specification()
+ getattr(behaviour, self.myHandler.__name__)(*self.myParams)
-def Event6(R,p1,p2,p3,p4,p5,p6):
- return _Event6(R,p1,p2,p3,p4,p5,p6)
+def Event6(R, p1, p2, p3, p4, p5, p6):
+ return _Event6(R, p1, p2, p3, p4, p5, p6)
-def Event5(R,p1,p2,p3,p4,p5):
- return _Event5(R,p1,p2,p3,p4,p5)
+def Event5(R, p1, p2, p3, p4, p5):
+ return _Event5(R, p1, p2, p3, p4, p5)
-def Event4(R,p1,p2,p3,p4):
- return _Event4(R,p1,p2,p3,p4)
-def Event3(R,p1,p2,p3):
- return _Event3(R,p1,p2,p3)
+def Event4(R, p1, p2, p3, p4):
+ return _Event4(R, p1, p2, p3, p4)
-def Event2(R,p1,p2):
- return _Event2(R,p1,p2)
-def Event1(R,p1):
- return _Event1(R,p1)
+def Event3(R, p1, p2, p3):
+ return _Event3(R, p1, p2, p3)
-def Event0(R):
- return _Event0(R)
+
+def Event2(R, p1, p2):
+ return _Event2(R, p1, p2)
+def Event1(R, p1):
+ return _Event1(R, p1)
+
+
+def Event0(R):
+ return _Event0(R)
+
def Event(R, *args):
- return _Event(R, *args)
+ return _Event(R, *args)
+
def execute(instance, history, *args):
- #behaviour = instance.specification()
- #behaviour.on_init(*args)
-
- instance.init(history, *args)
+ #behaviour = instance.specification()
+ # behaviour.on_init(*args)
+
+ instance.init(history, *args)
+
def execute1(instance, p1):
- behaviour = instance.specification()
- behaviour.on_init(p1)
+ behaviour = instance.specification()
+ behaviour.on_init(p1)
+
def execute2(instance, p1, p2):
- behaviour = instance.specification()
- behaviour.on_init(p1, p2)
+ behaviour = instance.specification()
+ behaviour.on_init(p1, p2)
+
def execute3(instance, p1, p2, p3):
- behaviour = instance.specification()
- behaviour.on_init(p1, p2, p3)
+ behaviour = instance.specification()
+ behaviour.on_init(p1, p2, p3)
+
def execute4(instance, p1, p2, p3, p4):
- behaviour = instance.specification()
- behaviour.on_init(p1, p2, p3, p4)
+ behaviour = instance.specification()
+ behaviour.on_init(p1, p2, p3, p4)
+
def execute5(instance, p1, p2, p3, p4, p5):
- behaviour = instance.specification()
- behaviour.on_init(p1, p2, p3, p4, p5)
+ behaviour = instance.specification()
+ behaviour.on_init(p1, p2, p3, p4, p5)
+
def execute6(instance, p1, p2, p3, p4, p5, p6):
- behaviour = instance.specification()
- behaviour.on_init(p1, p2, p3, p4, p5, p6)
-
+ behaviour = instance.specification()
+ behaviour.on_init(p1, p2, p3, p4, p5, p6)
+
class __Initializer:
- def __init__(self):
- pass
- def clone(self):
- pass
- def destroy(self):
- pass
- def adapt(self, key):
- return key
- def execute(self, instance):
- instance.init(False)
+ def __init__(self):
+ pass
+
+ def clone(self):
+ pass
+
+ def destroy(self):
+ pass
+
+ def adapt(self, key):
+ return key
+
+ def execute(self, instance):
+ instance.init(False)
+
class _StaticInitializer(__Initializer):
- def __init__(self):
- pass
- def clone(self):
- return self
- def destroy(self):
- pass
+ def __init__(self):
+ pass
+ def clone(self):
+ return self
-class _DefaultInitializer(_StaticInitializer):
- def __init__(self):
- pass
- def execute(self, instance):
- instance.init(False)
+ def destroy(self):
+ pass
+class _DefaultInitializer(_StaticInitializer):
+ def __init__(self):
+ pass
+
+ def execute(self, instance):
+ instance.init(False)
class _HistoryInitializer(_StaticInitializer):
- def __init__(self):
- pass
- def execute(self, instance):
- instance.init(True)
+ def __init__(self):
+ pass
+
+ def execute(self, instance):
+ instance.init(True)
class _AdaptingInitializer(__Initializer):
- def __init__(self, machine):
- self.myMachine = machine
- def execute(self, instance):
- instance.init(False)
- def clone(self):
- return _AdaptingInitializer(self.myMachine)
- def adapt(self, key):
- id = key.id
- instance = self.myMachine.getInstance(id)
- history = None
- if instance:
- history = instance.history()
- if history:
- return history.key()
- else:
- return key
+ def __init__(self, machine):
+ self.myMachine = machine
+
+ def execute(self, instance):
+ instance.init(False)
+
+ def clone(self):
+ return _AdaptingInitializer(self.myMachine)
+
+ def adapt(self, key):
+ id = key.id
+ instance = self.myMachine.getInstance(id)
+ history = None
+ if instance:
+ history = instance.history()
+ if history:
+ return history.key()
+ else:
+ return key
class _Initializer(__Initializer):
- def __init__(self, *args):
- self.myParams = args
- def clone(self):
- return _Initializer(*self.myParams)
- def execute(self, instance, history_):
- execute(instance, history_, *self.myParams)
+ def __init__(self, *args):
+ self.myParams = args
+
+ def clone(self):
+ return _Initializer(*self.myParams)
+ def execute(self, instance, history_):
+ execute(instance, history_, *self.myParams)
class _Initializer1(__Initializer):
- def __init__(self, p1):
- self.myParam1 = p1
- def clone(self):
- return _Initializer1(self.myParam1)
- def execute(self, instance):
- execute1(instance, self.myParam1)
+ def __init__(self, p1):
+ self.myParam1 = p1
+
+ def clone(self):
+ return _Initializer1(self.myParam1)
+
+ def execute(self, instance):
+ execute1(instance, self.myParam1)
class _Initializer2(__Initializer):
- def __init__(self, p1, p2):
- self.myParam1 = p1
- self.myParam2 = p2
- def clone(self):
- return _Initializer2(self.myParam1,self.myParam2)
- def execute(self, instance):
- execute2(instance, self.myParam1,self.myParam2)
+ def __init__(self, p1, p2):
+ self.myParam1 = p1
+ self.myParam2 = p2
+
+ def clone(self):
+ return _Initializer2(self.myParam1, self.myParam2)
+ def execute(self, instance):
+ execute2(instance, self.myParam1, self.myParam2)
class _Initializer3(__Initializer):
- def __init__(self, p1, p2, p3):
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- def clone(self):
- return _Initializer3(self.myParam1,self.myParam2,self.myParam3)
- def execute(self, instance):
- execute3(instance, self.myParam1,self.myParam2,self.myParam3)
+ def __init__(self, p1, p2, p3):
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+ def clone(self):
+ return _Initializer3(self.myParam1, self.myParam2, self.myParam3)
+ def execute(self, instance):
+ execute3(instance, self.myParam1, self.myParam2, self.myParam3)
class _Initializer4(__Initializer):
- def __init__(self, p1, p2, p3, p4):
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- self.myParam4 = p4
- def clone(self):
- return _Initializer4(self.myParam1,self.myParam2,self.myParam3,self.myParam4)
- def execute(self, instance):
- execute4(instance, self.myParam1,self.myParam2,self.myParam3,self.myParam4)
+ def __init__(self, p1, p2, p3, p4):
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+ self.myParam4 = p4
+ def clone(self):
+ return _Initializer4(self.myParam1, self.myParam2,
+ self.myParam3, self.myParam4)
+ def execute(self, instance):
+ execute4(
+ instance,
+ self.myParam1,
+ self.myParam2,
+ self.myParam3,
+ self.myParam4)
class _Initializer5(__Initializer):
- def __init__(self, p1, p2, p3, p4, p5):
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- self.myParam4 = p4
- self.myParam5 = p5
- def clone(self):
- return _Initializer5(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5)
- def execute(self, instance):
- execute5(instance, self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5)
+ def __init__(self, p1, p2, p3, p4, p5):
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+ self.myParam4 = p4
+ self.myParam5 = p5
+
+ def clone(self):
+ return _Initializer5(self.myParam1, self.myParam2,
+ self.myParam3, self.myParam4, self.myParam5)
+
+ def execute(self, instance):
+ execute5(
+ instance,
+ self.myParam1,
+ self.myParam2,
+ self.myParam3,
+ self.myParam4,
+ self.myParam5)
+class _Initializer6(__Initializer):
+ def __init__(self, p1, p2, p3, p4, p5, p6):
+ self.myParam1 = p1
+ self.myParam2 = p2
+ self.myParam3 = p3
+ self.myParam4 = p4
+ self.myParam5 = p5
+ self.myParam6 = p6
+
+ def clone(self):
+ return _Initializer6(self.myParam1, self.myParam2, self.myParam3,
+ self.myParam4, self.myParam5, self.myParam6)
+
+ def execute(self, instance):
+ execute6(
+ instance,
+ self.myParam1,
+ self.myParam2,
+ self.myParam3,
+ self.myParam4,
+ self.myParam5,
+ self.myParam6)
+_theDefaultInitializer = _DefaultInitializer()
+_theHistoryInitializer = _HistoryInitializer()
-class _Initializer6(__Initializer):
- def __init__(self, p1, p2, p3, p4, p5, p6):
- self.myParam1 = p1
- self.myParam2 = p2
- self.myParam3 = p3
- self.myParam4 = p4
- self.myParam5 = p5
- self.myParam6 = p6
- def clone(self):
- return _Initializer6(self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5,self.myParam6)
- def execute(self, instance):
- execute6(instance, self.myParam1,self.myParam2,self.myParam3,self.myParam4,self.myParam5,self.myParam6)
+class _MachineBase(object):
+ def __init__(self):
+ self.myCurrentState = None
+ self.myPendingState = None
+ self.myPendingInit = None
+ self.myPendingBox = None
+ self.myPendingEvent = None
+ self.myInstances = None
+ self.myDeferEvents = []
+ def currentState(self):
+ return self.myCurrentState.key()
+ def setState(self, instance, init):
+ self.setPendingState(instance, init)
+ self.rattleOn()
-_theDefaultInitializer = _DefaultInitializer()
-_theHistoryInitializer = _HistoryInitializer()
+ def setStateAlias(self, state):
+ state.setState(self)
+ self.rattleOn()
+ def setPendingState(self, instance, init):
+ self.myPendingState = instance
+ self.myPendingInit = init
+ def setPendingEvent(self, event):
+ self.myPendingEvent = event
-class _MachineBase(object):
- def __init__(self):
- self.myCurrentState = None
- self.myPendingState = None
- self.myPendingInit = None
- self.myPendingBox = None
- self.myPendingEvent = None
- self.myInstances = None
- self.myDeferEvents = []
- def currentState(self):
- return self.myCurrentState.key()
- def setState(self, instance, init):
- self.setPendingState(instance, init)
- self.rattleOn()
-
- def setStateAlias(self, state):
- state.setState(self)
- self.rattleOn()
- def setPendingState(self, instance, init):
- self.myPendingState = instance
- self.myPendingInit = init
- def setPendingEvent(self, event):
- self.myPendingEvent = event
- def rattleOn(self):
- while self.myPendingState or self.myPendingEvent:
- while self.myPendingState:
-
- self.myCurrentState.exit(self.myPendingState)
- self.myCurrentState.setHistorySuper(self.myCurrentState)
- previous = self.myCurrentState
-
- self.myCurrentState = self.myPendingState
- if self.myPendingBox:
- self.myCurrentState.setBox(self.myPendingBox)
- self.myPendingBox = None
-
-
- self.myCurrentState.entry(previous)
- self.myPendingState = None
- behaviour = self.myCurrentState.specification()
-
- self.myPendingInit.execute(self.myCurrentState, behaviour.HISTORY)
+ def rattleOn(self):
+ while self.myPendingState or self.myPendingEvent:
+ while self.myPendingState:
-
- for event in self.myDeferEvents:
- event.dispatch(self.myCurrentState)
- self.myDeferEvents = []
-
- if self.myPendingEvent:
- event = self.myPendingEvent
- self.myPendingEvent = None
- event.dispatch(self.myCurrentState)
- self.myPendingInit = None
- def getInstances(self):
- return self.myInstances
- def start(self, instance, *args):
- #global _theDefaultInitializer
- self.myCurrentState = _StateSpecification._getInstance(self)
- self.setState(instance, _Initializer(*args))
- def startAlias(self, state):
- self.myCurrentState = _StateSpecification._getInstance(self)
- self.setStateAlias(state)
- def _shutdown(self):
- #global _theDefaultInitializer
- self.setState(_StateSpecification._getInstance(self), _Initializer())
- self.myCurrentState = None
- def allocate(self, count):
-
- self.myInstances = [None]*count
-
- def free(self, count):
- i = count
- while i > 0:
- i -=1
- self.myInstances[i] = None
-
- def clearHistoryDeep(self, count, instance):
- for i in range(count):
- s = self.myInstances[i]
- if s and s.isChild(instance):
- s.setHistory(0)
- def copy(self, other, count):
- for i in range(count):
- state = self.myInstances[i]
- if state:
- state.copy(other[i])
- def createClone(self, id, original):
- clone = self.getInstances
- if not clone[id] and original:
- clone[id] = original.clone(self)
- return clone[id]
+ self.myCurrentState.exit(self.myPendingState)
+ self.myCurrentState.setHistorySuper(self.myCurrentState)
+ previous = self.myCurrentState
+
+ self.myCurrentState = self.myPendingState
+ if self.myPendingBox:
+ self.myCurrentState.setBox(self.myPendingBox)
+ self.myPendingBox = None
+
+ self.myCurrentState.entry(previous)
+ self.myPendingState = None
+ behaviour = self.myCurrentState.specification()
+
+ self.myPendingInit.execute(
+ self.myCurrentState, behaviour.HISTORY)
+
+ for event in self.myDeferEvents:
+ event.dispatch(self.myCurrentState)
+ self.myDeferEvents = []
+
+ if self.myPendingEvent:
+ event = self.myPendingEvent
+ self.myPendingEvent = None
+ event.dispatch(self.myCurrentState)
+ self.myPendingInit = None
+
+ def getInstances(self):
+ return self.myInstances
+
+ def start(self, instance, *args):
+ #global _theDefaultInitializer
+ self.myCurrentState = _StateSpecification._getInstance(self)
+ self.setState(instance, _Initializer(*args))
+
+ def startAlias(self, state):
+ self.myCurrentState = _StateSpecification._getInstance(self)
+ self.setStateAlias(state)
+
+ def _shutdown(self):
+ #global _theDefaultInitializer
+ self.setState(_StateSpecification._getInstance(self), _Initializer())
+ self.myCurrentState = None
+
+ def allocate(self, count):
+
+ self.myInstances = [None] * count
+
+ def free(self, count):
+ i = count
+ while i > 0:
+ i -= 1
+ self.myInstances[i] = None
+
+ def clearHistoryDeep(self, count, instance):
+ for i in range(count):
+ s = self.myInstances[i]
+ if s and s.isChild(instance):
+ s.setHistory(0)
+
+ def copy(self, other, count):
+ for i in range(count):
+ state = self.myInstances[i]
+ if state:
+ state.copy(other[i])
+
+ def createClone(self, id, original):
+ clone = self.getInstances
+ if not clone[id] and original:
+ clone[id] = original.clone(self)
+ return clone[id]
class Alias:
- def __init__(self):
- self.myInitializer = None
- self.myStateKey = 0
- def __del__(self):
- self.myInitializer.destroy()
- def init_history(self, key, history=False):
- global _theHistoryInitializer
- global _theDefaultInitializer
- self.myStateKey = key
- if history:
- self.myInitializer = _theHistoryInitializer
- else:
- self.myInitializer = _theDefaultInitializer
- def init_Initializer(self, key, init):
- self.myStateKey = key
- self.myInitializer = init
- def init_Alias(self, other):
- self.myStateKey = key
- self.myInitializer = other.myInitializer.clone()
- def equal(self, other):
- if self is other:
- return self
- self.myInitializer.destroy()
- self.myStateKey = other.childPredicate
- self.myInitializer = other.childPredicate
-
- def Key(self):
- return self.key()
- def isChild(self, k):
- return self.key().childPredicate(k)
- def isParent(self, k):
- return self.key().childPredicate(k)
- def name(self):
- return self.key().name
- def id(self):
- return self.key().id
- def key(self):
- return self.myInitializer.adapt(self.myStateKey)
- def setState(self, machine):
- machine.setPendingState(self.key().instanceGenerator(machine), self.myInitializer.clone())
-
+ def __init__(self):
+ self.myInitializer = None
+ self.myStateKey = 0
+
+ def __del__(self):
+ self.myInitializer.destroy()
+
+ def init_history(self, key, history=False):
+ global _theHistoryInitializer
+ global _theDefaultInitializer
+ self.myStateKey = key
+ if history:
+ self.myInitializer = _theHistoryInitializer
+ else:
+ self.myInitializer = _theDefaultInitializer
+
+ def init_Initializer(self, key, init):
+ self.myStateKey = key
+ self.myInitializer = init
+
+ def init_Alias(self, other):
+ self.myStateKey = key
+ self.myInitializer = other.myInitializer.clone()
+
+ def equal(self, other):
+ if self is other:
+ return self
+ self.myInitializer.destroy()
+ self.myStateKey = other.childPredicate
+ self.myInitializer = other.childPredicate
+
+ def Key(self):
+ return self.key()
+
+ def isChild(self, k):
+ return self.key().childPredicate(k)
+
+ def isParent(self, k):
+ return self.key().childPredicate(k)
+
+ def name(self):
+ return self.key().name
+
+ def id(self):
+ return self.key().id
+
+ def key(self):
+ return self.myInitializer.adapt(self.myStateKey)
+
+ def setState(self, machine):
+ machine.setPendingState(
+ self.key().instanceGenerator(machine),
+ self.myInitializer.clone())
+
+
"""
def State(S):
return Alias(S.key())
@@ -899,319 +1072,345 @@ def StateHistory(S, machine):
class Snapshot(_MachineBase):
- def __init__(self, machine):
- super(Snapshot,self).__init__()
- self.allocate(Machine.theStateCount)
- self.copy(machine.myInstances, Machine.theStateCounta)
- self.myCurrentState = self.getInstances[machine.myCurrentState.id()]
-
- def __del__(self):
- self.free(Machine.theStateCount)
+ def __init__(self, machine):
+ super(Snapshot, self).__init__()
+ self.allocate(Machine.theStateCount)
+ self.copy(machine.myInstances, Machine.theStateCounta)
+ self.myCurrentState = self.getInstances[machine.myCurrentState.id()]
+
+ def __del__(self):
+ self.free(Machine.theStateCount)
+
class AfterAdvice:
- def __init__(self, m):
- self.myMachine = m
- def __del__(self):
- pass
- #self.myMachine.rattleOn()
- def __call__(self, func, *args):
- spec = self.myMachine.myCurrentState.specification()
- ret = getattr(spec,func)(*args)
- self.myMachine.rattleOn()
- return ret
-
- #return self.myMachine.myCurrentState.specification()
+ def __init__(self, m):
+ self.myMachine = m
+
+ def __del__(self):
+ pass
+ # self.myMachine.rattleOn()
+
+ def __call__(self, func, *args):
+ spec = self.myMachine.myCurrentState.specification()
+ ret = getattr(spec, func)(*args)
+ self.myMachine.rattleOn()
+ return ret
+
+ # return self.myMachine.myCurrentState.specification()
-
class Machine(_MachineBase):
- theStateCount = 1
- #def __init__(self, TOP, TopBase):
- def __init__(self, TOP, initial_state=None, args=()):
- super(Machine,self).__init__()
- self.TOP = TOP
- self.TopBase = TOP.SUPER(TOP._state_name)
- self.init(box=None, initial_state=initial_state, args=args)
- self._mutex = threading.RLock()
- def __del__(self):
- pass
- def shutdown(self):
- guard = OpenRTM_aist.ScopedLock(self._mutex)
- self.myCurrentState.shutdown()
- self.free(Machine.theStateCount)
- Machine.theStateCount = 1
-
- def init(self, box=None,initial_state=None, args=()):
- self.allocate(Machine.theStateCount)
- top = self.TOP._getInstance(self, self.TopBase, self.TOP)
- if box:
- top.setBox(box)
- if initial_state:
- instance = initial_state._getInstance(self, initial_state.SUPER, initial_state)
- self.start(instance, *args)
- else:
- self.start(top, *args)
-
- def init_Alias(self, state, box=None):
- self.allocate(Machine.theStateCount)
- top = self.TOP._getInstance(self, self.TopBase, self.TOP)
- if box:
- top.setBox(box)
- self.start(state)
- def init_Snapshot(self, snapshot, box=None):
- self.allocate(Machine.theStateCount)
- self.copy(snapshot.myInstances, Machine.theStateCount)
- def equal(self, snapshot):
- self.myCurrentState.shutdown()
- self.free(Machine.theStateCount)
- self.copy(snapshot.myInstances, Machine.theStateCount)
- self.myCurrentState = self.getInstance(0)
- current = self.getInstance(snapshot.myCurrentState.id())
- current.restore(current)
- self.rattleOn()
- return self
- def __call__(self):
- return AfterAdvice(self)
- def dispatch(self, event, destroy=True):
- guard = OpenRTM_aist.ScopedLock(self._mutex)
- event.dispatch(self.myCurrentState)
- if destroy:
- del event
- self.rattleOn()
-
- def box(self):
- self.myCurrentState.specification().box()
- def data(self):
- self.myCurrentState.specification().box()
-
- def getCurrentState(self):
- return self.myCurrentState
- def setCurrentState(self, S):
- self.myCurrentState = S
- def _current_state(self):
- return self.myCurrentState
- _current_state = property(getCurrentState, setCurrentState)
-
-
- def getCurrent(self):
- spec = self.myCurrentState.specification()
- class EventDelegator(object):
- def __init__(self):
+ theStateCount = 1
+ # def __init__(self, TOP, TopBase):
+
+ def __init__(self, TOP, initial_state=None, args=()):
+ super(Machine, self).__init__()
+ self.TOP = TOP
+ self.TopBase = TOP.SUPER(TOP._state_name)
+ self.init(box=None, initial_state=initial_state, args=args)
+ self._mutex = threading.RLock()
+
+ def __del__(self):
pass
- ed = EventDelegator()
- for name in dir(spec):
- if name.startswith('__'):
- continue
- if hasattr(StateDef, name):
- continue
- if not isinstance(getattr(spec, name), types.MethodType):
- continue
- class Spec_Func(object):
- def __init__(self, spec, name, machine):
- self._spec = spec
- self._name = name
- self._machine = machine
- def __call__(self, *args):
- ret = getattr(self._spec,self._name)(*args)
- self._machine.rattleOn()
- return ret
-
- setattr(ed, name, Spec_Func(spec, name, self))
- return ed
- def setCurrent(self, state):
- self.myCurrentState = state
- current = property(getCurrent, setCurrent)
-
- def addDeferEvent(self, event):
- self.myDeferEvents.append(event)
-
- def is_current(self, info):
- if info.StateID == self.myCurrentState.id():
- return True
- #elif Link.isChild(info, self.myCurrentState.specification().__class__):
- # return True
- elif Link.isChild(self.myCurrentState.specification().__class__, info):
- return True
- else:
- return False
- def is_current_direct(self, info):
- if info.StateID == self.myCurrentState.id():
- return True
- else:
- return False
-
-
+ def shutdown(self):
+ guard = OpenRTM_aist.ScopedLock(self._mutex)
+ self.myCurrentState.shutdown()
+ self.free(Machine.theStateCount)
+ Machine.theStateCount = 1
+
+ def init(self, box=None, initial_state=None, args=()):
+ self.allocate(Machine.theStateCount)
+ top = self.TOP._getInstance(self, self.TopBase, self.TOP)
+ if box:
+ top.setBox(box)
+ if initial_state:
+ instance = initial_state._getInstance(
+ self, initial_state.SUPER, initial_state)
+ self.start(instance, *args)
+ else:
+ self.start(top, *args)
+
+ def init_Alias(self, state, box=None):
+ self.allocate(Machine.theStateCount)
+ top = self.TOP._getInstance(self, self.TopBase, self.TOP)
+ if box:
+ top.setBox(box)
+ self.start(state)
+
+ def init_Snapshot(self, snapshot, box=None):
+ self.allocate(Machine.theStateCount)
+ self.copy(snapshot.myInstances, Machine.theStateCount)
+
+ def equal(self, snapshot):
+ self.myCurrentState.shutdown()
+ self.free(Machine.theStateCount)
+ self.copy(snapshot.myInstances, Machine.theStateCount)
+ self.myCurrentState = self.getInstance(0)
+ current = self.getInstance(snapshot.myCurrentState.id())
+ current.restore(current)
+ self.rattleOn()
+ return self
+
+ def __call__(self):
+ return AfterAdvice(self)
+
+ def dispatch(self, event, destroy=True):
+ guard = OpenRTM_aist.ScopedLock(self._mutex)
+ event.dispatch(self.myCurrentState)
+ if destroy:
+ del event
+ self.rattleOn()
+
+ def box(self):
+ self.myCurrentState.specification().box()
+
+ def data(self):
+ self.myCurrentState.specification().box()
+
+ def getCurrentState(self):
+ return self.myCurrentState
+
+ def setCurrentState(self, S):
+ self.myCurrentState = S
+
+ def _current_state(self):
+ return self.myCurrentState
+ _current_state = property(getCurrentState, setCurrentState)
+
+ def getCurrent(self):
+ spec = self.myCurrentState.specification()
+
+ class EventDelegator(object):
+ def __init__(self):
+ pass
+ ed = EventDelegator()
+ for name in dir(spec):
+ if name.startswith('__'):
+ continue
+ if hasattr(StateDef, name):
+ continue
+ if not isinstance(getattr(spec, name), types.MethodType):
+ continue
+
+ class Spec_Func(object):
+ def __init__(self, spec, name, machine):
+ self._spec = spec
+ self._name = name
+ self._machine = machine
+
+ def __call__(self, *args):
+ ret = getattr(self._spec, self._name)(*args)
+ self._machine.rattleOn()
+ return ret
+
+ setattr(ed, name, Spec_Func(spec, name, self))
+ return ed
+
+ def setCurrent(self, state):
+ self.myCurrentState = state
+ current = property(getCurrent, setCurrent)
+
+ def addDeferEvent(self, event):
+ self.myDeferEvents.append(event)
+
+ def is_current(self, info):
+ if info.StateID == self.myCurrentState.id():
+ return True
+ # elif Link.isChild(info, self.myCurrentState.specification().__class__):
+ # return True
+ elif Link.isChild(self.myCurrentState.specification().__class__, info):
+ return True
+ else:
+ return False
+
+ def is_current_direct(self, info):
+ if info.StateID == self.myCurrentState.id():
+ return True
+ else:
+ return False
+
+
def _createBox(place, B=None):
- if B:
- return B()
- else:
- return _EmptyBox.theEmptyBox
+ if B:
+ return B()
+ else:
+ return _EmptyBox.theEmptyBox
def _deleteBox(box, place):
- pass
+ pass
+
def _cloneBox(other):
- return _EmptyBox.theEmptyBox
+ return _EmptyBox.theEmptyBox
def TopBase(TOP):
- class TopBase_(_StateSpecification):
- SUPER = _StateSpecification
- StateID = 0
- def __init__(self, instance):
- super(TopBase_,self).__init__(instance)
- self.T = TOP
- def dispatch(self, event):
- self._myStateInstance.machine().setPendingEvent(event)
- def machine(self):
- return self._myStateInstance.machine()
- def defer(self, event):
- self._myStateInstance.machine().addDeferEvent(event)
+ class TopBase_(_StateSpecification):
+ SUPER = _StateSpecification
+ StateID = 0
+
+ def __init__(self, instance):
+ super(TopBase_, self).__init__(instance)
+ self.T = TOP
-
-
+ def dispatch(self, event):
+ self._myStateInstance.machine().setPendingEvent(event)
+
+ def machine(self):
+ return self._myStateInstance.machine()
+
+ def defer(self, event):
+ self._myStateInstance.machine().addDeferEvent(event)
+
+ return TopBase_
- return TopBase_
def topstate(cls):
- class TOP(cls):
- def __init__(self, instance):
- super(cls,self).__init__(instance)
- def on_init(self, *args):
- return cls.on_init(self, *args)
- def on_entry(self, *args):
- return cls.on_entry(self, *args)
- def on_exit(self, *args):
- return cls.on_exit(self, *args)
-
-
- TOP.SUPER = TopBase(TOP)
- TOP.StateID = Machine.theStateCount
- Machine.theStateCount += 1
- TOP._state_name = staticmethod(lambda : TOP.__name__)
-
- TOP.box = lambda self: self._box()
- TOP.HISTORY = False
-
- if hasattr(TOP, 'Data'):
- TOP.Box = TOP.Data
-
-
- return TOP
+ class TOP(cls):
+ def __init__(self, instance):
+ super(cls, self).__init__(instance)
-def substate(superstate):
- def _substate(cls):
- class STATE(cls, superstate):
- def __init__(self, instance):
- cls.__init__(self, instance)
- def on_init(self, *args):
- return cls.on_init(self, *args)
- def on_entry(self, *args):
- return cls.on_entry(self, *args)
- def on_exit(self, *args):
- return cls.on_exit(self, *args)
-
- STATE.SUPER = superstate
- STATE.StateID = Machine.theStateCount
+ def on_init(self, *args):
+ return cls.on_init(self, *args)
+
+ def on_entry(self, *args):
+ return cls.on_entry(self, *args)
+
+ def on_exit(self, *args):
+ return cls.on_exit(self, *args)
+
+ TOP.SUPER = TopBase(TOP)
+ TOP.StateID = Machine.theStateCount
Machine.theStateCount += 1
- STATE._state_name = staticmethod(lambda : cls.__name__)
- STATE.box = lambda self: self._box()
- STATE.HISTORY = False
- #STATE.data = lambda self: self._box()
+ TOP._state_name = staticmethod(lambda: TOP.__name__)
+
+ TOP.box = lambda self: self._box()
+ TOP.HISTORY = False
+
+ if hasattr(TOP, 'Data'):
+ TOP.Box = TOP.Data
+
+ return TOP
+
+
+def substate(superstate):
+ def _substate(cls):
+ class STATE(cls, superstate):
+ def __init__(self, instance):
+ cls.__init__(self, instance)
+
+ def on_init(self, *args):
+ return cls.on_init(self, *args)
+
+ def on_entry(self, *args):
+ return cls.on_entry(self, *args)
+
+ def on_exit(self, *args):
+ return cls.on_exit(self, *args)
- if hasattr(STATE, 'Data'):
- STATE.Box = STATE.Data
+ STATE.SUPER = superstate
+ STATE.StateID = Machine.theStateCount
+ Machine.theStateCount += 1
+ STATE._state_name = staticmethod(lambda: cls.__name__)
+ STATE.box = lambda self: self._box()
+ STATE.HISTORY = False
+ #STATE.data = lambda self: self._box()
- return STATE
- return _substate
+ if hasattr(STATE, 'Data'):
+ STATE.Box = STATE.Data
+ return STATE
+ return _substate
def history(cls):
- def _saveHistory(self,instance,shallow,deep):
- if not instance.getHistory():
- instance.setHistory(shallow)
- #self[self.SUPER]._setHistorySuper(instance,shallow)
-
- cls._saveHistory = _saveHistory
+ def _saveHistory(self, instance, shallow, deep):
+ if not instance.getHistory():
+ instance.setHistory(shallow)
+ # self[self.SUPER]._setHistorySuper(instance,shallow)
+
+ cls._saveHistory = _saveHistory
+
+ cls._setHistorySuper = lambda self, instance, deep: instance.setHistorySuper(
+ deep)
+ cls.HISTORY = True
+ return cls
- cls._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
- cls.HISTORY = True
- return cls
def deephistory(cls):
- def _saveHistory(self,instance,shallow,deep):
- instance.setHistory(deep)
- self[self.SUPER]._setHistorySuper(instance,deep)
-
- cls._saveHistory = _saveHistory
+ def _saveHistory(self, instance, shallow, deep):
+ instance.setHistory(deep)
+ self[self.SUPER]._setHistorySuper(instance, deep)
+
+ cls._saveHistory = _saveHistory
+
+ cls._setHistorySuper = lambda self, instance, deep: instance.setHistorySuper(
+ deep)
+ cls.HISTORY = True
+ return cls
- cls._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
- cls.HISTORY = True
- return cls
-
def TOPSTATE(TOP):
- TOP.SUPER = TopBase(TOP)
- TOP.StateID = Machine.theStateCount
- Machine.theStateCount += 1
- TOP._state_name = staticmethod(lambda : TOP.__name__)
-
- TOP.box = lambda self: self._box()
-
+ TOP.SUPER = TopBase(TOP)
+ TOP.StateID = Machine.theStateCount
+ Machine.theStateCount += 1
+ TOP._state_name = staticmethod(lambda: TOP.__name__)
+
+ TOP.box = lambda self: self._box()
+
def SUBSTATE(STATE, SUPERSTATE):
- STATE.SUPER = SUPERSTATE
- STATE.StateID = Machine.theStateCount
- Machine.theStateCount += 1
- STATE._state_name = staticmethod(lambda : STATE.__name__)
- STATE.box = lambda self: self._box()
+ STATE.SUPER = SUPERSTATE
+ STATE.StateID = Machine.theStateCount
+ Machine.theStateCount += 1
+ STATE._state_name = staticmethod(lambda: STATE.__name__)
+ STATE.box = lambda self: self._box()
+
def DEEPHISTORY(STATE):
- def _saveHistory(self,instance,shallow,deep):
- instance.setHistory(deep)
- self[self.SUPER]._setHistorySuper(instance,deep)
-
- STATE._saveHistory = _saveHistory
+ def _saveHistory(self, instance, shallow, deep):
+ instance.setHistory(deep)
+ self[self.SUPER]._setHistorySuper(instance, deep)
+
+ STATE._saveHistory = _saveHistory
+
+ STATE._setHistorySuper = lambda self, instance, deep: instance.setHistorySuper(
+ deep)
- STATE._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
def HISTORY(STATE):
- def _saveHistory(self,instance,shallow,deep):
- instance.setHistory(deep)
- self[self.SUPER]._setHistorySuper(instance,deep)
-
- STATE._saveHistory = _saveHistory
+ def _saveHistory(self, instance, shallow, deep):
+ instance.setHistory(deep)
+ self[self.SUPER]._setHistorySuper(instance, deep)
- STATE._setHistorySuper = lambda self,instance,deep: instance.setHistorySuper(deep)
+ STATE._saveHistory = _saveHistory
+
+ STATE._setHistorySuper = lambda self, instance, deep: instance.setHistorySuper(
+ deep)
StateDef = Link
def State(S):
- return S
-
+ return S
+class logger(object):
+ rtcout = None
+ def __init__(self):
+ pass
-class logger(object):
- rtcout = None
- def __init__(self):
- pass
-
- def debug(mes):
- logger.setLoggerFile()
- logger.rtcout.RTC_DEBUG(mes)
-
- debug = staticmethod(debug)
-
- def setLoggerFile():
- if logger.rtcout is None:
- logger.rtcout = OpenRTM_aist.Manager.instance().getLogbuf('Macho')
- setLoggerFile = staticmethod(setLoggerFile)
+ def debug(mes):
+ logger.setLoggerFile()
+ logger.rtcout.RTC_DEBUG(mes)
+ debug = staticmethod(debug)
+ def setLoggerFile():
+ if logger.rtcout is None:
+ logger.rtcout = OpenRTM_aist.Manager.instance().getLogbuf('Macho')
+ setLoggerFile = staticmethod(setLoggerFile)
diff --git a/OpenRTM_aist/Manager.py b/OpenRTM_aist/Manager.py
index 92ae20bd..396cda11 100644
--- a/OpenRTM_aist/Manager.py
+++ b/OpenRTM_aist/Manager.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file Manager.py
@@ -16,12 +16,13 @@
import threading
-import signal, os
+import signal
+import os
import sys
import time
from omniORB import CORBA, PortableServer
-#from types import IntType, ListType
+# from types import IntType, ListType
import OpenRTM_aist
@@ -32,13 +33,13 @@
import CORBA_IORUtil
-#------------------------------------------------------------
+# ------------------------------------------------------------
# static var
-#------------------------------------------------------------
+# ------------------------------------------------------------
##
# @if jp
-# @brief ͣ Manager ؤΥݥ
+# @brief 唯一の Manager へのポインタ
# @else
# @brief The pointer to the Manager
# @endif
@@ -46,84 +47,63 @@
##
# @if jp
-# @brief ͣ Manager ؤΥݥФ mutex
+# @brief 唯一の Manager へのポインタに対する mutex
# @else
-# @brief The mutex of the pointer to the Manager
+# @brief The mutex of the pointer to the Manager
# @endif
mutex = threading.RLock()
##
# @if jp
-# @brief WindowsAlarm
+# @brief Windows用Alarm
# @else
# @brief Alarm for Windows
# @endif
-import threading
-
class Alarm (threading.Thread):
- def __init__ (self, timeout):
- threading.Thread.__init__ (self)
- self.timeout = timeout
- self.setDaemon(True)
- def run (self):
- time.sleep(self.timeout)
- os._exit(1)
+ def __init__(self, timeout):
+ threading.Thread.__init__(self)
+ self.timeout = timeout
+ self.setDaemon(True)
+
+ def run(self):
+ time.sleep(self.timeout)
+ os._exit(1)
##
# @if jp
-# @brief λ
+# @brief 終了処理
#
-# ޥ͡λ
+# マネージャを終了させる
#
-# @param signum ʥֹ
-# @param frame ߤΥåե졼
+# @param signum シグナル番号
+# @param frame 現在のスタックフレーム
#
# @else
#
# @endif
+
+
def handler(signum, frame):
- mgr = OpenRTM_aist.Manager.instance()
- mgr.terminate()
- import os
- if os.sep == '/':
- signal.alarm(2)
- else:
- alarm = Alarm(2)
- alarm.start()
+ mgr = OpenRTM_aist.Manager.instance()
+ mgr.terminate()
+ import os
+ if os.sep == '/':
+ signal.alarm(2)
+ else:
+ alarm = Alarm(2)
+ alarm.start()
+
-##
-# @if jp
-# @brief ޥ͡㽪λå
-#
-#
-#
-#
-# @else
-#
-# @endif
-class terminate_Task(OpenRTM_aist.Task):
- ##
- # @brief ȥ饯
- # @param self
- # @param mgr ޥ͡
- # @param sleep_time Ե
- def __init__(self, mgr, sleep_time):
- OpenRTM_aist.Task.__init__(self)
- self._mgr = mgr
- self._sleep_time = sleep_time
- def svc(self):
- time.sleep(self._sleep_time)
- self._mgr.terminate()
##
# @if jp
# @class Manager
-# @brief Manager 饹
+# @brief Manager クラス
#
-# ݡͥȤʤɳƼξԤޥ͡㥯饹
+# コンポーネントなど各種の情報管理を行うマネージャクラス。
#
# @since 0.2.0
#
@@ -131,3544 +111,3576 @@ def svc(self):
# @class Manager
# @brief Manager class
# @endif
-class Manager:
- """
- """
-
-
-
- ##
- # @if jp
- # @brief ԡȥ饯
- #
- # ԡȥ饯
- #
- # @param self
- # @param _manager ԡޥ͡㥪֥(ǥե:None)
- #
- # @else
- # @brief Protected Copy Constructor
- #
- # @endif
- def __init__(self, _manager=None):
- self._initProc = None
- self._runner = None
- self._terminator = None
- self._shutdown_thread = None
- self._compManager = OpenRTM_aist.ObjectManager(self.InstanceName)
- self._factory = OpenRTM_aist.ObjectManager(self.FactoryPredicate)
- self._ecfactory = OpenRTM_aist.ObjectManager(self.ECFactoryPredicate)
- self._terminate = self.Term()
- self._ecs = []
- self._timer = None
- self._orb = None
- self._poa = None
- self._poaManager = None
- self._finalized = self.Finalized()
- self._listeners = OpenRTM_aist.ManagerActionListeners()
- signal.signal(signal.SIGINT, handler)
- self._rtcout = None
- self._mgrservant = None
-
-
- return
-
-
- ##
- # @if jp
- # @brief ޥ͡ν
- #
- # ޥ͡ static ؿ
- # ޥ͡ޥɥ饤Ϳƽ롣
- # ޥ͡Ѥϡɬνдؿ init()
- # ƤФʤФʤʤ
- # ޥ͡ΥˡȤơinit(), instance()
- # 2Ĥ static ؿѰդƤ뤬init()ǤԤʤᡢ
- # Manager ¸֤ΰֺǽˤinit()Ƥɬפ롣
- #
- # ޥ͡ν
- # - initManager: configեɤ߹ߡ֥ƥ
- # - initLogger: Logger
- # - initORB: ORB
- # - initNaming: NamingService
- # - initExecutionContext: ExecutionContext factory
- # - initTimer: Timer
- #
- # @param argv ޥɥ饤
- #
- # @return Manager ͣΥλ
- #
- # @else
- # @brief Initializa manager
- #
- # This is the static function to tintialize the Manager.
- # The Manager is initialized by given arguments.
- # At the starting the manager, this static function "must" be called from
- # application program. The manager has two static functions to get
- # the instance, "init()" and "instance()". Since initializing
- # process is only performed by the "init()" function, the "init()" has
- # to be called at the beginning of the lifecycle of the Manager.
- # function.
- #
- # @param argv The array of the command line arguments.
- #
- # @endif
- def init(*arg):
- global manager
- global mutex
- if len(arg) == 1:
- argv = arg[0]
- elif len(arg) == 2 and \
- isinstance(arg[0], int) and \
- isinstance(arg[1], list):
- # for 0.4.x
- argv = arg[1]
- else:
- print("Invalid arguments for init()")
- print("init(argc,argv) or init(argv)")
- return None
-
- if manager is None:
- guard = OpenRTM_aist.ScopedLock(mutex)
-
- manager = Manager()
- manager.initManager(argv)
- manager.initFactories()
- manager.initLogger()
- manager.initORB()
- manager.initNaming()
- manager.initExecContext()
- manager.initComposite()
- manager.initTimer()
- manager.initManagerServant()
-
- return manager
-
- init = staticmethod(init)
-
-
- ##
- # @if jp
- # @brief ޥ͡Υμ
- #
- # ޥ͡Υ static ؿ
- # δؿƤˡɬνؿ init() ƤФƤɬפ롣
- #
- # @return Manager ͣΥλ
- #
- # @else
- #
- # @brief Get instance of the manager
- #
- # This is the static function to get the instance of the Manager.
- # Before calling this function, ensure that the initialization function
- # "init()" is called.
- #
- # @return The only instance reference of the manager
- #
- # @endif
- def instance():
- global manager
- global mutex
-
- if manager is None:
- guard = OpenRTM_aist.ScopedLock(mutex)
- manager = Manager()
- manager.initManager(None)
- manager.initFactories()
- manager.initLogger()
- manager.initORB()
- manager.initNaming()
- manager.initExecContext()
- manager.initComposite()
- manager.initTimer()
- manager.initManagerServant()
-
- return manager
-
- instance = staticmethod(instance)
-
-
- ##
- # @if jp
- # @brief ޥ͡㽪λ
- #
- # ޥ͡νλ¹Ԥ롣
- #
- # @param self
- #
- # @else
- #
- # @endif
- def terminate(self):
- if self._terminator:
- self._terminator.terminate()
-
-
- ##
- # @if jp
- # @brief ޥ͡㡦åȥ
- #
- # ޥ͡νλ¹Ԥ롣
- # ORBλ塢Ʊäƽλ롣
- #
- # @param self
- #
- # @else
- #
- # @endif
- def shutdown(self):
- self._rtcout.RTC_TRACE("Manager.shutdown()")
- self._listeners.manager_.preShutdown()
- self.shutdownTimer()
- self.shutdownComponents()
- self.shutdownManagerServant()
- self.shutdownNaming()
- self.shutdownORB()
- self.shutdownManager()
-
- if self._runner:
- self._runner.wait()
- else:
- self.join()
-
- self._listeners.manager_.postShutdown()
- self.shutdownLogger()
- global manager
- if manager:
- manager = None
-
-
- ##
- # @if jp
- # @brief ޥ͡㽪λԤ碌
- #
- # Ʊ뤿ᡢޥ͡㽪λԤ碌Ԥ
- #
- # @param self
- #
- # @else
- #
- # @endif
- def join(self):
- self._rtcout.RTC_TRACE("Manager.wait()")
- guard = OpenRTM_aist.ScopedLock(self._terminate.mutex)
- self._terminate.waiting += 1
- del guard
- while 1:
- guard = OpenRTM_aist.ScopedLock(self._terminate.mutex)
- #if self._terminate.waiting > 1:
- if self._terminate.waiting > 0:
- break
- del guard
- time.sleep(0.001)
-
-
- ##
- # @if jp
- #
- # @brief ץΥå
- #
- # Υڥ졼ϥ桼Ԥ⥸塼νץ
- # ꤹ롣ꤵ줿ץϡޥ͡㤬졢
- # ƥֲ줿塢ŬڤʥߥǼ¹Ԥ롣
- #
- # @param self
- # @param proc ץδؿݥ
- #
- # @else
- #
- # @brief Run the Manager
- #
- # This operation sets the initial procedure call to process module
- # initialization, other user defined initialization and so on.
- # The given procedure will be called at the proper timing after the
- # manager initialization, activation and run.
- #
- # @param proc A function pointer to the initial procedure call
- #
- # @endif
- def setModuleInitProc(self, proc):
- self._initProc = proc
- return
-
-
- ##
- # @if jp
- #
- # @brief ManagerΥƥֲ
- #
- # Υڥ졼ϰʲνԤ
- # - CORBA POAManager Υƥֲ
- # - ޥ͡CORBA֥ȤΥƥֲ
- # - Manager ֥Ȥؤνץμ¹
- #
- # Υڥ졼ϡޥ͡ν塢runManager()
- # ˸Ƥɬפ롣
- #
- # @param self
- #
- # @return (ƥֲ:true:false)
- #
- # @else
- #
- # @brief Activate Manager
- #
- # This operation do the following,
- # - Activate CORBA POAManager
- # - Activate Manager CORBA object
- # - Execute the initial procedure call of the Manager
- #
- # This operationo should be invoked after Manager:init(),
- # and before tunManager().
- #
- # @endif
- def activateManager(self):
- self._rtcout.RTC_TRACE("Manager.activateManager()")
-
- try:
- self.getPOAManager().activate()
- self._rtcout.RTC_TRACE("POA Manager activated.")
- except:
- self._rtcout.RTC_ERROR("Exception: POA Manager activation failed.")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return False
-
- lsvc_ = [s.strip() for s in self._config.getProperty("manager.local_service.modules").split(",")]
- for svc_ in lsvc_:
- if len(svc_) == 0: continue
- basename_ = svc_.split(".")[0]+"Init"
- try:
- self._module.load(svc_, basename_)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- self.initLocalService()
-
- mods = [s.strip() for s in self._config.getProperty("manager.modules.preload").split(",")]
-
- for i in range(len(mods)):
- if mods[i] is None or mods[i] == "":
- continue
- mods[i] = mods[i].strip()
-
-
- basename = os.path.basename(mods[i]).split(".")[0]
- basename += "Init"
-
- try:
- self._module.load(mods[i], basename)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- self.__try_direct_load(basename)
-
- sdofactory_ = OpenRTM_aist.SdoServiceConsumerFactory.instance()
- self._config.setProperty("sdo.service.consumer.available_services",
- OpenRTM_aist.flatten(sdofactory_.getIdentifiers()))
-
-
- self.invokeInitProc()
- self.initPreCreation()
-
- self.initPreConnection()
- self.initPreActivation()
-
- return True
-
-
- ##
- # @if jp
- #
- # @brief Managerμ¹
- #
- # Υڥ졼ϥޥ͡Υᥤ롼פ¹Ԥ롣
- # Υᥤ롼ǤϡCORBA ORBΥ٥ȥ롼
- # 롣ǥեȤǤϡΥڥ졼ϥ֥å
- # Manager::destroy() ƤФޤǽᤵʤ
- # no_block true ꤵƤϡǥ٥ȥ롼
- # 륹åɤư֥å˽᤹
- #
- # @param self
- # @param no_block false: ֥å⡼, true: Υ֥å⡼
- #
- # @else
- #
- # @brief Run the Manager
- #
- # This operation processes the main event loop of the Manager.
- # In this main loop, CORBA's ORB event loop or other processes
- # are performed. As the default behavior, this operation is going to
- # blocking mode and never returns until manager::destroy() is called.
- # When the given argument "no_block" is set to "true", this operation
- # creates a thread to process the event loop internally, and it doesn't
- # block and returns.
- #
- # @param no_block false: Blocking mode, true: non-blocking mode.
- #
- # @endif
- def runManager(self, no_block=None):
- if no_block is None:
- no_block = False
-
- if no_block:
- self._rtcout.RTC_TRACE("Manager.runManager(): non-blocking mode")
- self._runner = self.OrbRunner(self._orb)
- else:
- self._rtcout.RTC_TRACE("Manager.runManager(): blocking mode")
- try:
- self._orb.run()
- self._rtcout.RTC_TRACE("Manager.runManager(): ORB was terminated")
- self.join()
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- if self._shutdown_thread:
- self._shutdown_thread.wait()
-
- return
-
-
- ##
- # @if jp
- # @brief [CORBA interface] ⥸塼Υ
- #
- # ꤷݡͥȤΥ⥸塼ɤȤȤˡ
- # ꤷؿ¹Ԥ롣
- #
- # @param self
- # @param fname ⥸塼ե̾
- # @param initfunc ؿ̾
- # @return 顼
- # RTC::RTC_OK ｪλ
- # RTC::RTC_ERROR ɼԡʥ顼
- # RTC::PRECONDITION_NOT_MET ˤĤʤ
- # RTC::BAD_PARAMETER ʥѥ
- #
- # @else
- #
- # @brief [CORBA interface] Load module
- #
- # Load module (shared library, DLL etc..) by file name,
- # and invoke initialize function.
- #
- # @param fname The module file name
- # @param initfunc The initialize function name
- # @return Return code
- # RTC::RTC_OK Normal return
- # RTC::RTC_ERROR Load failed, or unknown error
- # RTC::PRECONDITION_NOT_MET Not allowed operation by conf
- # RTC::BAD_PARAMETER Invalid parameter
- #
- # @endif
- def load(self, fname, initfunc):
- self._rtcout.RTC_TRACE("Manager.load(fname = %s, initfunc = %s)",
- (fname, initfunc))
- fname = fname.replace("/", os.sep)
- fname = fname.replace("\\", os.sep)
- self._listeners.module_.preLoad(fname, initfunc)
- try:
- fname_ = fname.split(os.sep)
-
- if len(fname_) > 1:
- fname_ = fname_[-1]
- else:
- fname_ = fname_[0]
-
- if not initfunc:
- mod = [s.strip() for s in fname_.split(".")]
- initfunc = mod[0]+"Init"
- path = self._module.load(fname, initfunc)
- self._rtcout.RTC_DEBUG("module path: %s", path)
- self._listeners.module_.postLoad(path, initfunc)
- except OpenRTM_aist.ModuleManager.NotAllowedOperation as e:
- self._rtcout.RTC_ERROR("Operation not allowed: %s",(e.reason))
- return RTC.PRECONDITION_NOT_MET
- except OpenRTM_aist.ModuleManager.NotFound:
- self._rtcout.RTC_ERROR("Not found: %s",(fname))
- return RTC.RTC_ERROR
- except OpenRTM_aist.ModuleManager.FileNotFound:
- self._rtcout.RTC_ERROR("Not found: %s",(fname))
- return RTC.RTC_ERROR
- except OpenRTM_aist.ModuleManager.InvalidArguments as e:
- self._rtcout.RTC_ERROR("Invalid argument: %s",(e.reason))
- return RTC.BAD_PARAMETER
- #except OpenRTM_aist.ModuleManager.Error as e:
- # self._rtcout.RTC_ERROR("Error: %s",(e.reason))
- # return RTC.RTC_ERROR
- except:
- self._rtcout.RTC_ERROR("Unknown error.")
- return RTC.RTC_ERROR
- #self.__try_direct_load(fname)
-
- return RTC.RTC_OK
-
-
- ##
- # @if jp
- #
- # @brief ⥸塼Υ
- #
- # ⥸塼ɤ
- #
- # @param self
- # @param fname ⥸塼Υե̾
- #
- # @else
- #
- # @brief Unload module
- #
- # Unload shared library.
- #
- # @param pathname Module file name
- #
- # @endif
- def unload(self, fname):
- self._rtcout.RTC_TRACE("Manager.unload()")
- self._listeners.module_.preUnload(fname)
- self._module.unload(fname)
- self._listeners.module_.postUnload(fname)
- return
-
-
- ##
- # @if jp
- #
- # @brief ⥸塼Υ
- #
- # ⥸塼٤ƥɤ
- #
- # @param self
- #
- # @else
- #
- # @brief Unload module
- #
- # Unload all loaded shared library.
- #
- # @endif
- def unloadAll(self):
- self._rtcout.RTC_TRACE("Manager.unloadAll()")
- self._module.unloadAll()
- return
-
-
- ##
- # @if jp
- # @brief ɺѤߤΥ⥸塼ꥹȤ
- #
- # ߥޥ͡˥ɤƤ⥸塼ΥꥹȤ롣
- #
- # @param self
- #
- # @return ɺѤߥ⥸塼ꥹ
- #
- # @else
- # @brief Get loaded module names
- # @endif
- # std::vector getLoadedModules();
- def getLoadedModules(self):
- self._rtcout.RTC_TRACE("Manager.getLoadedModules()")
- return self._module.getLoadedModules()
-
-
- ##
- # @if jp
- # @brief ɲǽʥ⥸塼ꥹȤ
- #
- # ɲǽ⥸塼ΥꥹȤ롣
- # (ߤModuleManager¦̤)
- #
- # @param self
- #
- # @return ɲǽ⥸塼롡ꥹ
- #
- # @else
- # @brief Get loadable module names
- # @endif
- def getLoadableModules(self):
- self._rtcout.RTC_TRACE("Manager.getLoadableModules()")
- return self._module.getLoadableModules()
-
-
- #============================================================
- # Component Factory Management
- #============================================================
-
- ##
- # @if jp
- # @brief RTݡͥѥեȥϿ
- #
- # RTݡͥȤΥ뤿
- # FactoryϿ롣
- #
- # @param self
- # @param profile RTݡͥ ץե
- # @param new_func RTݡͥѴؿ
- # @param delete_func RTݡͥ˴Ѵؿ
- #
- # @return Ͽ(Ͽ:true:false)
- #
- # @else
- # @brief Register RT-Component Factory
- # @endif
- def registerFactory(self, profile, new_func, delete_func):
- self._rtcout.RTC_TRACE("Manager.registerFactory(%s)", profile.getProperty("type_name"))
- #try:
- policy_name = self._config.getProperty("manager.components.naming_policy","process_unique")
-
-
- policy = OpenRTM_aist.NumberingPolicyFactory.instance().createObject(policy_name)
-
- factory = OpenRTM_aist.FactoryPython(profile, new_func, delete_func, policy)
- return self._factory.registerObject(factory)
- # return True
- #except:
- # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- # return False
-
-
-
-
- ##
- # @if jp
- # @brief եȥΥץե
- #
- # եȥΥץե롣
- #
- # @return եȥΥץե
- #
- # @else
- # @brief Get profiles of factories.
- #
- # Get profiles of factories.
- #
- # @return profiles of factories
- #
- # @endif
- #
- def getFactoryProfiles(self):
- factories = self._factory.getObjects()
-
- if not factories:
- return []
-
- props = []
- for factory in factories:
- props.append(factory.profile())
-
- return props
-
-
- ##
- # @if jp
- # @brief ExecutionContextѥեȥϿ
- #
- # ExecutionContextΥ뤿FactoryϿ롣
- #
- # @param self
- # @param name оExecutionContext̾
- # @param new_func ExecutionContextѴؿ
- # @param delete_func ExecutionContext˴Ѵؿ
- #
- # @return Ͽ(Ͽ:true:false)
- #
- # @else
- # @brief Register ExecutionContext Factory
- # @endif
- def registerECFactory(self, name, new_func, delete_func):
- self._rtcout.RTC_TRACE("Manager.registerECFactory(%s)", name)
- #try:
- ret = OpenRTM_aist.ExecutionContextFactory.instance().addFactory(name,
- new_func,
- delete_func)
- if ret == OpenRTM_aist.Factory.FACTORY_OK:
- return True
- #except:
- # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- else:
- return False
-
-
-
-
- ##
- # @if jp
- # @brief եȥꥹȤ
- #
- # ϿƤեȥꥹȤ롣
- #
- # @param self
- #
- # @return Ͽեȥ ꥹ
- #
- # @else
- # @brief Get the list of all RT-Component Factory
- # @endif
- def getModulesFactories(self):
- self._rtcout.RTC_TRACE("Manager.getModulesFactories()")
-
- self._modlist = []
- for _obj in self._factory._objects._obj:
- self._modlist.append(_obj.profile().getProperty("implementation_id"))
- return self._modlist
-
-
- #============================================================
- # Component management
- #============================================================
-
- ##
- # @if jp
- # @brief RTݡͥȤ
- #
- # ꤷRTݡͥȤΥϿ줿Factoryͳ
- # 롣
- #
- # 륳ݡͥȤγƼץեϰʲ̤ͥ
- # ꤵ롣
- #
- # -# createComponent() ΰͿ줿ץե
- # -# rtc.confǻꤵ줿եͿ줿ץե
- # --# category.instance_name.config_file
- # --# category.component_type.config_file
- # -# ɤޤ줿ץե
- #
- # 硢ʻưʲν¹Ԥ롣
- # - եꤷե졼ɤ߹ߡ
- # - ExecutionContextΥХɡư
- # - ͡ߥӥؤϿ
- #
- # @param comp_args оRTݡͥIDӥե졼
- # եޥåȤ礭ʬ "id" "configuration"
- # ʬ¸ߤ롣
- #
- # comp_args: [id]?[configuration]
- # id ɬܡconfigurationϥץ
- # id: RTC:[vendor]:[category]:[implementation_id]:[version]
- # RTC ϸ꤫ɬ
- # vendor, category, version ϥץ
- # implementation_id ɬ
- # ץάǤ ":" ϾάԲ
- # configuration: [key0]=[value0]&[key1]=[value1]&[key2]=[value2].....
- # RTCPropertiesͤ٤ƾ뤳ȤǤ롣
- # key=value ηǵҤ"&" Ƕڤ
- #
- # 㤨С
- # RTC:jp.go.aist:example:ConfigSample:1.0?conf.default.str_param0=munya
- # RTC::example:ConfigSample:?conf.default.int_param0=100
- #
- # @return RTݡͥȤΥ
- #
- # @else
- # @brief Create RT-Components
- #
- # Create specified RT-Component's instances via registered Factory.
- # When its instances have been created successfully, the following
- # processings are also executed.
- # - Read and set configuration information that was set by external file.
- # - Bind ExecutionContext and start operation.
- # - Register to naming service.
- #
- # @param module_name Target RT-Component names for the creation
- #
- # @return Created RT-Component's instances
- #
- # @endif
- #
- def createComponent(self, comp_args):
- self._rtcout.RTC_TRACE("Manager.createComponent(%s)", comp_args)
-
- comp_prop = OpenRTM_aist.Properties()
- comp_id = OpenRTM_aist.Properties()
-
- if not self.procComponentArgs(comp_args, comp_id, comp_prop):
- return None
-
- if comp_prop.getProperty("instance_name"):
- comp = self.getComponent(comp_prop.getProperty("instance_name"))
- if comp:
- return comp
-
- self._listeners.rtclifecycle_.preCreate(comp_args)
-
- if comp_prop.findNode("exported_ports"):
- exported_ports = OpenRTM_aist.split(comp_prop.getProperty("exported_ports"),
- ",")
- exported_ports_str = ""
- for i in range(len(exported_ports)):
- keyval = OpenRTM_aist.split(exported_ports[i], ".")
- if len(keyval) > 2:
- exported_ports_str += (keyval[0] + "." + keyval[-1])
- else:
- exported_ports_str += exported_ports[i]
-
- if i != (len(exported_ports) - 1) :
- exported_ports_str += ","
-
- comp_prop.setProperty("exported_ports", exported_ports_str)
- comp_prop.setProperty("conf.default.exported_ports", exported_ports_str)
-
- factory = self._factory.find(comp_id)
- if factory is None:
- self._rtcout.RTC_ERROR("createComponent: Factory not found: %s",
- comp_id.getProperty("implementation_id"))
-
- if not OpenRTM_aist.toBool(self._config.getProperty("manager.modules.search_auto"), "YES", "NO", True):
- return None
- # automatic module loading
- mp = self._module.getLoadableModules()
- self._rtcout.RTC_INFO("%d loadable modules found", len(mp))
-
- found_obj = None
- predicate = self.ModulePredicate(comp_id)
- for _obj in mp:
- if predicate(_obj):
- found_obj = _obj
- break
-
- if not found_obj:
- self._rtcout.RTC_ERROR("No module for %s in loadable modules list",
- comp_id.getProperty("implementation_id"))
- return None
-
- if not found_obj.findNode("module_file_name"):
- self._rtcout.RTC_ERROR("Hmm...module_file_name key not found.")
- return None
-
- # module loading
- self._rtcout.RTC_INFO("Loading module: %s", found_obj.getProperty("module_file_name"))
- self.load(found_obj.getProperty("module_file_name"), "")
- factory = self._factory.find(comp_id)
- if not factory:
- self._rtcout.RTC_ERROR("Factory not found for loaded module: %s",
- comp_id.getProperty("implementation_id"))
- return None
-
-
- # get default configuration of component.
- prop = factory.profile()
-
- inherit_prop = ["config.version",
- "openrtm.name",
- "openrtm.version",
- "os.name",
- "os.release",
- "os.version",
- "os.arch",
- "os.hostname",
- "corba.endpoints",
- "corba.endpoints_ipv4",
- "corba.endpoints_ipv6",
- "corba.id",
- "exec_cxt.periodic.type",
- "exec_cxt.periodic.rate",
- "exec_cxt.event_driven.type",
- "exec_cxt.sync_transition",
- "exec_cxt.sync_activation",
- "exec_cxt.sync_deactivation",
- "exec_cxt.sync_reset",
- "exec_cxt.transition_timeout",
- "exec_cxt.activation_timeout",
- "exec_cxt.deactivation_timeout",
- "exec_cxt.reset_timeout",
- "exec_cxt.cpu_affinity",
- "logger.enable",
- "logger.log_level",
- "naming.enable",
- "naming.type",
- "naming.formats",
- "sdo.service.provider.available_services",
- "sdo.service.consumer.available_services",
- "sdo.service.provider.enabled_services",
- "sdo.service.consumer.enabled_services",
- "manager.instance_name"]
-
- prop_ = prop.getNode("port")
- prop_.mergeProperties(self._config.getNode("port"))
-
-
- comp = factory.create(self)
-
-
- for i in range(len(inherit_prop)):
- if self._config.findNode(inherit_prop[i]):
- prop.setProperty(inherit_prop[i],self._config.getProperty(inherit_prop[i]))
-
- if comp is None:
- 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)
-
- # The property specified by the parameter of createComponent() is merged.
- # The property("instance_name") specified by the parameter of createComponent()
- # must be merged here.
- prop.mergeProperties(comp_prop)
-
-
- #------------------------------------------------------------
- # Load configuration file specified in "rtc.conf"
- #
- # rtc.conf:
- # [category].[type_name].config_file = file_name
- # [category].[instance_name].config_file = file_name
- self._listeners.rtclifecycle_.preConfigure(prop)
- self.configureComponent(comp,prop)
- self._listeners.rtclifecycle_.postConfigure(prop)
-
- # The property specified by the parameter of createComponent() is set.
- # The property("exported_ports") specified by the parameter of createComponent()
- # must be set here.
- #comp.setProperties(comp_prop)
-
- # Component initialization
- self._listeners.rtclifecycle_.preInitialize()
- if comp.initialize() != RTC.RTC_OK:
- self._rtcout.RTC_TRACE("RTC initialization failed: %s",
- comp_id.getProperty("implementation_id"))
- self._rtcout.RTC_TRACE("%s was finalized", comp_id.getProperty("implementation_id"))
- 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",
- comp_id.getProperty("implementation_id"))
- self._listeners.rtclifecycle_.postInitialize()
- self.registerComponent(comp)
-
-
- return comp
-
-
-
- ##
- # @if jp
- # @brief RTݡͥȤľ Manager Ͽ
- #
- # ꤷRTݡͥȤΥեȥͳǤϤʤ
- # ľܥޥ͡Ͽ롣
- #
- # @param self
- # @param comp ϿоRTݡͥȤΥ
- #
- # @return Ͽ(Ͽ:true:false)
- #
- # @else
- # @brief Register RT-Component directly without Factory
- # @endif
- def registerComponent(self, comp):
- self._rtcout.RTC_TRACE("Manager.registerComponent(%s)", comp.getInstanceName())
-
- self._compManager.registerObject(comp)
- names = comp.getNamingNames()
-
- self._listeners.naming_.preBind(comp, names)
- for name in names:
- self._rtcout.RTC_TRACE("Bind name: %s", name)
- self._namingManager.bindObject(name, comp)
- self._listeners.naming_.postBind(comp, names)
-
- self.publishPorts(comp)
- self.subscribePorts(comp)
-
- try:
- poa = self._orb.resolve_initial_references("omniINSPOA")
- poa._get_the_POAManager().activate()
- id = comp.getCategory() + "." + comp.getInstanceName()
- poa.activate_object_with_id(id, comp)
-
- rtcobj = poa.id_to_reference(id)
- rtcobj._narrow(RTC.RTObject)
- comp.setINSObjRef(rtcobj)
- except:
- self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
-
-
-
- return True
-
-
- ##
- # @if jp
- # @brief RTݡͥȤϿ
- #
- # ꤷRTݡͥȤϿ롣
- #
- # @param self
- # @param comp ϿоRTݡͥȤΥ
- #
- # @return Ͽ(:true:false)
- #
- # @else
- # @brief Register RT-Component directly without Factory
- # @endif
- def unregisterComponent(self, comp):
- self._rtcout.RTC_TRACE("Manager.unregisterComponent(%s)", comp.getInstanceName())
- self._compManager.unregisterObject(comp.getInstanceName())
- names = comp.getNamingNames()
-
- self._listeners.naming_.preUnbind(comp, names)
- for name in names:
- self._rtcout.RTC_TRACE("Unbind name: %s", name)
- self._namingManager.unbindObject(name)
- self._listeners.naming_.postUnbind(comp, names)
-
- try:
- poa = self._orb.resolve_initial_references("omniINSPOA")
- poa._get_the_POAManager().activate()
- id = comp.getCategory() + "/" + comp.getInstanceName()
- poa.deactivate_object(id)
- except:
- self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
-
-
-
- return True
-
-
- ##
- # @if jp
- # @brief Context
- #
- # @return ConetextΥ
- #
- # @else
- # @brief Create Context
- #
- # @return Created Context's instances
- #
- # @endif
- #
- # ExecutionContextBase* createContext(const char* ec_args);
- def createContext(self, ec_args):
- self._rtcout.RTC_TRACE("Manager.createContext()")
- self._rtcout.RTC_TRACE("ExecutionContext type: %s",
- self._config.getProperty("exec_cxt.periodic.type"))
- ec_id = [""]
- ec_prop = OpenRTM_aist.Properties()
-
- if not self.procContextArgs(ec_args, ec_id, ec_prop):
- return None
-
- avail_ec_ = OpenRTM_aist.ExecutionContextFactory.instance().getIdentifiers()
-
- if not ec_id[0] in avail_ec_:
- self._rtcout.RTC_ERROR("Factory not found: %s", ec_id[0])
- return None
-
-
- ec = OpenRTM_aist.ExecutionContextFactory.instance().createObject(ec_id[0])
- ec.init(ec_prop)
- self._ecs.append(ec)
- return ec
-
-
- ##
- # @if jp
- # @brief Manager ϿƤRTݡͥȤ(̤)
- #
- # ޥ͡ϿƤRTݡͥȤ롣
- #
- # @param self
- # @param instance_name оRTݡͥȤΥ̾
- #
- # @else
- # @brief Unregister RT-Component that is registered in the Manager
- # @endif
- def deleteComponent(self, instance_name=None, comp=None):
- if instance_name:
- self._rtcout.RTC_TRACE("Manager.deleteComponent(%s)", instance_name)
- _comp = self._compManager.find(instance_name)
- if _comp is None:
- self._rtcout.RTC_WARN("RTC %s was not found in manager.", instance_name)
- return
- self.deleteComponent(comp=_comp)
-
- elif comp:
- self._rtcout.RTC_TRACE("Manager.deleteComponent(RTObject_impl)")
- # cleanup from manager's table, and naming serivce
- self.unregisterComponent(comp)
-
- comp_id = comp.getProperties()
- factory = self._factory.find(comp_id)
-
- if not factory:
- self._rtcout.RTC_DEBUG("Factory not found: %s",
- comp_id.getProperty("implementation_id"))
- return
- else:
- self._rtcout.RTC_DEBUG("Factory found: %s",
- comp_id.getProperty("implementation_id"))
- factory.destroy(comp)
-
-
- 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"),
- "YES","NO",False):
- comps = self.getComponents()
- if len(comps) == 0:
- self.createShutdownThread()
-
- return
-
-
- ##
- # @if jp
- # @brief Manager ϿƤRTݡͥȤ
- #
- # Manager ϿƤRTݡͥȤꤷ̾ΤǸ
- # פ륳ݡͥȤ롣
- #
- # @param self
- # @param instance_name оRTݡͥȤ̾
- #
- # @return ̾ΤפRTݡͥȤΥ
- #
- # @else
- # @brief Get RT-Component's pointer
- # @endif
- def getComponent(self, instance_name):
- self._rtcout.RTC_TRACE("Manager.getComponent(%s)", instance_name)
- return self._compManager.find(instance_name)
-
-
- ##
- # @if jp
- # @brief Manager ϿƤRTݡͥȤ
- #
- # Manager ϿƤRTݡͥȤ롣
- #
- # @param self
- #
- # @return RTݡͥȤΥꥹ
- #
- # @else
- # @brief Get all RT-Component's pointer
- # @endif
- def getComponents(self):
- self._rtcout.RTC_TRACE("Manager.getComponents()")
- return self._compManager.getObjects()
-
-
- # void Manager::
- # addManagerActionListener(RTM::ManagerActionListener* listener,
- # bool autoclean)
- def addManagerActionListener(self, listener,autoclean=True):
- self._listeners.manager_.addListener(listener, autoclean)
- return
-
-
- # void Manager::
- # removeManagerActionListener(RTM::ManagerActionListener* listener)
- def removeManagerActionListener(self, listener):
- self._listeners.manager_.removeListener(listener)
- return
-
-
- # void Manager::
- # addModuleActionListener(RTM::ModuleActionListener* listener,
- # bool autoclean)
- def addModuleActionListener(self, listener, autoclean=True):
- self._listeners.module_.addListener(listener, autoclean)
- return
-
-
- # void Manager::
- # removeModuleActionListener(RTM::ModuleActionListener* listener)
- def removeModuleActionListener(self, listener):
- self._listeners.module_.removeListener(listener)
- return
-
-
- # void Manager::
- # addRtcLifecycleActionListener(RTM::RtcLifecycleActionListener* listener,
- # bool autoclean)
- def addRtcLifecycleActionListener(self, listener, autoclean=True):
- self._listeners.rtclifecycle_.addListener(listener, autoclean)
- return
-
-
- # void Manager::
- # removeRtcLifecycleActionListener(RTM::RtcLifecycleActionListener* listener)
- def removeRtcLifecycleActionListener(self, listener):
- self._listeners.rtclifecycle_.removeListener(listener)
- return
-
-
- # void Manager::
- # addNamingActionListener(RTM::NamingActionListener* listener,
- # bool autoclean)
- def addNamingActionListener(self, listener, autoclean=True):
- self._listeners.naming_.addListener(listener, autoclean)
- return
-
-
- # void Manager::
- # removeNamingActionListener(RTM::NamingActionListener* listener)
- def removeNamingActionListener(self, listener):
- self._listeners.naming_.removeListener(listener)
- return
-
-
- # void Manager::
- # addLocalServiceActionListener(RTM::LocalServiceActionListener* listener,
- # bool autoclean)
- def addLocalServiceActionListener(self, listener, autoclean=True):
- self._listeners.localservice_.addListener(listener, autoclean)
- return
-
-
- # void Manager::
- # removeLocalServiceActionListener(RTM::LocalServiceActionListener* listener)
- def removeLocalServiceActionListener(self, listener):
- self._listeners.localservice_.removeListener(listener)
- return
-
-
- #============================================================
- # CORBA Ϣ
- #============================================================
-
- ##
- # @if jp
- # @brief ORB Υݥ
- #
- # Manager ꤵ줿 ORB Υݥ롣
- #
- # @param self
- #
- # @return ORB ֥
- #
- # @else
- # @brief Get the pointer to the ORB
- # @endif
- def getORB(self):
- self._rtcout.RTC_TRACE("Manager.getORB()")
- return self._orb
-
-
- ##
- # @if jp
- # @brief Manager RootPOA Υݥ
- #
- # Manager ꤵ줿 RootPOA ؤΥݥ롣
- #
- # @param self
- #
- # @return RootPOA֥
- #
- # @else
- # @brief Get the pointer to the RootPOA
- # @endif
- def getPOA(self):
- self._rtcout.RTC_TRACE("Manager.getPOA()")
- return self._poa
-
-
- ##
- # @if jp
- # @brief Manager POAManager
- #
- # Manager ꤵ줿 POAMAnager 롣
- #
- # @param self
- #
- # @return POAޥ͡
- #
- # @else
- #
- # @endif
- def getPOAManager(self):
- self._rtcout.RTC_TRACE("Manager.getPOAManager()")
- return self._poaManager
-
-
-
- #============================================================
- # Manager initialize and finalization
- #============================================================
-
- ##
- # @if jp
- # @brief Manager
- #
- # Manager ¹Ԥ롣
- # - Manager ե졼
- # - ϥե
- # - λѥåɤ
- # - ѥåɤ(ѻ)
- #
- # @param self
- # @param argv ޥɥ饤
- #
- # @else
- # @brief Manager internal initialization
- # @endif
- def initManager(self, argv):
- config = OpenRTM_aist.ManagerConfig(argv)
- self._config = OpenRTM_aist.Properties()
- config.configure(self._config)
- self._config.setProperty("logger.file_name",self.formatString(self._config.getProperty("logger.file_name"),
- self._config))
- self._module = OpenRTM_aist.ModuleManager(self._config)
- self._terminator = self.Terminator(self)
- guard = OpenRTM_aist.ScopedLock(self._terminate.mutex)
- self._terminate.waiting = 0
- del guard
-
- if OpenRTM_aist.toBool(self._config.getProperty("timer.enable"), "YES", "NO", True):
- tm = OpenRTM_aist.TimeValue(0, 100000)
- tick = self._config.getProperty("timer.tick")
- if tick != "":
- tm = tm.set_time(float(tick))
- if self._timer:
- self._timer.stop()
- self._timer.join()
- self._timer = OpenRTM_aist.Timer(tm)
- self._timer.start()
-
- if OpenRTM_aist.toBool(self._config.getProperty("manager.shutdown_auto"),
- "YES", "NO", True) and \
- not OpenRTM_aist.toBool(self._config.getProperty("manager.is_master"),
- "YES", "NO", False):
- tm = OpenRTM_aist.TimeValue(10, 0)
- if self._config.findNode("manager.auto_shutdown_duration"):
- duration = float(self._config.getProperty("manager.auto_shutdown_duration"))
- if duration:
- tm.set_time(duration)
-
- if self._timer:
- self._timer.registerListenerObj(self,
- OpenRTM_aist.Manager.shutdownOnNoRtcs,
- tm)
-
- if self._timer:
- tm = OpenRTM_aist.TimeValue(1, 0)
- self._timer.registerListenerObj(self,
- OpenRTM_aist.Manager.cleanupComponents,
- tm)
-
-
- lmpm_ = [s.strip() for s in self._config.getProperty("manager.preload.modules").split(",")]
- for mpm_ in lmpm_:
- if len(mpm_) == 0:
- continue
- basename_ = mpm_.split(".")[0]+"Init"
- try:
- self._module.load(mpm_, basename_)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- self._config.setProperty("manager.instance_name",self.formatString(self._config.getProperty("manager.instance_name"),
- self._config))
-
- return
-
- ##
- # @if jp
- # @brief ManagerХȤνλ(̤)
- #
- # ManagerХȤλ
- #
- #
- # @param self
- #
- # @else
- #
- # @endif
- def shutdownManagerServant(self):
- self._rtcout.RTC_TRACE("Manager.shutdownManagerServant()")
- if self._mgrservant:
- self._mgrservant.exit()
- self._mgrservant = None
- return
-
- ##
- # @if jp
- # @brief Manager νλ(̤)
- #
- # Manager λ
- # (ߤ̤)
- #
- # @param self
- #
- # @else
- #
- # @endif
- def shutdownManager(self):
- self._rtcout.RTC_TRACE("Manager.shutdownManager()")
-
- return
-
-
- ##
- # @if jp
- # @brief Manager νλ
- #
- # configuration "manager.shutdown_on_nortcs" YES ǡ
- # ݡͥȤϿƤʤ Manager λ롣
- #
- # @else
- # @brief Shutdown Manager
- #
- # This method shutdowns Manager as follows.
- # - "Manager.shutdown_on_nortcs" of configuration is YES.
- # - The component is not registered.
- #
- # @endif
- #
- # void shutdownOnNoRtcs();
- def shutdownOnNoRtcs(self):
- self._rtcout.RTC_TRACE("Manager::shutdownOnNoRtcs()")
- if OpenRTM_aist.toBool(self._config.getProperty("manager.shutdown_on_nortcs"),
- "YES", "NO", True):
-
- comps = self.getComponents()
-
- if len(comps) == 0:
- self.createShutdownThread()
-
- return
-
-
- #============================================================
- # Logger initialize and terminator
- #============================================================
-
- ##
- # @if jp
- # @brief
- #
- #
- #
- #
- #
- # @param self
- #
- #
- # @else
- # @brief
- #
- #
- #
- # @param self
- #
- #
- # @endif
- def initLogstreamFile(self):
-
- logprop = self._config.getNode("logger")
- logstream = OpenRTM_aist.LogstreamFactory.instance().createObject("file")
-
- if logstream is None:
- return
-
-
- if not logstream.init(logprop):
- logstream = OpenRTM_aist.LogstreamFactory.instance().deleteObject(logstream)
- return
-
- self._rtcout.addLogger(logstream)
-
-
- ##
- # @if jp
- # @brief
- #
- #
- #
- #
- #
- # @param self
- #
- #
- # @else
- # @brief
- #
- #
- #
- # @param self
- #
- #
- # @endif
- def initLogstreamPlugins(self):
- lmod_ = [s.strip() for s in self._config.getProperty("logger.plugins").split(",")]
- for mod_ in lmod_:
- if len(mod_) == 0: continue
- basename_ = mod_.split(".")[0]+"Init"
- try:
- self._module.load(mod_, basename_)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- ##
- # @if jp
- # @brief
- #
- #
- #
- #
- #
- # @param self
- #
- #
- # @else
- # @brief
- #
- #
- #
- # @param self
- #
- #
- # @endif
- def initLogstreamOthers(self):
- factory = OpenRTM_aist.LogstreamFactory.instance()
- pp = self._config.getNode("logger.logstream")
-
- leaf0 = pp.getLeaf()
-
- for l in leaf0:
- lstype = l.getName()
- logstream = factory.createObject(lstype)
- if logstream is None:
- self._rtcout.RTC_WARN("Logstream %s creation failed."%lstype)
- continue
- self._rtcout.RTC_INFO("Logstream %s created."%lstype)
- if not logstream.init(l):
- self._rtcout.RTC_WARN("Logstream %s init failed."%lstype)
-
- factory.deleteObject(logstream)
- self._rtcout.RTC_WARN("Logstream %s deleted."%lstype)
- continue
-
- self._rtcout.RTC_INFO("Logstream %s added."%lstype)
- self._rtcout.addLogger(logstream)
-
-
- ##
- # @if jp
- # @brief System logger ν
- #
- # System logger ν¹Ԥ롣
- # ե졼եꤵ줿˴Ť
- # ν¹Ԥ롣
- #
- # @param self
- #
- # @return ¹Է(:true:false)
- #
- # @else
- # @brief System logger initialization
- # @endif
- def initLogger(self):
- #self._rtcout = OpenRTM_aist.LogStream()
- self._rtcout = self.getLogbuf()
- if not OpenRTM_aist.toBool(self._config.getProperty("logger.enable"), "YES", "NO", True):
- return True
-
-
-
- self.initLogstreamFile()
- self.initLogstreamPlugins()
- self.initLogstreamOthers()
-
-
- self._rtcout.setLogLevel(self._config.getProperty("logger.log_level"))
- self._rtcout.setLogLock(OpenRTM_aist.toBool(self._config.getProperty("logger.stream_lock"),
- "enable", "disable", False))
-
- self._rtcout.RTC_INFO("%s", self._config.getProperty("openrtm.version"))
- self._rtcout.RTC_INFO("Copyright (C) 2003-2010")
- self._rtcout.RTC_INFO(" Noriaki Ando")
- self._rtcout.RTC_INFO(" Intelligent Systems Research Institute, AIST")
- self._rtcout.RTC_INFO("Manager starting.")
- self._rtcout.RTC_INFO("Starting local logging.")
-
- return True
-
-
- ##
- # @if jp
- # @brief System Logger νλ(̤)
- #
- # System Loggerνλ¹Ԥ롣
- # (ߤ̤)
- #
- # @param self
- #
- # @else
- # @brief System Logger finalization
- # @endif
- def shutdownLogger(self):
- self._rtcout.RTC_TRACE("Manager.shutdownLogger()")
- self._rtcout.shutdown()
- return
-
-
- #============================================================
- # ORB initialization and finalization
- #============================================================
-
- ##
- # @if jp
- # @brief CORBA ORB ν
- #
- # ORB롣
- #
- # @param self
- #
- # @return ORB (:true:false)
- #
- # @else
- # @brief CORBA ORB initialization
- # @endif
- def initORB(self):
- self._rtcout.RTC_TRACE("Manager.initORB()")
- try:
- 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)
-
- self._orb = CORBA.ORB_init(argv)
-
- self._poa = self._orb.resolve_initial_references("RootPOA")
-
- if CORBA.is_nil(self._poa):
- self._rtcout.RTC_ERROR("Could not resolve RootPOA")
- return False
-
- self._poaManager = self._poa._get_the_POAManager()
-
- except:
- self._rtcout.RTC_ERROR("Exception: Caught unknown exception in initORB().")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return False
-
- return True
-
-
- ##
- # @if jp
- # @brief ORB Υޥɥ饤ץ
- #
- # ե졼ꤵ줿Ƥ
- # ORB εưץ롣
- #
- # @param self
- #
- # @return ORB ưץ
- #
- # @else
- # @brief ORB command option creation
- # @endif
- def createORBOptions(self):
- opt = self._config.getProperty("corba.args")
- self._rtcout.RTC_DEBUG("corba.args: %s",opt)
-
- endpoints = []
- self.createORBEndpoints(endpoints)
- opt = [opt]
- self.createORBEndpointOption(opt,endpoints)
-
- self._rtcout.RTC_PARANOID("ORB options: %s", opt[0])
-
- return opt[0]
-
-
- ##
- # @if jp
- # @brief ɥݥȤ
- #
- # ե졼饨ɥݥȤ롣
- #
- # @param endpoints ɥݥȥꥹ
- #
- # @else
- # @brief Create Endpoints
- #
- # Create Endpoints from the configuration.
- #
- # @param endpoints Endpoints list
- #
- # @endif
- #
- # void createORBEndpoints(coil::vstring& endpoints);
- def createORBEndpoints(self, endpoints):
-
- # corba.endpoint is obsolete
- # corba.endpoints with comma separated values are acceptable
- if self._config.findNode("corba.endpoints"):
- endpoints_ = [s.strip() for s in self._config.getProperty("corba.endpoints").split(",")]
- for ep in endpoints_:
- endpoints.append(ep)
-
- self._rtcout.RTC_DEBUG("corba.endpoints: %s", self._config.getProperty("corba.endpoints"))
-
- if self._config.findNode("corba.endpoint"):
- endpoints_ = [s.strip() for s in self._config.getProperty("corba.endpoint").split(",")]
- for ep in endpoints_:
- endpoints.append(ep)
- self._rtcout.RTC_DEBUG("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 OpenRTM_aist.toBool(self._config.getProperty("manager.is_master"), "YES", "NO", False):
- mm = self._config.getProperty("corba.master_manager", ":2810")
- mmm = [s.strip() for s in mm.split(":")]
- if len(mmm) == 2:
- endpoints.insert(0, ":" + mmm[1])
- else:
- endpoints.insert(0, ":2810")
-
- endpoints = OpenRTM_aist.unique_sv(endpoints)
-
- return
-
-
- ##
- # @if jp
- # @brief ORB Endpoint Υޥɥ饤ץ
- # @param opt ޥɥ饤ץ
- # @param endpoints ɥݥȥꥹ
- #
- # @else
- # @brief Create a command optional line of Endpoint of ORB.
- # @param opt ORB options
- # @param endpoints Endpoints list
- #
- # @endif
- # void createORBEndpointOption(std::string& opt, coil::vstring& endpoints);
- def createORBEndpointOption(self, opt, endpoints):
- corba = self._config.getProperty("corba.id")
- self._rtcout.RTC_DEBUG("corba.id: %s", corba)
-
- for i in range(len(endpoints)):
- if endpoints[i]:
- endpoint = endpoints[i]
- else:
- continue
-
- self._rtcout.RTC_DEBUG("Endpoint is : %s", endpoint)
- if endpoint.find(":") == -1:
- endpoint += ":"
-
- if corba == "omniORB":
- endpoint = OpenRTM_aist.normalize([endpoint])
- if OpenRTM_aist.normalize([endpoint]) == "all:":
- opt[0] += " -ORBendPointPublish all(addr)"
- else:
- opt[0] += " -ORBendPoint giop:tcp:" + endpoint
-
- elif corba == "TAO":
- opt[0] += "-ORBEndPoint iiop://" + endpoint
- elif corba == "MICO":
- opt[0] += "-ORBIIOPAddr inet:" + endpoint
-
- endpoints[i] = endpoint
-
- return
-
-
- ##
- # @if jp
- # @brief ORB νλ
- #
- # ORB νλ¹Ԥ롣
- # ¹Ԥν¸ߤˤϡνλޤԤġ
- # ºݤνλǤϡPOA Manager ORB Υåȥ¹
- # 롣
- #
- # @param self
- #
- # @else
- # @brief ORB finalization
- # @endif
- def shutdownORB(self):
- self._rtcout.RTC_TRACE("Manager.shutdownORB()")
- if not self._orb:
- return
-
- try:
- while self._orb.work_pending():
- self._rtcout.RTC_PARANOID("Pending work still exists.")
- if self._orb.work_pending():
- self._orb.perform_work()
-
-
- self._rtcout.RTC_DEBUG("No pending works of ORB. Shutting down POA and ORB.")
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
-
-
- if not CORBA.is_nil(self._poa):
- try:
- if not CORBA.is_nil(self._poaManager):
- self._poaManager.deactivate(False, True)
- self._rtcout.RTC_DEBUG("POA Manager was deactivated.")
- self._poa.destroy(False, True)
- self._poa = PortableServer.POA._nil
- self._rtcout.RTC_DEBUG("POA was destroyed.")
- except CORBA.SystemException:
- self._rtcout.RTC_ERROR("Caught SystemException during root POA destruction")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- except:
- self._rtcout.RTC_ERROR("Caught unknown exception during destruction")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- if self._orb:
- try:
- self._orb.shutdown(True)
- self._orb.destroy()
- self._rtcout.RTC_DEBUG("ORB was shutdown.")
- self._orb = CORBA.Object._nil
- except CORBA.SystemException:
- self._rtcout.RTC_ERROR("Caught CORBA::SystemException during ORB shutdown.")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- except:
- self._rtcout.RTC_ERROR("Caught unknown exception during ORB shutdown.")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
-
- #============================================================
- # NamingService initialization and finalization
- #============================================================
-
- ##
- # @if jp
- # @brief NamingManager ν
- #
- # NamingManager ν¹Ԥ롣
- # NamingManager Ѥʤ褦˥ץѥƥꤵƤ
- # ˤϲ⤷ʤ
- # NamingManager Ѥ硢ץѥƥꤵƤ
- # ǥե NamingServer Ͽ롣
- # ޤŪ˾褦ꤵƤˤϡꤵ줿
- # ǼưԤΥޤưȤȤˡѥåɤޤ
- # Ͽ롣
- #
- # @param self
- #
- # @return (:true:false)
- #
- # @else
- #
- # @endif
- def initNaming(self):
- self._rtcout.RTC_TRACE("Manager.initNaming()")
- self._namingManager = OpenRTM_aist.NamingManager(self)
-
- if not OpenRTM_aist.toBool(self._config.getProperty("naming.enable"), "YES", "NO", True):
- return True
-
- #meths = OpenRTM_aist.split(self._config.getProperty("naming.type"),",")
- meths = [s.strip() for s in self._config.getProperty("naming.type").split(",")]
-
-
- for meth in meths:
- #names = OpenRTM_aist.split(self._config.getProperty(meth+".nameservers"), ",")
- names = [s.strip() for s in self._config.getProperty(meth+".nameservers").split(",")]
- for name in names:
- self._rtcout.RTC_TRACE("Register Naming Server: %s/%s", (meth, name))
- self._namingManager.registerNameServer(meth,name)
-
- if OpenRTM_aist.toBool(self._config.getProperty("naming.update.enable"), "YES", "NO", True):
- tm = OpenRTM_aist.TimeValue(10,0)
- intr = self._config.getProperty("naming.update.interval")
- if intr != "":
- tm = OpenRTM_aist.TimeValue(intr)
-
- if self._timer:
- self._timer.registerListenerObj(self._namingManager,OpenRTM_aist.NamingManager.update,tm)
-
- return True
-
-
- ##
- # @if jp
- # @brief NamingManager νλ
- #
- # NamingManager λ롣
- # ϿƤǤХɤλ롣
- #
- # @param self
- #
- # @else
- #
- # @endif
- def shutdownNaming(self):
- self._rtcout.RTC_TRACE("Manager.shutdownNaming()")
- comps = self.getComponents()
-
- for comp in comps:
- names = comp.getNamingNames()
- self._listeners.naming_.preUnbind(comp, names)
- for name in names:
- self._namingManager.unbindObject(name)
- self._listeners.naming_.postUnbind(comp, names)
-
- self._namingManager.unbindAll()
- return
-
-
- ##
- # @if jp
- # @brief ExecutionContextManager ν
- #
- # Ѥ ExecutionContext ν¹Ԥ ExecutionContext
- # Factory ExecutionContextManager Ͽ롣
- #
- # @param self
- #
- # @return ExecutionContextManager ¹Է
- # (:true:false)
- #
- # @else
- #
- # @endif
- def initExecContext(self):
- self._rtcout.RTC_TRACE("Manager.initExecContext()")
- OpenRTM_aist.PeriodicExecutionContextInit(self)
- OpenRTM_aist.ExtTrigExecutionContextInit(self)
- OpenRTM_aist.OpenHRPExecutionContextInit(self)
- OpenRTM_aist.SimulatorExecutionContextInit(self)
- OpenRTM_aist.MultilayerCompositeECInit(self)
-
- self.initCpuAffinity()
- return True
-
- def initCpuAffinity(self):
- self._rtcout.RTC_TRACE("Manager.initCpuAffinity()")
-
- if not self._config.findNode("manager.cpu_affinity"):
- return
-
-
-
-
- affinity_str = self._config.getProperty("manager.cpu_affinity")
-
-
- if affinity_str:
- self._rtcout.RTC_DEBUG("CPU affinity property: %s", affinity_str)
-
- tmp = affinity_str.split(",")
-
-
- cpu_num = []
- for num in tmp:
- try:
- cpu_num.append(int(num))
- self._rtcout.RTC_DEBUG("CPU affinity mask set to %d", int(num))
- except:
- pass
-
-
-
- if len(cpu_num) == 0:
- return
- ret = OpenRTM_aist.setProcessAffinity(cpu_num)
-
- if ret == False:
- self._rtcout.RTC_ERROR("CPU affinity mask setting failed")
-
-
-
-
-
- ##
- # @if jp
- # @brief PeriodicECSharedComposite ν
- #
- # @return PeriodicECSharedComposite ¹Է
- # (:true:false)
- #
- # @else
- # @brief PeriodicECSharedComposite initialization
- #
- # @return PeriodicECSharedComposite initialization result
- # (Successful:true, Failed:false)
- #
- # @endif
- #
- def initComposite(self):
- self._rtcout.RTC_TRACE("Manager.initComposite()")
- OpenRTM_aist.PeriodicECSharedCompositeInit(self)
- return True
-
-
- ##
- # @if jp
- # @brief եȥν
- #
- # Хåեåɡѥ֥å㡢ץХ塼ޤ
- # եȥ롣
- #
- # @return եȥ¹Է
- # (:true:false)
- #
- # @else
- # @brief Factories initialization
- #
- # Initialize buffer factories, thread factories, publisher factories,
- # provider factories, and consumer factories.
- #
- # @return PeriodicECSharedComposite initialization result
- # (Successful:true, Failed:false)
- #
- # @endif
- #
- def initFactories(self):
- #self._rtcout.RTC_TRACE("Manager.initFactories()")
- OpenRTM_aist.FactoryInit()
- return True
-
-
- ##
- # @if jp
- # @brief Timer ν
- #
- # Ѥ Timer ν¹Ԥ롣
- # (μǤϲ⤷ʤ)
- #
- # @param self
- #
- # @return Timer ¹Է(:true:false)
- #
- # @else
- #
- # @endif
- def initTimer(self):
- return True
-
- ##
- # @if jp
- # @brief Timer νλ
- #
- # Ѥ Timer νλ¹Ԥ롣
- #
- # @param self
- #
- # @else
- #
- # @endif
- def shutdownTimer(self):
- self._rtcout.RTC_TRACE("Manager.shutdownTimer()")
- if self._timer:
- self._timer.stop()
- self._timer.join()
- self._timer = None
-
-
- ##
- # @if jp
- # @brief corba.endpoint_property ץѥƥμ
- #
- # corba.endpoint_property ͤץȤ֤ΡɤΥ
- # ɥݥȤ IPv4, IPv6 Τ뤫ꤹץѥƥ
- # corba.endpoint_property IPv4/IPv6 ̵ͭӡͭ
- # IPɥ쥹ֹץͤȤ֤
- #
- # @return (ipv4, ipv4_list, ipv6, ipv6_list) endpoint_property
- # ipv4, ipv6: IPv4/IPv6 ̵ͭTrue/False
- # ipv4_list, ipv6_list: ͭˤ륢ɥ쥹ֹ桢ꥹȤξϤ٤ͭ
- #
- # @else
- # @brief ManagerServant initialization
- #
- # Getting corba.endpoint_property value and return them as a
- # tuple. This function obtains corbaendpoint_property that specifies
- # if IPv4/IPv6 addresses and IP address numbes to be published, and
- # it returnes them as tuple.
- #
- # @return (ipv4, ipv4_list, ipv6, ipv6_list) endpoint_property value
- # ipv4, ipv6: A True/False flag whether to use IPv4 / IPv6 address
- # ipv4_list, ipv6_list: List of valid address number, empty means
- # valid all addresses
- #
- # @endif
- #
- def endpointPropertySwitch(self):
- ipv4 = True; ipv4_list = []
- ipv6 = True; ipv6_list = []
-
- ep_prop = self._config.getProperty("corba.endpoint_property", "ipv4")
- ep_prop = ep_prop.lower()
-
- import re
- if ep_prop.count("ipv4"):
- ipv4 = True
- m = re.match(r"ipv4\(([0-9, ]*)\)", ep_prop)
- if m: ipv4_list = map(int, m.group(1).split(","))
- else:
- ipv4 = False
- if ep_prop.count("ipv6"):
- ipv6 = True
- m = re.match(r"ipv6\(([0-9, ]*)\)", ep_prop)
- if m: ipv6_list = map(int, m.group(1).split(","))
- else:
- ipv6 = False
- return (ipv4, ipv4_list, ipv6, ipv6_list)
-
- ##
- # @if jp
- # @brief Endpoint ץѥƥ
- #
- # δؿϥɥݥȤץѥƥ corba.endpoints ˻ꤹ롣
- # Ϳ줿֥ȥե鸽ߤΥץΥɥ
- # (IPɥ쥹, ݡֹ) corba.endpoints,
- # corba.endpoints_ipv4, corba.endpoints_ipv6 ˻ꤹ롣
- #
- # @param objref ֥ȥե
- #
- # @else
- # @brief Setting endpoint information to property
- #
- # This function sets endpoint information to corba.endpoints
- # property. It extract endpoint information (list of IP address,
- # port number) from given object reference, and set them to
- # corba.endpoints, corba.endpoints_ipv4, corba.endpoints_ipv6
- #
- # @param objref A object reference
- #
- # @endif
- #
- def setEndpointProperty(self, objref):
- import re
- (ipv4, ipv4_list, ipv6, ipv6_list) = self.endpointPropertySwitch()
- re_ipv4 = r"((?:(?:25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.){3}(?:25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?))"
- re_ipv6 = r"(([0-9a-f]{1,4})(:([0-9a-f]{1,4})){7}((\.|#|p| port )\d{1,4})?)|\[([0-9a-f]{1,4})(:([0-9a-f]{1,4})){7}\]"
-
- iorstr = self._orb.object_to_string(objref)
-
- ior = CORBA_IORUtil.toIOR(iorstr)
-
-
-
- endpoints = CORBA_IORUtil.getEndpoints(ior)
-
-
- epstr = ""; epstr_ipv4 = ""; epstr_ipv6 = "";
- ipv4_count = 0; ipv6_count = 0
- for e in endpoints:
- if ipv4 and re.match(re_ipv4, e.host):
- if len(ipv4_list) == 0 or ipv4_list.count(ipv4_count):
- epstr += e.host + ":" + str(e.port) + ", "
- epstr_ipv4 += e.host + ":" + str(e.port) + ", "
- ipv4_count += 1
- if ipv6 and re.match(re_ipv6, e.host):
- if len(ipv6_list) == 0 or ipv6_list.count(ipv6_count):
- epstr += e.host + ":" + str(e.port) + ", "
- epstr_ipv6 += e.host + ":" + str(e.port) + ", "
- ipv6_count += 1
- epstr = epstr[:-2]
- epstr_ipv4 = epstr_ipv4[:-2]
- epstr_ipv6 = epstr_ipv6[:-2]
- self._config.setProperty("corba.endpoints", epstr)
- self._config.setProperty("corba.endpoints_ipv4", epstr_ipv4)
- self._config.setProperty("corba.endpoints_ipv6", epstr_ipv6)
-
- ##
- # @if jp
- # @brief ManagerServant ν
- #
- # @return Timer ¹Է(:true:false)
- #
- # @else
- # @brief ManagerServant initialization
- #
- # @return Timer Initialization result (Successful:true, Failed:false)
- #
- # @endif
- #
- def initManagerServant(self):
- self._rtcout.RTC_TRACE("Manager.initManagerServant()")
- if not OpenRTM_aist.toBool(
- self._config.getProperty("manager.corba_servant"), "YES","NO",True):
- return True
-
-
- self._mgrservant = OpenRTM_aist.ManagerServant()
- if self._config.getProperty("corba.endpoints_ipv4") == "":
- self.setEndpointProperty(self._mgrservant.getObjRef())
- prop = self._config.getNode("manager")
- names = OpenRTM_aist.split(prop.getProperty("naming_formats"),",")
-
- if OpenRTM_aist.toBool(prop.getProperty("is_master"),
- "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"),
- "YES", "NO", True) and \
- not OpenRTM_aist.toBool(self._config.getProperty("manager.is_master"),
- "YES", "NO", False):
- tm = OpenRTM_aist.TimeValue(10, 0)
- if self._config.findNode("corba.update_master_manager.interval"):
- duration = float(self._config.getProperty("corba.update_master_manager.interval"))
- if duration:
- tm.set_time(duration)
- if self._timer:
- self._timer.registerListenerObj(self._mgrservant,
- OpenRTM_aist.ManagerServant.updateMasterManager,
- tm)
-
- otherref = None
-
-
-
-
- return True
-
-
- # bool Manager::initLocalService()
- def initLocalService(self):
- self._rtcout.RTC_TRACE("Manager::initLocalService()")
- admin_ = OpenRTM_aist.LocalServiceAdmin.instance()
- prop_ = OpenRTM_aist.Properties(prop=self._config.getNode("manager.local_service"))
- admin_.init(prop_)
- self._rtcout.RTC_DEBUG("LocalServiceAdmin's properties:")
- self._rtcout.RTC_DEBUG("%s",prop_)
-
- svclist_ = admin_.getServiceProfiles()
- for svc_ in svclist_:
- self._rtcout.RTC_INFO("Available local service: %s (%s)",
- (svc_.name, svc_.uuid))
- return True
-
-
- ##
- # @if jp
- # @brief NamingManager ϿƤݡͥȤνλ
- #
- # NamingManager ϿƤRTݡͥȤ ExecutionContext
- # ꥹȤݡͥȤλ롣
- #
- # @param self
- #
- # @else
- #
- # @endif
- def shutdownComponents(self):
- self._rtcout.RTC_TRACE("Manager.shutdownComponents()")
- comps = self._namingManager.getObjects()
- for comp in comps:
- try:
- comp.exit()
- p = OpenRTM_aist.Properties(key=comp.getInstanceName())
- p.mergeProperties(comp.getProperties())
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
-
-
- for ec in self._ecs:
- try:
- self._poa.deactivate_object(self._poa.servant_to_id(ec))
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
-
-
-
- ##
- # @if jp
- # @brief RTݡͥȤϿ
- #
- # ꤷRTݡͥȤΥ͡ߥӥ
- # Ͽ롣
- #
- # @param self
- # @param comp ϿоRTݡͥ
- #
- # @else
- #
- # @endif
- def cleanupComponent(self, comp):
- self._rtcout.RTC_TRACE("Manager.cleanupComponent()")
- self.unregisterComponent(comp)
-
- return
-
-
- ##
- # @if jp
- # @brief RTݡͥȤκ
- #
- # notifyFinalized()ˤäϿ줿RTݡͥȤ롣
- #
- # @else
- # @brief This method deletes RT-Components.
- #
- # This method deletes RT-Components registered by notifyFinalized().
- #
- # @endif
- #
- # void cleanupComponents();
- def cleanupComponents(self):
- self._rtcout.RTC_VERBOSE("Manager.cleanupComponents()")
- guard = OpenRTM_aist.ScopedLock(self._finalized.mutex)
- self._rtcout.RTC_VERBOSE("%d components are marked as finalized.",
- len(self._finalized.comps))
- for _comp in self._finalized.comps:
- self.deleteComponent(comp=_comp)
-
- self._finalized.comps = []
- del guard
- return
-
-
- ##
- # @if jp
- # @brief RTݡͥȤκ
- #
- # RTݡͥȤϿ롣
- # Ͽ줿RTݡͥȤ cleanupComponents() Ǻ롣
- #
- # @param RTݡͥ
- #
- # @else
- # @brief This method deletes RT-Components.
- #
- # The deleted RT-Component is registered. The registered RT-Components
- # are deleted by cleanupComponents().
- #
- # @param Deleted RT component
- # @endif
- #
- # void notifyFinalized(RTObject_impl* comp);
- def notifyFinalized(self, comp):
- self._rtcout.RTC_TRACE("Manager.notifyFinalized()")
- guard = OpenRTM_aist.ScopedLock(self._finalized.mutex)
- self._finalized.comps.append(comp)
- del guard
- return
-
-
- ##
- # @if jp
- # @brief createComponentΰ
- # @ param self
- # @ param comp_arg(str)
- # @ param comp_id(Properties object)
- # @ param comp_conf(Properties object)
- # @ return True or False
- # @else
- #
- # @endif
- #
- # bool procComponentArgs(const char* comp_arg,
- # coil::Properties& comp_id,
- # coil::Properties& comp_conf)
- def procComponentArgs(self, comp_arg, comp_id, comp_conf):
- id_and_conf = [s.strip() for s in comp_arg.split("?")]
-
- if len(id_and_conf) != 1 and len(id_and_conf) != 2:
- self._rtcout.RTC_ERROR("Invalid arguments. Two or more '?'")
- return False
-
- prof = OpenRTM_aist.CompParam.prof_list
- param_num = len(prof)
-
-
- if id_and_conf[0].find(":") == -1:
- id_and_conf[0] = prof[0] + ":::" + id_and_conf[0] + "::"
-
- id = [s.strip() for s in id_and_conf[0].split(":")]
-
-
- if len(id) != param_num:
- self._rtcout.RTC_ERROR("Invalid RTC id format.")
- return False
-
- #prof = ["RTC", "vendor", "category", "implementation_id", "language", "version"]
-
- if id[0] != prof[0]:
- self._rtcout.RTC_ERROR("Invalid id type.")
- return False
-
- for i in range(1,param_num):
- comp_id.setProperty(prof[i], id[i])
- self._rtcout.RTC_TRACE("RTC basic profile %s: %s", (prof[i], id[i]))
-
-
- if len(id_and_conf) == 2:
- conf = [s.strip() for s in id_and_conf[1].split("&")]
- for i in range(len(conf)):
- keyval = [s.strip() for s in conf[i].split("=")]
- if len(keyval) > 1:
- comp_conf.setProperty(keyval[0],keyval[1])
- self._rtcout.RTC_TRACE("RTC property %s: %s", (keyval[0], keyval[1]))
-
- return True
-
-
- # bool procContextArgs(const char* ec_args,
- # std::string& ec_id,
- # coil::Properties& ec_conf);
- def procContextArgs(self, ec_args, ec_id, ec_conf):
- id_and_conf = [s.strip() for s in ec_args.split("?")]
-
- if len(id_and_conf) != 1 and len(id_and_conf) != 2:
- self._rtcout.RTC_ERROR("Invalid arguments. Two or more '?'")
- return False
-
- if (id_and_conf[0] == "") or id_and_conf[0] is None:
- self._rtcout.RTC_ERROR("Empty ExecutionContext's name")
- return False
-
- ec_id[0] = id_and_conf[0]
-
- if len(id_and_conf) == 2:
- conf = [s.strip() for s in id_and_conf[1].split("&")]
- for i in range(len(conf)):
- k = [s.strip() for s in conf[i].split("=")]
- ec_conf.setProperty(k[0],k[1])
- self._rtcout.RTC_TRACE("EC property %s: %s",(k[0],k[1]))
-
- return True
-
-
- ##
- # @if jp
- # @brief RTݡͥȤΥե졼
- #
- # RTݡͥȤηӥ˵ܤ줿ץѥƥե
- # ɤ߹ߡݡͥȤꤹ롣
- # ޤƥݡͥȤ NamingService Ͽ̾Τꤹ롣
- #
- # @param self
- # @param comp ե졼оRTݡͥ
- #
- # @else
- #
- # @endif
- # void configureComponent(RTObject_impl* comp, const coil::Properties& prop);
- def configureComponent(self, comp, prop):
- category = comp.getCategory()
- type_name = comp.getTypeName()
- inst_name = comp.getInstanceName()
-
- type_conf = category + "." + type_name + ".config_file"
- name_conf = category + "." + inst_name + ".config_file"
-
- type_prop = OpenRTM_aist.Properties()
-
- name_prop = OpenRTM_aist.Properties()
- config_fname = []
-
- if self._config.getProperty(name_conf) != "":
- try:
- conff = open(self._config.getProperty(name_conf))
- name_prop.load(conff)
- self._rtcout.RTC_INFO("Component instance conf file: %s loaded.",
- self._config.getProperty(name_conf))
- self._rtcout.RTC_DEBUG(name_prop)
- config_fname.append(self._config.getProperty(name_conf))
- except:
- print("Not found. : %s" % self._config.getProperty(name_conf))
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- else:
- name_prop.load(conff)
-
- if self._config.findNode(category + "." + inst_name):
- temp_ = OpenRTM_aist.Properties(prop=self._config.getNode(category+"."+inst_name))
- keys_ = temp_.propertyNames()
- if not (len(keys_) == 1 and keys_[-1] == "config_file"):
- name_prop.mergeProperties(self._config.getNode(category + "." + inst_name))
- self._rtcout.RTC_INFO("Component name conf exists in rtc.conf. Merged.")
- self._rtcout.RTC_DEBUG(name_prop)
- if self._config.findNode("config_file"):
- config_fname.append(self._config.getProperty("config_file"))
-
- if self._config.getProperty(type_conf) != "":
- try:
- conff = open(self._config.getProperty(type_conf))
- type_prop.load(conff)
- self._rtcout.RTC_INFO("Component type conf file: %s loaded.",
- self._config.getProperty(type_conf))
- self._rtcout.RTC_DEBUG(type_prop)
- config_fname.append(self._config.getProperty(type_conf))
- except:
- print("Not found. : %s" % self._config.getProperty(type_conf))
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- else:
- type_prop.load(conff)
-
- if self._config.findNode(category + "." + type_name):
- temp_ = OpenRTM_aist.Properties(prop=self._config.getNode(category+"."+type_name))
- keys_ = temp_.propertyNames()
- if not (len(keys_) == 1 and keys_[-1] == "config_file"):
- type_prop.mergeProperties(self._config.getNode(category + "." + type_name))
- self._rtcout.RTC_INFO("Component type conf exists in rtc.conf. Merged.")
- self._rtcout.RTC_DEBUG(type_prop)
- if self._config.findNode("config_file"):
- config_fname.append(self._config.getProperty("config_file"))
-
- comp.setProperties(prop)
- type_prop.mergeProperties(name_prop)
- type_prop.setProperty("config_file",OpenRTM_aist.flatten(OpenRTM_aist.unique_sv(config_fname)))
- comp.setProperties(type_prop)
-
- comp_prop = OpenRTM_aist.Properties(prop=comp.getProperties())
-
- naming_formats = self._config.getProperty("naming.formats")
- if comp_prop.findNode("naming.formats"):
- naming_formats = comp_prop.getProperty("naming.formats")
- naming_formats = OpenRTM_aist.flatten(OpenRTM_aist.unique_sv(OpenRTM_aist.split(naming_formats, ",")))
-
- naming_names = self.formatString(naming_formats, comp.getProperties())
- comp.getProperties().setProperty("naming.formats",naming_formats)
- comp.getProperties().setProperty("naming.names",naming_names)
- return
-
-
- ##
- # @if jp
- # @brief ץѥƥΥޡ
- #
- # ꤵ줿եꤵƤץѥƥɤ
- # ¸Ѥߥץѥƥȥޡ롣
- #
- # @param self
- # @param prop ޡоݥץѥƥ
- # @param file_name ץѥƥҤƤե̾
- #
- # @return ޡ¹Է(ޡ:trueޡ:false)
- #
- # @else
- #
- # @endif
- def mergeProperty(self, prop, file_name):
- if file_name == "":
- self._rtcout.RTC_ERROR("Invalid configuration file name.")
- return False
-
- if file_name[0] != '\0':
-
- try:
- conff = open(file_name)
- except:
- print("Not found. : %s" % file_name)
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- else:
- prop.load(conff)
- conff.close()
- return True
-
- return False
-
-
- ##
- # @if jp
- # @brief NamingServer ϿݤϿȤΩƤ
- #
- # ꤵ줿ȥץѥƥ NameServer Ͽݤξ
- # ȤΩƤ롣
- # ƽʸΰ̣ϰʲΤȤ
- # - % : ƥȤζڤ
- # - n : ̾
- # - t : ̾
- # - m : ̾
- # - v : С
- # - V : ٥
- # - c : ƥ
- # - h : ۥ̾
- # - M : ޥ̾͡
- # - p : ץID
- #
- # @param self
- # @param naming_format NamingService Ͽ
- # @param prop Ѥץѥƥ
- #
- # @return Ѵ
- #
- # @else
- #
- # @endif
- def formatString(self, naming_format, prop):
- name_ = naming_format
- str_ = ""
- count = 0
- len_ = len(name_)
- it = iter(name_)
-
- try:
- while 1:
- if sys.version_info[0] == 2:
- n = it.next()
- else:
- n = it.__next__()
- if n == '%':
- count+=1
- if not (count % 2):
- str_ += n
- elif n == '$':
- count = 0
- if sys.version_info[0] == 2:
- n = it.next()
- else:
- n = it.__next__()
- if n == '{' or n == '(':
- n = it.next()
- env = ""
- while True:
- if n == '}' or n == ')':
- break
- env += n
- if sys.version_info[0] == 2:
- n = it.next()
- else:
- n = it.__next__()
- envval = os.getenv(env)
- if envval:
- str_ += envval
- else:
- str_ += n
- else:
- if count > 0 and (count % 2):
- count = 0
- if n == "n": str_ += prop.getProperty("instance_name")
- elif n == "t": str_ += prop.getProperty("type_name")
- elif n == "m": str_ += prop.getProperty("type_name")
- elif n == "v": str_ += prop.getProperty("version")
- elif n == "V": str_ += prop.getProperty("vendor")
- elif n == "c": str_ += prop.getProperty("category")
- elif n == "h": str_ += self._config.getProperty("os.hostname")
- elif n == "M": str_ += self._config.getProperty("manager.name")
- elif n == "p": str_ += str(self._config.getProperty("manager.pid"))
- else: str_ += n
- else:
- count = 0
- str_ += n
- except:
- # Caught StopIteration exception.
- return str_
-
- #return str_
-
-
- ##
- # @if jp
- # @brief Хåեμ
- #
- # ޥ͡ꤷХåե롣
- #
- # @param self
- #
- # @return ޥ͡ꤷХåե
- #
- # @else
- #
- # @endif
- def getLogbuf(self,name="manager"):
- if not OpenRTM_aist.toBool(self._config.getProperty("logger.enable"), "YES", "NO", True):
- return OpenRTM_aist.LogStream().getLogger(name)
-
- if self._rtcout is None:
- self._rtcout = OpenRTM_aist.LogStream()
- self._rtcout.setLogLevel(self._config.getProperty("logger.log_level"))
- return self._rtcout.getLogger(name)
- else:
- return self._rtcout.getLogger(name)
-
-
- ##
- # @if jp
- # @brief ޥ͡㥳ե졼μ
- #
- # ޥ͡ꤷե졼롣
- #
- # @param self
- #
- # @return ޥ͡Υե졼
- #
- # @else
- #
- # @endif
- def getConfig(self):
- return self._config
-
-
- ##
- # @if jp
- # @brief ݡͥȥե(.py)
- #
- # ޥ͡ꤷե졼롣
- #
- # @param self
- #
- # @return ޥ͡Υե졼
- #
- # @else
- #
- # @endif
- def __try_direct_load(self, file_name):
- try:
- #pathChanged=False
- splitted_name = os.path.split(file_name)
- save_path = sys.path[:]
- sys.path.append(splitted_name[0])
- import_name = splitted_name[-1].split(".py")[0]
- mo = __import__(import_name)
- sys.path = save_path
- _spec = getattr(mo,import_name.lower()+"_spec",None)
- _class = getattr(mo,import_name,None)
- if _spec and _class:
- prof = OpenRTM_aist.Properties(defaults_str=_spec)
- self.registerFactory(prof,
- _class,
- OpenRTM_aist.Delete)
- except:
- self._rtcout.RTC_ERROR("Module load error: %s", file_name)
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
-
-
-
-
-
- ##
- # @if jp
- #
- # @brief ꤷRTݡͥȤݻݡȤNamingService˥Хɤ
- # ݡȤpublish_topicȤץѥƥǥȥԥå̾ꤷȥԥå̾ΥƥȤβϿ
- #
- #
- # @param self
- # @param comp RTݡͥ
- #
- # @else
- #
- # @brief
- # @param self
- # @param comp
- #
- # @endif
- # void publishPorts(RTObject_impl* comp)
- def publishPorts(self, comp):
- ports = comp.get_ports()
- for p in ports:
- prof = p.get_port_profile()
- prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
-
- if (prop.hasKey("publish_topic") is None or not str(prop.getProperty("publish_topic"))) and (prop.hasKey("subscribe_topic") is None or not str(prop.getProperty("subscribe_topic"))) and (prop.hasKey("rendezvous_point") is None or not str(prop.getProperty("rendezvous_point"))):
- continue
-
-
- if prop.getProperty("port.port_type") == "DataOutPort":
- name = "dataports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
- name += prof.name
- name += ".outport"
- elif prop.getProperty("port.port_type") == "DataInPort":
- name = "dataports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
- name += prof.name
- name += ".inport"
- elif prop.getProperty("port.port_type") == "CorbaPort":
- name = "svcports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
- name += prof.name
- name += ".svc"
-
- else:
-
- self._rtcout.RTC_WARN("Unknown port type: %s" % str(prop.getProperty("port.port_type")))
- continue
-
-
- port = self._poa.reference_to_servant(p)
-
- self._namingManager.bindPortObject(name, port)
-
- ##
- # @if jp
- #
- # @brief ꤷRTݡͥȤݻݡȤƱȥԥå̾ʲ³ǽʥݡȤ³
- #
- #
- # @param self
- # @param comp RTݡͥ
- #
- # @else
- #
- # @brief
- # @param self
- # @param comp
- #
- # @endif
- # void subscribePorts(RTObject_impl* comp)
- def subscribePorts(self, comp):
- ports = comp.get_ports()
-
- for p in ports:
-
- prof = p.get_port_profile()
- prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
-
- if (prop.hasKey("publish_topic") is None or not str(prop.getProperty("publish_topic"))) and (prop.hasKey("subscribe_topic") is None or not str(prop.getProperty("subscribe_topic"))) and (prop.hasKey("rendezvous_point") is None or not str(prop.getProperty("rendezvous_point"))):
- continue
-
-
-
-
- if prop.getProperty("port.port_type") == "DataOutPort":
- name = "dataports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
-
- nsports = self.getPortsOnNameServers(name, "inport")
-
- self.connectDataPorts(p, nsports)
-
- elif prop.getProperty("port.port_type") == "DataInPort":
- name = "dataports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
- nsports = self.getPortsOnNameServers(name, "outport")
- self.connectDataPorts(p, nsports)
-
- elif prop.getProperty("port.port_type") == "CorbaPort":
- name = "svcports.port_cxt/"
- name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
- nsports = self.getPortsOnNameServers(name, "svc")
- self.connectServicePorts(p, nsports)
-
- ##
- # @if jp
- #
- # @brief Ϳ줿ѥʲλꤵ줿kindΥݡȤ
- #
- # @param self
- # @param nsname ѥ
- # @param kind kind
- # @return ݡȤΥ֥ȥեΥꥹ
- #
- # @else
- #
- # @brief
- # @param self
- # @param nsname
- # @param kind
- # @return
- #
- # @endif
- # PortServiceList_var getPortsOnNameServers(std::string nsname,std::string kind)
- def getPortsOnNameServers(self, nsname, kind):
- ports = []
- ns = self._namingManager.getNameServices()
- for n in ns:
- noc = n.ns
- if noc is None:
- continue
- cns = noc._cosnaming
- if cns is None:
- continue
-
- bl = cns.listByKind(nsname,kind)
-
- for b in bl:
- if b.binding_type != CosNaming.nobject:
- continue
- tmp = b.binding_name[0].id + "." + b.binding_name[0].kind
-
- nspath = "/" + nsname + "/" + tmp
- nspath.replace("\\","")
-
- obj = cns.resolveStr(nspath)
- portsvc = obj
-
- if CORBA.is_nil(portsvc):
- continue
-
- try:
- portsvc.get_port_profile()
-
- except:
- continue
- ports.append(portsvc)
-
- return ports
-
- ##
- # @if jp
- # @brief ꤷǡݡȤꤷꥹΥǡݡƤ³
- # @param self
- # @param port оݤΥǡݡ
- # @param target_ports ³оݤΥǡݡȤΥꥹ
- # @else
- #
- # @brief
- # @param self
- # @param port
- # @param target_ports
- # @endif
- # void connectDataPorts(PortService_ptr port,PortServiceList_var& target_ports)
- def connectDataPorts(self, port, target_ports):
- for p in target_ports:
- if port._is_equivalent(p):
- continue
- con_name = ""
- p0 = port.get_port_profile()
- p1 = p.get_port_profile()
- con_name += p0.name
- con_name += ":"
- con_name += p1.name
- prop = OpenRTM_aist.Properties()
- if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(con_name,prop,port,p):
- self._rtcout.RTC_ERROR("Connection error in topic connection.")
-
-
- ##
- # @if jp
- # @brief ꤷӥݡȤꤷꥹΥӥݡƤ³
- # @param self
- # @param port оݤΥӥݡ
- # @param target_ports ³оݤΥӥݡȤΥꥹ
- # @else
- #
- # @brief
- # @param self
- # @param port
- # @param target_ports
- # @endif
- # void connectServicePorts(PortService_ptr port,PortServiceList_var& target_ports)
- def connectServicePorts(self, port, target_ports):
- for p in target_ports:
- if port._is_equivalent(p):
- continue
- con_name = ""
- p0 = port.get_port_profile()
- p1 = p.get_port_profile()
- con_name += p0.name
- con_name += ":"
- con_name += p1.name
- prop = OpenRTM_aist.Properties()
- if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(con_name,prop,port,p):
- self._rtcout.RTC_ERROR("Connection error in topic connection.")
-
-
- ##
- # @if jp
- # @brief ưrtc.confǻꤷݡȤ³
- # :
- # manager.components.preconnect: RTC0.port0?port=RTC0.port1&interface_type=corba_cdr&dataflow_type=pull&~,~
- # @param self
- # @else
- #
- # @brief
- # @param self
- # @endif
- # void initPreConnection()
- def initPreConnection(self):
- self._rtcout.RTC_TRACE("Connection pre-creation: %s" % str(self._config.getProperty("manager.components.preconnect")))
- connectors = str(self._config.getProperty("manager.components.preconnect")).split(",")
-
- for c in connectors:
- c = c.strip()
- if len(c) == 0:
- continue
- 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) and k.find("port") != -1:
- 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
-
- if not ("dataflow_type" in configs.keys()):
- configs["dataflow_type"] = "push"
- if not ("interface_type" in configs.keys()):
- configs["interface_type"] = "corba_cdr"
-
-
-
- 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:
- self._rtcout.RTC_ERROR("%s not found." % comp0_name)
- continue
- comp0_ref = comp0.getObjRef()
- else:
- rtcs = self._namingManager.string_to_component(comp0_name)
-
- if len(rtcs) == 0:
- self._rtcout.RTC_ERROR("%s not found." % comp0_name)
- continue
- comp0_ref = rtcs[0]
- 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: " % port0_str)
- continue
-
- if len(ports) == 0:
- 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, RTC.PortService._nil):
- self._rtcout.RTC_ERROR("Connection error: %s" % c)
-
- for port_str in ports:
-
- tmp = port_str.split(".")
- tmp.pop()
- comp_name = OpenRTM_aist.flatten(tmp,".")
- port_name = port_str
-
-
-
-
- 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]
-
-
- port_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(comp_ref, port_name)
-
- if CORBA.is_nil(port_var):
- self._rtcout.RTC_DEBUG("port %s found: " % port_str)
- continue
-
- 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, port_var):
- self._rtcout.RTC_ERROR("Connection error: %s" % c)
-
-
-
-
- ##
- # @if jp
- # @brief ưrtc.confǻꤷRTCƥ١
- # :
- # manager.components.preactivation: RTC1,RTC2~
- # @param self
- # @else
- #
- # @brief
- # @param self
- # @endif
- # void initPreActivation()
- def initPreActivation(self):
-
- 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:
- c = c.strip()
- if c:
- comp_ref = None
- if c.find("://") == -1:
- comp = self.getComponent(c)
- if comp is None:
- self._rtcout.RTC_ERROR("%s not found." % c)
- continue
- comp_ref = comp.getObjRef()
- else:
- rtcs = self._namingManager.string_to_component(c)
- if len(rtcs) == 0:
- self._rtcout.RTC_ERROR("%s not found." % c)
- continue
- comp_ref = rtcs[0]
- ret = OpenRTM_aist.CORBA_RTCUtil.activate(comp_ref)
- if ret != RTC.RTC_OK:
- self._rtcout.RTC_ERROR("%s activation filed." % c)
- else:
- self._rtcout.RTC_INFO("%s activated." % c)
-
-
- ##
- # @if jp
- # @brief ưrtc.confǻꤷRTC
- # :
- # manager.components.precreate RTC1,RTC2~
- # @param self
- # @else
- #
- # @brief
- # @param self
- # @endif
- # void initPreCreation()
- def initPreCreation(self):
- comps = [s.strip() for s in self._config.getProperty("manager.components.precreate").split(",")]
- for i in range(len(comps)):
- if comps[i] is None or comps[i] == "":
- continue
-
- self.createComponent(comps[i])
-
-
- ##
- # @if jp
- # @brief
- # @else
- #
- # @brief
- # @param self
- # @endif
- # void invokeInitProc()
- def invokeInitProc(self):
- if self._initProc:
- self._initProc(self)
-
- ##
- # @if jp
- # @brief ManagerServant
- #
- #
- # @param self
- # @return ManagerServant
- # @else
- #
- # @brief
- # @param self
- # @return
- # @endif
- # ManagerServant* getManagerServant()
- def getManagerServant(self):
- self._rtcout.RTC_TRACE("Manager.getManagerServant()")
- return self._mgrservant
-
-
- ##
- # @if jp
- # @brief NamingManager
- #
- #
- # @param self
- # @return NamingManager
- # @else
- #
- # @brief
- # @param self
- # @return
- # @endif
- # NamingManager* getNaming()
- def getNaming(self):
- self._rtcout.RTC_TRACE("Manager.getNaming()")
- return self._namingManager
-
- ##
- # @if jp
- # @brief ޥ͡㽪λå
- #
- #
- # @param self
- # @param sleep_time Ե
- # @return task
- # @else
- #
- # @brief
- # @param self
- # @param sleep_time
- # @return task
- # @endif
- def createShutdownThread(self, sleep_time=0):
- self._rtcout.RTC_TRACE("Manager.createShutdownThread()")
- self._shutdown_thread = terminate_Task(self, sleep_time)
- self._shutdown_thread.activate()
- return self._shutdown_thread
-
- #============================================================
- # ݡͥȥޥ͡
- #============================================================
- ##
- # @if jp
- # @class InstanceName
- # @brief ObjectManager ѥե
- #
- # @else
- #
- # @endif
- class InstanceName:
+class Manager:
"""
"""
##
# @if jp
- # @brief ȥ饯
+ # @brief コピーコンストラクタ
#
- # ȥ饯
+ # コピーコンストラクタ
#
# @param self
- # @param name оݥݡͥ̾(ǥե:None)
- # @param factory оݥեȥ̾(ǥե:None)
+ # @param _manager コピー元マネージャオブジェクト(デフォルト値:None)
#
# @else
+ # @brief Protected Copy Constructor
#
# @endif
- def __init__(self, name=None, factory=None, prop=None):
- if prop:
- self._name = prop.getProperty("instance_name")
- elif factory:
- self._name = factory.getInstanceName()
- elif name:
- self._name = name
- else:
- self._name = ""
+ def __init__(self, _manager=None):
+ self._initProc = None
+ self._compManager = OpenRTM_aist.ObjectManager(self.InstanceName)
+ self._factory = OpenRTM_aist.ObjectManager(self.FactoryPredicate)
+ self._ecfactory = OpenRTM_aist.ObjectManager(self.ECFactoryPredicate)
+ self._ecs = []
+ self._scheduler = OpenRTM_aist.PeriodicTimer()
+ self._invoker = OpenRTM_aist.DelayedTimer()
+ self._needsTimer = False
+ self._orb = None
+ self._poa = None
+ self._poaManager = None
+ self._finalized = self.Finalized()
+ self._listeners = OpenRTM_aist.ManagerActionListeners()
+ signal.signal(signal.SIGINT, handler)
+ self._rtcout = None
+ self._mgrservant = None
+ self._isRunning = False
+ self._threadMain = None
+ self._threadOrb = None
+ self._eclist = []
- def __call__(self, comp):
- if not self._name:
- return False
- return self._name == comp.getInstanceName()
-
-
-
- #============================================================
- # ݡͥȥեȥ
- #============================================================
- ##
- # @if jp
- # @class FactoryPredicate
- # @brief ݡͥȥեȥ긡ѥե
- #
- # @else
- #
- # @endif
- class FactoryPredicate:
-
- def __init__(self, name=None, prop=None, factory=None):
- if name:
- self._vendor = ""
- self._category = ""
- self._impleid = name
- self._version = ""
- elif prop:
- self._vendor = prop.getProperty("vendor")
- self._category = prop.getProperty("category")
- self._impleid = prop.getProperty("implementation_id")
- self._version = prop.getProperty("version")
- elif factory:
- self._vendor = factory.profile().getProperty("vendor")
- self._category = factory.profile().getProperty("category")
- self._impleid = factory.profile().getProperty("implementation_id")
- self._version = factory.profile().getProperty("version")
-
-
- def __call__(self, factory):
- if self._impleid == "":
- return False
+ return
- _prop = OpenRTM_aist.Properties(prop=factory.profile())
+ ##
+ # @if jp
+ # @brief マネージャの初期化
+ #
+ # マネージャを初期化する static 関数。
+ # マネージャをコマンドライン引数を与えて初期化する。
+ # マネージャを使用する場合は、必ずこの初期化メンバ関数 init() を
+ # 呼ばなければならない。
+ # マネージャのインスタンスを取得する方法として、init(), instance() の
+ # 2つの static 関数が用意されているが、初期化はinit()でしか行われないため、
+ # Manager の生存期間の一番最初にはinit()を呼ぶ必要がある。
+ #
+ # ※マネージャの初期化処理
+ # - initManager: 引数処理、configファイルの読み込み、サブシステム初期化
+ # - initLogger: Logger初期化
+ # - initORB: ORB 初期化
+ # - initNaming: NamingService 初期化
+ # - initExecutionContext: ExecutionContext factory 初期化
+ # - initTimer: Timer 初期化
+ #
+ # @param argv コマンドライン引数
+ #
+ # @return Manager の唯一のインスタンスの参照
+ #
+ # @else
+ # @brief Initializa manager
+ #
+ # This is the static function to tintialize the Manager.
+ # The Manager is initialized by given arguments.
+ # At the starting the manager, this static function "must" be called from
+ # application program. The manager has two static functions to get
+ # the instance, "init()" and "instance()". Since initializing
+ # process is only performed by the "init()" function, the "init()" has
+ # to be called at the beginning of the lifecycle of the Manager.
+ # function.
+ #
+ # @param argv The array of the command line arguments.
+ #
+ # @endif
- if self._impleid != _prop.getProperty("implementation_id"):
- return False
+ def init(*arg):
+ global manager
+ global mutex
+ if len(arg) == 1:
+ argv = arg[0]
+ elif len(arg) == 2 and \
+ isinstance(arg[0], int) and \
+ isinstance(arg[1], list):
+ # for 0.4.x
+ argv = arg[1]
+ else:
+ print("Invalid arguments for init()")
+ print("init(argc,argv) or init(argv)")
+ return None
- if self._vendor != "" and self._vendor != _prop.getProperty("vendor"):
- return False
+ if manager is None:
+ guard = OpenRTM_aist.ScopedLock(mutex)
- if self._category != "" and self._category != _prop.getProperty("category"):
- return False
+ manager = Manager()
+ manager.initManager(argv)
+ manager.initFactories()
+ manager.initLogger()
+ manager.initORB()
+ manager.initNaming()
+ manager.initExecContext()
+ manager.initComposite()
+ manager.initTimer()
+ manager.initManagerServant()
- if self._version != "" and self._version != _prop.getProperty("version"):
- return False
+ return manager
- return True
+ init = staticmethod(init)
+ ##
+ # @if jp
+ # @brief マネージャのインスタンスの取得
+ #
+ # マネージャのインスタンスを取得する static 関数。
+ # この関数を呼ぶ前に、必ずこの初期化関数 init() が呼ばれている必要がある。
+ #
+ # @return Manager の唯一のインスタンスの参照
+ #
+ # @else
+ #
+ # @brief Get instance of the manager
+ #
+ # This is the static function to get the instance of the Manager.
+ # Before calling this function, ensure that the initialization function
+ # "init()" is called.
+ #
+ # @return The only instance reference of the manager
+ #
+ # @endif
+ def instance():
+ global manager
+ global mutex
- #============================================================
- # ExecutionContextեȥ
- #============================================================
- ##
- # @if jp
- # @class ECFactoryPredicate
- # @brief ExecutionContextեȥ긡ѥե
- #
- # @else
- #
- # @endif
- class ECFactoryPredicate:
+ if manager is None:
+ guard = OpenRTM_aist.ScopedLock(mutex)
+ manager = Manager()
+ manager.initManager(None)
+ manager.initFactories()
+ manager.initLogger()
+ manager.initORB()
+ manager.initNaming()
+ manager.initExecContext()
+ manager.initComposite()
+ manager.initTimer()
+ manager.initManagerServant()
+ return manager
+ instance = staticmethod(instance)
- def __init__(self, name=None, factory=None):
- if name:
- self._name = name
- elif factory:
- self._name = factory.name()
+ ##
+ # @if jp
+ # @brief マネージャ終了処理
+ #
+ # マネージャの終了処理を実行する。
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
- def __call__(self, factory):
- return self._name == factory.name()
+ def terminate(self):
+ self._isRunning = False
+ ##
+ # @if jp
+ # @brief マネージャ・シャットダウン
+ #
+ # マネージャの終了処理を実行する。
+ # ORB、タイマースレッドの終了後、同期を取って終了する。
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
- #============================================================
- # Module Fanctor
- #============================================================
- ##
- # @if jp
- # @class ModulePredicate
- # @brief Moduleѥե
- #
- # @else
- #
- # @endif
- class ModulePredicate:
+ def shutdown(self):
+ self._rtcout.RTC_TRACE("Manager.shutdown()")
+ self.terminate()
+ self.join()
- # ModulePredicate(coil::Properties& prop)
- def __init__(self, prop):
- self._prop = prop
- return
+ ##
+ # @if jp
+ #
+ # @brief 初期化プロシージャのセット
+ #
+ # このオペレーションはユーザが行うモジュール等の初期化プロシージャ
+ # を設定する。ここで設定されたプロシージャは、マネージャが初期化され、
+ # アクティブ化された後、適切なタイミングで実行される。
+ #
+ # @param self
+ # @param proc 初期化プロシージャの関数ポインタ
+ #
+ # @else
+ #
+ # @brief Run the Manager
+ #
+ # This operation sets the initial procedure call to process module
+ # initialization, other user defined initialization and so on.
+ # The given procedure will be called at the proper timing after the
+ # manager initialization, activation and run.
+ #
+ # @param proc A function pointer to the initial procedure call
+ #
+ # @endif
- # bool operator()(coil::Properties& prop)
- def __call__(self, prop):
+ def setModuleInitProc(self, proc):
+ self._initProc = proc
+ return
- if self._prop.getProperty("implementation_id") != prop.getProperty("implementation_id"):
- return False
+ ##
+ # @if jp
+ #
+ # @brief Managerのアクティブ化
+ #
+ # このオペレーションは以下の処理を行う
+ # - CORBA POAManager のアクティブ化
+ # - マネージャCORBAオブジェクトのアクティブ化
+ # - Manager オブジェクトへの初期化プロシージャの実行
+ #
+ # このオペレーションは、マネージャの初期化後、runManager()
+ # の前に呼ぶ必要がある。
+ #
+ # @param self
+ #
+ # @return 処理結果(アクティブ化成功:true、失敗:false)
+ #
+ # @else
+ #
+ # @brief Activate Manager
+ #
+ # This operation do the following,
+ # - Activate CORBA POAManager
+ # - Activate Manager CORBA object
+ # - Execute the initial procedure call of the Manager
+ #
+ # This operationo should be invoked after Manager:init(),
+ # and before tunManager().
+ #
+ # @endif
- if self._prop.getProperty("vendor") and \
- self._prop.getProperty("vendor") != prop.getProperty("vendor"):
- return False
-
- if self._prop.getProperty("category") and \
- self._prop.getProperty("category") != prop.getProperty("category"):
- return False
+ def activateManager(self):
+ self._rtcout.RTC_TRACE("Manager.activateManager()")
- if self._prop.getProperty("version") and \
- self._prop.getProperty("version") != prop.getProperty("version"):
- return False
+ try:
+ self.getPOAManager().activate()
+ self._rtcout.RTC_TRACE("POA Manager activated.")
+ except BaseException:
+ self._rtcout.RTC_ERROR("Exception: POA Manager activation failed.")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return False
+
+ lsvc_ = [s.strip() for s in self._config.getProperty(
+ "manager.local_service.modules").split(",")]
+ for svc_ in lsvc_:
+ if not svc_:
+ continue
+ basename_ = svc_.split(".")[0] + "Init"
+ try:
+ self._module.load(svc_, basename_)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ self.initLocalService()
+
+ mods = [s.strip() for s in self._config.getProperty(
+ "manager.modules.preload").split(",")]
+
+ for m in mods:
+ if m is None or m == "":
+ continue
+ m = m.strip()
+
+ basename = os.path.basename(m).split(".")[0]
+ basename += "Init"
+
+ try:
+ self._module.load(m, basename)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ self.__try_direct_load(basename)
+
+ sdofactory_ = OpenRTM_aist.SdoServiceConsumerFactory.instance()
+ self._config.setProperty("sdo.service.consumer.available_services",
+ OpenRTM_aist.flatten(sdofactory_.getIdentifiers()))
+
+ self.invokeInitProc()
+ self.initPreCreation()
+
+ self.initPreConnection()
+ self.initPreActivation()
return True
+ ##
+ # @if jp
+ #
+ # @brief Managerの実行
+ #
+ # このオペレーションはマネージャのメインループを実行する。
+ # このメインループ内では、CORBA ORBのイベントループ等が
+ # 処理される。デフォルトでは、このオペレーションはブロックし、
+ # Manager::destroy() が呼ばれるまで処理を戻さない。
+ # 引数 no_block が true に設定されている場合は、内部でイベントループ
+ # を処理するスレッドを起動し、ブロックせずに処理を戻す。
+ #
+ # @param self
+ # @param no_block false: ブロッキングモード, true: ノンブロッキングモード
+ #
+ # @else
+ #
+ # @brief Run the Manager
+ #
+ # This operation processes the main event loop of the Manager.
+ # In this main loop, CORBA's ORB event loop or other processes
+ # are performed. As the default behavior, this operation is going to
+ # blocking mode and never returns until manager::destroy() is called.
+ # When the given argument "no_block" is set to "true", this operation
+ # creates a thread to process the event loop internally, and it doesn't
+ # block and returns.
+ #
+ # @param no_block false: Blocking mode, true: non-blocking mode.
+ #
+ # @endif
+
+ def runManager(self, no_block=False):
+ self._rtcout.RTC_TRACE("Manager::runManager()")
+ self._isRunning = True
+
+ if no_block:
+ self._threadMain = threading.Thread(target=self.main)
+ self._threadMain.start()
+ else:
+ self.main()
- #------------------------------------------------------------
- # ORB runner
- #------------------------------------------------------------
- ##
- # @if jp
- # @class OrbRunner
- # @brief OrbRunner 饹
- #
- # ORB ¹ѥإѡ饹
- #
- # @since 0.4.0
- #
- # @else
- # @class OrbRunner
- # @brief OrbRunner class
- # @endif
- class OrbRunner:
- """
- """
+ return
##
# @if jp
- # @brief ȥ饯
#
- # ȥ饯
+ # @brief メインスレッドのメイン関数
#
# @param self
- # @param orb ORB
#
# @else
- # @brief Constructor
+ #
+ # @brief The main function of the Manager main thread.
+ #
+ # @param self
#
# @endif
- def __init__(self, orb):
- self._orb = orb
- self._th = threading.Thread(target=self.run)
- self._th.start()
+ def main(self):
+ self._rtcout.RTC_TRACE("Manager::main()")
+
+ def orbrun():
+ try:
+ self._orb.run()
+ except BaseException:
+ print(OpenRTM_aist.Logger.print_exception())
+ self.terminate()
+ return
+
+ self._threadOrb = threading.Thread(target=orbrun)
+ self._threadOrb.start()
+
+ period = OpenRTM_aist.TimeValue(0, 100000)
+ if self._config.findNode("timer.tick"):
+ tick = float(self._config.getProperty(
+ "timer.tick"))
+ if tick:
+ period.set_time(tick)
+
+ delay = OpenRTM_aist.TimeValue(0, 500000)
+ if self._config.findNode("manager.termination_waittime"):
+ tick = float(self._config.getProperty(
+ "manager.termination_waittime"))
+ if tick:
+ delay.set_time(tick)
+
+ now = OpenRTM_aist.Time().getTime()
+ while self._isRunning:
+ prev = now
+ now = OpenRTM_aist.Time().getTime()
+ self._scheduler.tick(now - prev)
+ self._invoker.tick(now - prev)
+ time.sleep(period.toDouble())
+
+ time.sleep(delay.toDouble())
+ self.shutdownManager()
+ ##
+ # @if jp
+ #
+ # @brief マネージャ終了処理の待ち合わせ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief Wait for Manager's termination
+ #
+ # @param self
+ #
+ # @endif
+ def join(self):
+ global manager
+ if self._threadMain:
+ self._threadMain.join()
+ manager = None
+
- def __del__(self):
- pass
- #self._th.join()
- #self._th = None
- #return
+ ##
+ # @if jp
+ # @brief [CORBA interface] モジュールのロード
+ #
+ # 指定したコンポーネントのモジュールをロードするとともに、
+ # 指定した初期化関数を実行する。
+ #
+ # @param self
+ # @param fname モジュールファイル名
+ # @param initfunc 初期化関数名
+ # @return エラーコード
+ # RTC::RTC_OK 正常終了
+ # RTC::RTC_ERROR ロード失敗・不明なエラー
+ # RTC::PRECONDITION_NOT_MET 設定により許可されない操作
+ # RTC::BAD_PARAMETER 不正なパラメータ
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Load module
+ #
+ # Load module (shared library, DLL etc..) by file name,
+ # and invoke initialize function.
+ #
+ # @param fname The module file name
+ # @param initfunc The initialize function name
+ # @return Return code
+ # RTC::RTC_OK Normal return
+ # RTC::RTC_ERROR Load failed, or unknown error
+ # RTC::PRECONDITION_NOT_MET Not allowed operation by conf
+ # RTC::BAD_PARAMETER Invalid parameter
+ #
+ # @endif
+ def load(self, fname, initfunc):
+ self._rtcout.RTC_TRACE("Manager.load(fname = %s, initfunc = %s)",
+ (fname, initfunc))
+ fname = fname.replace("/", os.sep)
+ fname = fname.replace("\\", os.sep)
+ fname, initfunc = self._listeners.module_.preLoad(fname, initfunc)
+ try:
+ fname_ = fname.split(os.sep)
+
+ if len(fname_) > 1:
+ fname_ = fname_[-1]
+ else:
+ fname_ = fname_[0]
+
+ if not initfunc:
+ mod = [s.strip() for s in fname_.split(".")]
+ initfunc = mod[0] + "Init"
+ path = self._module.load(fname, initfunc)
+ self._rtcout.RTC_DEBUG("module path: %s", path)
+ path, initfunc = self._listeners.module_.postLoad(path, initfunc)
+ except OpenRTM_aist.ModuleManager.NotAllowedOperation as e:
+ self._rtcout.RTC_ERROR("Operation not allowed: %s", (e.reason))
+ return RTC.PRECONDITION_NOT_MET
+ except OpenRTM_aist.ModuleManager.NotFound:
+ self._rtcout.RTC_ERROR("Not found: %s", (fname))
+ return RTC.RTC_ERROR
+ except OpenRTM_aist.ModuleManager.FileNotFound:
+ self._rtcout.RTC_ERROR("Not found: %s", (fname))
+ return RTC.RTC_ERROR
+ except OpenRTM_aist.ModuleManager.InvalidArguments as e:
+ self._rtcout.RTC_ERROR("Invalid argument: %s", (e.reason))
+ return RTC.BAD_PARAMETER
+ # except OpenRTM_aist.ModuleManager.Error as e:
+ # self._rtcout.RTC_ERROR("Error: %s",(e.reason))
+ # return RTC.RTC_ERROR
+ except BaseException:
+ self._rtcout.RTC_ERROR("Unknown error.")
+ return RTC.RTC_ERROR
+ # self.__try_direct_load(fname)
+
+ return RTC.RTC_OK
##
# @if jp
- # @brief ORB ¹Խ
#
- # ORB ¹
+ # @brief モジュールのアンロード
+ #
+ # モジュールをアンロードする
#
# @param self
+ # @param fname モジュールのファイル名
#
# @else
#
+ # @brief Unload module
+ #
+ # Unload shared library.
+ #
+ # @param pathname Module file name
+ #
# @endif
- def run(self):
- try:
- self._orb.run()
- #Manager.instance().shutdown()
- except:
- print(OpenRTM_aist.Logger.print_exception())
- return
+ def unload(self, fname):
+ self._rtcout.RTC_TRACE("Manager.unload()")
+ fname = self._listeners.module_.preUnload(fname)
+ self._module.unload(fname)
+ fname = self._listeners.module_.postUnload(fname)
+ return
##
# @if jp
- # @brief ORB wait
#
- # ORB wait
+ # @brief 全モジュールのアンロード
+ #
+ # モジュールをすべてアンロードする
#
# @param self
#
# @else
#
+ # @brief Unload module
+ #
+ # Unload all loaded shared library.
+ #
# @endif
- def wait(self):
- return
+
+ def unloadAll(self):
+ self._rtcout.RTC_TRACE("Manager.unloadAll()")
+ self._module.unloadAll()
+ return
##
# @if jp
- # @brief ORB λ(̤)
+ # @brief ロード済みのモジュールリストを取得する
#
- # ORB λ
+ # 現在マネージャにロードされているモジュールのリストを取得する。
#
# @param self
- # @param flags λե饰
#
- # @return λ
+ # @return ロード済みモジュールリスト
#
# @else
+ # @brief Get loaded module names
+ # @endif
+ # std::vector getLoadedModules();
+
+ def getLoadedModules(self):
+ self._rtcout.RTC_TRACE("Manager.getLoadedModules()")
+ return self._module.getLoadedModules()
+
+ ##
+ # @if jp
+ # @brief ロード可能なモジュールリストを取得する
+ #
+ # ロード可能モジュールのリストを取得する。
+ # (現在はModuleManager側で未実装)
+ #
+ # @param self
+ #
+ # @return ロード可能モジュール リスト
#
+ # @else
+ # @brief Get loadable module names
# @endif
- def close(self, flags):
- return 0
+ def getLoadableModules(self):
+ self._rtcout.RTC_TRACE("Manager.getLoadableModules()")
+ return self._module.getLoadableModules()
- #------------------------------------------------------------
- # Manager Terminator
- #------------------------------------------------------------
- ##
- # @if jp
- # @class Terminator
- # @brief Terminator 饹
- #
- # ORB λѥإѡ饹
- #
- # @since 0.4.0
- #
- # @else
- #
- # @endif
- class Terminator:
- """
- """
+ # ============================================================
+ # Component Factory Management
+ # ============================================================
##
# @if jp
- # @brief ȥ饯
+ # @brief RTコンポーネント用ファクトリを登録する
#
- # ȥ饯
+ # RTコンポーネントのインスタンスを生成するための
+ # Factoryを登録する。
#
# @param self
- # @param manager ޥ͡㡦֥
+ # @param profile RTコンポーネント プロファイル
+ # @param new_func RTコンポーネント生成用関数
+ # @param delete_func RTコンポーネント破棄用関数
+ #
+ # @return 登録処理結果(登録成功:true、失敗:false)
+ #
+ # @else
+ # @brief Register RT-Component Factory
+ # @endif
+
+ def registerFactory(self, profile, new_func, delete_func):
+ self._rtcout.RTC_TRACE(
+ "Manager.registerFactory(%s)",
+ profile.getProperty("type_name"))
+ # try:
+ policy_name = self._config.getProperty(
+ "manager.components.naming_policy", "process_unique")
+
+ policy = OpenRTM_aist.NumberingPolicyFactory.instance().createObject(policy_name)
+
+ factory = OpenRTM_aist.FactoryPython(
+ profile, new_func, delete_func, policy)
+ return self._factory.registerObject(factory)
+ # return True
+ # except:
+ # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ # return False
+
+ ##
+ # @if jp
+ # @brief ファクトリのプロファイルを取得
+ #
+ # ファクトリのプロファイルを取得する。
+ #
+ # @return ファクトリのプロファイル
#
# @else
- # @brief Constructor
+ # @brief Get profiles of factories.
+ #
+ # Get profiles of factories.
+ #
+ # @return profiles of factories
#
# @endif
- def __init__(self, manager):
- self._manager = manager
+ #
+ def getFactoryProfiles(self):
+ factories = self._factory.getObjects()
+
+ if not factories:
+ return []
+
+ props = []
+ for factory in factories:
+ props.append(factory.profile())
+
+ return props
##
# @if jp
- # @brief λ
+ # @brief ExecutionContext用ファクトリを登録する
#
- # ORBޥ͡㽪λϤ롣
+ # ExecutionContextのインスタンスを生成するためのFactoryを登録する。
#
# @param self
+ # @param name 生成対象ExecutionContext名称
+ # @param new_func ExecutionContext生成用関数
+ # @param delete_func ExecutionContext破棄用関数
+ #
+ # @return 登録処理結果(登録成功:true、失敗:false)
#
# @else
+ # @brief Register ExecutionContext Factory
+ # @endif
+
+ def registerECFactory(self, name, new_func, delete_func):
+ self._rtcout.RTC_TRACE("Manager.registerECFactory(%s)", name)
+ # try:
+ ret = OpenRTM_aist.ExecutionContextFactory.instance().addFactory(name,
+ new_func)
+ if ret == OpenRTM_aist.Factory.FACTORY_OK:
+ return True
+ # except:
+ # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ else:
+ return False
+
+ ##
+ # @if jp
+ # @brief ファクトリ全リストを取得する
+ #
+ # 登録されているファクトリの全リストを取得する。
+ #
+ # @param self
+ #
+ # @return 登録ファクトリ リスト
#
+ # @else
+ # @brief Get the list of all RT-Component Factory
# @endif
- def terminate(self):
- self._manager.shutdown()
-
-
-
- ##
- # @if jp
- # @class Term
- # @brief Term 饹
- #
- # λѥإѡ饹
- #
- # @since 0.4.0
- #
- # @else
- #
- # @endif
- class Term:
- def __init__(self):
- self.waiting = 0
- self.mutex = threading.RLock()
-
-
- class Finalized:
- def __init__(self):
- self.mutex = threading.RLock()
- self.comps = []
+
+ def getModulesFactories(self):
+ self._rtcout.RTC_TRACE("Manager.getModulesFactories()")
+
+ self._modlist = []
+ for _obj in self._factory._objects._obj:
+ self._modlist.append(
+ _obj.profile().getProperty("implementation_id"))
+ return self._modlist
+
+ # ============================================================
+ # Component management
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントを生成する
+ #
+ # 指定したRTコンポーネントのインスタンスを登録されたFactory経由
+ # で生成する。
+ #
+ # 生成されるコンポーネントの各種プロファイルは以下の優先順位で
+ # 設定される。
+ #
+ # -# createComponent() の引数で与えられたプロファイル
+ # -# rtc.confで指定された外部ファイルで与えられたプロファイル
+ # --# category.instance_name.config_file
+ # --# category.component_type.config_file
+ # -# コードに埋め込まれたプロファイル
+ #
+ # インスタンス生成が成功した場合、併せて以下の処理を実行する。
+ # - 外部ファイルで設定したコンフィギュレーション情報の読み込み，設定
+ # - ExecutionContextのバインド，動作開始
+ # - ネーミングサービスへの登録
+ #
+ # @param comp_args 生成対象RTコンポーネントIDおよびコンフィギュレー
+ # ション引数。フォーマットは大きく分けて "id" と "configuration"
+ # 部分が存在する。
+ #
+ # comp_args: [id]?[configuration]
+ # id は必須、configurationはオプション
+ # id: RTC:[vendor]:[category]:[implementation_id]:[version]
+ # RTC は固定かつ必須
+ # vendor, category, version はオプション
+ # implementation_id は必須
+ # オプションを省略する場合でも ":" は省略不可
+ # configuration: [key0]=[value0]&[key1]=[value1]&[key2]=[value2].....
+ # RTCが持つPropertiesの値をすべて上書きすることができる。
+ # key=value の形式で記述し、"&" で区切る
+ #
+ # 例えば、
+ # RTC:jp.go.aist:example:ConfigSample:1.0?conf.default.str_param0=munya
+ # RTC::example:ConfigSample:?conf.default.int_param0=100
+ #
+ # @return 生成したRTコンポーネントのインスタンス
+ #
+ # @else
+ # @brief Create RT-Components
+ #
+ # Create specified RT-Component's instances via registered Factory.
+ # When its instances have been created successfully, the following
+ # processings are also executed.
+ # - Read and set configuration information that was set by external file.
+ # - Bind ExecutionContext and start operation.
+ # - Register to naming service.
+ #
+ # @param module_name Target RT-Component names for the creation
+ #
+ # @return Created RT-Component's instances
+ #
+ # @endif
+ #
+
+ def createComponent(self, comp_args):
+ self._rtcout.RTC_TRACE("Manager.createComponent(%s)", comp_args)
+
+ comp_prop = OpenRTM_aist.Properties()
+ comp_id = OpenRTM_aist.Properties()
+
+ comp_args = self._listeners.rtclifecycle_.preCreate(comp_args)
+
+ if not self.procComponentArgs(comp_args, comp_id, comp_prop):
+ return None
+
+ if comp_prop.getProperty("instance_name"):
+ comp = self.getComponent(comp_prop.getProperty("instance_name"))
+ if comp:
+ return comp
+
+ if comp_prop.findNode("exported_ports"):
+ exported_ports = OpenRTM_aist.split(comp_prop.getProperty("exported_ports"),
+ ",")
+ exported_ports_str = ""
+ for i,exported_port in enumerate(exported_ports):
+ keyval = OpenRTM_aist.split(exported_port, ".")
+ if len(keyval) > 2:
+ exported_ports_str += (keyval[0] + "." + keyval[-1])
+ else:
+ exported_ports_str += exported_port
+
+ if i != (len(exported_ports) - 1):
+ exported_ports_str += ","
+
+ comp_prop.setProperty("exported_ports", exported_ports_str)
+ comp_prop.setProperty(
+ "conf.default.exported_ports",
+ exported_ports_str)
+
+ factory = self._factory.find(comp_id)
+ if factory is None:
+ self._rtcout.RTC_ERROR("createComponent: Factory not found: %s",
+ comp_id.getProperty("implementation_id"))
+
+ if not OpenRTM_aist.toBool(self._config.getProperty(
+ "manager.modules.search_auto"), "YES", "NO", True):
+ return None
+ # automatic module loading
+ mp = self._module.getLoadableModules()
+ self._rtcout.RTC_INFO("%d loadable modules found", len(mp))
+
+ found_obj = None
+ predicate = self.ModulePredicate(comp_id)
+ for _obj in mp:
+ if predicate(_obj):
+ found_obj = _obj
+ break
+
+ if not found_obj:
+ self._rtcout.RTC_ERROR("No module for %s in loadable modules list",
+ comp_id.getProperty("implementation_id"))
+ return None
+
+ if not found_obj.findNode("module_file_name"):
+ self._rtcout.RTC_ERROR("Hmm...module_file_name key not found.")
+ return None
+
+ # module loading
+ self._rtcout.RTC_INFO(
+ "Loading module: %s",
+ found_obj.getProperty("module_file_name"))
+ self.load(found_obj.getProperty("module_file_name"), "")
+ factory = self._factory.find(comp_id)
+ if not factory:
+ self._rtcout.RTC_ERROR("Factory not found for loaded module: %s",
+ comp_id.getProperty("implementation_id"))
+ return None
+
+ # get default configuration of component.
+ prop = factory.profile()
+
+ inherit_prop = ["config.version",
+ "openrtm.name",
+ "openrtm.version",
+ "os.name",
+ "os.release",
+ "os.version",
+ "os.arch",
+ "os.hostname",
+ "corba.endpoints",
+ "corba.endpoints_ipv4",
+ "corba.endpoints_ipv6",
+ "corba.id",
+ "exec_cxt.periodic.type",
+ "exec_cxt.periodic.rate",
+ "exec_cxt.event_driven.type",
+ "exec_cxt.sync_transition",
+ "exec_cxt.sync_activation",
+ "exec_cxt.sync_deactivation",
+ "exec_cxt.sync_reset",
+ "exec_cxt.transition_timeout",
+ "exec_cxt.activation_timeout",
+ "exec_cxt.deactivation_timeout",
+ "exec_cxt.reset_timeout",
+ "exec_cxt.cpu_affinity",
+ "logger.enable",
+ "logger.log_level",
+ "naming.enable",
+ "naming.type",
+ "naming.formats",
+ "sdo.service.provider.available_services",
+ "sdo.service.consumer.available_services",
+ "sdo.service.provider.enabled_services",
+ "sdo.service.consumer.enabled_services",
+ "manager.instance_name"]
+
+ prop_ = prop.getNode("port")
+ prop_.mergeProperties(self._config.getNode("port"))
+
+ comp = factory.create(self)
+
+ for i in inherit_prop:
+ if self._config.findNode(i):
+ prop.setProperty(
+ i,
+ self._config.getProperty(i))
+
+ if comp is None:
+ 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)
+
+ # The property specified by the parameter of createComponent() is merged.
+ # The property("instance_name") specified by the parameter of createComponent()
+ # must be merged here.
+ prop.mergeProperties(comp_prop)
+
+ # ------------------------------------------------------------
+ # Load configuration file specified in "rtc.conf"
+ #
+ # rtc.conf:
+ # [category].[type_name].config_file = file_name
+ # [category].[instance_name].config_file = file_name
+ self._listeners.rtclifecycle_.preConfigure(prop)
+ self.configureComponent(comp, prop)
+ self._listeners.rtclifecycle_.postConfigure(prop)
+
+ # The property specified by the parameter of createComponent() is set.
+ # The property("exported_ports") specified by the parameter of createComponent()
+ # must be set here.
+ # comp.setProperties(comp_prop)
+
+ # Component initialization
+ self._listeners.rtclifecycle_.preInitialize()
+ if comp.initialize() != RTC.RTC_OK:
+ self._rtcout.RTC_TRACE("RTC initialization failed: %s",
+ comp_id.getProperty("implementation_id"))
+ self._rtcout.RTC_TRACE(
+ "%s was finalized",
+ comp_id.getProperty("implementation_id"))
+ 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",
+ comp_id.getProperty("implementation_id"))
+ self._listeners.rtclifecycle_.postInitialize()
+ self.registerComponent(comp)
+
+ return comp
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントを直接 Manager に登録する
+ #
+ # 指定したRTコンポーネントのインスタンスをファクトリ経由ではなく
+ # 直接マネージャに登録する。
+ #
+ # @param self
+ # @param comp 登録対象RTコンポーネントのインスタンス
+ #
+ # @return 登録処理結果(登録成功:true、失敗:false)
+ #
+ # @else
+ # @brief Register RT-Component directly without Factory
+ # @endif
+
+ def registerComponent(self, comp):
+ self._rtcout.RTC_TRACE(
+ "Manager.registerComponent(%s)",
+ comp.getInstanceName())
+
+ self._compManager.registerObject(comp)
+ names = comp.getNamingNames()
+
+ self._listeners.naming_.preBind(comp, names)
+ for name in names:
+ self._rtcout.RTC_TRACE("Bind name: %s", name)
+ self._namingManager.bindObject(name, comp)
+ self._listeners.naming_.postBind(comp, names)
+
+ self.publishPorts(comp)
+ self.subscribePorts(comp)
+
+ try:
+ poa = self._orb.resolve_initial_references("omniINSPOA")
+ poa._get_the_POAManager().activate()
+ id = comp.getCategory() + "." + comp.getInstanceName()
+ poa.activate_object_with_id(id, comp)
+
+ rtcobj = poa.id_to_reference(id)
+ rtcobj._narrow(RTC.RTObject)
+ comp.setINSObjRef(rtcobj)
+ except BaseException:
+ self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
+
+ return True
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントの登録を解除する
+ #
+ # 指定したRTコンポーネントの登録を解除する。
+ #
+ # @param self
+ # @param comp 登録解除対象RTコンポーネントのインスタンス
+ #
+ # @return 登録解除処理結果(解除成功:true、解除失敗:false)
+ #
+ # @else
+ # @brief Register RT-Component directly without Factory
+ # @endif
+
+ def unregisterComponent(self, comp):
+ self._rtcout.RTC_TRACE(
+ "Manager.unregisterComponent(%s)",
+ comp.getInstanceName())
+ self._compManager.unregisterObject(comp.getInstanceName())
+ names = comp.getNamingNames()
+
+ self._listeners.naming_.preUnbind(comp, names)
+ for name in names:
+ self._rtcout.RTC_TRACE("Unbind name: %s", name)
+ self._namingManager.unbindObject(name)
+ self._listeners.naming_.postUnbind(comp, names)
+
+ return True
+
+ ##
+ # @if jp
+ # @brief Contextを生成する
+ #
+ # @return 生成したConetextのインスタンス
+ #
+ # @else
+ # @brief Create Context
+ #
+ # @return Created Context's instances
+ #
+ # @endif
+ #
+ # ExecutionContextBase* createContext(const char* ec_args);
+
+ def createContext(self, ec_args):
+ self._rtcout.RTC_TRACE("Manager.createContext()")
+ self._rtcout.RTC_TRACE("ExecutionContext type: %s",
+ self._config.getProperty("exec_cxt.periodic.type"))
+ ec_prop = OpenRTM_aist.Properties()
+ ret, ec_id = self.procContextArgs(ec_args, ec_prop)
+
+ if not ret:
+ return None
+
+ avail_ec_ = OpenRTM_aist.ExecutionContextFactory.instance().getIdentifiers()
+
+ if not ec_id in avail_ec_:
+ self._rtcout.RTC_ERROR("Factory not found: %s", ec_id)
+ return None
+
+ ec = OpenRTM_aist.ExecutionContextFactory.instance().createObject(ec_id)
+ ec.init(ec_prop)
+ self._ecs.append(ec)
+ return ec
+
+ ##
+ # @if jp
+ # @brief Manager に登録されているRTコンポーネントを削除する(未実装)
+ #
+ # マネージャに登録されているRTコンポーネントを削除する。
+ #
+ # @param self
+ # @param instance_name 削除対象RTコンポーネントのインスタンス名
+ #
+ # @else
+ # @brief Unregister RT-Component that is registered in the Manager
+ # @endif
+
+ def deleteComponent(self, instance_name=None, comp=None):
+ if instance_name:
+ self._rtcout.RTC_TRACE(
+ "Manager.deleteComponent(%s)", instance_name)
+ _comp = self._compManager.find(instance_name)
+ if _comp is None:
+ self._rtcout.RTC_WARN(
+ "RTC %s was not found in manager.", instance_name)
+ return
+ self.deleteComponent(comp=_comp)
+
+ elif comp:
+ self._rtcout.RTC_TRACE("Manager.deleteComponent(RTObject_impl)")
+ # cleanup from manager's table, and naming serivce
+ self.unregisterComponent(comp)
+
+ comp_id = comp.getProperties()
+ factory = self._factory.find(comp_id)
+
+ if not factory:
+ self._rtcout.RTC_DEBUG("Factory not found: %s",
+ comp_id.getProperty("implementation_id"))
+ return
+ else:
+ self._rtcout.RTC_DEBUG("Factory found: %s",
+ comp_id.getProperty("implementation_id"))
+ factory.destroy(comp)
+
+ if OpenRTM_aist.toBool(self._config.getProperty("manager.shutdown_on_nortcs"),
+ "YES", "NO", True) and \
+ not OpenRTM_aist.toBool(self._config.getProperty("manager.is_main"),
+ "YES", "NO", False):
+ comps = self.getComponents()
+ if not comps:
+ self.terminate()
+
+ return
+
+ ##
+ # @if jp
+ # @brief Manager に登録されているRTコンポーネントを検索する
+ #
+ # Manager に登録されているRTコンポーネントを指定した名称で検索し、
+ # 合致するコンポーネントを取得する。
+ #
+ # @param self
+ # @param instance_name 検索対象RTコンポーネントの名称
+ #
+ # @return 名称が一致するRTコンポーネントのインスタンス
+ #
+ # @else
+ # @brief Get RT-Component's pointer
+ # @endif
+
+ def getComponent(self, instance_name):
+ self._rtcout.RTC_TRACE("Manager.getComponent(%s)", instance_name)
+ return self._compManager.find(instance_name)
+
+ ##
+ # @if jp
+ # @brief Manager に登録されている全RTコンポーネントを取得する
+ #
+ # Manager に登録されているRTコンポーネントの全インスタンスを取得する。
+ #
+ # @param self
+ #
+ # @return 全RTコンポーネントのインスタンスリスト
+ #
+ # @else
+ # @brief Get all RT-Component's pointer
+ # @endif
+
+ def getComponents(self):
+ self._rtcout.RTC_TRACE("Manager.getComponents()")
+ return self._compManager.getObjects()
+
+ # void Manager::
+ # addManagerActionListener(RTM::ManagerActionListener* listener)
+
+ def addManagerActionListener(self, listener):
+ self._listeners.manager_.addListener(listener)
+ return
+
+ # void Manager::
+ # removeManagerActionListener(RTM::ManagerActionListener* listener)
+
+ def removeManagerActionListener(self, listener):
+ self._listeners.manager_.removeListener(listener)
+ return
+
+ # void Manager::
+ # addModuleActionListener(RTM::ModuleActionListener* listener)
+
+ def addModuleActionListener(self, listener):
+ self._listeners.module_.addListener(listener)
+ return
+
+ # void Manager::
+ # removeModuleActionListener(RTM::ModuleActionListener* listener)
+
+ def removeModuleActionListener(self, listener):
+ self._listeners.module_.removeListener(listener)
+ return
+
+ # void Manager::
+ # addRtcLifecycleActionListener(RTM::RtcLifecycleActionListener* listener)
+
+ def addRtcLifecycleActionListener(self, listener):
+ self._listeners.rtclifecycle_.addListener(listener)
+ return
+
+ # void Manager::
+ # removeRtcLifecycleActionListener(RTM::RtcLifecycleActionListener*
+ # listener)
+
+ def removeRtcLifecycleActionListener(self, listener):
+ self._listeners.rtclifecycle_.removeListener(listener)
+ return
+
+ # void Manager::
+ # addNamingActionListener(RTM::NamingActionListener* listener)
+
+ def addNamingActionListener(self, listener):
+ self._listeners.naming_.addListener(listener)
+ return
+
+ # void Manager::
+ # removeNamingActionListener(RTM::NamingActionListener* listener)
+
+ def removeNamingActionListener(self, listener):
+ self._listeners.naming_.removeListener(listener)
+ return
+
+ # void Manager::
+ # addLocalServiceActionListener(RTM::LocalServiceActionListener* listener)
+
+ def addLocalServiceActionListener(self, listener):
+ self._listeners.localservice_.addListener(listener)
+ return
+
+ # void Manager::
+ # removeLocalServiceActionListener(RTM::LocalServiceActionListener*
+ # listener)
+
+ def removeLocalServiceActionListener(self, listener):
+ self._listeners.localservice_.removeListener(listener)
+ return
+
+ # ============================================================
+ # CORBA 関連
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief ORB のポインタを取得する
+ #
+ # Manager に設定された ORB のポインタを取得する。
+ #
+ # @param self
+ #
+ # @return ORB オブジェクト
+ #
+ # @else
+ # @brief Get the pointer to the ORB
+ # @endif
+
+ def getORB(self):
+ self._rtcout.RTC_TRACE("Manager.getORB()")
+ return self._orb
+
+ ##
+ # @if jp
+ # @brief Manager が持つ RootPOA のポインタを取得する
+ #
+ # Manager に設定された RootPOA へのポインタを取得する。
+ #
+ # @param self
+ #
+ # @return RootPOAオブジェクト
+ #
+ # @else
+ # @brief Get the pointer to the RootPOA
+ # @endif
+
+ def getPOA(self):
+ self._rtcout.RTC_TRACE("Manager.getPOA()")
+ return self._poa
+
+ ##
+ # @if jp
+ # @brief Manager が持つ POAManager を取得する
+ #
+ # Manager に設定された POAMAnager を取得する。
+ #
+ # @param self
+ #
+ # @return POAマネージャ
+ #
+ # @else
+ #
+ # @endif
+
+ def getPOAManager(self):
+ self._rtcout.RTC_TRACE("Manager.getPOAManager()")
+ return self._poaManager
+
+ # ============================================================
+ # Manager initialize and finalization
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief Manager の内部初期化処理
+ #
+ # Manager の内部初期化処理を実行する。
+ # - Manager コンフィギュレーションの設定
+ # - ログ出力ファイルの設定
+ # - 終了処理用スレッドの生成
+ # - タイマ用スレッドの生成(タイマ使用時)
+ #
+ # @param self
+ # @param argv コマンドライン引数
+ #
+ # @else
+ # @brief Manager internal initialization
+ # @endif
+
+ def initManager(self, argv):
+ config = OpenRTM_aist.ManagerConfig(argv)
+ self._config = OpenRTM_aist.Properties()
+ config.configure(self._config)
+ self._config.setProperty("logger.file_name", self.formatString(self._config.getProperty("logger.file_name"),
+ self._config))
+ self._module = OpenRTM_aist.ModuleManager(self._config)
+
+ self._needsTimer = OpenRTM_aist.toBool(self._config.getProperty(
+ "timer.enable"), "YES", "NO", True)
+
+
+ if OpenRTM_aist.toBool(self._config.getProperty("manager.shutdown_auto"),
+ "YES", "NO", True) and \
+ 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("manager.auto_shutdown_duration"):
+ duration = float(self._config.getProperty(
+ "manager.auto_shutdown_duration"))
+ if duration:
+ tm.set_time(duration)
+ self.addTask(self.shutdownOnNoRtcs, tm)
+
+ if self._needsTimer:
+ self.addTask(self.cleanupComponents, OpenRTM_aist.TimeValue(1, 0))
+
+ lmpm_ = [s.strip() for s in self._config.getProperty(
+ "manager.preload.modules").split(",")]
+ for mpm_ in lmpm_:
+ if not mpm_:
+ continue
+ basename_ = mpm_.split(".")[0] + "Init"
+ try:
+ self._module.load(mpm_, basename_)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ self._config.setProperty("manager.instance_name", self.formatString(self._config.getProperty("manager.instance_name"),
+ self._config))
+
+ return
+
+ ##
+ # @if jp
+ # @brief Managerサーバントの終了処理(未実装)
+ #
+ # Managerサーバントを終了する
+ #
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
+ def shutdownManagerServant(self):
+ self._rtcout.RTC_TRACE("Manager.shutdownManagerServant()")
+ if self._mgrservant:
+ self._mgrservant.exit()
+ try:
+ self._poa.deactivate_object(self._poa.servant_to_id(self._mgrservant))
+ except BaseException:
+ print(OpenRTM_aist.Logger.print_exception())
+ self._mgrservant = None
+ return
+
+ ##
+ # @if jp
+ # @brief Manager の終了処理(未実装)
+ #
+ # Manager を終了する
+ # (ただし，現在は未実装)
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
+ def shutdownManager(self):
+ self._rtcout.RTC_TRACE("Manager.shutdownManager()")
+ self._listeners.manager_.preShutdown()
+ self.shutdownComponents()
+ self.shutdownManagerServant()
+ self.shutdownNaming()
+ self.shutdownORB()
+
+ self._threadOrb.join()
+ self._listeners.manager_.postShutdown()
+ self.shutdownLogger()
+ global manager
+ if manager:
+ manager = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief Manager の終了処理
+ #
+ # configuration の "manager.shutdown_on_nortcs" YES で、
+ # コンポーネントが登録されていない場合 Manager を終了する。
+ #
+ # @else
+ # @brief Shutdown Manager
+ #
+ # This method shutdowns Manager as follows.
+ # - "Manager.shutdown_on_nortcs" of configuration is YES.
+ # - The component is not registered.
+ #
+ # @endif
+ #
+ # void shutdownOnNoRtcs();
+
+ def shutdownOnNoRtcs(self):
+ self._rtcout.RTC_TRACE("Manager::shutdownOnNoRtcs()")
+ if OpenRTM_aist.toBool(self._config.getProperty("manager.shutdown_on_nortcs"),
+ "YES", "NO", True):
+
+ comps = self.getComponents()
+
+ if not comps:
+ self.terminate()
+
+ return
+
+ # ============================================================
+ # Logger initialize and terminator
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief
+ #
+ #
+ #
+ #
+ #
+ # @param self
+ #
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @param self
+ #
+ #
+ # @endif
+ def initLogstreamFile(self):
+
+ logprop = self._config.getNode("logger")
+ logstream = OpenRTM_aist.LogstreamFactory.instance().createObject("file")
+
+ if logstream is None:
+ return
+
+ if not logstream.init(logprop):
+ return
+
+ self._rtcout.addLogger(logstream)
+
+ ##
+ # @if jp
+ # @brief
+ #
+ #
+ #
+ #
+ #
+ # @param self
+ #
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @param self
+ #
+ #
+ # @endif
+
+ def initLogstreamPlugins(self):
+ lmod_ = [s.strip()
+ for s in self._config.getProperty("logger.plugins").split(",")]
+ for mod_ in lmod_:
+ if not mod_:
+ continue
+ basename_ = mod_.split(".")[0] + "Init"
+ try:
+ self._module.load(mod_, basename_)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ ##
+ # @if jp
+ # @brief
+ #
+ #
+ #
+ #
+ #
+ # @param self
+ #
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @param self
+ #
+ #
+ # @endif
+ def initLogstreamOthers(self):
+ factory = OpenRTM_aist.LogstreamFactory.instance()
+ pp = self._config.getNode("logger.logstream")
+
+ leaf0 = pp.getLeaf()
+
+ for l in leaf0:
+ lstype = l.getName()
+ logstream = factory.createObject(lstype)
+ if logstream is None:
+ self._rtcout.RTC_WARN("Logstream %s creation failed." % lstype)
+ continue
+ self._rtcout.RTC_INFO("Logstream %s created." % lstype)
+ if not logstream.init(l):
+ self._rtcout.RTC_WARN("Logstream %s init failed." % lstype)
+
+ self._rtcout.RTC_WARN("Logstream %s deleted." % lstype)
+ continue
+
+ self._rtcout.RTC_INFO("Logstream %s added." % lstype)
+ self._rtcout.addLogger(logstream)
+
+ ##
+ # @if jp
+ # @brief System logger の初期化
+ #
+ # System logger の初期化を実行する。
+ # コンフィギュレーションファイルに設定された情報に基づき、
+ # ロガーの初期化，設定を実行する。
+ #
+ # @param self
+ #
+ # @return 初期化実行結果(初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ # @brief System logger initialization
+ # @endif
+
+ def initLogger(self):
+ # self._rtcout = OpenRTM_aist.LogStream()
+ self._rtcout = self.getLogbuf()
+ if not OpenRTM_aist.toBool(self._config.getProperty(
+ "logger.enable"), "YES", "NO", True):
+ return True
+
+ self.initLogstreamFile()
+ self.initLogstreamPlugins()
+ self.initLogstreamOthers()
+
+ self._rtcout.setLogLevel(self._config.getProperty("logger.log_level"))
+ self._rtcout.setLogLock(OpenRTM_aist.toBool(self._config.getProperty("logger.stream_lock"),
+ "enable", "disable", False))
+
+ self._rtcout.RTC_INFO(
+ "%s", self._config.getProperty("openrtm.version"))
+ self._rtcout.RTC_INFO("Copyright (C) 2003-2020, Noriaki Ando and OpenRTM development team,")
+ self._rtcout.RTC_INFO(" Intelligent Systems Research Institute, AIST,")
+ self._rtcout.RTC_INFO("Copyright (C) 2020, Noriaki Ando and OpenRTM development team,")
+ self._rtcout.RTC_INFO(" Industrial Cyber-Physical Research Center, AIST,")
+ self._rtcout.RTC_INFO(" All right reserved.")
+ self._rtcout.RTC_INFO("Manager starting.")
+ self._rtcout.RTC_INFO("Starting local logging.")
+
+ return True
+
+ ##
+ # @if jp
+ # @brief System Logger の終了処理(未実装)
+ #
+ # System Loggerの終了処理を実行する。
+ # (現在は未実装)
+ #
+ # @param self
+ #
+ # @else
+ # @brief System Logger finalization
+ # @endif
+
+ def shutdownLogger(self):
+ self._rtcout.RTC_TRACE("Manager.shutdownLogger()")
+ self._rtcout.shutdown()
+ return
+
+ # ============================================================
+ # ORB initialization and finalization
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief CORBA ORB の初期化処理
+ #
+ # 設定情報を元にORBを初期化する。
+ #
+ # @param self
+ #
+ # @return ORB 初期化処理結果(初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ # @brief CORBA ORB initialization
+ # @endif
+
+ def initORB(self):
+ self._rtcout.RTC_TRACE("Manager.initORB()")
+ try:
+ tmp_args = self.createORBOptions().split("\"")
+ args = []
+ for i, tmp_arg in enumerate(tmp_args):
+ if i % 2 == 0:
+ args.extend(tmp_arg.strip().split(" "))
+ else:
+ args.append(tmp_arg)
+
+ args.insert(0, "manager")
+ argv = OpenRTM_aist.toArgv(args)
+
+ self._orb = CORBA.ORB_init(argv)
+
+ self._poa = self._orb.resolve_initial_references("RootPOA")
+
+ if CORBA.is_nil(self._poa):
+ self._rtcout.RTC_ERROR("Could not resolve RootPOA")
+ return False
+
+ self._poaManager = self._poa._get_the_POAManager()
+
+ except BaseException:
+ self._rtcout.RTC_ERROR(
+ "Exception: Caught unknown exception in initORB().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return False
+
+ return True
+
+ ##
+ # @if jp
+ # @brief ORB のコマンドラインオプション作成
+ #
+ # コンフィギュレーション情報に設定された内容から
+ # ORB の起動時オプションを作成する。
+ #
+ # @param self
+ #
+ # @return ORB 起動時オプション
+ #
+ # @else
+ # @brief ORB command option creation
+ # @endif
+
+ def createORBOptions(self):
+ opt = self._config.getProperty("corba.args")
+ self._rtcout.RTC_DEBUG("corba.args: %s", opt)
+
+ endpoints = self.createORBEndpoints()
+ opt = self.createORBEndpointOption(opt, endpoints)
+
+ self._rtcout.RTC_PARANOID("ORB options: %s", opt)
+
+ return opt
+
+ ##
+ # @if jp
+ # @brief エンドポイントの生成
+ #
+ # コンフィグレーションからエンドポイントを生成する。
+ #
+ # @param endpoints エンドポイントリスト
+ #
+ # @else
+ # @brief Create Endpoints
+ #
+ # Create Endpoints from the configuration.
+ #
+ # @param endpoints Endpoints list
+ #
+ # @endif
+ #
+ # void createORBEndpoints(coil::vstring& endpoints);
+
+ def createORBEndpoints(self):
+ endpoints = []
+ # corba.endpoint is obsolete
+ # corba.endpoints with comma separated values are acceptable
+ if self._config.findNode("corba.endpoints"):
+ endpoints_ = [s.strip() for s in self._config.getProperty(
+ "corba.endpoints").split(",")]
+ for ep in endpoints_:
+ endpoints.append(ep)
+
+ self._rtcout.RTC_DEBUG(
+ "corba.endpoints: %s",
+ self._config.getProperty("corba.endpoints"))
+
+ if self._config.findNode("corba.endpoint"):
+ endpoints_ = [s.strip() for s in self._config.getProperty(
+ "corba.endpoint").split(",")]
+ for ep in endpoints_:
+ endpoints.append(ep)
+ self._rtcout.RTC_DEBUG(
+ "corba.endpoint: %s",
+ self._config.getProperty("corba.endpoint"))
+
+ # 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_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])
+ else:
+ endpoints.insert(0, ":2810")
+
+ endpoints = OpenRTM_aist.unique_sv(endpoints)
+
+ return endpoints
+
+ ##
+ # @if jp
+ # @brief ORB の Endpoint のコマンドラインオプション作成
+ # @param opt コマンドラインオプション
+ # @param endpoints エンドポイントリスト
+ #
+ # @else
+ # @brief Create a command optional line of Endpoint of ORB.
+ # @param opt ORB options
+ # @param endpoints Endpoints list
+ #
+ # @endif
+ # void createORBEndpointOption(std::string& opt, coil::vstring& endpoints);
+
+ def createORBEndpointOption(self, opt, endpoints):
+ corba = self._config.getProperty("corba.id")
+ self._rtcout.RTC_DEBUG("corba.id: %s", corba)
+
+ for i, e in enumerate(endpoints):
+ if e:
+ endpoint = e
+ else:
+ continue
+
+ self._rtcout.RTC_DEBUG("Endpoint is : %s", endpoint)
+ if endpoint.find(":") == -1:
+ endpoint += ":"
+
+ if corba == "omniORB":
+ endpoint = OpenRTM_aist.normalize(endpoint)
+ if endpoint == "all:":
+ opt += " -ORBendPointPublish all(addr)"
+ else:
+ opt += " -ORBendPoint giop:tcp:" + endpoint
+
+ elif corba == "TAO":
+ opt += "-ORBEndPoint iiop://" + endpoint
+ elif corba == "MICO":
+ opt += "-ORBIIOPAddr inet:" + endpoint
+
+ endpoints[i] = endpoint
+
+ return opt
+
+ ##
+ # @if jp
+ # @brief ORB の終了処理
+ #
+ # ORB の終了処理を実行する。
+ # 実行待ちの処理が存在する場合には、その処理が終了するまで待つ。
+ # 実際の終了処理では、POA Managerを非活性化し、 ORB のシャットダウンを実行
+ # する。
+ #
+ # @param self
+ #
+ # @else
+ # @brief ORB finalization
+ # @endif
+
+ def shutdownORB(self):
+ self._rtcout.RTC_TRACE("Manager.shutdownORB()")
+ if not self._orb:
+ return
+
+ try:
+ while self._orb.work_pending():
+ self._rtcout.RTC_PARANOID("Pending work still exists.")
+ if self._orb.work_pending():
+ self._orb.perform_work()
+
+ self._rtcout.RTC_DEBUG(
+ "No pending works of ORB. Shutting down POA and ORB.")
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+
+ if not CORBA.is_nil(self._poa):
+ try:
+ if not CORBA.is_nil(self._poaManager):
+ self._poaManager.deactivate(False, True)
+ self._rtcout.RTC_DEBUG("POA Manager was deactivated.")
+ self._poa.destroy(False, True)
+ self._poa = PortableServer.POA._nil
+ self._rtcout.RTC_DEBUG("POA was destroyed.")
+ except CORBA.SystemException:
+ self._rtcout.RTC_ERROR(
+ "Caught SystemException during root POA destruction")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ except BaseException:
+ self._rtcout.RTC_ERROR(
+ "Caught unknown exception during destruction")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ if self._orb:
+ try:
+ self._orb.shutdown(True)
+ self._orb.destroy()
+ self._rtcout.RTC_DEBUG("ORB was shutdown.")
+ self._orb = CORBA.Object._nil
+ except CORBA.SystemException:
+ self._rtcout.RTC_ERROR(
+ "Caught CORBA::SystemException during ORB shutdown.")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ except BaseException:
+ self._rtcout.RTC_ERROR(
+ "Caught unknown exception during ORB shutdown.")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ # ============================================================
+ # NamingService initialization and finalization
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief NamingManager の初期化
+ #
+ # NamingManager の初期化処理を実行する。
+ # ただし、 NamingManager を使用しないようにプロパティ情報に設定されている
+ # 場合には何もしない。
+ # NamingManager を使用する場合、プロパティ情報に設定されている
+ # デフォルト NamingServer を登録する。
+ # また、定期的に情報を更新するように設定されている場合には、指定された周期
+ # で自動更新を行うためのタイマを起動するとともに、更新用メソッドをタイマに
+ # 登録する。
+ #
+ # @param self
+ #
+ # @return 初期化処理結果(初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ #
+ # @endif
+
+ def initNaming(self):
+ self._rtcout.RTC_TRACE("Manager.initNaming()")
+ self._namingManager = OpenRTM_aist.NamingManager(self)
+
+ if not OpenRTM_aist.toBool(self._config.getProperty(
+ "naming.enable"), "YES", "NO", True):
+ return True
+
+ # meths = OpenRTM_aist.split(self._config.getProperty("naming.type"),",")
+ meths = [s.strip()
+ for s in self._config.getProperty("naming.type").split(",")]
+
+ for meth in meths:
+ # names = OpenRTM_aist.split(self._config.getProperty(meth+".nameservers"), ",")
+ names = [
+ s.strip() for s in self._config.getProperty(
+ meth + ".nameservers").split(",")]
+ for name in names:
+ self._rtcout.RTC_TRACE(
+ "Register Naming Server: %s/%s", (meth, name))
+ self._namingManager.registerNameServer(meth, name)
+
+ if OpenRTM_aist.toBool(self._config.getProperty(
+ "naming.update.enable"), "YES", "NO", True) and self._needsTimer:
+ tm = OpenRTM_aist.TimeValue(10, 0)
+ intr = self._config.getProperty("naming.update.interval")
+ if intr != "":
+ tm = OpenRTM_aist.TimeValue(intr)
+
+ self.addTask(self._namingManager.update, tm)
+
+ return True
+
+ ##
+ # @if jp
+ # @brief NamingManager の終了処理
+ #
+ # NamingManager を終了する。
+ # 登録されている全要素をアンバインドし、終了する。
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
+
+ def shutdownNaming(self):
+ self._rtcout.RTC_TRACE("Manager.shutdownNaming()")
+ comps = self.getComponents()
+
+ for comp in comps:
+ names = comp.getNamingNames()
+ self._listeners.naming_.preUnbind(comp, names)
+ for name in names:
+ self._namingManager.unbindObject(name)
+ self._listeners.naming_.postUnbind(comp, names)
+
+ self._namingManager.unbindAll()
+ return
+
+ ##
+ # @if jp
+ # @brief ExecutionContextManager の初期化
+ #
+ # 使用する各 ExecutionContext の初期化処理を実行し、各 ExecutionContext
+ # 生成用 Factory を ExecutionContextManager に登録する。
+ #
+ # @param self
+ #
+ # @return ExecutionContextManager 初期化処理実行結果
+ # (初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ #
+ # @endif
+
+ def initExecContext(self):
+ self._rtcout.RTC_TRACE("Manager.initExecContext()")
+ OpenRTM_aist.PeriodicExecutionContextInit(self)
+ OpenRTM_aist.ExtTrigExecutionContextInit(self)
+ OpenRTM_aist.OpenHRPExecutionContextInit(self)
+ OpenRTM_aist.SimulatorExecutionContextInit(self)
+ OpenRTM_aist.MultilayerCompositeECInit(self)
+
+ self.initCpuAffinity()
+ return True
+
+ ##
+ # @if jp
+ # @brief CPUアフィニティの設定
+ #
+ # manager.cpu_affinityで指定したプロセスのCPUアフィニティに設定する
+ #
+ # @param self
+ #
+ #
+ # @else
+ #
+ # @param self
+ #
+ # @endif
+ def initCpuAffinity(self):
+ self._rtcout.RTC_TRACE("Manager.initCpuAffinity()")
+
+ if not self._config.findNode("manager.cpu_affinity"):
+ return
+
+ affinity_str = self._config.getProperty("manager.cpu_affinity")
+
+ if affinity_str:
+ self._rtcout.RTC_DEBUG("CPU affinity property: %s", affinity_str)
+
+ tmp = affinity_str.split(",")
+
+ cpu_num = []
+ for num in tmp:
+ try:
+ cpu_num.append(int(num))
+ self._rtcout.RTC_DEBUG(
+ "CPU affinity mask set to %d", int(num))
+ except BaseException:
+ pass
+
+ if not cpu_num:
+ return
+
+ ret = OpenRTM_aist.setProcessAffinity(cpu_num)
+
+ if ret == False:
+ self._rtcout.RTC_ERROR("CPU affinity mask setting failed")
+
+ ##
+ # @if jp
+ # @brief PeriodicECSharedComposite の初期化
+ #
+ # @return PeriodicECSharedComposite 初期化処理実行結果
+ # (初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ # @brief PeriodicECSharedComposite initialization
+ #
+ # @return PeriodicECSharedComposite initialization result
+ # (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+
+ def initComposite(self):
+ self._rtcout.RTC_TRACE("Manager.initComposite()")
+ OpenRTM_aist.PeriodicECSharedCompositeInit(self)
+ return True
+
+ ##
+ # @if jp
+ # @brief ファクトリの初期化
+ #
+ # バッファ、スレッド、パブリッシャ、プロバイダ、コンシューマの
+ # ファクトリを初期化する。
+ #
+ # @return ファクトリ初期化処理実行結果
+ # (初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ # @brief Factories initialization
+ #
+ # Initialize buffer factories, thread factories, publisher factories,
+ # provider factories, and consumer factories.
+ #
+ # @return PeriodicECSharedComposite initialization result
+ # (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+
+ def initFactories(self):
+ # self._rtcout.RTC_TRACE("Manager.initFactories()")
+ OpenRTM_aist.FactoryInit()
+ return True
+
+ ##
+ # @if jp
+ # @brief Timer の初期化
+ #
+ # 使用する各 Timer の初期化処理を実行する。
+ # (現状の実装では何もしない)
+ #
+ # @param self
+ #
+ # @return Timer 初期化処理実行結果(初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ #
+ # @endif
+
+ def initTimer(self):
+ return True
+
+ ##
+ # @if jp
+ # @brief Timer の終了
+ #
+ # 使用する各 Timer の終了処理を実行する。
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
+ def shutdownTimer(self):
+ self._rtcout.RTC_TRACE("Manager.shutdownTimer()")
+ if self._timer:
+ self._timer.stop()
+ self._timer.join()
+ self._timer = None
+
+ ##
+ # @if jp
+ # @brief corba.endpoint_property プロパティの取得
+ #
+ # corba.endpoint_property の値を取得しタプルとして返す。ノードのエン
+ # ドポイントの内 IPv4, IPv6 のいずれを公開するかを指定するプロパティ
+ # corba.endpoint_property を取得し IPv4/IPv6 の有効無効および、有効に
+ # するIPアドレスの番号をタプル値として返す。
+ #
+ # @return (ipv4, ipv4_list, ipv6, ipv6_list) endpoint_property 値
+ # ipv4, ipv6: IPv4/IPv6 の有効無効を示すTrue/False
+ # ipv4_list, ipv6_list: 有効にするアドレスの番号、空リストの場合はすべて有効
+ #
+ # @else
+ # @brief ManagerServant initialization
+ #
+ # Getting corba.endpoint_property value and return them as a
+ # tuple. This function obtains corbaendpoint_property that specifies
+ # if IPv4/IPv6 addresses and IP address numbes to be published, and
+ # it returnes them as tuple.
+ #
+ # @return (ipv4, ipv4_list, ipv6, ipv6_list) endpoint_property value
+ # ipv4, ipv6: A True/False flag whether to use IPv4 / IPv6 address
+ # ipv4_list, ipv6_list: List of valid address number, empty means
+ # valid all addresses
+ #
+ # @endif
+ #
+
+ def endpointPropertySwitch(self):
+ ipv4 = True
+ ipv4_list = []
+ ipv6 = True
+ ipv6_list = []
+
+ ep_prop = self._config.getProperty("corba.endpoint_property", "ipv4")
+ ep_prop = ep_prop.lower()
+
+ import re
+ if ep_prop.count("ipv4"):
+ ipv4 = True
+ m = re.match(r"ipv4\(([0-9, ]*)\)", ep_prop)
+ if m:
+ ipv4_list = map(int, m.group(1).split(","))
+ else:
+ ipv4 = False
+ if ep_prop.count("ipv6"):
+ ipv6 = True
+ m = re.match(r"ipv6\(([0-9, ]*)\)", ep_prop)
+ if m:
+ ipv6_list = map(int, m.group(1).split(","))
+ else:
+ ipv6 = False
+ return (ipv4, ipv4_list, ipv6, ipv6_list)
+
+ ##
+ # @if jp
+ # @brief Endpoint をプロパティに設定
+ #
+ # この関数はエンドポイントをプロパティ corba.endpoints に指定する。引
+ # 数に与えられたオブジェクトリファレンスから現在のプロセスのエンドポ
+ # イント (IPアドレス, ポート番号) を取得し corba.endpoints,
+ # corba.endpoints_ipv4, corba.endpoints_ipv6 に指定する。
+ #
+ # @param objref オブジェクトリファレンス
+ #
+ # @else
+ # @brief Setting endpoint information to property
+ #
+ # This function sets endpoint information to corba.endpoints
+ # property. It extract endpoint information (list of IP address,
+ # port number) from given object reference, and set them to
+ # corba.endpoints, corba.endpoints_ipv4, corba.endpoints_ipv6
+ #
+ # @param objref A object reference
+ #
+ # @endif
+ #
+ def setEndpointProperty(self, objref):
+ import re
+ (ipv4, ipv4_list, ipv6, ipv6_list) = self.endpointPropertySwitch()
+ re_ipv4 = r"((?:(?:25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)\.){3}(?:25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?))"
+ re_ipv6 = r"(([0-9a-f]{1,4})(:([0-9a-f]{1,4})){7}((\.|#|p| port )\d{1,4})?)|\[([0-9a-f]{1,4})(:([0-9a-f]{1,4})){7}\]"
+
+ iorstr = self._orb.object_to_string(objref)
+
+ ior = CORBA_IORUtil.toIOR(iorstr)
+
+ endpoints = CORBA_IORUtil.getEndpoints(ior)
+
+ epstr = ""
+ epstr_ipv4 = ""
+ epstr_ipv6 = ""
+ ipv4_count = 0
+ ipv6_count = 0
+ for e in endpoints:
+ if ipv4 and re.match(re_ipv4, e.host):
+ if not ipv4_list or ipv4_list.count(ipv4_count):
+ epstr += e.host + ":" + str(e.port) + ", "
+ epstr_ipv4 += e.host + ":" + str(e.port) + ", "
+ ipv4_count += 1
+ if ipv6 and re.match(re_ipv6, e.host):
+ if not ipv6_list or ipv6_list.count(ipv6_count):
+ epstr += e.host + ":" + str(e.port) + ", "
+ epstr_ipv6 += e.host + ":" + str(e.port) + ", "
+ ipv6_count += 1
+ epstr = epstr[:-2]
+ epstr_ipv4 = epstr_ipv4[:-2]
+ epstr_ipv6 = epstr_ipv6[:-2]
+ self._config.setProperty("corba.endpoints", epstr)
+ self._config.setProperty("corba.endpoints_ipv4", epstr_ipv4)
+ self._config.setProperty("corba.endpoints_ipv6", epstr_ipv6)
+
+ ##
+ # @if jp
+ # @brief ManagerServant の初期化
+ #
+ # @return Timer 初期化処理実行結果(初期化成功:true、初期化失敗:false)
+ #
+ # @else
+ # @brief ManagerServant initialization
+ #
+ # @return Timer Initialization result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ def initManagerServant(self):
+ self._rtcout.RTC_TRACE("Manager.initManagerServant()")
+ if not OpenRTM_aist.toBool(
+ self._config.getProperty("manager.corba_servant"), "YES", "NO", True):
+ return True
+
+ self._mgrservant = OpenRTM_aist.ManagerServant()
+ if self._config.getProperty("corba.endpoints_ipv4") == "":
+ self.setEndpointProperty(self._mgrservant.getObjRef())
+ prop = self._config.getNode("manager")
+ names = OpenRTM_aist.split(prop.getProperty("naming_formats"), ",")
+
+ 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_main_manager.enable"),
+ "YES", "NO", True) and \
+ 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_main_manager.interval"):
+ duration = float(self._config.getProperty(
+ "corba.update_main_manager.interval"))
+ if duration:
+ tm.set_time(duration)
+
+ self.addTask(self._mgrservant.updateMainManager, tm)
+
+ otherref = None
+
+ return True
+
+ # bool Manager::initLocalService()
+
+ def initLocalService(self):
+ self._rtcout.RTC_TRACE("Manager::initLocalService()")
+ admin_ = OpenRTM_aist.LocalServiceAdmin.instance()
+ prop_ = OpenRTM_aist.Properties(
+ prop=self._config.getNode("manager.local_service"))
+ admin_.init(prop_)
+ self._rtcout.RTC_DEBUG("LocalServiceAdmin's properties:")
+ self._rtcout.RTC_DEBUG("%s", prop_)
+
+ svclist_ = admin_.getServiceProfiles()
+ for svc_ in svclist_:
+ self._rtcout.RTC_INFO("Available local service: %s (%s)",
+ (svc_.name, svc_.uuid))
+ return True
+
+ ##
+ # @if jp
+ # @brief NamingManager に登録されている全コンポーネントの終了処理
+ #
+ # NamingManager に登録されているRTコンポーネントおよび ExecutionContext の
+ # リストを取得し、全コンポーネントを終了する。
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @endif
+
+ def shutdownComponents(self):
+ self._rtcout.RTC_TRACE("Manager.shutdownComponents()")
+ comps = self._namingManager.getObjects()
+ for comp in comps:
+ try:
+ comp.exit()
+ p = OpenRTM_aist.Properties(key=comp.getInstanceName())
+ p.mergeProperties(comp.getProperties())
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+
+ for ec in self._ecs:
+ try:
+ self._poa.deactivate_object(self._poa.servant_to_id(ec))
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントの登録解除
+ #
+ # 指定したRTコンポーネントのインスタンスをネーミングサービスから
+ # 登録解除する。
+ #
+ # @param self
+ # @param comp 登録解除対象RTコンポーネント
+ #
+ # @else
+ #
+ # @endif
+
+ def cleanupComponent(self, comp):
+ self._rtcout.RTC_TRACE("Manager.cleanupComponent()")
+ self.unregisterComponent(comp)
+
+ return
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントの削除する
+ #
+ # notifyFinalized()によって登録されたRTコンポーネントを削除する。
+ #
+ # @else
+ # @brief This method deletes RT-Components.
+ #
+ # This method deletes RT-Components registered by notifyFinalized().
+ #
+ # @endif
+ #
+ # void cleanupComponents();
+
+ def cleanupComponents(self):
+ self._rtcout.RTC_VERBOSE("Manager.cleanupComponents()")
+ guard = OpenRTM_aist.ScopedLock(self._finalized.mutex)
+ self._rtcout.RTC_VERBOSE("%d components are marked as finalized.",
+ len(self._finalized.comps))
+ for _comp in self._finalized.comps:
+ self.deleteComponent(comp=_comp)
+
+ self._finalized.comps = []
+ del guard
+ return
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントの削除する
+ #
+ # 削除するRTコンポーネントを登録する。
+ # 登録されたRTコンポーネントは cleanupComponents() で削除される。
+ #
+ # @param 削除するRTコンポーネント
+ #
+ # @else
+ # @brief This method deletes RT-Components.
+ #
+ # The deleted RT-Component is registered. The registered RT-Components
+ # are deleted by cleanupComponents().
+ #
+ # @param Deleted RT component
+ # @endif
+ #
+ # void notifyFinalized(RTObject_impl* comp);
+
+ def notifyFinalized(self, comp):
+ self._rtcout.RTC_TRACE("Manager.notifyFinalized()")
+ guard = OpenRTM_aist.ScopedLock(self._finalized.mutex)
+ self._finalized.comps.append(comp)
+ del guard
+ return
+
+ ##
+ # @if jp
+ # @brief createComponentの引数を処理する
+ # @ param self
+ # @ param comp_arg(str)
+ # @ param comp_id(Properties object)
+ # @ param comp_conf(Properties object)
+ # @ return True or False
+ # @else
+ #
+ # @endif
+ #
+ # bool procComponentArgs(const char* comp_arg,
+ # coil::Properties& comp_id,
+ # coil::Properties& comp_conf)
+
+ def procComponentArgs(self, comp_arg, comp_id, comp_conf):
+ id_and_conf = [s.strip() for s in comp_arg.split("?")]
+
+ if len(id_and_conf) != 1 and len(id_and_conf) != 2:
+ self._rtcout.RTC_ERROR("Invalid arguments. Two or more '?'")
+ return False
+
+ prof = OpenRTM_aist.CompParam.prof_list
+ param_num = len(prof)
+
+ if id_and_conf[0].find(":") == -1:
+ id_and_conf[0] = prof[0] + ":::" + id_and_conf[0] + "::"
+
+ id = [s.strip() for s in id_and_conf[0].split(":")]
+
+ if len(id) != param_num:
+ self._rtcout.RTC_ERROR("Invalid RTC id format.")
+ return False
+
+ # prof = ["RTC", "vendor", "category", "implementation_id", "language", "version"]
+
+ if id[0] != prof[0]:
+ self._rtcout.RTC_ERROR("Invalid id type.")
+ return False
+
+ for i in range(1, param_num):
+ comp_id.setProperty(prof[i], id[i])
+ self._rtcout.RTC_TRACE(
+ "RTC basic profile %s: %s", (prof[i], id[i]))
+
+ if len(id_and_conf) == 2:
+ conf = [s.strip() for s in id_and_conf[1].split("&")]
+ for c in conf:
+ keyval = [s.strip() for s in c.split("=")]
+ if len(keyval) > 1:
+ comp_conf.setProperty(keyval[0], keyval[1])
+ self._rtcout.RTC_TRACE(
+ "RTC property %s: %s", (keyval[0], keyval[1]))
+
+ return True
+
+ # bool procContextArgs(const char* ec_args,
+ # std::string& ec_id,
+ # coil::Properties& ec_conf);
+
+ def procContextArgs(self, ec_args, ec_conf):
+ id_and_conf = [s.strip() for s in ec_args.split("?")]
+
+ if len(id_and_conf) != 1 and len(id_and_conf) != 2:
+ self._rtcout.RTC_ERROR("Invalid arguments. Two or more '?'")
+ return False, ""
+
+ if (id_and_conf[0] == "") or id_and_conf[0] is None:
+ self._rtcout.RTC_ERROR("Empty ExecutionContext's name")
+ return False, ""
+
+ ec_id = id_and_conf[0]
+
+ if len(id_and_conf) == 2:
+ conf = [s.strip() for s in id_and_conf[1].split("&")]
+ for c in conf:
+ k = [s.strip() for s in c.split("=")]
+ ec_conf.setProperty(k[0], k[1])
+ self._rtcout.RTC_TRACE("EC property %s: %s", (k[0], k[1]))
+
+ return True, ec_id
+
+ ##
+ # @if jp
+ # @brief RTコンポーネントのコンフィギュレーション処理
+ #
+ # RTコンポーネントの型およびインスタンス毎に記載されたプロパティファイルの
+ # 情報を読み込み、コンポーネントに設定する。
+ # また、各コンポーネントの NamingService 登録時の名称を取得し、設定する。
+ #
+ # @param self
+ # @param comp コンフィギュレーション対象RTコンポーネント
+ #
+ # @else
+ #
+ # @endif
+ # void configureComponent(RTObject_impl* comp, const coil::Properties&
+ # prop);
+
+ def configureComponent(self, comp, prop):
+ category = comp.getCategory()
+ type_name = comp.getTypeName()
+ inst_name = comp.getInstanceName()
+
+ type_conf = category + "." + type_name + ".config_file"
+ name_conf = category + "." + inst_name + ".config_file"
+
+ type_prop = OpenRTM_aist.Properties()
+
+ name_prop = OpenRTM_aist.Properties()
+ config_fname = []
+
+ if self._config.getProperty(name_conf) != "":
+ try:
+ conff = open(self._config.getProperty(name_conf))
+ name_prop.load(conff)
+ self._rtcout.RTC_INFO("Component instance conf file: %s loaded.",
+ self._config.getProperty(name_conf))
+ self._rtcout.RTC_DEBUG(name_prop)
+ config_fname.append(self._config.getProperty(name_conf))
+ except BaseException:
+ print("Not found. : %s" % self._config.getProperty(name_conf))
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ else:
+ name_prop.load(conff)
+ conff.close()
+
+ if self._config.findNode(category + "." + inst_name):
+ temp_ = OpenRTM_aist.Properties(
+ prop=self._config.getNode(
+ category + "." + inst_name))
+ keys_ = temp_.propertyNames()
+ if not (len(keys_) == 1 and keys_[-1] == "config_file"):
+ name_prop.mergeProperties(
+ self._config.getNode(
+ category + "." + inst_name))
+ self._rtcout.RTC_INFO(
+ "Component name conf exists in rtc.conf. Merged.")
+ self._rtcout.RTC_DEBUG(name_prop)
+ if self._config.findNode("config_file"):
+ config_fname.append(
+ self._config.getProperty("config_file"))
+
+ if self._config.getProperty(type_conf) != "":
+ try:
+ conff = open(self._config.getProperty(type_conf))
+ type_prop.load(conff)
+ self._rtcout.RTC_INFO("Component type conf file: %s loaded.",
+ self._config.getProperty(type_conf))
+ self._rtcout.RTC_DEBUG(type_prop)
+ config_fname.append(self._config.getProperty(type_conf))
+ except BaseException:
+ print("Not found. : %s" % self._config.getProperty(type_conf))
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ else:
+ type_prop.load(conff)
+ conff.close()
+
+ if self._config.findNode(category + "." + type_name):
+ temp_ = OpenRTM_aist.Properties(
+ prop=self._config.getNode(
+ category + "." + type_name))
+ keys_ = temp_.propertyNames()
+ if not (len(keys_) == 1 and keys_[-1] == "config_file"):
+ type_prop.mergeProperties(
+ self._config.getNode(
+ category + "." + type_name))
+ self._rtcout.RTC_INFO(
+ "Component type conf exists in rtc.conf. Merged.")
+ self._rtcout.RTC_DEBUG(type_prop)
+ if self._config.findNode("config_file"):
+ config_fname.append(
+ self._config.getProperty("config_file"))
+
+ comp.setProperties(prop)
+ type_prop.mergeProperties(name_prop)
+ type_prop.setProperty(
+ "config_file", OpenRTM_aist.flatten(
+ OpenRTM_aist.unique_sv(config_fname)))
+ comp.setProperties(type_prop)
+
+ comp_prop = OpenRTM_aist.Properties(prop=comp.getProperties())
+
+ naming_formats = self._config.getProperty("naming.formats")
+ if comp_prop.findNode("naming.formats"):
+ naming_formats = comp_prop.getProperty("naming.formats")
+ naming_formats = OpenRTM_aist.flatten(
+ OpenRTM_aist.unique_sv(
+ OpenRTM_aist.split(
+ naming_formats, ",")))
+
+ naming_names = self.formatString(naming_formats, comp.getProperties())
+ comp.getProperties().setProperty("naming.formats", naming_formats)
+ comp.getProperties().setProperty("naming.names", naming_names)
+ return
+
+ ##
+ # @if jp
+ # @brief プロパティ情報のマージ
+ #
+ # 指定されたファイル内に設定されているプロパティ情報をロードし、
+ # 既存の設定済みプロパティとマージする。
+ #
+ # @param self
+ # @param prop マージ対象プロパティ
+ # @param file_name プロパティ情報が記述されているファイル名
+ #
+ # @return マージ処理実行結果(マージ成功:true、マージ失敗:false)
+ #
+ # @else
+ #
+ # @endif
+
+ def mergeProperty(self, prop, file_name):
+ if file_name == "":
+ self._rtcout.RTC_ERROR("Invalid configuration file name.")
+ return False
+
+ if file_name[0] != '\0':
+
+ try:
+ conff = open(file_name)
+ except BaseException:
+ print("Not found. : %s" % file_name)
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ else:
+ prop.load(conff)
+ conff.close()
+ return True
+
+ return False
+
+ ##
+ # @if jp
+ # @brief NamingServer に登録する際の登録情報を組み立てる
+ #
+ # 指定された書式とプロパティ情報を基に NameServer に登録する際の情報を
+ # 組み立てる。
+ # 各書式指定用文字の意味は以下のとおり
+ # - % : コンテキストの区切り
+ # - n : インスタンス名称
+ # - t : 型名
+ # - m : 型名
+ # - v : バージョン
+ # - V : ベンダー
+ # - c : カテゴリ
+ # - h : ホスト名
+ # - M : マネージャ名
+ # - p : プロセスID
+ #
+ # @param self
+ # @param naming_format NamingService 登録情報書式指定
+ # @param prop 使用するプロパティ情報
+ #
+ # @return 指定書式変換結果
+ #
+ # @else
+ #
+ # @endif
+
+ def formatString(self, naming_format, prop):
+ name_ = naming_format
+ str_ = ""
+ count = 0
+ len_ = len(name_)
+ it = iter(name_)
+
+ try:
+ while True:
+ if sys.version_info[0] == 2:
+ n = it.next()
+ else:
+ n = it.__next__()
+ if n == '%':
+ count += 1
+ if not (count % 2):
+ str_ += n
+ elif n == '$':
+ count = 0
+ if sys.version_info[0] == 2:
+ n = it.next()
+ else:
+ n = it.__next__()
+ if n == '{' or n == '(':
+ n = it.next()
+ env = ""
+ while True:
+ if n == '}' or n == ')':
+ break
+ env += n
+ if sys.version_info[0] == 2:
+ n = it.next()
+ else:
+ n = it.__next__()
+ envval = os.getenv(env)
+ if envval:
+ str_ += envval
+ else:
+ str_ += n
+ else:
+ if count > 0 and (count % 2):
+ count = 0
+ if n == "n":
+ str_ += prop.getProperty("instance_name")
+ elif n == "t":
+ str_ += prop.getProperty("type_name")
+ elif n == "m":
+ str_ += prop.getProperty("type_name")
+ elif n == "v":
+ str_ += prop.getProperty("version")
+ elif n == "V":
+ str_ += prop.getProperty("vendor")
+ elif n == "c":
+ str_ += prop.getProperty("category")
+ elif n == "h":
+ str_ += self._config.getProperty("os.hostname")
+ elif n == "M":
+ str_ += self._config.getProperty("manager.name")
+ elif n == "p":
+ str_ += str(self._config.getProperty("manager.pid"))
+ else:
+ str_ += n
+ else:
+ count = 0
+ str_ += n
+ except BaseException:
+ # Caught StopIteration exception.
+ return str_
+
+ # return str_
+
+ ##
+ # @if jp
+ # @brief ログバッファの取得
+ #
+ # マネージャに設定したログバッファを取得する。
+ #
+ # @param self
+ #
+ # @return マネージャに設定したログバッファ
+ #
+ # @else
+ #
+ # @endif
+ def getLogbuf(self, name="manager"):
+ if not OpenRTM_aist.toBool(self._config.getProperty(
+ "logger.enable"), "YES", "NO", True):
+ return OpenRTM_aist.LogStream().getLogger(name)
+
+ if self._rtcout is None:
+ self._rtcout = OpenRTM_aist.LogStream()
+ self._rtcout.setLogLevel(
+ self._config.getProperty("logger.log_level"))
+ return self._rtcout.getLogger(name)
+ else:
+ return self._rtcout.getLogger(name)
+
+ ##
+ # @if jp
+ # @brief マネージャコンフィギュレーションの取得
+ #
+ # マネージャに設定したコンフィギュレーションを取得する。
+ #
+ # @param self
+ #
+ # @return マネージャのコンフィギュレーション
+ #
+ # @else
+ #
+ # @endif
+
+ def getConfig(self):
+ return self._config
+
+ ##
+ # @if jp
+ # @brief コンポーネントファイル(.py)から
+ #
+ # マネージャに設定したコンフィギュレーションを取得する。
+ #
+ # @param self
+ #
+ # @return マネージャのコンフィギュレーション
+ #
+ # @else
+ #
+ # @endif
+
+ def __try_direct_load(self, file_name):
+ try:
+ # pathChanged=False
+ splitted_name = os.path.split(file_name)
+ save_path = sys.path[:]
+ sys.path.append(splitted_name[0])
+ import_name = splitted_name[-1].split(".py")[0]
+ mo = __import__(import_name)
+ sys.path = save_path
+ _spec = getattr(mo, import_name.lower() + "_spec", None)
+ _class = getattr(mo, import_name, None)
+ if _spec and _class:
+ prof = OpenRTM_aist.Properties(defaults_str=_spec)
+ self.registerFactory(prof,
+ _class,
+ OpenRTM_aist.Delete)
+ except BaseException:
+ self._rtcout.RTC_ERROR("Module load error: %s", file_name)
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ ##
+ # @if jp
+ #
+ # @brief 指定したRTコンポーネントの保持するポートをNamingServiceにバインドする
+ # ポートのpublish_topicというプロパティでトピック名を設定し、トピック名のコンテキストの下に登録
+ #
+ #
+ # @param self
+ # @param comp RTコンポーネント
+ #
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param comp
+ #
+ # @endif
+ # void publishPorts(RTObject_impl* comp)
+
+ def publishPorts(self, comp):
+ ports = comp.get_ports()
+ for p in ports:
+ prof = p.get_port_profile()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
+
+ if (prop.hasKey("publish_topic") is None or not str(prop.getProperty("publish_topic"))) and (prop.hasKey("subscribe_topic") is None or not str(
+ prop.getProperty("subscribe_topic"))) and (prop.hasKey("rendezvous_point") is None or not str(prop.getProperty("rendezvous_point"))):
+ continue
+
+ if prop.getProperty("port.port_type") == "DataOutPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt/"
+ name += prof.name
+ name += ".outport"
+ elif prop.getProperty("port.port_type") == "DataInPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("subscribe_topic")) + \
+ ".topic_cxt/"
+ name += prof.name
+ name += ".inport"
+ elif prop.getProperty("port.port_type") == "CorbaPort":
+ name = "svcports.port_cxt/"
+ name += str(prop.getProperty("rendezvous_point")) + \
+ ".topic_cxt/"
+ name += prof.name
+ name += ".svc"
+
+ else:
+
+ self._rtcout.RTC_WARN(
+ "Unknown port type: %s" % str(
+ prop.getProperty("port.port_type")))
+ continue
+
+ port = self._poa.reference_to_servant(p)
+
+ self._namingManager.bindPortObject(name, port)
+
+ ##
+ # @if jp
+ #
+ # @brief 指定したRTコンポーネントの保持するポートを同じトピック名以下の接続可能なポートと接続
+ #
+ #
+ # @param self
+ # @param comp RTコンポーネント
+ #
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param comp
+ #
+ # @endif
+ # void subscribePorts(RTObject_impl* comp)
+ def subscribePorts(self, comp):
+ ports = comp.get_ports()
+
+ for p in ports:
+
+ prof = p.get_port_profile()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
+
+ if (prop.hasKey("publish_topic") is None or not str(prop.getProperty("publish_topic"))) and (prop.hasKey("subscribe_topic") is None or not str(
+ prop.getProperty("subscribe_topic"))) and (prop.hasKey("rendezvous_point") is None or not str(prop.getProperty("rendezvous_point"))):
+ continue
+
+ if prop.getProperty("port.port_type") == "DataOutPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("publish_topic")) + ".topic_cxt"
+
+ nsports = self.getPortsOnNameServers(name, "inport")
+
+ self.connectDataPorts(p, nsports)
+
+ elif prop.getProperty("port.port_type") == "DataInPort":
+ name = "dataports.port_cxt/"
+ name += str(prop.getProperty("subscribe_topic")) + ".topic_cxt"
+ nsports = self.getPortsOnNameServers(name, "outport")
+ self.connectDataPorts(p, nsports)
+
+ elif prop.getProperty("port.port_type") == "CorbaPort":
+ name = "svcports.port_cxt/"
+ name += str(prop.getProperty("rendezvous_point")) + \
+ ".topic_cxt"
+ nsports = self.getPortsOnNameServers(name, "svc")
+ self.connectServicePorts(p, nsports)
+
+ ##
+ # @if jp
+ #
+ # @brief 与えられたパス以下の指定されたkindのポートを取得する
+ #
+ # @param self
+ # @param nsname パス
+ # @param kind kind
+ # @return ポートのオブジェクトリファレンスのリスト
+ #
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param nsname
+ # @param kind
+ # @return
+ #
+ # @endif
+ # PortServiceList_var getPortsOnNameServers(std::string nsname,std::string
+ # kind)
+ def getPortsOnNameServers(self, nsname, kind):
+ ports = []
+ ns = self._namingManager.getNameServices()
+ for n in ns:
+ noc = n.ns
+ if noc is None:
+ continue
+ cns = noc._cosnaming
+ if cns is None:
+ continue
+
+ bl = cns.listByKind(nsname, kind)
+
+ for b in bl:
+ if b.binding_type != CosNaming.nobject:
+ continue
+ tmp = b.binding_name[0].id + "." + b.binding_name[0].kind
+
+ nspath = "/" + nsname + "/" + tmp
+ nspath.replace("\\", "")
+
+ obj = cns.resolveStr(nspath)
+ portsvc = obj
+
+ if CORBA.is_nil(portsvc):
+ continue
+
+ try:
+ portsvc.get_port_profile()
+
+ except BaseException:
+ continue
+ ports.append(portsvc)
+
+ return ports
+
+ ##
+ # @if jp
+ # @brief 指定したデータポートを指定したリスト内のデータポート全てと接続する
+ # @param self
+ # @param port 対象のデータポート
+ # @param target_ports 接続対象のデータポートのリスト
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param port
+ # @param target_ports
+ # @endif
+ # void connectDataPorts(PortService_ptr port,PortServiceList_var&
+ # target_ports)
+ def connectDataPorts(self, port, target_ports):
+ for p in target_ports:
+ if port._is_equivalent(p):
+ continue
+ con_name = ""
+ p0 = port.get_port_profile()
+ p1 = p.get_port_profile()
+ con_name += p0.name
+ con_name += ":"
+ con_name += p1.name
+ prop = OpenRTM_aist.Properties()
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+ con_name, prop, port, p):
+ self._rtcout.RTC_ERROR("Connection error in topic connection.")
+
+ ##
+ # @if jp
+ # @brief 指定したサービスポートを指定したリスト内のサービスポート全てと接続する
+ # @param self
+ # @param port 対象のサービスポート
+ # @param target_ports 接続対象のサービスポートのリスト
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param port
+ # @param target_ports
+ # @endif
+ # void connectServicePorts(PortService_ptr port,PortServiceList_var&
+ # target_ports)
+
+ def connectServicePorts(self, port, target_ports):
+ for p in target_ports:
+ if port._is_equivalent(p):
+ continue
+ con_name = ""
+ p0 = port.get_port_profile()
+ p1 = p.get_port_profile()
+ con_name += p0.name
+ con_name += ":"
+ con_name += p1.name
+ prop = OpenRTM_aist.Properties()
+ if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+ con_name, prop, port, p):
+ self._rtcout.RTC_ERROR("Connection error in topic connection.")
+
+ ##
+ # @if jp
+ # @brief 起動時にrtc.confで指定したポートを接続する
+ # 例:
+ # manager.components.preconnect: RTC0.port0?port=RTC0.port1&interface_type=corba_cdr&dataflow_type=pull&~,~
+ # @param self
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void initPreConnection()
+
+ def initPreConnection(self):
+ self._rtcout.RTC_TRACE("Connection pre-creation: %s" %
+ str(self._config.getProperty("manager.components.preconnect")))
+ connectors = str(self._config.getProperty(
+ "manager.components.preconnect")).split(",")
+
+ for c in connectors:
+ c = c.strip()
+ if not c:
+ continue
+ 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
+ # パラメータ名の末尾が数字の場合(port0, port1...)
+ ret, v = OpenRTM_aist.stringTo(v, tmp)
+ if ret and k.find("port") != -1:
+ 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
+
+ if not ("dataflow_type" in configs.keys()):
+ configs["dataflow_type"] = "push"
+ if not ("interface_type" in configs.keys()):
+ configs["interface_type"] = "corba_cdr"
+
+ 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:
+ self._rtcout.RTC_ERROR("%s not found." % comp0_name)
+ continue
+ comp0_ref = comp0.getObjRef()
+ else:
+ rtcs = self._namingManager.string_to_component(comp0_name)
+
+ if not rtcs:
+ self._rtcout.RTC_ERROR("%s not found." % comp0_name)
+ continue
+ comp0_ref = rtcs[0]
+ 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: " % port0_str)
+ continue
+
+ if not ports:
+ 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, RTC.PortService._nil):
+ self._rtcout.RTC_ERROR("Connection error: %s" % c)
+
+ for port_str in ports:
+
+ tmp = port_str.split(".")
+ tmp.pop()
+ comp_name = OpenRTM_aist.flatten(tmp, ".")
+ port_name = port_str
+
+ 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 not rtcs:
+ self._rtcout.RTC_ERROR("%s not found." % comp_name)
+ continue
+ comp_ref = rtcs[0]
+ port_name = port_str.split("/")[-1]
+
+ port_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
+ comp_ref, port_name)
+
+ if CORBA.is_nil(port_var):
+ self._rtcout.RTC_DEBUG("port %s found: " % port_str)
+ continue
+
+ 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, port_var):
+ self._rtcout.RTC_ERROR("Connection error: %s" % c)
+
+ ##
+ # @if jp
+ # @brief 起動時にrtc.confで指定したRTCをアクティベーションする
+ # 例:
+ # manager.components.preactivation: RTC1,RTC2~
+ # @param self
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void initPreActivation()
+ def initPreActivation(self):
+
+ 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:
+ c = c.strip()
+ if c:
+ comp_ref = None
+ if c.find("://") == -1:
+ comp = self.getComponent(c)
+ if comp is None:
+ self._rtcout.RTC_ERROR("%s not found." % c)
+ continue
+ comp_ref = comp.getObjRef()
+ else:
+ rtcs = self._namingManager.string_to_component(c)
+ if not rtcs:
+ self._rtcout.RTC_ERROR("%s not found." % c)
+ continue
+ comp_ref = rtcs[0]
+ ret = OpenRTM_aist.CORBA_RTCUtil.activate(comp_ref)
+ if ret != RTC.RTC_OK:
+ self._rtcout.RTC_ERROR("%s activation failed." % c)
+ else:
+ self._rtcout.RTC_INFO("%s activated." % c)
+
+ ##
+ # @if jp
+ # @brief 起動時にrtc.confで指定したRTCを生成する
+ # 例:
+ # manager.components.precreate RTC1,RTC2~
+ # @param self
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void initPreCreation()
+
+ def initPreCreation(self):
+ comps = [s.strip() for s in self._config.getProperty(
+ "manager.components.precreate").split(",")]
+ for comp in comps:
+ if comp is None or comp == "":
+ continue
+
+ self.createComponent(comp)
+
+ ##
+ # @if jp
+ # @brief
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void invokeInitProc()
+
+ def invokeInitProc(self):
+ if self._initProc:
+ self._initProc(self)
+
+ ##
+ # @if jp
+ # @brief ManagerServantを取得する
+ #
+ #
+ # @param self
+ # @return ManagerServant
+ # @else
+ #
+ # @brief
+ # @param self
+ # @return
+ # @endif
+ # ManagerServant* getManagerServant()
+ def getManagerServant(self):
+ self._rtcout.RTC_TRACE("Manager.getManagerServant()")
+ return self._mgrservant
+
+ ##
+ # @if jp
+ # @brief NamingManagerを取得する
+ #
+ #
+ # @param self
+ # @return NamingManager
+ # @else
+ #
+ # @brief
+ # @param self
+ # @return
+ # @endif
+ # NamingManager* getNaming()
+
+ def getNaming(self):
+ self._rtcout.RTC_TRACE("Manager.getNaming()")
+ return self._namingManager
+
+
+ ##
+ # @if jp
+ # @brief 周期実行タスクの登録
+ #
+ #
+ # 周期的に実行する関数や関数オブジェクトを Manager のタイマーに登録する。
+ # removePeriodTask() が実行されるまで処理が継続される｡本関数に登録する処理
+ # の中で sleep などの長時間ブロッキングは推奨されない。また周期タスクの中で
+ # 本関数を呼び出してはならない。
+ #
+ # @param self
+ # @param fn 周期実行する関数または関数オブジェクト
+ # @param period 周期実行の実行間隔
+ # @return id removeTask() で実行解除するための ID
+ # @return PeriodicFunction
+ # @else
+ #
+ # @brief Add a task to the Manager timer.
+ #
+ # This operation add a function or functional object to Manger's
+ # timer. It run until removeTask(). DO NOT block (Ex. sleep)
+ # in the registerd function.
+ #
+ # @param self
+ # @param fn The Function run periodically.
+ # @param period Period of fn execution.
+ # @return id ID for removetask().
+ # @return PeriodicFunction
+ # @endif
+ #
+ def addTask(self, fn, period):
+ #self._rtcout.RTC_TRACE("Manager::addTask()")
+ return self._scheduler.emplace(fn, period)
+
+ ##
+ # @if jp
+ # @brief Manger のメインスレッドで処理を実行
+ #
+ # Manger のメインスレッドで指定された処理を実行する。長時間のブロッ
+ # キングを行う関数の登録は推奨しない。
+ #
+ # @param self
+ # @param fn 関数または関数オブジェクト
+ # @param delay 起動するまでの遅延時間
+ # @return DelayedFunction
+ #
+ # @else
+ #
+ # @brief Run a function on the Manager main thread.
+ #
+ # The specified function run on the Manager main thread. DO NOT block
+ # the thread in the function.
+ #
+ # @param self
+ # @param fn The Function run on the Manager main thread.
+ # @param delay The delay time for the function execution.
+ # @return DelayedFunction
+ #
+ # @endif
+ #
+ def invoke(self, fn, delay):
+ #self._rtcout.RTC_TRACE("Manager::invoke()")
+ return self._invoker.emplace(fn, delay)
+
+ ##
+ # @if jp
+ # @brief 周期実行タスクの削除
+ #
+ # タイマーに登録されている周期タスクを削除する。
+ #
+ # @param self
+ # @param id 削除対象のタスクを示す ID
+ #
+ # @else
+ #
+ # @brief Remove the task from the Manager timer.
+ #
+ # This operation remove the specify function.
+ #
+ # @param self
+ # @param id Task ID
+ #
+ # @endif
+ #
+ def removeTask(self, task):
+ task.stop()
+
+ ##
+ # @if jp
+ # @brief リストに実行コンテキストのインスタンスを追加
+ #
+ # Managerが管理するRTCが生成したECはリストに追加する必要がある
+ #
+ # @param self
+ # @param ec 実行コンテキスト
+ # @return 既に追加済みの場合はFalseを返す
+ #
+ # @else
+ #
+ # @brief
+ #
+ #
+ # @param self
+ # @param ec Execution context
+ # @return
+ #
+ # @endif
+ #
+ def addExecutionContext(self, ec):
+ if ec in self._eclist:
+ return False
+ self._eclist.append(ec)
+ return True
+
+ ##
+ # @if jp
+ # @brief リストから実行コンテキストを削除
+ #
+ #
+ # @param self
+ # @param ec 実行コンテキスト
+ # @return 指定のECがリストに存在しない場合はFalseを返す
+ #
+ # @else
+ #
+ # @brief
+ #
+ #
+ # @param self
+ # @param ec Execution context
+ # @return
+ #
+ # @endif
+ #
+ def removeExecutionContext(self, ec):
+ if ec in self._eclist:
+ self._eclist.remove(ec)
+ return True
+ return False
+
+ ##
+ # @if jp
+ # @brief 実行コンテキストをリストを取得する
+ #
+ #
+ # @param self
+ # @return 実行コンテキストのリスト
+ #
+ # @else
+ #
+ # @brief
+ #
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+ def createdExecutionContexts(self):
+ return self._eclist
+
+
+ # ============================================================
+ # コンポーネントマネージャ
+ # ============================================================
+ ##
+ # @if jp
+ # @class InstanceName
+ # @brief ObjectManager 検索用ファンクタ
+ #
+ # @else
+ #
+ # @endif
+ class InstanceName:
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ # @param name 検索対象コンポーネント名称(デフォルト値:None)
+ # @param factory 検索対象ファクトリ名称(デフォルト値:None)
+ #
+ # @else
+ #
+ # @endif
+ def __init__(self, name=None, factory=None, prop=None):
+ if prop:
+ self._name = prop.getProperty("instance_name")
+ elif factory:
+ self._name = factory.getInstanceName()
+ elif name:
+ self._name = name
+ else:
+ self._name = ""
+
+ def __call__(self, comp):
+ if not self._name:
+ return False
+ return self._name == comp.getInstanceName()
+
+ # ============================================================
+ # コンポーネントファクトリ
+ # ============================================================
+ ##
+ # @if jp
+ # @class FactoryPredicate
+ # @brief コンポーネントファクトリ検索用ファンクタ
+ #
+ # @else
+ #
+ # @endif
+ class FactoryPredicate:
+
+ def __init__(self, name=None, prop=None, factory=None):
+ if name:
+ self._vendor = ""
+ self._category = ""
+ self._impleid = name
+ self._version = ""
+ elif prop:
+ self._vendor = prop.getProperty("vendor")
+ self._category = prop.getProperty("category")
+ self._impleid = prop.getProperty("implementation_id")
+ self._version = prop.getProperty("version")
+ elif factory:
+ self._vendor = factory.profile().getProperty("vendor")
+ self._category = factory.profile().getProperty("category")
+ self._impleid = factory.profile().getProperty("implementation_id")
+ self._version = factory.profile().getProperty("version")
+
+ def __call__(self, factory):
+ if self._impleid == "":
+ return False
+
+ _prop = OpenRTM_aist.Properties(prop=factory.profile())
+
+ if self._impleid != _prop.getProperty("implementation_id"):
+ return False
+
+ if self._vendor != "" and self._vendor != _prop.getProperty(
+ "vendor"):
+ return False
+
+ if self._category != "" and self._category != _prop.getProperty(
+ "category"):
+ return False
+
+ if self._version != "" and self._version != _prop.getProperty(
+ "version"):
+ return False
+
+ return True
+
+ # ============================================================
+ # ExecutionContextファクトリ
+ # ============================================================
+ ##
+ # @if jp
+ # @class ECFactoryPredicate
+ # @brief ExecutionContextファクトリ検索用ファンクタ
+ #
+ # @else
+ #
+ # @endif
+ class ECFactoryPredicate:
+
+ def __init__(self, name=None, factory=None):
+ if name:
+ self._name = name
+ elif factory:
+ self._name = factory.name()
+
+ def __call__(self, factory):
+ return self._name == factory.name()
+
+ # ============================================================
+ # Module Fanctor
+ # ============================================================
+ ##
+ # @if jp
+ # @class ModulePredicate
+ # @brief Module検索用ファンクタ
+ #
+ # @else
+ #
+ # @endif
+ class ModulePredicate:
+
+ # ModulePredicate(coil::Properties& prop)
+ def __init__(self, prop):
+ self._prop = prop
+ return
+
+ # bool operator()(coil::Properties& prop)
+ def __call__(self, prop):
+
+ if self._prop.getProperty(
+ "implementation_id") != prop.getProperty("implementation_id"):
+ return False
+
+ if self._prop.getProperty("vendor") and \
+ self._prop.getProperty("vendor") != prop.getProperty("vendor"):
+ return False
+
+ if self._prop.getProperty("category") and \
+ self._prop.getProperty("category") != prop.getProperty("category"):
+ return False
+
+ if self._prop.getProperty("version") and \
+ self._prop.getProperty("version") != prop.getProperty("version"):
+ return False
+
+ return True
+
+
+
+
+ class Finalized:
+ def __init__(self):
+ self.mutex = threading.RLock()
+ self.comps = []
diff --git a/OpenRTM_aist/ManagerActionListener.py b/OpenRTM_aist/ManagerActionListener.py
index 6d2a4ee0..7c4ddbdb 100644
--- a/OpenRTM_aist/ManagerActionListener.py
+++ b/OpenRTM_aist/ManagerActionListener.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file ManagerActionListener.py
@@ -19,172 +19,419 @@
import OpenRTM_aist
+
##
# @if jp
-# @class ManagerActionListenerHolder 饹
+# @class ManagerActionListener クラス
+#
+# - マネージャShutdownの直前: void onPreShutdown()
+# - マネージャShutdownの直後: void onPostShutdown()
+# - マネージャの再初期化直前: void onPreReinit()
+# - マネージャの再初期化直後: void onPostReinit()
+# @else
+# @class ManagerActionListener class
+# @endif
+class ManagerActionListener:
+ ##
+ # @if jp
+ # @brief preShutdown callback function
+ # @param self
+ # @else
+ # @brief preShutdown callback function
+ # @param self
+ # @endif
+ # virtual void preShutdown();
+ def preShutdown(self):
+ # type: () -> None
+ pass
+ ##
+ # @if jp
+ # @brief postShutdown callback function
+ # @param self
+ # @else
+ # @brief postShutdown callback function
+ # @param self
+ # @endif
+ # virtual void postShutdown();
+
+ def postShutdown(self):
+ # type: () -> None
+ pass
+ ##
+ # @if jp
+ # @brief preReinit コールバック関数
+ # @param self
+ # @else
+ # @brief preReinit callback function
+ # @param self
+ # @endif
+ # virtual void preReinit();
+
+ def preReinit(self):
+ # type: () -> None
+ pass
+ ##
+ # @if jp
+ # @brief postReinit コールバック関数
+ # @param self
+ # @else
+ # @brief postReinit callback function
+ # @param self
+ # @endif
+ # virtual void postReinit();
+
+ def postReinit(self):
+ # type: () -> None
+ pass
+
+
+##
+# @if jp
+# @class ManagerActionListenerHolder クラス
# @else
# @class ManagerActionListenerHolder class
# @endif
class ManagerActionListenerHolder(OpenRTM_aist.ListenerHolder):
- """
- """
-
- def __init__(self):
- OpenRTM_aist.ListenerHolder.__init__(self)
- return
-
- def __del__(self):
- return
-
-
- ##
- # @if jp
- # @brief preShutdown Хåؿ
- # TODO: Documentation
- # @else
- # @brief preShutdown callback function
- # TODO: Documentation
- # @endif
- # virtual void preShutdown();
- def preShutdown(self):
- self.LISTENERHOLDER_CALLBACK("preShutdown")
- return
-
-
- ##
- # @if jp
- # @brief postShutdown Хåؿ
- # TODO: Documentation
- # @else
- # @brief postShutdown callback function
- # TODO: Documentation
- # @endif
- # virtual void postShutdown();
- def postShutdown(self):
- self.LISTENERHOLDER_CALLBACK("postShutdown")
- return
-
-
- ##
- # @if jp
- # @brief preReinit Хåؿ
- # TODO: Documentation
- # @else
- # @brief preReinit callback function
- # TODO: Documentation
- # @endif
- # virtual void preReinit();
- def preReinit(self):
- self.LISTENERHOLDER_CALLBACK("preReinit")
- return
-
-
- ##
- # @if jp
- # @brief postReinit Хåؿ
- # TODO: Documentation
- # @else
- # @brief postReinit callback function
- # TODO: Documentation
- # @endif
- # virtual void postReinit();
- def postReinit(self):
- self.LISTENERHOLDER_CALLBACK("postReinit")
- return
-
-
+ """
+ """
+
+ def __init__(self):
+ OpenRTM_aist.ListenerHolder.__init__(self)
+ return
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief preShutdown コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preShutdown callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preShutdown();
+
+ def preShutdown(self):
+ self.LISTENERHOLDER_CALLBACK("preShutdown")
+ return
+
+ ##
+ # @if jp
+ # @brief postShutdown コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postShutdown callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postShutdown();
+
+ def postShutdown(self):
+ self.LISTENERHOLDER_CALLBACK("postShutdown")
+ return
+
+ ##
+ # @if jp
+ # @brief preReinit コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preReinit callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preReinit();
+
+ def preReinit(self):
+ self.LISTENERHOLDER_CALLBACK("preReinit")
+ return
+
+ ##
+ # @if jp
+ # @brief postReinit コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postReinit callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postReinit();
+
+ def postReinit(self):
+ self.LISTENERHOLDER_CALLBACK("postReinit")
+ return
+
+
##
# @if jp
-# @class ModuleActionListenerHolder 饹
-# @brief ModuleActionListenerHolder 饹
+# @class ModuleActionListener クラス
+# @else
+# @class ModuleActionListener class
+# @endif
+class ModuleActionListener:
+ ##
+ # @if jp
+ # @brief preLoad コールバック関数
+ # @param self
+ # @param modname
+ # @param funcname
+ # @return
+ # @else
+ # @brief preLoad callback function
+ # @param self
+ # @param modname
+ # @param funcname
+ # @return
+ # @endif
+ # virtual void preLoad(std::string& modname, std::string& funcname);
+ def preLoad(self, modname, funcname):
+ # type: (str, str) -> str, str
+ return modname, funcname
+ ##
+ # @if jp
+ # @brief postLoad コールバック関数
+ # @param self
+ # @param modname
+ # @param funcname
+ # @return
+ # @else
+ # @brief postLoad callback function
+ # @param self
+ # @param modname
+ # @param funcname
+ # @return
+ # @endif
+ # virtual void postLoad(std::string& modname, std::string& funcname);
+
+ def postLoad(self, modname, funcname):
+ # type: (str, str) -> str, str
+ return modname, funcname
+ ##
+ # @if jp
+ # @brief preUnload コールバック関数
+ # @param self
+ # @param modname
+ # @return
+ # @else
+ # @brief preUnload callback function
+ # @param self
+ # @param modname
+ # @return
+ # @endif
+ # virtual void preUnload(std::string& modname));
+
+ def preUnload(self, modname):
+ # type: (str) -> str
+ return modname
+ ##
+ # @if jp
+ # @brief postUnload コールバック関数
+ # @param self
+ # @else
+ # @brief postUnload callback function
+ # @param self
+ # @endif
+ # virtual void postUnload(std::string& modname));
+
+ def postUnload(self, modname):
+ # type: (str) -> str
+ return modname
+
+##
+# @if jp
+# @class ModuleActionListenerHolder クラス
+# @brief ModuleActionListenerHolder クラス
#
# @else
# @class ModuleActionListenerHolder class
# @brief ModuleActionListenerHolder class
#
# @endif
+
+
class ModuleActionListenerHolder(OpenRTM_aist.ListenerHolder):
- """
- """
-
- def __init__(self):
- OpenRTM_aist.ListenerHolder.__init__(self)
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- # @brief preLoad Хåؿ
- # TODO: Documentation
- # @else
- # @brief preLoad callback function
- # TODO: Documentation
- # @endif
- # virtual void preLoad(std::string& modname,
- # std::string& funcname);
- def preLoad(self, modname, funcname):
- self.LISTENERHOLDER_CALLBACK("preLoad", modname, funcname)
- return
-
-
- ##
- # @if jp
- # @brief postLoad Хåؿ
- # TODO: Documentation
- # @else
- # @brief postLoad callback function
- # TODO: Documentation
- # @endif
- # virtual void postLoad(std::string& modname,
- # std::string& funcname);
- def postLoad(self, modname, funcname):
- self.LISTENERHOLDER_CALLBACK("postLoad", modname, funcname)
- return
-
-
- ##
- # @if jp
- # @brief preUnload Хåؿ
- # TODO: Documentation
- # @else
- # @brief preUnload callback function
- # TODO: Documentation
- # @endif
- # virtual void preUnload(std::string& modname);
- def preUnload(self, modname):
- self.LISTENERHOLDER_CALLBACK("preUnload", modname)
- return
-
-
- ##
- # @if jp
- # @brief postUnload Хåؿ
- # TODO: Documentation
- # @else
- # @brief postUnload callback function
- # TODO: Documentation
- # @endif
- # virtual void postUnload(std::string& modname);
- def postUnload(self, modname):
- self.LISTENERHOLDER_CALLBACK("postUnload", modname)
- return
-
-
+ """
+ """
+
+ def __init__(self):
+ OpenRTM_aist.ListenerHolder.__init__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief preLoad コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preLoad callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preLoad(std::string& modname,
+ # std::string& funcname);
+
+ def preLoad(self, modname, funcname):
+ return self.LISTENERHOLDER_CALLBACK("preLoad", modname, funcname)
+
+ ##
+ # @if jp
+ # @brief postLoad コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postLoad callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postLoad(std::string& modname,
+ # std::string& funcname);
+
+ def postLoad(self, modname, funcname):
+ return self.LISTENERHOLDER_CALLBACK("postLoad", modname, funcname)
+
+ ##
+ # @if jp
+ # @brief preUnload コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preUnload callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preUnload(std::string& modname);
+
+ def preUnload(self, modname):
+ return self.LISTENERHOLDER_CALLBACK("preUnload", modname)
+
+ ##
+ # @if jp
+ # @brief postUnload コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postUnload callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postUnload(std::string& modname);
+
+ def postUnload(self, modname):
+ return self.LISTENERHOLDER_CALLBACK("postUnload", modname)
+
+
+##
+# @if jp
+# @class RtcLifecycleActionListener クラス
+#
+# RTC系
+# - RTC生成の直前 bool (std::string&)
+# void preCreate(std::string& args) = 0;
+# - RTC生成の直後 bool (RTObject_impl*)
+# void postCreate(RTObject_impl*) = 0;
+# - RTCのコンフィグ直前 bool (coil::Properties& prop)
+# void preConfigure(coil::Properties& prop) = 0;
+# - RTCのコンフィグ直後 bool (coil::Properties& prop)
+# void postConfigure(coil::Properties& prop) = 0;
+# - RTCの初期化の直前 bool (void)
+# void preInitialize(void) = 0;
+# - RTCの初期化の直後 bool (void)
+# void postInitialize(void) = 0;
+# @else
+# @class RtcLifecycleActionListener class
+# @endif
+class RtcLifecycleActionListener:
+ ##
+ # @if jp
+ # @brief preCreate コールバック関数
+ # @param self
+ # @param args
+ # @return
+ # @else
+ # @brief preCreate callback function
+ # @param self
+ # @param args
+ # @return
+ # @endif
+ # virtual void preCreate(std::string& args);
+ def preCreate(self, args):
+ # type: (str) -> str
+ return args
+ ##
+ # @if jp
+ # @brief postCreate コールバック関数
+ # @param self
+ # @param rtobj
+ # @else
+ # @brief postCreate callback function
+ # @param self
+ # @param rtobj
+ # @endif
+ # virtual void postCreate(RTC::RTObject_impl*);
+
+ def postCreate(self, rtobj):
+ # type: (OpenRTM_aist.RTObject_impl) -> None
+ pass
+ ##
+ # @if jp
+ # @brief preConfigure コールバック関数
+ # @param self
+ # @param prop
+ # @else
+ # @brief preConfigure callback function
+ # @param self
+ # @param prop
+ # @endif
+ # virtual void preConfigure(coil::Properties& prop);
+
+ def preConfigure(self, prop):
+ # type: (OpenRTM_aist.Properties) -> None
+ pass
+ ##
+ # @if jp
+ # @brief postConfigure コールバック関数
+ # @param self
+ # @param prop
+ # @else
+ # @brief postConfigure callback function
+ # @param self
+ # @param prop
+ # @endif
+ # virtual void postConfigure(coil::Properties& prop);
+
+ def postConfigure(self, prop):
+ # type: (OpenRTM_aist.Properties) -> None
+ pass
+
+ ##
+ # @if jp
+ # @brief preInitialize コールバック関数
+ # @param self
+ # @else
+ # @brief preInitialize callback function
+ # @param self
+ # @endif
+ # virtual void preInitialize();
+ def preInitialize(self):
+ # type: () -> None
+ pass
+
+ ##
+ # @if jp
+ # @brief postInitialize コールバック関数
+ # @param self
+ # @else
+ # @brief postInitialize callback function
+ # @param self
+ # @endif
+ # virtual void postInitialize();
+ def postInitialize(self):
+ # type: () -> None
+ pass
##
# @if jp
-# @class RtcLifecycleActionListenerHolder 饹
-# @brief RtcLifecycleActionListenerHolder 饹
+# @class RtcLifecycleActionListenerHolder クラス
+# @brief RtcLifecycleActionListenerHolder クラス
#
# @else
# @class RtcLifecycleActionListenerHolder class
@@ -194,114 +441,198 @@ def postUnload(self, modname):
# provides callbacks for various events in rtobject.
#
# @endif
+
+
class RtcLifecycleActionListenerHolder(OpenRTM_aist.ListenerHolder):
- """
- """
-
- def __init__(self):
- OpenRTM_aist.ListenerHolder.__init__(self)
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- # @brief preCreate Хåؿ
- # TODO: Documentation
- # @else
- # @brief preCreate callback function
- # TODO: Documentation
- # @endif
- # virtual void preCreate(std::string& args);
- def preCreate(self, args):
- self.LISTENERHOLDER_CALLBACK("preCreate", args)
- return
-
-
- ##
- # @if jp
- # @brief postCreate Хåؿ
- # TODO: Documentation
- # @else
- # @brief postCreate callback function
- # TODO: Documentation
- # @endif
- # virtual void postCreate(RTC::RTObject_impl* rtobj);
- def postCreate(self, rtobj):
- self.LISTENERHOLDER_CALLBACK("postCreate", rtobj)
- return
-
-
- ##
- # @if jp
- # @brief preConfigure Хåؿ
- # TODO: Documentation
- # @else
- # @brief preConfigure callback function
- # TODO: Documentation
- # @endif
- # virtual void preConfigure(coil::Properties& prop);
- def preConfigure(self, prop):
- self.LISTENERHOLDER_CALLBACK("preConfigure", prop)
- return
-
-
- ##
- # @if jp
- # @brief postConfigure Хåؿ
- # TODO: Documentation
- # @else
- # @brief postConfigure callback function
- # TODO: Documentation
- # @endif
- # virtual void postConfigure(coil::Properties& prop);
- def postConfigure(self, prop):
- self.LISTENERHOLDER_CALLBACK("postConfigure", prop)
- return
-
-
- ##
- # @if jp
- # @brief preInitialize Хåؿ
- # TODO: Documentation
- # @else
- # @brief preInitialize callback function
- # TODO: Documentation
- # @endif
- # virtual void preInitialize(void);
- def preInitialize(self):
- self.LISTENERHOLDER_CALLBACK("preInitialize")
- return
-
-
- ##
- # @if jp
- # @brief postInitialize Хåؿ
- # TODO: Documentation
- # @else
- # @brief postInitialize callback function
- # TODO: Documentation
- # @endif
- # virtual void postInitialize(void);
- def postInitialize(self):
- self.LISTENERHOLDER_CALLBACK("postInitialize")
- return
+ """
+ """
+
+ def __init__(self):
+ OpenRTM_aist.ListenerHolder.__init__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief preCreate コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preCreate callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preCreate(std::string& args);
+
+ def preCreate(self, args):
+ return self.LISTENERHOLDER_CALLBACK("preCreate", args)
+
+ ##
+ # @if jp
+ # @brief postCreate コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postCreate callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postCreate(RTC::RTObject_impl* rtobj);
+
+ def postCreate(self, rtobj):
+ self.LISTENERHOLDER_CALLBACK("postCreate", rtobj)
+ return
+
+ ##
+ # @if jp
+ # @brief preConfigure コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preConfigure callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preConfigure(coil::Properties& prop);
+
+ def preConfigure(self, prop):
+ self.LISTENERHOLDER_CALLBACK("preConfigure", prop)
+ return
+
+ ##
+ # @if jp
+ # @brief postConfigure コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postConfigure callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postConfigure(coil::Properties& prop);
+ def postConfigure(self, prop):
+ self.LISTENERHOLDER_CALLBACK("postConfigure", prop)
+ return
+
+ ##
+ # @if jp
+ # @brief preInitialize コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preInitialize callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preInitialize(void);
+
+ def preInitialize(self):
+ self.LISTENERHOLDER_CALLBACK("preInitialize")
+ return
+
+ ##
+ # @if jp
+ # @brief postInitialize コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postInitialize callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postInitialize(void);
+
+ def postInitialize(self):
+ self.LISTENERHOLDER_CALLBACK("postInitialize")
+ return
##
# @if jp
-# @class NamingActionListenerHolder 饹
-# @brief NamingActionListenerHolder 饹
+# @class NamingActionListener クラス
+#
+# 各アクションに対応するユーザーコードが呼ばれる直前のタイミング
+# でコールされるリスなクラスの基底クラス。
+#
+# Registration系
+# - PRE_NS_REGISTER: RTCの名前の登録の直前 bool (coil::vstring&)
+# - POST_NS_REGISTER: RTCの名前の登録の直後 bool (coil::vstring&)
+# - PRE_NS_UNREGISTER: RTCの名前の登録の直前 bool (coil::vstring&)
+# - POST_NS_UNREGISTER: RTCの名前の登録の直後 bool (coil::vstring&)
+#
+# @else
+# @class NamingActionListener class
+# @endif
+class NamingActionListener:
+ ##
+ # @if jp
+ # @brief preBind コールバック関数
+ # @param self
+ # @param rtobj
+ # @param name
+ # @else
+ # @brief preBind callback function
+ # @param self
+ # @param rtobj
+ # @param name
+ # @endif
+ # virtual void preBind(RTC::RTObject_impl* rtobj, coil::vstring& name);
+ def preBind(self, rtobj, name):
+ # type: (OpenRTM_aist.RTObject_impl, list) -> None
+ pass
+ ##
+ # @if jp
+ # @brief postBind コールバック関数
+ # @param self
+ # @param rtobj
+ # @param name
+ # @else
+ # @brief postBind callback function
+ # @param self
+ # @param rtobj
+ # @param name
+ # @endif
+ # virtual void postBind(RTC::RTObject_impl* rtobj, coil::vstring& name);
+
+ def postBind(self, rtobj, name):
+ # type: (OpenRTM_aist.RTObject_impl, list) -> None
+ pass
+ ##
+ # @if jp
+ # @brief preUnbind コールバック関数
+ # @param self
+ # @param rtobj
+ # @param name
+ # @else
+ # @brief preUnbind callback function
+ # @param self
+ # @param rtobj
+ # @param name
+ # @endif
+ # virtual void preUnbind(RTC::RTObject_impl* rtobj, coil::vstring& name);
+
+ def preUnbind(self, rtobj, name):
+ # type: (OpenRTM_aist.RTObject_impl, list) -> None
+ pass
+ ##
+ # @if jp
+ # @brief postUnbind コールバック関数
+ # @param self
+ # @param prop
+ # @else
+ # @brief postUnbind callback function
+ # @param self
+ # @param prop
+ # @endif
+ # virtual void postUnbind(RTC::RTObject_impl* rtobj, coil::vstring& name);
+
+ def postUnbind(self, rtobj, name):
+ # type: (OpenRTM_aist.RTObject_impl, list) -> None
+ pass
+
+
+##
+# @if jp
+# @class NamingActionListenerHolder クラス
+# @brief NamingActionListenerHolder クラス
#
# @else
# @class NamingActionListenerHolder class
@@ -312,92 +643,218 @@ def postInitialize(self):
#
# @endif
class NamingActionListenerHolder(OpenRTM_aist.ListenerHolder):
- """
- """
-
- def __init__(self):
- OpenRTM_aist.ListenerHolder.__init__(self)
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- # @brief preBind Хåؿ
- # TODO: Documentation
- # @else
- # @brief preBind callback function
- # TODO: Documentation
- # @endif
- # virtual void preBind(RTC::RTObject_impl# rtobj,
- # coil::vstring& name);
- def preBind(self, rtobj, name):
- self.LISTENERHOLDER_CALLBACK("preBind", rtobj, name)
- return
-
-
- ##
- # @if jp
- # @brief postBind Хåؿ
- # TODO: Documentation
- # @else
- # @brief postBind callback function
- # TODO: Documentation
- # @endif
- # virtual void postBind(RTC::RTObject_impl* rtobj,
- # coil::vstring& name);
- def postBind(self, rtobj, name):
- self.LISTENERHOLDER_CALLBACK("postBind", rtobj, name)
- return
-
-
- ##
- # @if jp
- # @brief preUnbind Хåؿ
- # TODO: Documentation
- # @else
- # @brief preUnbind callback function
- # TODO: Documentation
- # @endif
- # virtual void preUnbind(RTC::RTObject_impl* rtobj,
- # coil::vstring& name);
- def preUnbind(self, rtobj, name):
- self.LISTENERHOLDER_CALLBACK("preUnbind", rtobj, name)
- return
-
-
- ##
- # @if jp
- # @brief postUnbind Хåؿ
- # TODO: Documentation
- # @else
- # @brief postUnbind callback function
- # TODO: Documentation
- # @endif
- # virtual void postUnbind(RTC::RTObject_impl* rtobj,
- # coil::vstring& name);
- def postUnbind(self, rtobj, name):
- self.LISTENERHOLDER_CALLBACK("postUnbind", rtobj, name)
- return
-
-
-
+ """
+ """
+
+ def __init__(self):
+ OpenRTM_aist.ListenerHolder.__init__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief preBind コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preBind callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preBind(RTC::RTObject_impl# rtobj,
+ # coil::vstring& name);
+
+ def preBind(self, rtobj, name):
+ self.LISTENERHOLDER_CALLBACK("preBind", rtobj, name)
+ return
+
+ ##
+ # @if jp
+ # @brief postBind コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postBind callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postBind(RTC::RTObject_impl* rtobj,
+ # coil::vstring& name);
+
+ def postBind(self, rtobj, name):
+ self.LISTENERHOLDER_CALLBACK("postBind", rtobj, name)
+ return
+
+ ##
+ # @if jp
+ # @brief preUnbind コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preUnbind callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preUnbind(RTC::RTObject_impl* rtobj,
+ # coil::vstring& name);
+
+ def preUnbind(self, rtobj, name):
+ self.LISTENERHOLDER_CALLBACK("preUnbind", rtobj, name)
+ return
+
+ ##
+ # @if jp
+ # @brief postUnbind コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postUnbind callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postUnbind(RTC::RTObject_impl* rtobj,
+ # coil::vstring& name);
+
+ def postUnbind(self, rtobj, name):
+ self.LISTENERHOLDER_CALLBACK("postUnbind", rtobj, name)
+ return
+
+
##
# @if jp
-# @class LocalServiceActionListenerHolder 饹
-# @brief LocalServiceActionListenerHolder 饹
+# @class LocalServiceActionListener クラス
#
-# ƥб桼ɤƤФľΥߥ
-# ǥ뤵ꥹʥ饹δ쥯饹
+# 各アクションに対応するユーザーコードが呼ばれる直前のタイミング
+# でコールされるリスナクラスの基底クラス。
+#
+# - ADD_PORT:
+# - REMOVE_PORT:
+#
+# @else
+# @class LocalServiceActionListener class
+# @endif
+class LocalServiceActionListener:
+ ##
+ # @if jp
+ # @brief preServiceRegister コールバック関数
+ # @param self
+ # @param service_name
+ # @return
+ # @else
+ # @brief preServiceRegister callback function
+ # @param self
+ # @param service_name
+ # @return
+ # @endif
+ # virtual void preServiceRegister(std::string service_name);
+ def preServiceRegister(self, service_name):
+ # type: (str) -> None
+ pass
+ ##
+ # @if jp
+ # @brief postServiceRegister コールバック関数
+ # @param self
+ # @param service_name
+ # @param service
+ # @return
+ # @else
+ # @brief postServiceRegister callback function
+ # @param self
+ # @param service_name
+ # @param service
+ # @return
+ # @endif
+ # virtual void postBind(std::string service_name, RTM::LocalServiceBase*
+ # service);
+
+ def postServiceRegister(self, service_name, service):
+ # type: (str, OpenRTM_aist.LocalServiceBase) -> None
+ pass
+ ##
+ # @if jp
+ # @brief preServiceInit コールバック関数
+ # @param self
+ # @param prop
+ # @param service
+ # @else
+ # @brief preServiceInit callback function
+ # @param self
+ # @param prop
+ # @param service
+ # @endif
+ # virtual void preServiceInit(coil::Properties& prop,
+ # RTM::LocalServiceBase* service);
+
+ def preServiceInit(self, prop, service):
+ # type: (OpenRTM_aist.Properties, OpenRTM_aist.LocalServiceBase) ->
+ # None
+ pass
+ ##
+ # @if jp
+ # @brief preServiceReinit コールバック関数
+ # @param self
+ # @param prop
+ # @param service
+ # @else
+ # @brief preServiceReinit callback function
+ # @param self
+ # @param prop
+ # @param service
+ # @endif
+ # virtual void preServiceReinit(coil::Properties& prop,
+ # RTM::LocalServiceBase* service);
+
+ def preServiceReinit(self, prop, service):
+ # type: (OpenRTM_aist.Properties, OpenRTM_aist.LocalServiceBase) ->
+ # None
+ pass
+
+ ##
+ # @if jp
+ # @brief postServiceFinalize コールバック関数
+ # @param self
+ # @param prop
+ # @param service
+ # @else
+ # @brief postServiceFinalize callback function
+ # @param self
+ # @param prop
+ # @param service
+ # @endif
+ # virtual void postServiceFinalize(coil::Properties& prop,
+ # RTM::LocalServiceBase* service);
+ def postServiceFinalize(self, prop, service):
+ # type: (OpenRTM_aist.Properties, OpenRTM_aist.LocalServiceBase) ->
+ # None
+ pass
+
+ ##
+ # @if jp
+ # @brief preServiceFinalize コールバック関数
+ # @param self
+ # @param service_name
+ # @param service
+ # @else
+ # @brief preServiceFinalize callback function
+ # @param self
+ # @param service_name
+ # @param service
+ # @endif
+ # virtual void preServiceFinalize(std::string service_name,
+ # RTM::LocalServiceBase* service);
+ def preServiceFinalize(self, service_name, service):
+ # type: (str, OpenRTM_aist.LocalServiceBase) -> None
+ pass
+
+
+##
+# @if jp
+# @class LocalServiceActionListenerHolder クラス
+# @brief LocalServiceActionListenerHolder クラス
+#
+# 各アクションに対応するユーザーコードが呼ばれる直前のタイミング
+# でコールされるリスなクラスの基底クラス。
#
# - ADD_PORT:
# - REMOVE_PORT:
@@ -411,150 +868,151 @@ def postUnbind(self, rtobj, name):
#
# @endif
class LocalServiceActionListenerHolder(OpenRTM_aist.ListenerHolder):
- """
- """
-
- def __init__(self):
- OpenRTM_aist.ListenerHolder.__init__(self)
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- def __del__(self):
- pass
-
-
- # registration instance of service to svc admin
- ##
- # @if jp
- # @brief preServiceRegister Хåؿ
- # TODO: Documentation
- # @else
- # @brief preServiceRegister callback function
- # TODO: Documentation
- # @endif
- # virtual void preServiceRegister(std::string service_name);
- def preServiceRegister(self, service_name):
- self.LISTENERHOLDER_CALLBACK("preServiceRegister", service_name)
- return
-
-
- ##
- # @if jp
- # @brief postServiceRegister Хåؿ
- # TODO: Documentation
- # @else
- # @brief postServiceRegister callback function
- # TODO: Documentation
- # @endif
- # virtual void postServiceRegister(std::string service_name,
- # RTM::LocalServiceBase* service);
- def postServiceRegister(self, service_name, service):
- self.LISTENERHOLDER_CALLBACK("postServiceRegister", service_name, service)
- return
-
-
- ##
- # @if jp
- # @brief preServiceInit Хåؿ
- # TODO: Documentation
- # @else
- # @brief preServiceInit callback function
- # TODO: Documentation
- # @endif
- # virtual void preServiceInit(coil::Properties& prop,
- # RTM::LocalServiceBase* service);
- def preServiceInit(self, prop, service):
- self.LISTENERHOLDER_CALLBACK("preServiceInit", prop, service)
- return
-
-
- ##
- # @if jp
- # @brief postServiceInit Хåؿ
- # TODO: Documentation
- # @else
- # @brief postServiceInit callback function
- # TODO: Documentation
- # @endif
- # virtual void postServiceInit(coil::Properties& prop,
- # RTM::LocalServiceBase* service);
- def postServiceInit(self, prop, service):
- self.LISTENERHOLDER_CALLBACK("postServiceInit", prop, service)
- return
-
-
- ##
- # @if jp
- # @brief preServiceReinit Хåؿ
- # TODO: Documentation
- # @else
- # @brief preServiceReinit callback function
- # TODO: Documentation
- # @endif
- # virtual void preServiceReinit(coil::Properties& prop,
- # RTM::LocalServiceBase* service);
- def preServiceReinit(self, prop, service):
- self.LISTENERHOLDER_CALLBACK("preServiceReinit", prop, service)
- return
-
-
- ##
- # @if jp
- # @brief postServiceReinit Хåؿ
- # TODO: Documentation
- # @else
- # @brief postServiceReinit callback function
- # TODO: Documentation
- # @endif
- # virtual void postServiceReinit(coil::Properties& prop,
- # RTM::LocalServiceBase* service);
- def postServiceReinit(self, prop, service):
- self.LISTENERHOLDER_CALLBACK("postServiceReinit", prop, service)
- return
-
-
- ##
- # @if jp
- # @brief preServiceFinalize Хåؿ
- # TODO: Documentation
- # @else
- # @brief preServiceFinalize callback function
- # TODO: Documentation
- # @endif
- # virtual void preServiceFinalize(std::string service_name,
- # RTM::LocalServiceBase* service);
- def preServiceFinalize(self, service_name, service):
- self.LISTENERHOLDER_CALLBACK("preServiceFinalize", service_name, service)
- return
-
-
- ##
- # @if jp
- # @brief postServiceFinalize Хåؿ
- # TODO: Documentation
- # @else
- # @brief postServiceFinalize callback function
- # TODO: Documentation
- # @endif
- # virtual void postServiceFinalize(std::string service_name,
- # RTM::LocalServiceBase* service);
- def postServiceFinalize(self, service_name, service):
- self.LISTENERHOLDER_CALLBACK("postServiceFinalize", service_name, service)
- return
-
-
-
-
+ """
+ """
+
+ def __init__(self):
+ OpenRTM_aist.ListenerHolder.__init__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+
+ def __del__(self):
+ pass
+
+ # registration instance of service to svc admin
+ ##
+ # @if jp
+ # @brief preServiceRegister コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preServiceRegister callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preServiceRegister(std::string service_name);
+
+ def preServiceRegister(self, service_name):
+ self.LISTENERHOLDER_CALLBACK("preServiceRegister", service_name)
+ return
+
+ ##
+ # @if jp
+ # @brief postServiceRegister コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postServiceRegister callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postServiceRegister(std::string service_name,
+ # RTM::LocalServiceBase* service);
+
+ def postServiceRegister(self, service_name, service):
+ self.LISTENERHOLDER_CALLBACK(
+ "postServiceRegister", service_name, service)
+ return
+
+ ##
+ # @if jp
+ # @brief preServiceInit コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preServiceInit callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preServiceInit(coil::Properties& prop,
+ # RTM::LocalServiceBase* service);
+
+ def preServiceInit(self, prop, service):
+ self.LISTENERHOLDER_CALLBACK("preServiceInit", prop, service)
+ return
+
+ ##
+ # @if jp
+ # @brief postServiceInit コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postServiceInit callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postServiceInit(coil::Properties& prop,
+ # RTM::LocalServiceBase* service);
+
+ def postServiceInit(self, prop, service):
+ self.LISTENERHOLDER_CALLBACK("postServiceInit", prop, service)
+ return
+
+ ##
+ # @if jp
+ # @brief preServiceReinit コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preServiceReinit callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preServiceReinit(coil::Properties& prop,
+ # RTM::LocalServiceBase* service);
+
+ def preServiceReinit(self, prop, service):
+ self.LISTENERHOLDER_CALLBACK("preServiceReinit", prop, service)
+ return
+
+ ##
+ # @if jp
+ # @brief postServiceReinit コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postServiceReinit callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postServiceReinit(coil::Properties& prop,
+ # RTM::LocalServiceBase* service);
+
+ def postServiceReinit(self, prop, service):
+ self.LISTENERHOLDER_CALLBACK("postServiceReinit", prop, service)
+ return
+
+ ##
+ # @if jp
+ # @brief preServiceFinalize コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief preServiceFinalize callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void preServiceFinalize(std::string service_name,
+ # RTM::LocalServiceBase* service);
+
+ def preServiceFinalize(self, service_name, service):
+ self.LISTENERHOLDER_CALLBACK(
+ "preServiceFinalize", service_name, service)
+ return
+
+ ##
+ # @if jp
+ # @brief postServiceFinalize コールバック関数
+ # TODO: Documentation
+ # @else
+ # @brief postServiceFinalize callback function
+ # TODO: Documentation
+ # @endif
+ # virtual void postServiceFinalize(std::string service_name,
+ # RTM::LocalServiceBase* service);
+
+ def postServiceFinalize(self, service_name, service):
+ self.LISTENERHOLDER_CALLBACK(
+ "postServiceFinalize", service_name, service)
+ return
+
+
##
# @if jp
# @class ManagerActionListeners
-# @brief ManagerActionListeners 饹
+# @brief ManagerActionListeners クラス
#
#
# @else
@@ -564,13 +1022,12 @@ def postServiceFinalize(self, service_name, service):
#
# @endif
class ManagerActionListeners:
- """
- """
-
- def __init__(self):
- self.manager_ = ManagerActionListenerHolder()
- self.module_ = ModuleActionListenerHolder()
- self.rtclifecycle_ = RtcLifecycleActionListenerHolder()
- self.naming_ = NamingActionListenerHolder()
- self.localservice_ = LocalServiceActionListenerHolder()
+ """
+ """
+ def __init__(self):
+ self.manager_ = ManagerActionListenerHolder()
+ self.module_ = ModuleActionListenerHolder()
+ self.rtclifecycle_ = RtcLifecycleActionListenerHolder()
+ self.naming_ = NamingActionListenerHolder()
+ self.localservice_ = LocalServiceActionListenerHolder()
diff --git a/OpenRTM_aist/ManagerConfig.py b/OpenRTM_aist/ManagerConfig.py
index 00a461a4..5241b39d 100644
--- a/OpenRTM_aist/ManagerConfig.py
+++ b/OpenRTM_aist/ManagerConfig.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file ManagerConfig.py
@@ -27,27 +27,27 @@
# @if jp
#
# @class ManagerConfig
-# @brief Manager configuration 饹
+# @brief Manager configuration クラス
#
-# Manager Υե졼Ԥޥɥ饤ꡢ
-# (뤤ϰʤ)롣
-# ޥɥ饤ǻꤵ줿ե롢Ķѿʤɤ Manager
-# ץѥƥꤹ롣
+# Manager のコンフィギュレーションを行う、コマンドライン引数を受け取り、
+# (あるいは引数なしで)インスタンス化される。
+# コマンドライン引数で指定された設定ファイル、環境変数などから Manager の
+# プロパティ情報を設定する。
#
-# ͥ٤ϰʲΤȤǤ롣
+# 各設定の優先度は以下のとおりである。
#
-# ޥɥ饤ץ "-f"
-# Ķѿ "RTC_MANAGER_CONFIG"
-# ǥեե "./rtc.conf"
-# ǥեե "/etc/rtc.conf"
-# ǥեե "/etc/rtc/rtc.conf"
-# ǥեե "/usr/local/etc/rtc.conf"
-# ǥեե "/usr/local/etc/rtc/rtc.conf"
-# ߥե졼
-#
-# ޥɥ饤ץ "-d" ꤵ줿ϡ
-# (Ȥ -f եꤷƤ)ߥե졼
-# Ѥ롣
+# コマンドラインオプション "-f"
+# 環境変数 "RTC_MANAGER_CONFIG"
+# デフォルト設定ファイル "./rtc.conf"
+# デフォルト設定ファイル "/etc/rtc.conf"
+# デフォルト設定ファイル "/etc/rtc/rtc.conf"
+# デフォルト設定ファイル "/usr/local/etc/rtc.conf"
+# デフォルト設定ファイル "/usr/local/etc/rtc/rtc.conf"
+# 埋め込みコンフィギュレーション値
+#
+# ただし、コマンドラインオプション "-d" が指定された場合は、
+# (たとえ -f で設定ファイルを指定しても)埋め込みコンフィギュレーション値
+# が使用される。
#
# @since 0.4.0
#
@@ -56,7 +56,7 @@
# @class ManagerConfig
# @brief Manager configuration class
#
-# Modify Manager's configuration.
+# Modify Manager's configuration.
# This class receives the command line arguments and will be instantiated.
# Set property information of Manager with the configuration file specified
# by the command line argument or the environment variable etc.
@@ -78,376 +78,364 @@
# @since 0.4.0
#
# @endif
-class ManagerConfig :
- """
- """
- ##
- # @if jp
- # @brief Manager ե졼Υǥեȡե롦ѥ
- # @else
- # @brief The default configuration file path for manager
- # @endif
- if os.name == 'nt':
-
- 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 ǥեȡե졼Υե롦ѥ̤
- # Ķѿ
- # @else
- # @brief The environment variable to distinguish the default configuration
- # file path
- # @endif
- config_file_env = "RTC_MANAGER_CONFIG"
-
-
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # Ϳ줿ˤꥳե졼νԤ
- #
- # @param self
- # @param argv ޥɥ饤(ǥե:None)
- #
- # @else
- #
- # @brief ManagerConfig constructor
- #
- # The constructor that performs initialization at the same time with
- # given arguments.
- #
- # @param argv The command line arguments
- #
- # @endif
- def __init__(self, argv=None):
-
- self._configFile = ""
- self._argprop = OpenRTM_aist.Properties()
- self._isMaster = False
- self._ignoreNoConf = False
- if argv:
- self.init(argv)
-
-
-
- ##
- # @if jp
- #
- # @brief
- #
- # ޥɥ饤˱ƽ¹Ԥ롣ޥɥ饤ץ
- # ʲΤΤѲǽǤ롣
- #
- # -a : ޥ͡㥵ӥOFFˤ롣 getLoadedModules();
- def getLoadedModules(self):
- dlls = self._modules.getObjects()
- modules = []
- for dll in dlls:
- modules.append(dll.properties)
-
- return modules
-
-
- def __getRtcProfile(self, fname):
- # file name with full path
- fullname = fname
- # directory name
- dirname = os.path.dirname(fullname)
- sys.path.append(dirname)
- # basename
- basename = os.path.basename(fullname)
- # classname
- classname = basename.split(".")[0].lower()
-
- # loaded profile = old profiles - new profiles
- # for old
- oldp = self._mgr.getFactoryProfiles()
-
- # 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
- comp_spec = getattr(imp_file,comp_spec_name,None)
- if not comp_spec:
- return None
- newp = OpenRTM_aist.Properties(defaults_str=comp_spec)
-
- profs = []
-
- exists = False
- for i in range(len(oldp)):
- if oldp[i].getProperty("implementation_id") == newp.getProperty("implementation_id") and \
- oldp[i].getProperty("type_name") == newp.getProperty("type_name") and \
- oldp[i].getProperty("description") == newp.getProperty("description") and \
- oldp[i].getProperty("version") == newp.getProperty("version"):
- exists = True
- if not exists:
- profs.append(newp)
-
-
- # loaded component profile have to be one
- if len(profs) == 0:
- return OpenRTM_aist.Properties()
-
- #if len(profs) > 1:
- # return None
-
- return profs[0]
-
-
-
- ##
- # @if jp
- # @brief ˤɥѥΥ֥ʥեꥹȤ֤
- #
- #
- # @param self
- # @param lang
- # @param modules
- #
- #
- # @else
- # @brief Getting loadable file list on the loadpath for given language
- # @endif
- def getModuleList(self, lang, modules):
- l = "manager.modules." + lang
- lprop = self._properties.getNode(l)
-
- paths = lprop.getProperty("load_paths").split(",")
-
-
- paths.extend(self._loadPath)
- paths = self.deleteSamePath(paths)
-
-
-
- suffixes = lprop.getProperty("suffixes").split(",")
-
-
- self._rtcout.RTC_DEBUG("suffixes: %s", OpenRTM_aist.flatten(suffixes))
-
- for path in paths:
- if not path:
- self._rtcout.RTC_WARN("Given load path is empty")
- continue
- self._rtcout.RTC_DEBUG("Module load path: %s", path)
- flist = []
- for suffix in suffixes:
- tmp = [suffix]
- OpenRTM_aist.eraseHeadBlank(tmp)
- suffix = tmp[0]
-
- tmp = []
- OpenRTM_aist.getFileList(path,suffix,tmp)
-
- #tmp = glob.glob(path + os.sep + '*.' + suffix)
- if lang == "Python":
- for f in tmp:
- if f.find("__init__.py") != -1:
- tmp.remove(f)
-
- self._rtcout.RTC_DEBUG("File list (path:%s, ext:%s): %s", (path,suffix,OpenRTM_aist.flatten(suffixes)))
- flist.extend(tmp)
-
- for f in flist:
- f = f.replace("\\","/")
- f = f.replace("//","/")
- self.addNewFile(f, modules)
- modules = list(set(modules))
-
-
-
-
- ##
- # @if jp
- # @brief å̵ѥmodulesɲä
- #
- #
- # @param self
- # @param fpath
- # @param modules
- #
- #
- # @else
- # @brief Adding file path not existing cache
- # @endif
- def addNewFile(self, fpath, modules):
- exists = False
- for modprof in self._modprofs:
- if modprof.getProperty("module_file_path") == fpath:
- exists = True
- self._rtcout.RTC_DEBUG("Module %s already exists in cache.",fpath)
- break
- for loadfailmod in self._loadfailmods:
- if loadfailmod == fpath:
- exists = True
- break
- if not exists:
- self._rtcout.RTC_DEBUG("New module: %s",fpath)
- modules.append(fpath)
-
-
- ##
- # @if jp
- # @brief 졢եꥹȤ⥸塼Υץѥƥ֤
- #
- #
- # @param self
- # @param lang
- # @param modules
- # @param modprops
- #
- #
- # @else
- # @brief Getting loadable file list on the loadpath for given language
- # @endif
- def getModuleProfiles(self, lang, modules, modprops):
- l = "manager.modules." + lang
- lprop = self._properties.getNode(l)
-
- paths = lprop.getProperty("load_paths").split(",")
-
-
-
- for mod_ in modules:
- if lang == "Python":
- prop = self.__getRtcProfile(mod_)
- if prop:
- prop.setProperty("module_file_name",os.path.basename(mod_))
- prop.setProperty("module_file_path", mod_)
- modprops.append(prop)
- else:
- prop = OpenRTM_aist.Properties()
- cmd = lprop.getProperty("profile_cmd")
- if os.name == "nt":
- cmd = "cmd /c " + cmd
- cmd = cmd + " \""+mod_+"\""
-
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ。
+ # 設定された Property オブジェクト内の情報を基に初期化を実行する。
+ #
+ # @param self
+ # @param prop 初期化用プロパティ
+ #
+ # @else
+ #
+ # @brief constructor
+ #
+ # @endif
+ def __init__(self, prop):
+ self._properties = prop
+
+ self._configPath = prop.getProperty(CONFIG_PATH).split(",")
+ for i, cp in enumerate(self._configPath):
+ self._configPath[i] = OpenRTM_aist.eraseHeadBlank(
+ cp)
+ self._loadPath = prop.getProperty(MOD_LOADPTH, "./").split(",")
+ for i, lp in enumerate(self._loadPath):
+ self._loadPath[i] = OpenRTM_aist.eraseHeadBlank(lp)
+
+ self._absoluteAllowed = OpenRTM_aist.toBool(prop.getProperty(ALLOW_ABSPATH),
+ "yes", "no", False)
+
+ self._downloadAllowed = OpenRTM_aist.toBool(prop.getProperty(ALLOW_URL),
+ "yes", "no", False)
+
+ self._initFuncSuffix = prop.getProperty(INITFUNC_SFX)
+ self._initFuncPrefix = prop.getProperty(INITFUNC_PFX)
+ self._modules = OpenRTM_aist.ObjectManager(self.DLLPred)
+ self._rtcout = None
+ self._mgr = OpenRTM_aist.Manager.instance()
+ if not self._rtcout:
+ self._rtcout = self._mgr.getLogbuf("ModuleManager")
+ self._modprofs = []
+ self._loadfailmods = {}
+ langs = self._properties.getProperty(
+ "manager.supported_languages").split(",")
+ for lang in langs:
+ lang = lang.strip()
+ self._loadfailmods[lang] = []
+
+ self._managerLanguage = self._properties.getProperty(
+ "manager.language")
+
+ ##
+ # @if jp
+ #
+ # @brief デストラクタ(未実装)
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief destructor
+ #
+ # @endif
+ def __del__(self):
+ self.unloadAll()
+
+ ##
+ # @if jp
+ # @class Error
+ # @brief ファイル・オープン失敗例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class Error(Exception):
+ def __init__(self, reason_):
+ self.reason = reason_
+
+ ##
+ # @if jp
+ # @class NotFound
+ # @brief 未実装部，指定モジュール不明例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class NotFound(Exception):
+ def __init__(self, name_):
+ self.name = name_
+
+ ##
+ # @if jp
+ # @class FileNotFound
+ # @brief 指定ファイル不明例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class FileNotFound(NotFound):
+ def __init__(self, name_):
+ ModuleManager.NotFound.__init__(self, name_)
+
+ ##
+ # @if jp
+ # @class ModuleNotFound
+ # @brief 指定モジュール不明例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class ModuleNotFound(NotFound):
+ def __init__(self, name_):
+ ModuleManager.NotFound.__init__(self, name_)
+
+ ##
+ # @if jp
+ # @class SymbolNotFound
+ # @brief 指定シンボル不明例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class SymbolNotFound(NotFound):
+ def __init__(self, name_):
+ ModuleManager.NotFound.__init__(self, name_)
+
+ ##
+ # @if jp
+ # @class NotAllowedOperation
+ # @brief 指定操作禁止時例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class NotAllowedOperation(Error):
+ def __init__(self, reason_):
+ ModuleManager.Error.__init__(self, reason_)
+
+ ##
+ # @if jp
+ # @class InvalidArguments
+ # @brief 指定引数不正時例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class InvalidArguments(Error):
+ def __init__(self, reason_):
+ ModuleManager.Error.__init__(self, reason_)
+
+ ##
+ # @if jp
+ # @class InvalidOperation
+ # @brief 指定操作不正時例外処理用内部クラス
+ # @else
+ #
+ # @endif
+
+ class InvalidOperation(Error):
+ def __init__(self, reason_):
+ ModuleManager.Error.__init__(self, reason_)
+
+ ##
+ # @if jp
+ #
+ # @brief モジュールのロード、初期化
+ #
+ # 指定したファイルを共有ライブラリとしてロードするとともに、
+ # 指定した初期化用オペレーションを実行する。
+ #
+ # @param self
+ # @param file_name ロード対象モジュール名 (.pyを除いたファイル名)
+ # @param init_func 初期化処理用オペレーション(デフォルト値:None)
+ #
+ # @return 指定したロード対象モジュール名
+ #
+ # @else
+ #
+ # @brief Load module
+ #
+ #
+ # @endif
+ # std::string ModuleManager::load(const std::string& file_name,
+ # const std::string& init_func)
+ def load(self, file_name, init_func=None):
+
+ self._rtcout.RTC_TRACE("load(fname = %s)", file_name)
+ if file_name == "":
+ raise ModuleManager.InvalidArguments("Invalid file name.")
+
+ if OpenRTM_aist.isURL(file_name):
+ if not self._downloadAllowed:
+ raise ModuleManager.NotAllowedOperation(
+ "Downloading module is not allowed.")
+ else:
+ raise ModuleManager.NotFound("Not implemented.")
+
+ import_name = os.path.split(file_name)[-1]
+ pathChanged = False
+ file_path = None
+
+ if OpenRTM_aist.isAbsolutePath(file_name):
+ if not self._absoluteAllowed:
+ raise ModuleManager.NotAllowedOperation(
+ "Absolute path is not allowed")
+ else:
+ splitted_name = os.path.split(file_name)
+ save_path = sys.path[:]
+ sys.path.append(splitted_name[0])
+
+ pathChanged = True
+ import_name = splitted_name[-1]
+ file_path = file_name
+
+ else:
+ file_path = self.findFile(file_name, self._loadPath)
+ if not file_path:
+ raise ModuleManager.FileNotFound(file_name)
+
+ if not self.fileExist(file_path):
+ raise ModuleManager.FileNotFound(file_name)
+
+ try:
+ code = "UTF-8-SIG"
+ import chardet
+ with open(str(file_path), mode='rb') as f:
+ code = chardet.detect(f.read())["encoding"]
+
+ with codecs.open(str(file_path), "r", encoding=code) as f:
+ if init_func is not None:
+ s = f.read()
+ if isinstance(s, str):
+ if s.find(init_func) == -1:
+ raise ModuleManager.FileNotFound(file_name)
+ except BaseException:
+ pass
+
+ if not pathChanged:
+ splitted_name = os.path.split(file_path)
+ sys.path.append(splitted_name[0])
+
+ ext_pos = import_name.find(".py")
+ if ext_pos > 0:
+ import_name = import_name[:ext_pos]
+
+ mo = __import__(str(import_name))
+
+ if pathChanged:
+ sys.path = save_path
+
+ file_path = file_path.replace("\\", "/")
+ file_path = file_path.replace("//", "/")
+
+ dll = self.DLLEntity(mo, OpenRTM_aist.Properties())
+ dll.properties.setProperty("file_path", file_path)
+ self._modules.registerObject(dll)
+
+ if init_func is None:
+ return file_name
+
+ self.symbol(file_path, init_func)(self._mgr)
+
+ return file_name
+
+ ##
+ # @if jp
+ # @brief モジュールのアンロード
+ #
+ # 指定したロード済みモジュールをクローズし、アンロードする。
+ #
+ # @param self
+ # @param file_name アンロード対象モジュール名
+ #
+ # @else
+ # @brief Unload module
+ # @endif
+
+ def unload(self, file_name):
+ dll = self._modules.find(file_name)
+ if not dll:
+ raise ModuleManager.NotFound(file_name)
+ dll_name = dll.dll.__name__
+ if dll_name in sys.modules.keys():
+ sys.modules.pop(dll_name)
+ self._modules.unregisterObject(file_name)
+ return
+
+ ##
+ # @if jp
+ # @brief 全モジュールのアンロード
+ #
+ # 全てのロード済みモジュールをアンロードする。
+ #
+ # @param self
+ #
+ # @else
+ # @brief Unload all modules
+ # @endif
+
+ def unloadAll(self):
+ dlls = self._modules.getObjects()
+
+ for dll in dlls:
+ ident = dll.properties.getProperty("file_path")
+ self._modules.unregisterObject(ident)
+ return
+
+ ##
+ # @if jp
+ # @brief モジュールのシンボルの参照
+ #
+ # モジュールのシンボルを取得する
+ #
+ # @param self
+ # @param file_name 取得対象ファイル名
+ # @param func_name 取得対象関数名
+ #
+ # @else
+ # @brief Look up a named symbol in the module
+ # @endif
+
+ def symbol(self, file_name, func_name):
+ dll = self._modules.find(file_name)
+ if not dll:
+ raise ModuleManager.ModuleNotFound(file_name)
+
+ func = getattr(dll.dll, func_name, None)
+
+ if not func:
+ raise ModuleManager.SymbolNotFound(func_name)
+
+ return func
+
+ ##
+ # @if jp
+ # @brief モジュールロードパスを指定する
+ #
+ # モジュールロード時に対象モジュールを検索するパスを指定する。
+ #
+ # @param self
+ # @param load_path_list モジュール検索対象パスリスト
+ #
+ # @else
+ # @brief Set default module load path
+ # @endif
+
+ def setLoadpath(self, load_path_list):
+ self._loadPath = load_path_list
+ return
+
+ ##
+ # @if jp
+ # @brief モジュールロードパスを取得する
+ #
+ # 設定されているモジュールを検索対象パスリストを取得する。
+ #
+ # @param self
+ #
+ # @return load_path モジュール検索対象パスリスト
+ #
+ # @else
+ # @brief Get default module load path
+ # @endif
+
+ def getLoadPath(self):
+ return self._loadPath
+
+ ##
+ # @if jp
+ # @brief モジュールロードパスを追加する
+ #
+ # 指定されたパスリストを検索対象パスリストに追加する。
+ #
+ # @param self
+ # @param load_path 追加モジュール検索対象パスリスト
+ #
+ # @else
+ # @brief Add module load path
+ # @endif
+
+ def addLoadpath(self, load_path):
+ for path in load_path:
+ self._loadPath.append(path)
+ return
+
+ ##
+ # @if jp
+ # @brief ロード済みのモジュールリストを取得する
+ #
+ # 既にロード済みのモジュールリストを取得する。
+ #
+ # @param self
+ #
+ # @return ロード済みモジュールリスト
+ #
+ # @else
+ # @brief Get loaded module names
+ # @endif
+ # std::vector getLoadedModules();
+
+ def getLoadedModules(self):
+ dlls = self._modules.getObjects()
+ modules = []
+ for dll in dlls:
+ modules.append(dll.properties)
+
+ return modules
+
+ def __getRtcProfile(self, fname):
+ # file name with full path
+ fullname = fname
+ # directory name
+ dirname = os.path.dirname(fullname)
+ sys.path.append(dirname)
+ # basename
+ basename = os.path.basename(fullname)
+ # classname
+ classname = basename.split(".")[0].lower()
+
+ # loaded profile = old profiles - new profiles
+ # for old
+ oldp = self._mgr.getFactoryProfiles()
+
+ # for new
+ comp_spec_name = classname + "_spec"
+
try:
- ret = OpenRTM_aist.popen(cmd).split(os.linesep)
- count = 0
- for r in ret:
- pos = r.find(":")
- if r.find(":") != -1:
- count += 1
- key = r[0:pos]
- tmp = [key]
- OpenRTM_aist.eraseHeadBlank(tmp)
- key = tmp[0]
-
- value = r[pos+1:]
- tmp = [value]
- OpenRTM_aist.eraseHeadBlank(tmp)
- value = tmp[0]
-
- prop.setProperty(key, value)
- if count > 0:
- self._rtcout.RTC_DEBUG("rtcprof cmd sub process done.")
- prop.setProperty("module_file_name",os.path.basename(mod_))
- prop.setProperty("module_file_path", mod_)
- modprops.append(prop)
- else:
- self._loadfailmods.append(mod_)
-
-
- except:
- self._rtcout.RTC_ERROR("popen faild")
- self._loadfailmods.append(mod_)
-
-
- ##
- # @if jp
- # @brief ̵ʥ⥸塼ץե
- #
- #
- # @param self
- #
- #
- # @else
- # @brief Removing incalid module profiles
- # @endif
- def removeInvalidModules(self):
- for modprof in self._modprofs:
- if not os.path.isfile(modprof.getProperty("module_file_path")):
- self._modprofs.remove(modprof)
-
-
-
- ##
- # @if jp
- # @brief Ʊѥ
- #
- #
- # @param self
- # @param paths
- #
- #
- # @else
- # @brief
- # @endif
- def deleteSamePath(self, paths):
- tmp_paths = []
- for path in paths:
- if path:
- abs_path = os.path.abspath(path).replace("\\","/")
- abs_tmp_paths = []
- for tmp_path in tmp_paths:
- abs_tmp_path = os.path.abspath(tmp_path).replace("\\","/")
- abs_tmp_paths.append(abs_tmp_path)
- if abs_path not in abs_tmp_paths:
- tmp_paths.append(path)
- return tmp_paths
-
-
- ##
- # @if jp
- # @brief ɲǽ⥸塼ꥹȤ(̤)
- #
- # ɲǽʥ⥸塼ΥꥹȤ롣
- #
- # @param self
- #
- # @return ɲǽ⥸塼ꥹ
- #
- # @else
- # @brief Get loadable module names
- # @endif
- def getLoadableModules(self):
- self._rtcout.RTC_TRACE("getLoadableModules()")
- # getting loadable module file path list.
- langs = self._properties.getProperty("manager.supported_languages").split(",")
- self._rtcout.RTC_DEBUG("langs: %s",self._properties.getProperty("manager.supported_languages"))
-
- for lang in langs:
- tmp = [lang]
- OpenRTM_aist.eraseHeadBlank(tmp)
- lang = tmp[0]
-
- modules_ = []
- self.getModuleList(lang, modules_)
- self._rtcout.RTC_DEBUG("%s: %s", (lang, OpenRTM_aist.flatten(modules_)))
-
-
- tmpprops = []
- self.getModuleProfiles(lang, modules_, tmpprops)
- self._rtcout.RTC_DEBUG("Modile profile size: %d (newly founded modules)",len(tmpprops))
-
- self._modprofs.extend(tmpprops)
-
- self._rtcout.RTC_DEBUG("Modile profile size: %d",len(self._modprofs))
- self.removeInvalidModules()
- self._rtcout.RTC_DEBUG("Modile profile size: %d (invalid mod-profiles deleted)",len(self._modprofs))
-
- return self._modprofs
-
-
-
-
-
- ##
- # @if jp
- # @brief ⥸塼Хѥ
- #
- # оݥ⥸塼ХѥĤ褦ꤹ롣
- #
- # @param self
- #
- # @else
- # @brief Allow absolute load path
- # @endif
- def allowAbsolutePath(self):
- self._absoluteAllowed = True
-
-
- ##
- # @if jp
- # @brief ⥸塼Хѥػ
- #
- # оݥ⥸塼Хѥػߤ褦ꤹ롣
- #
- # @param self
- #
- # @else
- # @brief Forbid absolute load path
- # @endif
- def disallowAbsolutePath(self):
- self._absoluteAllowed = False
-
-
- ##
- # @if jp
- # @brief ⥸塼URL
- #
- # оݥ⥸塼URLĤ롣
- # ꤬ĤƤ硢⥸塼ɤƥɤ뤳Ȥ
- # Ĥ롣
- #
- # @param self
- #
- # @else
- # @brief Allow module download
- # @endif
- def allowModuleDownload(self):
- self._downloadAllowed = True
-
-
- ##
- # @if jp
- # @brief ⥸塼URLػ
- #
- # оݥ⥸塼URLػߤ롣
- #
- # @param self
- #
- # @else
- # @brief Forbid module download
- # @endif
- def disallowModuleDownload(self):
- self._downloadAllowed = False
-
-
- ##
- # @if jp
- # @brief LoadPath Υեθ
- #
- # ꤵ줿ѥˡꤵ줿ե뤬¸ߤ뤫ǧ롣
- #
- # @param self
- # @param fname оݥե̾
- # @param load_path ѥꥹ
- #
- # @return 줿ե̾
- #
- # @else
- # @brief Search file from load path
- # @endif
- def findFile(self, fname, load_path):
- file_name = fname
- for path in load_path:
- suffix = self._properties.getProperty("manager.modules.Python.suffixes")
- if fname.find("."+suffix) == -1:
- f = str(path) + os.sep + str(file_name)+"."+suffix
- else:
- f = str(path)+ os.sep + str(file_name)
- if self.fileExist(f):
- f = f.replace("\\","/")
- f = f.replace("//","/")
- return f
- filelist = []
- OpenRTM_aist.findFile(path,file_name,filelist)
-
- if len(filelist) > 0:
- return filelist[0]
- return ""
-
-
- ##
- # @if jp
- # @brief ե뤬¸ߤ뤫ɤΥå
- #
- # ꤵ줿ե뤬¸ߤ뤫ǧ롣
- #
- # @param self
- # @param filename ¸߳ǧоݥե̾
- #
- # @return ե¸߳ǧ(ե뤢:trueʤ:false)
- #
- # @else
- # @brief Check file existance
- # @endif
- def fileExist(self, filename):
- fname = filename
- suffix = self._properties.getProperty("manager.modules.Python.suffixes")
- if fname.find("."+suffix) == -1:
- fname = str(filename)+"."+suffix
-
- if os.path.isfile(fname):
- return True
-
- return False
-
-
-
- ##
- # @if jp
- # @brief ؿܥ
- #
- # ؿ̾ΤȤΩƤ롣
- #
- # @param self
- # @param file_path оݥ⥸塼̾
- #
- # @return ؿ̾ȤΩƷ
- #
- # @else
- # @brief Create initialize function symbol
- # @endif
- def getInitFuncName(self, file_path):
- base_name = os.path.basename(file_path)
- return str(self._initFuncPrefix)+str(base_name)+str(self._initFuncSuffix)
-
-
-
- ##
- # @if jp
- # @class DLL
- # @brief ⥸塼ݻ饹
- # @else
- #
- # @endif
- class DLL:
- def __init__(self, dll):
- self.dll = dll
- return
-
-
- class DLLEntity:
- def __init__(self,dll,prop):
- self.dll = dll
- self.properties = prop
-
-
- class DLLPred:
- def __init__(self, name=None, factory=None):
- self._filepath = name or factory
-
- def __call__(self, dll):
- return self._filepath == dll.properties.getProperty("file_path")
+ code = "UTF-8-SIG"
+ import chardet
+ with open(str(fullname), mode='rb') as f:
+ code = chardet.detect(f.read())["encoding"]
+
+ with codecs.open(str(fullname), "r", encoding=code) as f:
+ s = f.read()
+ if s.find(comp_spec_name) == -1:
+ return None
+ except BaseException:
+ pass
+
+ imp_file = __import__(basename.split(".")[0])
+ comp_spec = getattr(imp_file, comp_spec_name, None)
+ if not comp_spec:
+ return None
+ newp = OpenRTM_aist.Properties(defaults_str=comp_spec)
+
+ profs = []
+
+ exists = False
+ for o in oldp:
+ if o.getProperty("implementation_id") == newp.getProperty("implementation_id") and \
+ o.getProperty("type_name") == newp.getProperty("type_name") and \
+ o.getProperty("description") == newp.getProperty("description") and \
+ o.getProperty("version") == newp.getProperty("version"):
+ exists = True
+ if not exists:
+ profs.append(newp)
+
+ # loaded component profile have to be one
+ if not profs:
+ return OpenRTM_aist.Properties()
+
+ # if len(profs) > 1:
+ # return None
+
+ return profs[0]
+
+ ##
+ # @if jp
+ # @brief 指定言語におけるロードパス上のローダブルなファイルリストを返す
+ #
+ #
+ # @param self
+ # @param lang
+ # @param modules
+ #
+ #
+ # @else
+ # @brief Getting loadable file list on the loadpath for given language
+ # @endif
+
+ def getModuleList(self, lang, modules):
+ l = "manager.modules." + lang
+ lprop = self._properties.getNode(l)
+
+ paths = lprop.getProperty("load_paths").split(",")
+
+ paths.extend(self._loadPath)
+ paths = self.deleteSamePath(paths)
+
+ suffixes = lprop.getProperty("suffixes").split(",")
+
+ self._rtcout.RTC_DEBUG("suffixes: %s", OpenRTM_aist.flatten(suffixes))
+
+ for path in paths:
+ if not path:
+ self._rtcout.RTC_WARN("Given load path is empty")
+ continue
+ self._rtcout.RTC_DEBUG("Module load path: %s", path)
+ flist = []
+ for suffix in suffixes:
+ suffix = OpenRTM_aist.eraseHeadBlank(suffix)
+
+ tmp = []
+ OpenRTM_aist.getFileList(path, suffix, tmp)
+
+ if lang == self._managerLanguage:
+ for f in tmp:
+ if f.find("__init__.py") != -1:
+ tmp.remove(f)
+
+ self._rtcout.RTC_DEBUG(
+ "File list (path:%s, ext:%s): %s",
+ (path,
+ suffix,
+ OpenRTM_aist.flatten(suffixes)))
+ flist.extend(tmp)
+
+ for f in flist:
+ f = f.replace("\\", "/")
+ f = f.replace("//", "/")
+ self.addNewFile(f, modules, lang)
+ modules = list(set(modules))
+
+ ##
+ # @if jp
+ # @brief キャッシュに無いパスだけmodulesに追加する
+ #
+ #
+ # @param self
+ # @param fpath
+ # @param modules
+ #
+ #
+ # @else
+ # @brief Adding file path not existing cache
+ # @endif
+
+ def addNewFile(self, fpath, modules, lang):
+ exists = False
+ for modprof in self._modprofs:
+ if modprof.getProperty("module_file_path") == fpath:
+ self._rtcout.RTC_DEBUG(
+ "Module %s already exists in cache.", fpath)
+ return
+
+ if not (fpath in self._loadfailmods[lang]):
+ self._rtcout.RTC_DEBUG("New module: %s", fpath)
+ modules.append(fpath)
+
+ ##
+ # @if jp
+ # @brief 指定言語、ファイルリストからモジュールのプロパティを返す
+ #
+ #
+ # @param self
+ # @param lang
+ # @param modules
+ # @param modprops
+ #
+ #
+ # @else
+ # @brief Getting loadable file list on the loadpath for given language
+ # @endif
+
+ def getModuleProfiles(self, lang, modules, modprops):
+ l = "manager.modules." + lang
+ lprop = self._properties.getNode(l)
+
+ paths = lprop.getProperty("load_paths").split(",")
+
+ for mod_ in modules:
+
+ if lang == self._managerLanguage:
+ prop = self.__getRtcProfile(mod_)
+ if prop:
+ prop.setProperty(
+ "module_file_name", os.path.basename(mod_))
+ prop.setProperty("module_file_path", mod_)
+ prop.setProperty("language", lang)
+ modprops.append(prop)
+ else:
+ prop = OpenRTM_aist.Properties()
+ cmd = lprop.getProperty("profile_cmd")
+ if os.name == "nt":
+ cmd = "cmd /c " + cmd
+ cmd = cmd + " \"" + mod_ + "\""
+
+ try:
+ ret = OpenRTM_aist.popen(cmd).split(os.linesep)
+ count = 0
+ for r in ret:
+ pos = r.find(":")
+ if r.find(":") != -1:
+ count += 1
+ key = r[0:pos]
+ key = OpenRTM_aist.eraseHeadBlank(key)
+
+ value = r[pos + 1:]
+ value = OpenRTM_aist.eraseHeadBlank(value)
+
+ prop.setProperty(key, value)
+ if count > 0:
+ self._rtcout.RTC_DEBUG("rtcprof cmd sub process done.")
+ prop.setProperty(
+ "module_file_name", os.path.basename(mod_))
+ prop.setProperty("module_file_path", mod_)
+ prop.setProperty("language", lang)
+ modprops.append(prop)
+ else:
+ self._loadfailmods[lang].append(mod_)
+
+ except BaseException:
+ self._rtcout.RTC_ERROR("popen faild")
+ self._loadfailmods[lang].append(mod_)
+
+ ##
+ # @if jp
+ # @brief 無効なモジュールプロファイルを削除する
+ #
+ #
+ # @param self
+ #
+ #
+ # @else
+ # @brief Removing incalid module profiles
+ # @endif
+
+ def removeInvalidModules(self):
+ for modprof in self._modprofs:
+ if not os.path.isfile(modprof.getProperty("module_file_path")):
+ self._modprofs.remove(modprof)
+
+ ##
+ # @if jp
+ # @brief 同じパスを削除
+ #
+ #
+ # @param self
+ # @param paths
+ #
+ #
+ # @else
+ # @brief
+ # @endif
+
+ def deleteSamePath(self, paths):
+ tmp_paths = []
+ for path in paths:
+ if path:
+ abs_path = os.path.abspath(path).replace("\\", "/")
+ abs_tmp_paths = []
+ for tmp_path in tmp_paths:
+ abs_tmp_path = os.path.abspath(tmp_path).replace("\\", "/")
+ abs_tmp_paths.append(abs_tmp_path)
+ if abs_path not in abs_tmp_paths:
+ tmp_paths.append(path)
+ return tmp_paths
+
+ ##
+ # @if jp
+ # @brief ロード可能モジュールリストを取得する(未実装)
+ #
+ # ロード可能なモジュールのリストを取得する。
+ #
+ # @param self
+ #
+ # @return ロード可能モジュールリスト
+ #
+ # @else
+ # @brief Get loadable module names
+ # @endif
+
+ def getLoadableModules(self):
+ self._rtcout.RTC_TRACE("getLoadableModules()")
+ # getting loadable module file path list.
+ langs = self._properties.getProperty(
+ "manager.supported_languages").split(",")
+ self._rtcout.RTC_DEBUG(
+ "langs: %s",
+ self._properties.getProperty("manager.supported_languages"))
+
+ for lang in langs:
+ lang = lang.strip()
+
+ modules_ = []
+ self.getModuleList(lang, modules_)
+ self._rtcout.RTC_DEBUG(
+ "%s: %s", (lang, OpenRTM_aist.flatten(modules_)))
+
+ tmpprops = []
+ self.getModuleProfiles(lang, modules_, tmpprops)
+ self._rtcout.RTC_DEBUG(
+ "Modile profile size: %d (newly founded modules)",
+ len(tmpprops))
+
+ self._modprofs.extend(tmpprops)
+
+ self._rtcout.RTC_DEBUG("Modile profile size: %d", len(self._modprofs))
+ self.removeInvalidModules()
+ self._rtcout.RTC_DEBUG(
+ "Modile profile size: %d (invalid mod-profiles deleted)", len(self._modprofs))
+
+ return self._modprofs
+
+ ##
+ # @if jp
+ # @brief モジュールの絶対パス指定許可
+ #
+ # ロード対象モジュールの絶対パス指定を許可するように設定する。
+ #
+ # @param self
+ #
+ # @else
+ # @brief Allow absolute load path
+ # @endif
+
+ def allowAbsolutePath(self):
+ self._absoluteAllowed = True
+
+ ##
+ # @if jp
+ # @brief モジュールの絶対パス指定禁止
+ #
+ # ロード対象モジュールの絶対パス指定を禁止するように設定する。
+ #
+ # @param self
+ #
+ # @else
+ # @brief Forbid absolute load path
+ # @endif
+
+ def disallowAbsolutePath(self):
+ self._absoluteAllowed = False
+
+ ##
+ # @if jp
+ # @brief モジュールのURL指定許可
+ #
+ # ロード対象モジュールのURL指定を許可する。
+ # 本設定が許可されている場合、モジュールをダウンロードしてロードすることが
+ # 許可される。
+ #
+ # @param self
+ #
+ # @else
+ # @brief Allow module download
+ # @endif
+
+ def allowModuleDownload(self):
+ self._downloadAllowed = True
+
+ ##
+ # @if jp
+ # @brief モジュールのURL指定禁止
+ #
+ # ロード対象モジュールのURL指定を禁止する。
+ #
+ # @param self
+ #
+ # @else
+ # @brief Forbid module download
+ # @endif
+
+ def disallowModuleDownload(self):
+ self._downloadAllowed = False
+
+ ##
+ # @if jp
+ # @brief LoadPath からのファイルの検索
+ #
+ # 指定されたパス内に、指定されたファイルが存在するか確認する。
+ #
+ # @param self
+ # @param fname 検索対象ファイル名
+ # @param load_path 検索先パスリスト
+ #
+ # @return 検索されたファイル名
+ #
+ # @else
+ # @brief Search file from load path
+ # @endif
+
+ def findFile(self, fname, load_path):
+ file_name = fname
+ for path in load_path:
+ suffix = self._properties.getProperty(
+ "manager.modules."+self._managerLanguage+".suffixes")
+ if fname.find("." + suffix) == -1:
+ f = str(path) + os.sep + str(file_name) + "." + suffix
+ else:
+ f = str(path) + os.sep + str(file_name)
+ if self.fileExist(f):
+ f = f.replace("\\", "/")
+ f = f.replace("//", "/")
+ return f
+ filelist = []
+ OpenRTM_aist.findFile(path, file_name, filelist)
+
+ if filelist:
+ return filelist[0]
+ return ""
+
+ ##
+ # @if jp
+ # @brief ファイルが存在するかどうかのチェック
+ #
+ # 指定されたファイルが存在するか確認する。
+ #
+ # @param self
+ # @param filename 存在確認対象ファイル名
+ #
+ # @return ファイル存在確認結果(ファイルあり:true，なし:false)
+ #
+ # @else
+ # @brief Check file existance
+ # @endif
+
+ def fileExist(self, filename):
+ fname = filename
+ suffix = self._properties.getProperty(
+ "manager.modules."+self._managerLanguage+".suffixes")
+ if fname.find("." + suffix) == -1:
+ fname = str(filename) + "." + suffix
+
+ if os.path.isfile(fname):
+ return True
+
+ return False
+
+ ##
+ # @if jp
+ # @brief 初期化関数シンボルを生成する
+ #
+ # 初期化関数の名称を組み立てる。
+ #
+ # @param self
+ # @param file_path 初期化対象モジュール名称
+ #
+ # @return 初期化関数名称組み立て結果
+ #
+ # @else
+ # @brief Create initialize function symbol
+ # @endif
+
+ def getInitFuncName(self, file_path):
+ base_name = os.path.basename(file_path)
+ return str(self._initFuncPrefix) + \
+ str(base_name) + str(self._initFuncSuffix)
+
+ ##
+ # @if jp
+ # @class DLL
+ # @brief モジュール保持用内部クラス
+ # @else
+ #
+ # @endif
+
+ class DLL:
+ def __init__(self, dll):
+ self.dll = dll
+ return
+
+ class DLLEntity:
+ def __init__(self, dll, prop):
+ self.dll = dll
+ self.properties = prop
+
+ class DLLPred:
+ def __init__(self, name=None, factory=None):
+ self._filepath = name or factory
+
+ def __call__(self, dll):
+ return self._filepath == dll.properties.getProperty("file_path")
diff --git a/OpenRTM_aist/MultilayerCompositeEC.py b/OpenRTM_aist/MultilayerCompositeEC.py
index 3f12d9ab..c63faf0d 100644
--- a/OpenRTM_aist/MultilayerCompositeEC.py
+++ b/OpenRTM_aist/MultilayerCompositeEC.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file MultilayerCompositeEC.py
@@ -24,16 +24,17 @@
import OpenRTM_aist
import OpenRTM
-import RTC, RTC__POA
+import RTC
+import RTC__POA
DEFAULT_PERIOD = 0.000001
##
# @if jp
# @class MultilayerCompositeEC
-# @brief MultilayerCompositeEC 饹
+# @brief MultilayerCompositeEC クラス
#
-# Periodic Sampled Data Processing(¹)ExecutionContext饹
+# Periodic Sampled Data Processing(周期実行用)ExecutionContextクラス。
#
# @since 0.4.0
#
@@ -41,596 +42,579 @@
# @class MultilayerCompositeEC
# @brief MultilayerCompositeEC class
# @endif
-class MultilayerCompositeEC(OpenRTM_aist.PeriodicExecutionContext):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- # ꤵ줿ͤץեꤹ롣
- #
- # @else
- # @brief Constructor
- # @endif
- def __init__(self):
-
- OpenRTM_aist.PeriodicExecutionContext.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.multilayercomposite_ec")
- self._rtcout.RTC_TRACE("MultilayerCompositeEC.__init__()")
-
- self._tasklist = []
- self._ownersm = None
- return
- ##
- # @if jp
- # @brief λؿ
- #
- # @param self
- # @param Task
- #
- # @else
- # @brief
- # @param self
- # @param Task
- # @endif
- def exit(self, Task=OpenRTM_aist.Task):
- OpenRTM_aist.PeriodicExecutionContext.exit(self)
- for task in self._tasklist:
- task.finalize()
- return
+class MultilayerCompositeEC(OpenRTM_aist.PeriodicExecutionContext):
+ """
+ """
- ##
- # @if jp
- # @brief ؿ
- #
- # @param self
- # @param props ץѥƥ
- #
- # @else
- # @brief
- # @param self
- # @param props
- # @endif
- def init(self, props):
- OpenRTM_aist.PeriodicExecutionContext.init(self, props)
- #prop.getProperty("thread_type", "default")
-
-
-
- ##
- # @if jp
- # @brief ݡͥȤХɤ롣
- #
- # @param self
- # @param rtc RTC
- #
- # @else
- # @brief Bind the component.
- #
- # @param self
- # @param rtc RTC
- #
- # @endif
- def bindComponent(self, rtc):
- ret = OpenRTM_aist.ExecutionContextBase.bindComponent(self, rtc)
-
- mgr = OpenRTM_aist.Manager.instance()
-
- threads_str = rtc.getProperties().getProperty("conf.default.members")
- str = [threads_str]
- threads = str[0].split("|")
- for thread in threads:
- rtcs = []
- members = thread.split(",")
-
- for member in members:
- member = member.strip()
- if member == "":
- continue
- comp = mgr.getComponent(member)
-
- if comp is None:
- self._rtcout.RTC_ERROR("no RTC found: %s", member)
- continue
-
- rtobj = comp.getObjRef()
- if CORBA.is_nil(rtobj):
- continue
- rtcs.append(rtobj)
-
- self.addTask(rtcs)
-
-
- return ret
-
- ##
- # @if jp
- # @class
- # @brief worker Ѿѿ饹
- # @else
- # @brief
- #
- # @endif
- class WorkerThreadCtrl:
##
# @if jp
- # @brief ȥ饯
+ # @brief コンストラクタ
#
- # ȥ饯
- #
- # @param self
+ # コンストラクタ
+ # 設定された値をプロファイルに設定する。
#
# @else
# @brief Constructor
# @endif
def __init__(self):
- self._mutex = threading.RLock()
- self._cond = threading.Condition(self._mutex)
- self._running = False
-
- ##
- # @if jp
- # @class
- # @brief RTC¹ԥå
- # @else
- # @brief
- #
- # @endif
- class ChildTask:
+
+ OpenRTM_aist.PeriodicExecutionContext.__init__(self)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf(
+ "rtobject.multilayercomposite_ec")
+ self._rtcout.RTC_TRACE("MultilayerCompositeEC.__init__()")
+
+ self._tasklist = []
+ self._ownersm = None
+
+ return
+
##
# @if jp
- # @brief ȥ饯
+ # @brief 終了関数
#
- # @param self
- # @param task ¹ԥå
- # @param ec ¹ԥƥ
+ # @param self
+ # @param Task
#
# @else
- #
- # @brief
- #
- # @param self
- # @param task
- # @param ec
- #
+ # @brief
+ # @param self
+ # @param Task
# @endif
- def __init__(self, task, ec):
- self._rtcs = []
- self._task = task
- self._ec = ec
- self._comps = []
- self._worker = MultilayerCompositeEC.WorkerThreadCtrl()
- self._signal_worker = MultilayerCompositeEC.WorkerThreadCtrl()
+ def exit(self, Task=OpenRTM_aist.Task):
+ OpenRTM_aist.PeriodicExecutionContext.exit(self)
+ for task in self._tasklist:
+ task.finalize()
+ return
##
# @if jp
- # @brief ¹ԤRTCɲ
+ # @brief 初期化関数
#
- # @param self
- # @param rtc RTC
+ # @param self
+ # @param props プロパティ
#
# @else
- #
- # @brief
- #
- # @param self
- # @param rtc RTC
- #
+ # @brief
+ # @param self
+ # @param props
# @endif
- def addComponent(self, rtc):
- self._rtcs.append(rtc)
+ def init(self, props):
+ OpenRTM_aist.PeriodicExecutionContext.init(self, props)
+ #prop.getProperty("thread_type", "default")
##
# @if jp
- # @brief ơȥޥΥꥹȤ
+ # @brief コンポーネントをバインドする。
#
# @param self
- # @param return
+ # @param rtc RTC
#
# @else
- #
- # @brief
+ # @brief Bind the component.
#
# @param self
- # @param return
+ # @param rtc RTC
#
# @endif
- def updateCompList(self):
- for rtc in self._rtcs[:]:
- comp = self._ec.findComponent(rtc)
- if comp:
- self._rtcs.remove(rtc)
- self._comps.append(comp)
+
+ def bindComponent(self, rtc):
+ ret = OpenRTM_aist.ExecutionContextBase.bindComponent(self, rtc)
+
+ mgr = OpenRTM_aist.Manager.instance()
+
+ threads_str = rtc.getProperties().getProperty("conf.default.members")
+ str = [threads_str]
+ threads = str[0].split("|")
+ for thread in threads:
+ rtcs = []
+ members = thread.split(",")
+
+ for member in members:
+ member = member.strip()
+ if member == "":
+ continue
+ comp = mgr.getComponent(member)
+
+ if comp is None:
+ self._rtcout.RTC_ERROR("no RTC found: %s", member)
+ continue
+
+ rtobj = comp.getObjRef()
+ if CORBA.is_nil(rtobj):
+ continue
+ rtcs.append(rtobj)
+
+ self.addTask(rtcs)
+
+ return ret
##
# @if jp
- # @brief åɼ¹Դؿ
- #
- # @param self
- # @param return
- #
+ # @class
+ # @brief worker 用状態変数クラス
# @else
- #
- # @brief
- #
- # @param self
- # @param return
+ # @brief
#
# @endif
- def svc(self):
- self._worker._running = True
-
-
- self._signal_worker._cond.acquire()
- while not self._signal_worker._running:
- self._signal_worker._cond.wait()
- self._signal_worker._cond.release()
- self._signal_worker._running = False
-
-
-
- self.updateCompList()
- for comp in self._comps:
- comp.workerPreDo()
- comp.workerDo()
- comp.workerPostDo()
- self._worker._running = False
- self._worker._cond.acquire()
- self._worker._cond.notify()
- self._worker._cond.release()
-
-
- self._signal_worker._cond.acquire()
- while not self._signal_worker._running:
- self._signal_worker._cond.wait()
- self._signal_worker._cond.release()
- self._signal_worker._running = False
-
-
- return 0
+ class WorkerThreadCtrl:
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ # @endif
+ def __init__(self):
+ self._mutex = threading.RLock()
+ self._cond = threading.Condition(self._mutex)
+ self._running = False
##
# @if jp
- # @brief 1ν¹
- #
- # @param self
- #
+ # @class
+ # @brief RTC周期実行スレッド
# @else
- #
- # @brief
- #
- # @param self
+ # @brief
#
# @endif
- def signal(self):
-
- while not self._worker._running:
- self._task.signal()
-
-
- self._signal_worker._running = True
- self._signal_worker._cond.acquire()
- self._signal_worker._cond.notify()
- self._signal_worker._cond.release()
-
-
-
+ class ChildTask:
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # @param self
+ # @param task 周期実行スレッド
+ # @param ec 実行コンテキスト
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param task
+ # @param ec
+ #
+ # @endif
+ def __init__(self, task, ec):
+ self._rtcs = []
+ self._task = task
+ self._ec = ec
+ self._comps = []
+ self._worker = MultilayerCompositeEC.WorkerThreadCtrl()
+ self._signal_worker = MultilayerCompositeEC.WorkerThreadCtrl()
+
+ ##
+ # @if jp
+ # @brief 実行するRTCを追加
+ #
+ # @param self
+ # @param rtc RTC
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param rtc RTC
+ #
+ # @endif
+ def addComponent(self, rtc):
+ self._rtcs.append(rtc)
+
+ ##
+ # @if jp
+ # @brief ステートマシンのリストを更新
+ #
+ # @param self
+ # @param return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param return
+ #
+ # @endif
+ def updateCompList(self):
+ for rtc in self._rtcs[:]:
+ comp = self._ec.findComponent(rtc)
+ if comp:
+ self._rtcs.remove(rtc)
+ self._comps.append(comp)
+
+ ##
+ # @if jp
+ # @brief スレッド実行関数
+ #
+ # @param self
+ # @param return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param return
+ #
+ # @endif
+ def svc(self):
+ self._worker._running = True
+
+ self._signal_worker._cond.acquire()
+ while not self._signal_worker._running:
+ self._signal_worker._cond.wait()
+ self._signal_worker._cond.release()
+ self._signal_worker._running = False
+
+ self.updateCompList()
+ for comp in self._comps:
+ comp.workerPreDo()
+ comp.workerDo()
+ comp.workerPostDo()
+ self._worker._running = False
+ self._worker._cond.acquire()
+ self._worker._cond.notify()
+ self._worker._cond.release()
+
+ self._signal_worker._cond.acquire()
+ while not self._signal_worker._running:
+ self._signal_worker._cond.wait()
+ self._signal_worker._cond.release()
+ self._signal_worker._running = False
+
+ return 0
+
+ ##
+ # @if jp
+ # @brief 1回の処理を実行
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
+ def signal(self):
+
+ while not self._worker._running:
+ self._task.signal()
+
+ self._signal_worker._running = True
+ self._signal_worker._cond.acquire()
+ self._signal_worker._cond.notify()
+ self._signal_worker._cond.release()
+
+ ##
+ # @if jp
+ # @brief 1回の処理終了まで待機
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
+ def join(self):
+
+ self._worker._cond.acquire()
+ while self._worker._running:
+ self._worker._cond.wait()
+ self._worker._cond.release()
+
+ self._signal_worker._running = True
+ self._signal_worker._cond.acquire()
+ self._signal_worker._cond.notify()
+ self._signal_worker._cond.release()
+
+ ##
+ # @if jp
+ # @brief タスク周期時間計測結果を取得
+ #
+ # @param self
+ # @return 計測結果
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+
+ def getPeriodStat(self):
+ return self._task.getPeriodStat()
+
+ ##
+ # @if jp
+ # @brief タスク関数実行時間計測結果を取得
+ #
+ # @param self
+ # @return 計測結果
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+
+ def getExecStat(self):
+ return self._task.getExecStat()
+
+ ##
+ # @if jp
+ # @brief RTC実行スレッド終了関数
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
+ def finalize(self):
+ self._task.resume()
+ self._task.finalize()
+
##
# @if jp
- # @brief 1νλޤԵ
+ # @brief RTC実行スレッド作成
#
# @param self
+ # @param rtcs スレッドに関連付けるRTC一覧
+ # @return ステートマシン
#
# @else
#
- # @brief
+ # @brief
#
# @param self
+ # @param rtcs
#
# @endif
- def join(self):
-
- self._worker._cond.acquire()
- while self._worker._running:
- self._worker._cond.wait()
- self._worker._cond.release()
-
-
- self._signal_worker._running = True
- self._signal_worker._cond.acquire()
- self._signal_worker._cond.notify()
- self._signal_worker._cond.release()
-
+ def addTask(self, rtcs):
+ prop = self._profile.getProperties().getNode("ec" + str(len(self._tasklist)))
+ factory = OpenRTM_aist.PeriodicTaskFactory.instance()
+
+ task = factory.createObject(prop.getProperty("thread_type", "default"))
+ if not task:
+ self._rtcout.RTC_ERROR(
+ "Task creation failed: %s", prop.getProperty(
+ "thread_type", "default"))
+ return
+
+ ct = MultilayerCompositeEC.ChildTask(task, self)
+
+ mprop = prop.getNode("measurement")
+ task.setTask(ct.svc)
+ task.setPeriod(0.0)
+ task.executionMeasure(OpenRTM_aist.toBool(mprop.getProperty("exec_time"),
+ "enable", "disable", True))
+ ecount = 0
+ ret, ecount = OpenRTM_aist.stringTo(
+ ecount, mprop.getProperty("exec_count"))
+ if ret:
+ task.executionMeasureCount(ecount)
+
+ task.periodicMeasure(OpenRTM_aist.toBool(mprop.getProperty("period_time"),
+ "enable", "disable", True))
+ pcount = 0
+ ret, pcount = OpenRTM_aist.stringTo(
+ pcount, mprop.getProperty("period_count"))
+ if ret:
+ task.periodicMeasureCount(pcount)
+
+ for rtc in rtcs:
+ self.addRTCToTask(ct, rtc)
+
+ self._tasklist.append(ct)
+
+ task.suspend()
+ task.activate()
+ task.suspend()
##
# @if jp
- # @brief ַ¬̤
+ # @brief コンポーネント探索関数
#
# @param self
- # @return ¬
+ # @param rtobj RTC
+ # @return ステートマシン
#
# @else
#
- # @brief
+ # @brief
#
# @param self
+ # @param rtobj
# @return
#
# @endif
- def getPeriodStat(self):
- return self._task.getPeriodStat()
+ def findComponent(self, rtobj):
+ return self._worker.findComponent(rtobj)
##
# @if jp
- # @brief ؿ¹Իַ¬̤
+ # @brief RTC実行スレッドにRTCを追加
+ # 複合コンポーネントの場合は子コンポーネントも追加
#
# @param self
- # @return ¬
+ # @param task RTC実行スレッド
+ # @param rtobj RTC
#
# @else
#
- # @brief
+ # @brief
#
# @param self
- # @return
+ # @param task
+ # @param rtobj
#
# @endif
- def getExecStat(self):
- return self._task.getExecStat()
+ def addRTCToTask(self, task, rtobj):
+ #comp = self._worker.findComponent(rtobj)
+ orglist = rtobj.get_owned_organizations()
+ if not orglist:
+ task.addComponent(rtobj)
+
+ for org in orglist:
+ sdos = org.get_members()
+ for sdo in sdos:
+ dfc = sdo._narrow(OpenRTM.DataFlowComponent)
+ self.addRTCToTask(task, dfc)
##
# @if jp
- # @brief RTC¹ԥåɽλؿ
+ # @brief コンポーネントのアクティビティスレッド関数
#
- # @param self
+ # コンポーネントの内部アクティビティスレッドの実行関数。
+ # ACE_Task サービスクラスメソッドのオーバーライド。
#
# @else
#
- # @brief
+ # @brief Create internal activity thread
#
- # @param self
+ # Run by a daemon thread to handle deferred processing.
+ # ACE_Task class method override.
#
# @endif
- def finalize(self):
- self._task.resume()
- self._task.finalize()
-
- OpenRTM_aist.PeriodicTaskFactory.instance().deleteObject(self._task)
-
- ##
- # @if jp
- # @brief RTC¹ԥåɺ
- #
- # @param self
- # @param rtcs åɤ˴ϢդRTC
- # @return ơȥޥ
- #
- # @else
- #
- # @brief
- #
- # @param self
- # @param rtcs
- #
- # @endif
- def addTask(self, rtcs):
- prop = self._profile.getProperties().getNode("ec"+str(len(self._tasklist)))
- factory = OpenRTM_aist.PeriodicTaskFactory.instance()
-
- task = factory.createObject(prop.getProperty("thread_type", "default"))
- if not task:
- self._rtcout.RTC_ERROR("Task creation failed: %s", prop.getProperty("thread_type", "default"))
- return
-
- ct = MultilayerCompositeEC.ChildTask(task, self)
-
- mprop = prop.getNode("measurement")
- task.setTask(ct.svc)
- task.setPeriod(0.0)
- task.executionMeasure(OpenRTM_aist.toBool(mprop.getProperty("exec_time"),
- "enable", "disable", True))
- ecount = [0]
- if OpenRTM_aist.stringTo(ecount, mprop.getProperty("exec_count")):
- task.executionMeasureCount(ecount[0])
-
- task.periodicMeasure(OpenRTM_aist.toBool(mprop.getProperty("period_time"),
- "enable", "disable", True))
- pcount = [0]
- if OpenRTM_aist.stringTo(pcount, mprop.getProperty("period_count")):
- task.periodicMeasureCount(pcount[0])
-
- for rtc in rtcs:
- self.addRTCToTask(ct, rtc)
-
- self._tasklist.append(ct)
-
- task.suspend()
- task.activate()
- task.suspend()
-
-
-
- ##
- # @if jp
- # @brief ݡͥõؿ
- #
- # @param self
- # @param rtobj RTC
- # @return ơȥޥ
- #
- # @else
- #
- # @brief
- #
- # @param self
- # @param rtobj
- # @return
- #
- # @endif
- def findComponent(self, rtobj):
- return self._worker.findComponent(rtobj)
-
- ##
- # @if jp
- # @brief RTC¹ԥåɤRTCɲ
- # ʣ祳ݡͥȤξϻҥݡͥȤɲ
- #
- # @param self
- # @param task RTC¹ԥå
- # @param rtobj RTC
- #
- # @else
- #
- # @brief
- #
- # @param self
- # @param task
- # @param rtobj
- #
- # @endif
- def addRTCToTask(self, task, rtobj):
- #comp = self._worker.findComponent(rtobj)
- orglist = rtobj.get_owned_organizations()
- if len(orglist) == 0:
- task.addComponent(rtobj)
-
- for org in orglist:
- sdos = org.get_members()
- for sdo in sdos:
- dfc = sdo._narrow(OpenRTM.DataFlowComponent)
- self.addRTCToTask(task, dfc)
-
-
-
- ##
- # @if jp
- # @brief ݡͥȤΥƥӥƥåɴؿ
- #
- # ݡͥȤƥӥƥåɤμ¹Դؿ
- # ACE_Task ӥ饹åɤΥС饤ɡ
- #
- # @else
- #
- # @brief Create internal activity thread
- #
- # Run by a daemon thread to handle deferred processing.
- # ACE_Task class method override.
- #
- # @endif
- def svc(self):
- self._rtcout.RTC_TRACE("svc()")
- count_ = 0
- owner = self.getOwner()
- self._ownersm = self._worker.findComponent(owner)
-
- #if len(self._cpu) > 0:
- # ret = OpenRTM_aist.setThreadAffinity(self._cpu)
- # if ret == False:
- # self._rtcout.RTC_ERROR("CPU affinity mask setting failed")
-
- while self.threadRunning():
-
-
- self._ownersm.workerPreDo()
- #OpenRTM_aist.ExecutionContextBase.invokeWorkerPreDo(self)
- # Thread will stopped when all RTCs are INACTIVE.
- # Therefore WorkerPreDo(updating state) have to be invoked
- # before stopping thread.
-
- guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
- while not self._workerthread._running:
- self._workerthread._cond.wait()
- del guard
-
- t0_ = OpenRTM_aist.Time()
-
-
- #OpenRTM_aist.ExecutionContextBase.invokeWorkerDo(self)
- self._ownersm.workerDo()
- #OpenRTM_aist.ExecutionContextBase.invokeWorkerPostDo(self)
- self._ownersm.workerPostDo()
-
-
- for task in self._tasklist:
- task.signal()
-
- #time.sleep(0.1)
-
-
- for task in self._tasklist:
- task.join()
- #print task._task.getExecStat()._max_interval
- #print task._task.getExecStat()._min_interval
- #print task._task.getExecStat()._mean_interval
- #print task._task.getExecStat()._std_deviation
-
-
-
-
-
- t1_ = OpenRTM_aist.Time()
-
-
- period_ = self.getPeriod()
-
- if count_ > 1000:
- exctm_ = (t1_ - t0_).getTime().toDouble()
- slptm_ = period_.toDouble() - exctm_
- self._rtcout.RTC_PARANOID("Period: %f [s]", period_.toDouble())
- self._rtcout.RTC_PARANOID("Execution: %f [s]", exctm_)
- self._rtcout.RTC_PARANOID("Sleep: %f [s]", slptm_)
-
- for i in range(len(self._tasklist)):
- task = self._tasklist[i]
- stat = task.getExecStat()
- self._rtcout.RTC_PARANOID("MAX(%d): %f [s]", (i,stat._max_interval))
- self._rtcout.RTC_PARANOID("MIN(%d): %f [s]", (i,stat._min_interval))
- self._rtcout.RTC_PARANOID("MEAN(%d): %f [s]", (i,stat._mean_interval))
- self._rtcout.RTC_PARANOID("SD(%d): %f [s]", (i,stat._std_deviation))
-
-
-
- t2_ = OpenRTM_aist.Time()
-
- if not self._nowait and period_.toDouble() > ((t1_ - t0_).getTime().toDouble()):
- if count_ > 1000:
- self._rtcout.RTC_PARANOID("sleeping...")
- slptm_ = period_.toDouble() - (t1_ - t0_).getTime().toDouble()
- time.sleep(slptm_)
-
- if count_ > 1000:
- t3_ = OpenRTM_aist.Time()
- self._rtcout.RTC_PARANOID("Slept: %f [s]", (t3_ - t2_).getTime().toDouble())
- count_ = 0
- count_ += 1
-
- self._rtcout.RTC_DEBUG("Thread terminated.")
- return 0
-
-
-
+ def svc(self):
+ self._rtcout.RTC_TRACE("svc()")
+ count_ = 0
+ owner = self.getOwner()
+ self._ownersm = self._worker.findComponent(owner)
+
+ # if len(self._cpu) > 0:
+ # ret = OpenRTM_aist.setThreadAffinity(self._cpu)
+ # if ret == False:
+ # self._rtcout.RTC_ERROR("CPU affinity mask setting failed")
+
+ while self.threadRunning():
+
+ self._ownersm.workerPreDo()
+ # OpenRTM_aist.ExecutionContextBase.invokeWorkerPreDo(self)
+ # Thread will stopped when all RTCs are INACTIVE.
+ # Therefore WorkerPreDo(updating state) have to be invoked
+ # before stopping thread.
+
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ while not self._workerthread._running:
+ self._workerthread._cond.wait()
+ del guard
+
+ t0_ = OpenRTM_aist.Time()
+
+ # OpenRTM_aist.ExecutionContextBase.invokeWorkerDo(self)
+ self._ownersm.workerDo()
+ # OpenRTM_aist.ExecutionContextBase.invokeWorkerPostDo(self)
+ self._ownersm.workerPostDo()
+
+ for task in self._tasklist:
+ task.signal()
+
+ # time.sleep(0.1)
+
+ for task in self._tasklist:
+ task.join()
+ # print task._task.getExecStat()._max_interval
+ # print task._task.getExecStat()._min_interval
+ # print task._task.getExecStat()._mean_interval
+ # print task._task.getExecStat()._std_deviation
+
+ t1_ = OpenRTM_aist.Time()
+
+ period_ = self.getPeriod()
+
+ if count_ > 1000:
+ exctm_ = (t1_ - t0_).getTime().toDouble()
+ slptm_ = period_.toDouble() - exctm_
+ self._rtcout.RTC_PARANOID(
+ "Period: %f [s]", period_.toDouble())
+ self._rtcout.RTC_PARANOID("Execution: %f [s]", exctm_)
+ self._rtcout.RTC_PARANOID("Sleep: %f [s]", slptm_)
+
+ for i, task in enumerate(self._tasklist):
+ stat = task.getExecStat()
+ self._rtcout.RTC_PARANOID(
+ "MAX(%d): %f [s]", (i, stat._max_interval))
+ self._rtcout.RTC_PARANOID(
+ "MIN(%d): %f [s]", (i, stat._min_interval))
+ self._rtcout.RTC_PARANOID(
+ "MEAN(%d): %f [s]", (i, stat._mean_interval))
+ self._rtcout.RTC_PARANOID(
+ "SD(%d): %f [s]", (i, stat._std_deviation))
+
+ t2_ = OpenRTM_aist.Time()
+
+ if not self._nowait and period_.toDouble() > ((t1_ - t0_).getTime().toDouble()):
+ if count_ > 1000:
+ self._rtcout.RTC_PARANOID("sleeping...")
+ slptm_ = period_.toDouble() - (t1_ - t0_).getTime().toDouble()
+ time.sleep(slptm_)
+
+ if count_ > 1000:
+ t3_ = OpenRTM_aist.Time()
+ self._rtcout.RTC_PARANOID(
+ "Slept: %f [s]", (t3_ - t2_).getTime().toDouble())
+ count_ = 0
+ count_ += 1
+
+ self._rtcout.RTC_DEBUG("Thread terminated.")
+ return 0
##
# @if jp
-# @brief ExecutionContext
+# @brief ExecutionContext を初期化する
#
-# ExecutionContext ưѥեȥϿ롣
+# ExecutionContext 起動用ファクトリを登録する。
#
-# @param manager ޥ͡㥪֥
+# @param manager マネージャオブジェクト
#
# @else
#
# @endif
def MultilayerCompositeECInit(manager):
- OpenRTM_aist.ExecutionContextFactory.instance().addFactory("MultilayerCompositeEC",
- OpenRTM_aist.MultilayerCompositeEC,
- OpenRTM_aist.ECDelete)
- return
+ OpenRTM_aist.ExecutionContextFactory.instance().addFactory("MultilayerCompositeEC",
+ OpenRTM_aist.MultilayerCompositeEC)
+ return
diff --git a/OpenRTM_aist/NVUtil.py b/OpenRTM_aist/NVUtil.py
index 7c4dc3c1..02bc87ff 100644
--- a/OpenRTM_aist/NVUtil.py
+++ b/OpenRTM_aist/NVUtil.py
@@ -1,12 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file NVUtil.py
# @brief NameValue and NVList utility functions
# @date $Date: 2007/09/11$
# @author Noriaki Ando and Shinji Kurihara
-#
+#
# Copyright (C) 2006-2008
# Noriaki Ando
# Task-intelligence Research Group,
@@ -25,12 +25,12 @@
##
# @if jp
#
-# @brief NameValue
+# @brief NameValue を生成する
#
-# Υڥ졼NameValue롣
+# このオペレーションはNameValueを作成する。
#
-# @param name NameValue name
-# @param value NameValue value
+# @param name NameValue の name
+# @param value NameValue の value
#
# @return NameValue
#
@@ -47,27 +47,26 @@
#
# @endif
def newNV(name, value):
- try:
- any_val = any.to_any(value)
- except:
- print("ERROR NVUtil.newNV : Can't convert to any. ", type(value))
- raise
+ try:
+ any_val = any.to_any(value)
+ except BaseException:
+ print("ERROR NVUtil.newNV : Can't convert to any. ", type(value))
+ raise
-
- nv = SDOPackage.NameValue(name, any_val)
- return nv
+ nv = SDOPackage.NameValue(name, any_val)
+ return nv
##
# @if jp
#
-# @brief Properties NVList إԡ
+# @brief Properties を NVList へコピーする
#
-# Υڥ졼 Properties NVList إԡ롣
-# NVList value CORBA::string Ȥƥԡ롣
+# このオペレーションは Properties を NVList へコピーする。
+# NVList の value は全て CORBA::string 型としてコピーする。
#
-# @param nv Properties ͤǼ NVList
-# @param prop ԡ Properties
+# @param nv Properties の値を格納する NVList
+# @param prop コピー元の Properties
#
# @else
#
@@ -80,28 +79,28 @@ def newNV(name, value):
# @param prop Properties that is copies from
#
# @endif
-# void copyFromProperties(SDOPackage::NVList& nv, const coil::Properties& prop);
+# void copyFromProperties(SDOPackage::NVList& nv, const coil::Properties&
+# prop);
def copyFromProperties(nv, prop):
- keys = prop.propertyNames()
- keys_len = len(keys)
- nv_len = len(nv)
- if nv_len > 0:
- for i in range(nv_len):
- del nv[-1]
+ keys = prop.propertyNames()
+ nv_len = len(nv)
+ if nv_len > 0:
+ for i in range(nv_len):
+ del nv[-1]
- for i in range(keys_len):
- nv.append(newNV(keys[i], prop.getProperty(keys[i])))
+ for key in keys:
+ nv.append(newNV(key, prop.getProperty(key)))
##
# @if jp
#
-# @brief NVList Properties إԡ
+# @brief NVList を Properties へコピーする
#
-# Υڥ졼 NVList Properties إԡ롣
+# このオペレーションは NVList を Properties へコピーする。
#
-# @param prop NVList ͤǼ Properties
-# @param nv ԡ NVList
+# @param prop NVList の値を格納する Properties
+# @param nv コピー元の NVList
#
# @else
#
@@ -115,79 +114,76 @@ def copyFromProperties(nv, prop):
# @endif
# void copyToProperties(coil::Properties& prop, const SDOPackage::NVList& nv);
def copyToProperties(prop, nvlist):
- for nv in nvlist:
- try:
- val = str(any.from_any(nv.value, keep_structs=True))
- prop.setProperty(str(nv.name),val)
- except:
- print(OpenRTM_aist.Logger.print_exception())
- pass
-
+ for nv in nvlist:
+ try:
+ val = str(any.from_any(nv.value, keep_structs=True))
+ prop.setProperty(str(nv.name), val)
+ except BaseException:
+ print(OpenRTM_aist.Logger.print_exception())
+ pass
##
# @if jp
# @class to_prop
-# @brief NVList Properties Ѵѥե
+# @brief NVList → Properties 変換用ファンクタ
# @endif
class to_prop:
- def __init__(self):
- self._prop = OpenRTM_aist.Properties()
-
- def __call__(self, nv):
- self._prop.setProperty(nv.name, nv.value)
+ def __init__(self):
+ self._prop = OpenRTM_aist.Properties()
+ def __call__(self, nv):
+ self._prop.setProperty(nv.name, nv.value)
##
# @if jp
#
-# @brief NVList Properties Ѵ
+# @brief NVList を Properties へ変換する
#
-# Υڥ졼 NVList Properties Ѵ롣
+# このオペレーションは NVList を Properties へ変換する。
#
-# @param nv Ѵ NVList
+# @param nv 変換元の NVList
#
-# @return ѴProperty
+# @return 変換結果Property
#
# @else
#
# @endif
# coil::Properties toProperties(const SDOPackage::NVList& nv);
def toProperties(nv):
- p = OpenRTM_aist.CORBA_SeqUtil.for_each(nv, to_prop())
- return p._prop
-
+ p = OpenRTM_aist.CORBA_SeqUtil.for_each(nv, to_prop())
+ return p._prop
##
# @if jp
# @class nv_find
-# @brief NVList ѥե
+# @brief NVList 検索用ファンクタ
# @endif
class nv_find:
- """
- """
+ """
+ """
- def __init__(self, name):
- self._name = name
+ def __init__(self, name):
+ self._name = name
- def __call__(self, nv):
- return str(self._name) == str(nv.name)
+ def __call__(self, nv):
+ return str(self._name) == str(nv.name)
##
# @if jp
#
-# @brief NVList name ǻꤵ줿 value ֤
+# @brief NVList から name で指定された value を返す
#
-# Υڥ졼 name ǻꤵ줿 value Any ֤
-# ꤷ̾ΤǤ¸ߤʤ㳰ȯ롣
+# このオペレーションは name で指定された value を Any 型で返す。
+# 指定した名称の要素が存在しない場合は例外を発生させる。
#
-# @param nv оݤ NVList
-# @param name ̾
+# @param nv 検索対象の NVList
+# @param name 検索する名前
#
-# @return
+# @return 検索結果
#
# @else
#
@@ -201,97 +197,97 @@ def __call__(self, nv):
#
# @endif
def find(nv, name):
- index = OpenRTM_aist.CORBA_SeqUtil.find(nv, nv_find(name))
+ index = OpenRTM_aist.CORBA_SeqUtil.find(nv, nv_find(name))
- if index < 0:
- raise "Not found."
+ if index < 0:
+ raise "Not found."
- return nv[index].value
+ return nv[index].value
##
# @if jp
#
-# @brief name ǻꤵ줿ǤΥǥå֤
+# @brief name で指定された要素のインデックスを返す
#
-# Υڥ졼 name ǻꤵ줿ǤǼƤ֤
-# ǥå֤
+# このオペレーションは name で指定された要素が格納されている位置の
+# インデックスを返す。
#
-# @param nv оݤ NVList
-# @param name ̾
+# @param nv 検索対象の NVList
+# @param name 検索する名前
#
-# @return оݤΥǥå
+# @return 検索対象のインデックス
#
# @else
#
# @endif
def find_index(nv, name):
- return OpenRTM_aist.CORBA_SeqUtil.find(nv, nv_find(name))
+ return OpenRTM_aist.CORBA_SeqUtil.find(nv, nv_find(name))
##
# @if jp
#
-# @brief ꤵ줿 name value η string Ǥ뤫ڤ
+# @brief 指定された name の value の型が string であるか検証する
#
-# Υڥ졼 name ǻꤵ줿 value η CORBA::string
-# ɤ bool ֤ͤ
+# このオペレーションは name で指定された value の型が CORBA::string
+# かどうかを bool 値で返す。
#
-# @param nv оݤ NVList
-# @param name ̾
+# @param nv 検索対象の NVList
+# @param name 検索する名前
#
-# @return stringڷ(string:trueʳ:false)
+# @return string検証結果(string:true、それ以外:false)
#
# @else
#
# @endif
def isString(nv, name):
- try:
- value = find(nv, name)
- val = any.from_any(value, keep_structs=True)
- return type(val) == str
- except:
- return False
+ try:
+ value = find(nv, name)
+ val = any.from_any(value, keep_structs=True)
+ return isinstance(val, str)
+ except BaseException:
+ return False
##
# @if jp
#
-# @brief ꤵ줿 name value ηꤷʸȰפ뤫ڤ
+# @brief 指定された name の value の型が指定した文字列と一致するか検証する
#
-# Υڥ졼 name ǻꤵ줿 value η CORBA::string
-# ɤȽǤ CORBA::string ǤˤϻꤷʸȰפ뤫
-# bool ֤ͤ
+# このオペレーションは name で指定された value の型が CORBA::string
+# かどうかを判断し、 CORBA::string である場合には指定した文字列と一致するか
+# をbool 値で返す。
#
-# @param nv оݤ NVList
-# @param name ̾
-# @param value оʸ
+# @param nv 検索対象の NVList
+# @param name 検索する名前
+# @param value 比較対象文字列
#
-# @return ڷ(ʸȰ:true:false)
+# @return 検証結果(文字列と一致:true、非一致:false)
#
# @else
#
# @endif
def isStringValue(nv, name, value):
- if isString(nv, name):
- if toString(nv, name) == value:
- return True
- return False
+ if isString(nv, name):
+ if toString(nv, name) == value:
+ return True
+ return False
##
# @if jp
#
-# @brief ꤵ줿 name NVList string Ȥ֤
+# @brief 指定された name の NVList を string として返す。
#
-# Υڥ졼 name ǻꤵ줿 NVList ͤ string ֤
-# ⤷name ǻꤷ value ͤ CORBA::string ǤʤС
-# ʸstring֤
+# このオペレーションは name で指定された NVList の値を string で返す。
+# もし、name で指定した value の値が CORBA::string でなければ、
+# 空の文字列のstringを返す。
#
-# @param nv оݤ NVList
-# @param name ̾
+# @param nv 検索対象の NVList
+# @param name 検索する名前
#
-# @return name бͤstring
+# @return name に対応する値のstring型の値
#
# @else
#
@@ -308,117 +304,117 @@ def isStringValue(nv, name, value):
#
# @endif
def toString(nv, name=None):
- if not name:
- str_ = [""]
- return dump_to_stream(str_, nv)
-
- str_value = ""
- try:
- ret_value = find(nv, name)
- val = any.from_any(ret_value, keep_structs=True)
- if type(val) == str:
- str_value = val
- except:
- print(OpenRTM_aist.Logger.print_exception())
- pass
-
- return str_value
+ if not name:
+ str_ = ""
+ return dump_to_stream(str_, nv)
+
+ str_value = ""
+ try:
+ ret_value = find(nv, name)
+ val = any.from_any(ret_value, keep_structs=True)
+ if isinstance(val, str):
+ str_value = val
+ except BaseException:
+ print(OpenRTM_aist.Logger.print_exception())
+ pass
+
+ return str_value
##
# @if jp
#
-# @brief ꤵ줿ʸ NVList Ǥɲä롣
+# @brief 指定された文字列を NVList の要素に追加する。
#
-# Υڥ졼 name ǻꤵ줿Ǥ value ǻꤵ줿ʸ
-# ɲä롣
-# name ǻꤷǤ˴ value ͤꤵƤˤϲ⤷ʤ
-# name ǻꤷǤ value ͤꤵƤʤϡ ,ڤ
-# value ͤɲä롣
-# ꤵ줿ͤꤹ롣
-# name ǻꤷǤ¸ߤʤϡ NVList κǸ˿Ǥɲä
-# ꤵ줿ͤꤹ롣
+# このオペレーションは name で指定された要素に value で指定された文字列を
+# 追加する。
+# name で指定した要素に既に value の値が設定されている場合には何もしない。
+# name で指定した要素に value の値が設定されていない場合は、 ｢,｣区切りで
+# value の値を追加する。
+# 指定された値を設定する。
+# name で指定した要素が存在しない場合は、 NVList の最後に新たな要素を追加し、
+# 指定された値を設定する。
#
-# @param nv оݤ NVList
-# @param name ɲо̾
-# @param value ɲäʸ
+# @param nv 検索対象の NVList
+# @param name 追加対象要素名
+# @param value 追加する文字列
#
-# @return ɲ
+# @return 追加操作結果
#
# @else
#
# @endif
def appendStringValue(nv, name, value):
- index = find_index(nv, name)
- if index >= 0:
- tmp_str = nv[index].value.value()
- values = OpenRTM_aist.split(tmp_str,",")
- find_flag = False
- for val in values:
- if val == value:
- find_flag = True
-
- if not find_flag:
- tmp_str += ", "
- tmp_str += value
- nv[index].value = any.to_any(tmp_str)
- else:
- OpenRTM_aist.CORBA_SeqUtil.push_back(nv, newNV(name, value))
+ index = find_index(nv, name)
+ if index >= 0:
+ tmp_str = nv[index].value.value()
+ values = OpenRTM_aist.split(tmp_str, ",")
+ find_flag = False
+ for val in values:
+ if val == value:
+ find_flag = True
+
+ if not find_flag:
+ tmp_str += ", "
+ tmp_str += value
+ nv[index].value = any.to_any(tmp_str)
+ else:
+ OpenRTM_aist.CORBA_SeqUtil.push_back(nv, newNV(name, value))
- return True
+ return True
##
# @if jp
#
-# @brief NVList Ǥɲä롣
+# @brief NVList に要素を追加する。
#
-# Υڥ졼 dest ǻꤵ줿 NVList src ǻꤵ줿Ǥ
-# ɲä롣
+# このオペレーションは dest で指定された NVList に src で指定された要素を
+# 追加する。
#
-# @param dest ɲä NVList
-# @param src ɲä NVList
+# @param dest 追加される NVList
+# @param src 追加する NVList
#
# @else
#
# @endif
def append(dest, src):
- for i in range(len(src)):
- OpenRTM_aist.CORBA_SeqUtil.push_back(dest, src[i])
+ for s in src:
+ OpenRTM_aist.CORBA_SeqUtil.push_back(dest, s)
##
# @if jp
-# @brief NVList ꤵƤƤʸȤƽϤ롣
+# @brief NVList に設定されている内容を文字列として出力する。
# @else
# @brief Print information configured in NVList as a string type
# @endif
# std::ostream& dump_to_stream(std::ostream& out, const SDOPackage::NVList& nv)
def dump_to_stream(out, nv):
- for i in range(len(nv)):
- val = any.from_any(nv[i].value, keep_structs=True)
- if type(val) == str:
- out[0] += (nv[i].name + ": " + str(nv[i].value) + "\n")
- else:
- out[0] += (nv[i].name + ": not a string value \n")
+ for n in nv:
+ val = any.from_any(n.value, keep_structs=True)
+ if isinstance(val, str):
+ out += (n.name + ": " + str(n.value) + "\n")
+ else:
+ out += (n.name + ": not a string value \n")
- return out[0]
+ return out
##
# @if jp
#
-# @brief NVList ꤵƤƤʸȤƽϤ롣
+# @brief NVList に設定されている内容を文字列として出力する。
#
-# ꤵ줿 NVList ꤵ줿ƤʸȤƽϤ롣
-# ʤꤵƤǤʸʳξˤϡλ(ʸǤϤʤ)
-# Ϥ롣
+# 指定された NVList に設定された内容を文字列として出力する。
+# なお、設定されている要素が文字列型以外の場合には、その旨(文字列ではない)を
+# 出力する。
#
-# @param nv о NVList
+# @param nv 出力対象 NVList
#
# @else
#
# @endif
def dump(nv):
- out = [""]
- print(dump_to_stream(out, nv))
+ out = ""
+ print(dump_to_stream(out, nv))
diff --git a/OpenRTM_aist/NamingManager.py b/OpenRTM_aist/NamingManager.py
index 23d0c0a0..47710fdc 100644
--- a/OpenRTM_aist/NamingManager.py
+++ b/OpenRTM_aist/NamingManager.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file NamingManager.py
@@ -18,7 +18,6 @@
import threading
-
import OpenRTM_aist
from omniORB import CORBA
import RTM
@@ -30,12 +29,12 @@
# @if jp
#
# @class NamingBase
-# @brief NamingService ݥ饹
+# @brief NamingService 管理用抽象クラス
#
-# NamingServer ݥե饹
-# ݴ饹ϡʲδؿμʤФʤʤ
-# - bindObject() : ꤷ֥ȤNamingServiceؤΥХ
-# - unbindObject() : ꤷ֥ȤNamingServiceΥХ
+# NamingServer 管理用抽象インターフェースクラス。
+# 具象管理クラスは、以下の関数の実装を提供しなければならない。
+# - bindObject() : 指定したオブジェクトのNamingServiceへのバインド
+# - unbindObject() : 指定したオブジェクトのNamingServiceからのアンバインド
#
# @since 0.4.0
#
@@ -43,94 +42,94 @@
#
# @endif
class NamingBase:
- """
- """
-
- ##
- # @if jp
- #
- # @brief NamingServiceإХɤؿ(֥饹)
- #
- # ꤷ֥ȤNamingServiceإХɤ& getNameServices();
- def getNameServices(self):
- return self._names
-
- ##
- # @if jp
- #
- # @brief rtclocRTCΥ֥ȥե
- #
- # @param name rtclocǤRTC̾
- # rtcloc://localhost:2809/example/ConsoleIn
- # @return RTCΥ֥ȥեΥꥹ
- #
- # @else
- #
- # @brief
- #
- # @return
- #
- # @endif
- #
- # RTCList string_to_component(string name);
- def string_to_component(self, name):
- for n in self._names:
- if n.ns:
- comps = n.ns.string_to_component(name)
- if len(comps) > 0:
- return comps
- return []
-
- # Name Servers' method/name and object
- ##
- # @if jp
- # @class NameServer
- # @brief NameServer ѥ饹
- # @else
- #
- # @endif
- class NameServer:
- def __init__(self, meth, name, naming):
- self.method = meth
- self.nsname = name
- self.ns = naming
-
-
- # Components' name and object
- ##
- # @if jp
- # @class Comps
- # @brief ݡͥȴѥ饹
- # @else
- #
- # @endif
- class Comps:
- def __init__(self, n, obj):
- self.name = n
- self.rtobj = obj
-
-
- class Mgr:
- def __init__(self, n, obj):
- self.name = n
- self.mgr = obj
-
-
- ##
- # @if jp
- # @class Port
- # @brief ݡȴѥ饹
- # @else
- #
- # @endif
- class Port:
- def __init__(self, n, obj):
- self.name = n
- self.port = obj
+
+ ##
+ # @if jp
+ #
+ # @brief 登録したネームサービスのリストを取得する
+ #
+ # @return ネームサービスのリスト
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @return
+ #
+ # @endif
+ #
+ # std::vector& getNameServices();
+
+ def getNameServices(self):
+ return self._names
+
+ ##
+ # @if jp
+ #
+ # @brief rtcloc形式でRTCのオブジェクトリファレンスを取得
+ #
+ # @param name rtcloc形式でのRTC名
+ # rtcloc://localhost:2809/example/ConsoleIn
+ # @return RTCのオブジェクトリファレンスのリスト
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @return
+ #
+ # @endif
+ #
+ # RTCList string_to_component(string name);
+ def string_to_component(self, name):
+ for n in self._names:
+ if n.ns:
+ comps = n.ns.string_to_component(name)
+ if comps:
+ return comps
+ return []
+
+ # Name Servers' method/name and object
+ ##
+ # @if jp
+ # @class NameServer
+ # @brief NameServer 管理用クラス
+ # @else
+ #
+ # @endif
+ class NameServer:
+ def __init__(self, meth, name, naming):
+ self.method = meth
+ self.nsname = name
+ self.ns = naming
+
+ # Components' name and object
+ ##
+ # @if jp
+ # @class Comps
+ # @brief コンポーネント管理用クラス
+ # @else
+ #
+ # @endif
+
+ class Comps:
+ def __init__(self, n, obj):
+ self.name = n
+ self.rtobj = obj
+
+ class Mgr:
+ def __init__(self, n, obj):
+ self.name = n
+ self.mgr = obj
+
+ ##
+ # @if jp
+ # @class Port
+ # @brief ポート管理用クラス
+ # @else
+ #
+ # @endif
+
+ class Port:
+ def __init__(self, n, obj):
+ self.name = n
+ self.port = obj
diff --git a/OpenRTM_aist/NamingServiceNumberingPolicy.py b/OpenRTM_aist/NamingServiceNumberingPolicy.py
index 806b4c54..cbd547e2 100644
--- a/OpenRTM_aist/NamingServiceNumberingPolicy.py
+++ b/OpenRTM_aist/NamingServiceNumberingPolicy.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file NamingServiceNumberingPolicy.py
@@ -12,122 +12,113 @@
import OpenRTM_aist
-
-
-
-
-
##
# @if jp
#
# @class NamingServiceNumberingPolicy
-# @brief ֥͡ߥݥꥷ(̿̾§)ѥ饹
-#͡ߥӥRTCƥʥХԤ
+# @brief オブジェクト生成時ネーミング・ポリシー(命名規則)管理用クラス
+# ネーミングサービスからRTCを検索してナンバリングを行う
#
#
# @else
#
# @endif
class NamingServiceNumberingPolicy(OpenRTM_aist.NumberingPolicy):
- """
- """
-
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- #
- # @brief virtual destractor
- #
- # @endif
- def __init__(self):
- self._num = 0
- self._objects = []
- self._mgr = OpenRTM_aist.Manager.instance()
-
-
- ##
- # @if jp
- #
- # @brief ֥̾κ
- #
- #
- #
- # @param self
- # @param obj ̾оݥ֥
- #
- # @return ֥̾
- #
- # @else
- #
- # @endif
- def onCreate(self, obj):
- num = 0
- while True:
- num_str = OpenRTM_aist.otos(num)
-
- name = obj.getTypeName() + num_str
- if not self.find(name):
- return num_str
- else:
- num += 1
- return OpenRTM_aist.otos(num)
-
- ##
- # @if jp
- #
- # @brief ֥Ⱥ̾β
- #
- #
- #
- # @param self
- # @param obj ̾βоݥ֥
- #
- # @else
- #
- # @endif
- def onDelete(self, obj):
- pass
-
-
-
-
-
- ##
- # @if jp
- #
- # @brief ֥Ȥθ
- #
- # ̾Υ̾RTC
- # פRTC¸ߤTrue֤
- #
- # @param self
- # @param name RTCΥ̾
- #
- # @return Ƚ
- #
- # @else
- #
- # @endif
- def find(self, name):
- rtcs = []
- rtc_name = "rtcname://*/*/"
- rtc_name += name
- rtcs = self._mgr.getNaming().string_to_component(rtc_name)
-
- if len(rtcs) > 0:
- return True
- else:
- return False
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief virtual destractor
+ #
+ # @endif
+ def __init__(self):
+ self._num = 0
+ self._objects = []
+ self._mgr = OpenRTM_aist.Manager.instance()
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト生成時の名称作成
+ #
+ #
+ #
+ # @param self
+ # @param obj 名称生成対象オブジェクト
+ #
+ # @return 生成したオブジェクト名称
+ #
+ # @else
+ #
+ # @endif
+
+ def onCreate(self, obj):
+ num = 0
+ while True:
+ num_str = OpenRTM_aist.otos(num)
+
+ name = obj.getTypeName() + num_str
+ if not self.find(name):
+ return num_str
+ else:
+ num += 1
+ return OpenRTM_aist.otos(num)
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト削除時の名称解放
+ #
+ #
+ #
+ # @param self
+ # @param obj 名称解放対象オブジェクト
+ #
+ # @else
+ #
+ # @endif
+ def onDelete(self, obj):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクトの検索
+ #
+ # 指定名のインスタンス名のRTCを検索し、
+ # 一致するRTCが存在する場合はTrueを返す
+ #
+ # @param self
+ # @param name RTCのインスタンス名
+ #
+ # @return 判定
+ #
+ # @else
+ #
+ # @endif
+
+ def find(self, name):
+ rtcs = []
+ rtc_name = "rtcname://*/*/"
+ rtc_name += name
+ rtcs = self._mgr.getNaming().string_to_component(rtc_name)
+
+ if rtcs:
+ return True
+ else:
+ return False
def NamingServiceNumberingPolicyInit():
- OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("ns_unique",
- OpenRTM_aist.NamingServiceNumberingPolicy,
- OpenRTM_aist.Delete)
+ OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("ns_unique",
+ OpenRTM_aist.NamingServiceNumberingPolicy)
diff --git a/OpenRTM_aist/NodeNumberingPolicy.py b/OpenRTM_aist/NodeNumberingPolicy.py
index c429d94f..9e54dc04 100644
--- a/OpenRTM_aist/NodeNumberingPolicy.py
+++ b/OpenRTM_aist/NodeNumberingPolicy.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file NodeNumberingPolicy.py
@@ -12,125 +12,115 @@
import OpenRTM_aist
-
-
-
##
# @if jp
#
# @class NodeNumberingPolicy
-# @brief ֥͡ߥݥꥷ(̿̾§)ѥ饹
-# ޥޥ͡㡢졼֥ޥ͡㤫RTCƥʥХԤ
+# @brief オブジェクト生成時ネーミング・ポリシー(命名規則)管理用クラス
+# マスターマネージャ、スレーブマネージャからRTCを検索してナンバリングを行う
+#
#
-#
#
#
# @else
#
# @endif
class NodeNumberingPolicy(OpenRTM_aist.NumberingPolicy):
- """
- """
-
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- #
- # @brief virtual destractor
- #
- # @endif
- def __init__(self):
- self._mgr = OpenRTM_aist.Manager.instance()
-
-
- ##
- # @if jp
- #
- # @brief ֥̾κ
- #
- #
- # @param self
- # @param obj ̾оݥ֥
- #
- # @return ֥̾
- #
- # @else
- #
- # @endif
- def onCreate(self, obj):
- num = 0
- while True:
- num_str = OpenRTM_aist.otos(num)
-
- name = obj.getTypeName() + num_str
- if not self.find(name):
- return num_str
- else:
- num += 1
- return OpenRTM_aist.otos(num)
-
-
- ##
- # @if jp
- #
- # @brief ֥Ⱥ̾β
- #
- #
- # @param self
- # @param obj ̾βоݥ֥
- #
- # @else
- #
- # @endif
- def onDelete(self, obj):
- pass
-
-
-
-
-
- ##
- # @if jp
- #
- # @brief ֥Ȥθ
- #
- # ޥޥ͡㡢ӥ졼֥ޥ͡Ͽ줿RTC
- # ̾פRTC¸ߤTrue֤
- # Υץǵưޥ͡㤬ޥޥ͡ǤϤʤ
- # ˥ޥޥ͡㤬1ĤϿƤʤϤΥץΥޥ͡㤫鸡
- #
- # @param self
- # @param name оݥ֥Ȥ̾
- #
- # @return Ƚ
- #
- # @else
- #
- # @endif
- def find(self, name):
- rtcs = []
- rtc_name = "rtcloc://*/*/"
- rtc_name += name
-
- rtcs = self._mgr.getNaming().string_to_component(rtc_name)
-
- if len(rtcs) > 0:
- return True
- else:
- return False
-
-
-
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief virtual destractor
+ #
+ # @endif
+ def __init__(self):
+ self._mgr = OpenRTM_aist.Manager.instance()
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト生成時の名称作成
+ #
+ #
+ # @param self
+ # @param obj 名称生成対象オブジェクト
+ #
+ # @return 生成したオブジェクト名称
+ #
+ # @else
+ #
+ # @endif
+
+ def onCreate(self, obj):
+ num = 0
+ while True:
+ num_str = OpenRTM_aist.otos(num)
+
+ name = obj.getTypeName() + num_str
+ if not self.find(name):
+ return num_str
+ else:
+ num += 1
+ return OpenRTM_aist.otos(num)
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクト削除時の名称解放
+ #
+ #
+ # @param self
+ # @param obj 名称解放対象オブジェクト
+ #
+ # @else
+ #
+ # @endif
+
+ def onDelete(self, obj):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief オブジェクトの検索
+ #
+ # マスターマネージャ、およびスレーブマネージャに登録されたRTCを検索し、
+ # 名前が一致するRTCが存在する場合はTrueを返す
+ # このプロセスで起動したマネージャがマスターマネージャではなく、
+ # さらにマスターマネージャが1つも登録されていない場合はこのプロセスのマネージャから検索
+ #
+ # @param self
+ # @param name 検索対象オブジェクトの名前
+ #
+ # @return 判定
+ #
+ # @else
+ #
+ # @endif
+
+ def find(self, name):
+ rtcs = []
+ rtc_name = "rtcloc://*/*/"
+ rtc_name += name
+
+ rtcs = self._mgr.getNaming().string_to_component(rtc_name)
+
+ if rtcs:
+ return True
+ else:
+ return False
def NodeNumberingPolicyInit():
- OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("node_unique",
- OpenRTM_aist.NodeNumberingPolicy,
- OpenRTM_aist.Delete)
+ OpenRTM_aist.NumberingPolicyFactory.instance().addFactory("node_unique",
+ OpenRTM_aist.NodeNumberingPolicy)
diff --git a/OpenRTM_aist/NumberingPolicy.py b/OpenRTM_aist/NumberingPolicy.py
index 35a2de1f..4595570f 100644
--- a/OpenRTM_aist/NumberingPolicy.py
+++ b/OpenRTM_aist/NumberingPolicy.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file NumberingPolicy.py
@@ -18,19 +18,17 @@
import OpenRTM_aist
-
-
##
# @if jp
#
# @class NumberingPolicy
-# @brief ֥͡ߥݥꥷ(̿̾§)ݥ饹
+# @brief オブジェクト生成時ネーミング・ポリシー(命名規則)管理用抽象クラス
#
-# ֥ȤݤΥ͡ߥݥꥷ(̿̾§)뤿
-# ݥ饹
-# ݥ饹ϡʲδؿμʤФʤʤ
-# - onCreate() : ֥̾κ
-# - onDelete() : ֥Ⱥ̾β
+# オブジェクトを生成する際のネーミング・ポリシー(命名規則)を管理するための
+# 抽象クラス。
+# 具象クラスは、以下の関数の実装を提供しなければならない。
+# - onCreate() : オブジェクト生成時の名称作成
+# - onDelete() : オブジェクト削除時の名称解放
#
# @since 0.4.0
#
@@ -38,68 +36,65 @@
#
# @endif
class NumberingPolicy(OpenRTM_aist.NumberingPolicyBase):
- """
- """
-
-
-
- ##
- # @if jp
- # @brief ֥̤ȯ㳰饹(̤)
- # @else
- #
- # @endif
- class ObjectNotFound(Exception):
- pass
-
-
- ##
- # @if jp
- #
- # @brief ֥̾κ(֥饹)
- #
- # ֥̾Τ뤿δؿ and Shinji Kurihara
-#
+#
# Copyright (C) 2006-2008
# Noriaki Ando
# Task-intelligence Research Group,
@@ -17,22 +17,22 @@
# All rights reserved.
-
from omniORB import any
import OpenRTM_aist
import threading
+import copy
##
# @if jp
-# @brief ǡ˥ॹפåȤ
+# @brief データにタイムスタンプをセットする
#
-# ǡݡȤΥǡФƥॹפåȤ롣ǡݡ
-# ΥǡϹ¤ΤΥСȤ tm.sec, tm.nsec ɬפ롣
+# データポートのデータに対してタイムスタンプをセットする。データポート
+# のデータは構造体のメンバーとして tm.sec, tm.nsec を持つ必要がある。
#
-# @param data ॹפåȤǡ¹Ը¹ԻΥॹ
-# פåȤ
+# @param data タイムスタンプをセットするデータ。実行後実行時のタイムス
+# タンプがセットされる
#
# @else
# @brief Setting timestamp to data
@@ -47,10 +47,10 @@
# template
# void setTimestamp(DataType& data)
def setTimestamp(data):
- # set timestamp
- tm = OpenRTM_aist.Time()
- data.tm.sec = tm.sec
- data.tm.nsec = tm.usec * 1000
+ # set timestamp
+ tm = OpenRTM_aist.Time()
+ data.tm.sec = tm.sec
+ data.tm.nsec = tm.usec * 1000
##
@@ -58,287 +58,290 @@ def setTimestamp(data):
#
# @class OutPort
#
-# @brief OutPort 饹
-#
-# OutPort ѥ饹
+# @brief OutPort クラス
+#
+# OutPort 用クラス
#
# @since 0.2.0
#
# @else
-#
+#
# @endif
class OutPort(OpenRTM_aist.OutPortBase):
- """
- """
-
-
-
- ##
- # @if jp
- #
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- # @param name ݡ̾
- # @param value ΥݡȤ˥Хɤǡѿ
- # @param buffer_ Хåե
- #
- # @else
- #
- # @brief Constructor
- #
- # @endif
- def __init__(self, name, value, buffer=None):
- OpenRTM_aist.OutPortBase.__init__(self, name, OpenRTM_aist.toTypename(value))
- self._value = value
- #self._timeoutTick = 1000 # timeout tick: 1ms
- #self._writeBlock = False
- #self._writeTimeout = 0
- self._OnWrite = None
- self._OnWriteConvert = None
- #self._OnOverflow = None
- #self._OnUnderflow = None
- #self._OnConnect = None
- #self._OnDisconnect = None
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, OpenRTM_aist.Timestamp("on_write"))
- self.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_SEND, OpenRTM_aist.Timestamp("on_send"))
- self._directNewData = False
- self._valueMutex = threading.RLock()
- self._directValue = value
-
-
-
- def __del__(self, OutPortBase=OpenRTM_aist.OutPortBase):
- OutPortBase.__del__(self)
- return
-
- ##
- # @if jp
- #
- # @brief ǡ
- #
- # ݡȤإǡࡣ
- #
- # - Хåե OnWrite åȤƤ硢
- # OutPort ݻХåե˽ OnWrite ƤФ롣
- # - OutPort ݻХåեСեФǤХåեǤꡢ
- # ġݤ˥ХåեСեФ硢
- # Хåե OnOverflow ƤФ롣
- # - Хåե OnWriteConvert åȤƤ硢
- # Хåեˡ OnWriteConvert operator() ͤ
- # Хåե˽ޤ롣
- #
- # @param self
- # @param value оݥǡ
- #
- # @return ߽(:true:false)
- #
- # @else
- #
- # @brief Write data
- #
- # @endif
- # virtual bool write(const DataType& value)
- ##
- # @if jp
- #
- # @brief ǡ
- #
- # ݡȤإǡࡣ
- # ꤵ줿ͤݡȤ˽ࡣ
- #
- # @param self
- # @param value оݥǡ
- #
- # @return ߽(:true:false)
- #
- # @else
- #
- # @endif
- # bool operator<<(DataType& value)
- def write(self, value=None):
- if not value:
- value=self._value
-
-
- if self._OnWrite:
- self._OnWrite(value)
-
- # check number of connectors
- conn_size = len(self._connectors)
- if not conn_size > 0:
- return False
-
- # set timestamp
- #tm = Time()
- #value.tm.sec = tm.sec
- #value.tm.nsec = tm.usec * 1000
-
- #tm_pre = Time()
-
- if self._OnWriteConvert:
- value = self._OnWriteConvert(value)
-
- result = True
-
- guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
- for con in self._connectors:
- 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)
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ # @param name ポート名
+ # @param value このポートにバインドされるデータ変数
+ # @param buffer_ バッファ
+ #
+ # @else
+ #
+ # @brief Constructor
+ #
+ # @endif
+ def __init__(self, name, value, buffer=None):
+ OpenRTM_aist.OutPortBase.__init__(
+ self, name, OpenRTM_aist.toTypename(value))
+ self._value = value
+ # self._timeoutTick = 1000 # timeout tick: 1ms
+ #self._writeBlock = False
+ #self._writeTimeout = 0
+ self._OnWrite = None
+ self._OnWriteConvert = None
+ #self._OnOverflow = None
+ #self._OnUnderflow = None
+ #self._OnConnect = None
+ #self._OnDisconnect = None
+
+ marshaling_types = OpenRTM_aist.SerializerFactories.instance().getSerializerList(value)
+ marshaling_types = OpenRTM_aist.flatten(marshaling_types).lstrip()
+ self.addProperty("dataport.marshaling_types", marshaling_types)
+
+ self._listeners.setDataType(copy.deepcopy(value))
+ self._listeners.setPortType(OpenRTM_aist.PortType.OutPortType)
+ self.addConnectorDataListener(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE,
+ OpenRTM_aist.Timestamp("on_write"))
+ self.addConnectorDataListener(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND,
+ OpenRTM_aist.Timestamp("on_send"))
+ self._directNewData = False
+ self._valueMutex = threading.RLock()
self._directValue = value
- self._directNewData = True
- del guard
-
- return result
-
-
- ##
- # @if jp
- #
- # @brief ǡ߽Υ֥å⡼ɤ
- #
- # ߽Фƥ֥å⡼ɤꤹ롣
- # ֥å⡼ɤꤷ硢Хåե˽ΰ褬Ǥ뤫
- # ॢȤȯޤ write() åɤθƤӤ֥å롣
- #
- # @param self
- # @param block ֥å⡼ɥե饰
- #
- # @else
- #
- # @brief Set read() block mode
- #
- # @endif
- #def setWriteBlock(self, block):
- # self._writeBlock = block
-
-
- ##
- # @if jp
- #
- # @brief ߽ΥॢȻ֤
- #
- # write() ΥॢȻ֤ usec ꤹ롣
- # write() ϥ֥å⡼ɤǤʤФʤʤ
- #
- # @param self
- # @param timeout ॢȻ [usec]
- #
- # @else
- #
- # @brief Set write() timeout
- #
- # @endif
- #def setWriteTimeout(self, timeout):
- # self._writeTimeout = timeout
-
-
- ##
- # @if jp
- #
- # @brief OnWrite Хå
- #
- # ǡľ˸ƤФ OnWrite Хåեꤹ롣
- #
- # @param self
- # @param on_write OnWrite Хåե
- #
- # @else
- #
- # @brief Set OnWrite callback
- #
- # @endif
- def setOnWrite(self, on_write):
- self._OnWrite = on_write
-
-
- ##
- # @if jp
- #
- # @brief OnWriteConvert Хå
- #
- # ǡ˸ƤФ OnWriteConvert Хåե
- # 롣
- # ΥХåؿν̤ޤ롣
- # ΤߥǡΥե륿ǽȤʤ롣
- #
- # @param self
- # @param on_wconvert OnWriteConvert Хåե
- #
- # @else
- #
- # @brief Set OnWriteConvert callback
- #
- # @endif
- def setOnWriteConvert(self, on_wconvert):
- self._OnWriteConvert = on_wconvert
-
-
- ##
- # @if jp
- #
- # @brief ǡ̾ѥå
- #
- # ǡη̾뤿ᡢInPortCorbaProviderƤФ롣
- #
- # @param self
- #
- # @return ХåեꤵƤǡη̾
- #
- # @else
- #
- # @endif
- def getPortDataType(self):
- val = any.to_any(self._value)
- return str(val.typecode().name())
-
-
- ##
- # @if jp
- #
- # @brief ǡ쥯Ȥɤ߹
- #
- # @param self
- # @param data ɤ߹ǡ
- #
- # @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:
- self._prof = subs._prof
- self._consumer = subs._consumer
- return
- self._prof = prof
- self._consumer = None
-
+ def __del__(self, OutPortBase=OpenRTM_aist.OutPortBase):
+ OutPortBase.__del__(self)
+ return
- def __call__(self, cons):
- if cons.subscribeInterface(self._prof.properties):
- self._consumer = cons
+ ##
+ # @if jp
+ #
+ # @brief データ書き込み
+ #
+ # ポートへデータを書き込む。
+ #
+ # - コールバックファンクタ OnWrite がセットされている場合、
+ # OutPort が保持するバッファに書き込む前に OnWrite が呼ばれる。
+ # - OutPort が保持するバッファがオーバーフローを検出できるバッファであり、
+ # かつ、書き込む際にバッファがオーバーフローを検出した場合、
+ # コールバックファンクタ OnOverflow が呼ばれる。
+ # - コールバックファンクタ OnWriteConvert がセットされている場合、
+ # バッファ書き込み時に、 OnWriteConvert の operator() の戻り値が
+ # バッファに書き込まれる。
+ #
+ # @param self
+ # @param value 書き込み対象データ
+ #
+ # @return 書き込み処理結果(書き込み成功:true、書き込み失敗:false)
+ #
+ # @else
+ #
+ # @brief Write data
+ #
+ # @endif
+ # virtual bool write(const DataType& value)
+ ##
+ # @if jp
+ #
+ # @brief データ書き込み
+ #
+ # ポートへデータを書き込む。
+ # 設定された値をポートに書き込む。
+ #
+ # @param self
+ # @param value 書き込み対象データ
+ #
+ # @return 書き込み処理結果(書き込み成功:true、書き込み失敗:false)
+ #
+ # @else
+ #
+ # @endif
+ # bool operator<<(DataType& value)
+ def write(self, value=None):
+ if not value:
+ value = self._value
+
+ if self._OnWrite:
+ self._OnWrite(value)
+
+ # check number of connectors
+ if not self._connectors:
+ return False
+
+ # set timestamp
+ #tm = Time()
+ #value.tm.sec = tm.sec
+ #value.tm.nsec = tm.usec * 1000
+
+ #tm_pre = Time()
+
+ if self._OnWriteConvert:
+ value = self._OnWriteConvert(value)
+
+ result = True
+
+ guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ for con in self._connectors:
+ 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
+
+ ##
+ # @if jp
+ #
+ # @brief データ書き込み処理のブロックモードの設定
+ #
+ # 書き込み処理に対してブロックモードを設定する。
+ # ブロックモードを指定した場合、バッファに書き込む領域ができるか
+ # タイムアウトが発生するまで write() メソッドの呼びだしがブロックされる。
+ #
+ # @param self
+ # @param block ブロックモードフラグ
+ #
+ # @else
+ #
+ # @brief Set read() block mode
+ #
+ # @endif
+ # def setWriteBlock(self, block):
+ # self._writeBlock = block
+
+ ##
+ # @if jp
+ #
+ # @brief 書き込み処理のタイムアウト時間の設定
+ #
+ # write() のタイムアウト時間を usec で設定する。
+ # write() はブロックモードでなければならない。
+ #
+ # @param self
+ # @param timeout タイムアウト時間 [usec]
+ #
+ # @else
+ #
+ # @brief Set write() timeout
+ #
+ # @endif
+ # def setWriteTimeout(self, timeout):
+ # self._writeTimeout = timeout
+
+ ##
+ # @if jp
+ #
+ # @brief OnWrite コールバックの設定
+ #
+ # データ書き込み直前に呼ばれる OnWrite コールバックファンクタを設定する。
+ #
+ # @param self
+ # @param on_write OnWrite コールバックファンクタ
+ #
+ # @else
+ #
+ # @brief Set OnWrite callback
+ #
+ # @endif
+
+ def setOnWrite(self, on_write):
+ self._OnWrite = on_write
+
+ ##
+ # @if jp
+ #
+ # @brief OnWriteConvert コールバックの設定
+ #
+ # データ書き込み時に呼ばれる OnWriteConvert コールバックファンクタを設定
+ # する。
+ # このコールバック関数の処理結果が書き込まれる。
+ # このため書き込みデータのフィルタリングが可能となる。
+ #
+ # @param self
+ # @param on_wconvert OnWriteConvert コールバックファンクタ
+ #
+ # @else
+ #
+ # @brief Set OnWriteConvert callback
+ #
+ # @endif
+
+ def setOnWriteConvert(self, on_wconvert):
+ self._OnWriteConvert = on_wconvert
+
+ ##
+ # @if jp
+ #
+ # @brief データ型名取得用メソッド
+ #
+ # データの型名を取得するため、InPortCorbaProviderから呼ばれる。
+ #
+ # @param self
+ #
+ # @return バッファに設定されているデータの型名
+ #
+ # @else
+ #
+ # @endif
+
+ def getPortDataType(self):
+ val = any.to_any(self._value)
+ return str(val.typecode().name())
+
+ ##
+ # @if jp
+ #
+ # @brief データをダイレクトに読み込む
+ #
+ # @param self
+ # @return 読み込んだデータ
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @return
+ # @endif
+ # void read(const DataType& data)
+
+ def read(self):
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ self._directNewData = False
+ data = self._directValue
+ if self._OnWriteConvert:
+ data = self._OnWriteConvert(data)
+ del guard
+ return data
+
+ def isEmpty(self):
+ return (not self._directNewData)
+
+ class subscribe:
+ def __init__(self, prof, subs=None):
+ if subs:
+ self._prof = subs._prof
+ self._consumer = subs._consumer
+ return
+
+ self._prof = prof
+ self._consumer = None
+
+ def __call__(self, cons):
+ if cons.subscribeInterface(self._prof.properties):
+ self._consumer = cons
diff --git a/OpenRTM_aist/OutPortBase.py b/OpenRTM_aist/OutPortBase.py
index 2a04300f..d8682c07 100644
--- a/OpenRTM_aist/OutPortBase.py
+++ b/OpenRTM_aist/OutPortBase.py
@@ -1,12 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortBase.py
# @brief OutPortBase base class
# @date $Date: 2007/09/19 $
# @author Noriaki Ando and Shinji Kurihara
-#
+#
# Copyright (C) 2003-2008
# Task-intelligence Research Group,
# Intelligent Systems Research Institute,
@@ -25,24 +25,24 @@
#
# @class OutPortBase
#
-# @brief OutPort 쥯饹
-#
-# OutPort δ쥯饹
+# @brief OutPort 基底クラス
+#
+# OutPort の基底クラス。
#
#
#
# Properties: port.outport
-# ץѥƥ
+# プロパティは
#
# - port.outport
# - port.outport.[name]
-# ConnectorProfile.properties ξ
+# ConnectorProfile.properties の場合は
# - dataport.outport
#
-# ʲ˻ꤷΤϤ롣
-# (port.outport.[name]ͥ褵)
-# ˡΥץѥƥ³ ConnectorProfile ˤ
-# Ϥ礬ꡢξ ConnectorProfile ͥ褵롣
+# 以下に指定したものが渡される。
+# (port.outport.[name]が優先される)
+# さらに、一部のプロパティは接続時に ConnectorProfile により
+# 渡される場合があり、その場合は ConnectorProfile が優先される。
#
# - input.throughput.profile: enable
# - input.throughput.update_rate: count [n/count]
@@ -72,60 +72,60 @@
# [buffer]
#
# - buffer.type:
-# ѲǽʥХåեΥ
-# ConnectorProfile ξѤХåեΥ
-# ̵ξϥǥեȤ ringbuffer Ѥ롣
+# 利用可能なバッファのタイプ
+# ConnectorProfile の場合は利用するバッファのタイプ
+# 無指定の場合はデフォルトの ringbuffer が使用される。
# ex. ringbuffer, shmbuffer, doublebuffer, etc.
-# Consumer, Publisher ΥפˤäƤΥХåե
-# ᤹뤬뤿Ρξϻ̵Ȥʤ롣
+# 正し、Consumer, Publisher のタイプによっては特定のバッファ型を
+# 要求するがあるための、その場合は指定は無効となる。
#
# - buffer.length:
-# ХåեĹ
+# バッファの長さ
#
# - buffer.write.full_policy:
-# 뤫ɤΥݥꥷ
-# overwrite (), do_nothing (⤷ʤ), block (֥å)
-# block ꤷ硢 timeout ͤꤹСָ
-# ԲǽǤХॢȤ롣
+# 上書きするかどうかのポリシー
+# overwrite (上書き), do_nothing (何もしない), block (ブロックする)
+# block を指定した場合、次の timeout 値を指定すれば、指定時間後
+# 書き込み不可能であればタイムアウトする。
#
# - buffer.write.timeout:
-# ॢȻ֤ [sec] ǻꤹ롣
-# 1 sec -> 1.0, 1 ms -> 0.001, ॢȤʤ -> 0.0
+# タイムアウト時間を [sec] で指定する。
+# 1 sec -> 1.0, 1 ms -> 0.001, タイムアウトしない -> 0.0
#
# - buffer.read.empty_policy:
-# ХåեΤȤɤ߽Фݥꥷ
-# last (Ǹ), do_nothing (⤷ʤ), block (֥å)
-# block ꤷ硢 timeout ͤꤹСָ
-# ɤ߽ФԲǽǤХॢȤ롣
+# バッファが空のときの読み出しポリシー
+# last (最後の要素), do_nothing (何もしない), block (ブロックする)
+# block を指定した場合、次の timeout 値を指定すれば、指定時間後
+# 読み出し不可能であればタイムアウトする。
#
# - buffer.read.timeout:
-# ॢȻ [sec] ǻꤹ롣
-# 1sec -> 1.0, 1ms -> 0.001, ॢȤʤ -> 0.0
+# タイムアウト時間 [sec] で指定する。
+# 1sec -> 1.0, 1ms -> 0.001, タイムアウトしない -> 0.0
#
-# - ¾Хåե˸ͭʥץ
+# - その他バッファ毎に固有なオプション
#
#
# [publihser]
#
# - publisher.types:
-# Ѳǽ Publisher Υ
+# 利用可能な Publisher のタイプ
# new, periodic, flush, etc..
#
# - publisher.push.policy:
-# InPortإǡݥꥷ
-# all: ХåեˤޤäƤ뤹٤
-# fifo: ХåեFIFOȤߤʤ
-# skip: Ťǡְ
-# new: ˿ǡΤߤ
+# InPortへデータを送信するポリシー
+# all: バッファにたまっているすべて送信
+# fifo: バッファをFIFOとみなして送信
+# skip: 古いデータから一定数を間引いて送信
+# new: 常に新しいデータのみを送信
#
# - publisher.push.skip_rate:
-# push.policy=skip ΤȤΥåΨ
-# n: nˤҤȤ
+# push.policy=skip のときのスキップ率
+# n: n要素毎にひとつ送信
#
# - publisher.periodic.rate:
#
# - publisher.thread.type:
-# Publisher ΥåɤΥ
+# Publisher のスレッドのタイプ
# - publisher.thread.measurement.exec_time: yes/no
# - publisher.thread.measurement.exec_count: number
# - publisher.thread.measurement.period_time: yes/no
@@ -134,57 +134,57 @@
# [interface]
#
# - interface.types:
-# OutPort interfaceΥ
-# ex. corba_cdr, corba_any, raw_tcp ʤɥڤǻꡣ
-# ꤷʤѲǽʤ٤ƤΥץХѤ
+# OutPort interfaceのタイプ
+# ex. corba_cdr, corba_any, raw_tcp などカンマ区切りで指定。何も
+# 指定しなければ利用可能なすべてのプロバイダが使用される
#
#
#
-#
-# OutPort ¦ connect() ǤϰʲΥǽԤ롣
#
-# 1. OutPort ˴Ϣ connector ӥå
+# OutPort 側の connect() では以下のシーケンスで処理が行われる。
#
-# 2. InPort˴Ϣ connector μ
-# - ConnectorProfile::properties["dataport.corba_any.inport_ref"]
-# OutPortAny Υ֥ȥեꤵƤ硢
-# եConsumer֥Ȥ˥åȤ롣
-# եåȤƤʤ̵뤷Ʒ³
-# (OutPortconnect() ƤӽФΥȥݥȤξϡ
-# InPortΥ֥ȥեϥåȤƤʤϤǤ롣)
-# 3. PortBase::connect()
-# Port³δܽԤ롣
-# 4. 嵭2.InPortΥեǤʤСInPort
-# Ϣ connector 롣
+# 1. OutPort に関連する connector 情報の生成およびセット
#
-# 5. ConnectorProfile::properties Ϳ줿顢
-# OutPort¦νԤ
+# 2. InPortに関連する connector 情報の取得
+# - ConnectorProfile::properties["dataport.corba_any.inport_ref"]に
+# OutPortAny のオブジェクトリファレンスが設定されている場合、
+# リファレンスを取得してConsumerオブジェクトにセットする。
+# リファレンスがセットされていなければ無視して継続。
+# (OutPortがconnect() 呼び出しのエントリポイントの場合は、
+# InPortのオブジェクトリファレンスはセットされていないはずである。)
+# 3. PortBase::connect() をコール
+# Portの接続の基本処理が行われる。
+# 4. 上記2.でInPortのリファレンスが取得できなければ、再度InPortに
+# 関連する connector 情報を取得する。
+#
+# 5. ConnectorProfile::properties で与えられた情報から、
+# OutPort側の初期化処理を行う。
#
# - [dataport.interface_type]
-# -- CORBA_Any ξ:
-# InPortAny ̤ƥǡ롣
-# ConnectorProfile::properties["dataport.corba_any.inport_ref"]
-# InPortAny Υ֥ȥեåȤ롣
-# -- RawTCP ξ: Raw TCP socket ̤ƥǡ롣
+# -- CORBA_Any の場合:
+# InPortAny を通してデータ交換される。
+# ConnectorProfile::properties["dataport.corba_any.inport_ref"]に
+# InPortAny のオブジェクトリファレンスをセットする。
+# -- RawTCP の場合: Raw TCP socket を通してデータ交換される。
# ConnectorProfile::properties["dataport.raw_tcp.server_addr"]
-# InPort¦ΥХɥ쥹åȤ롣
+# にInPort側のサーバアドレスをセットする。
#
# - [dataport.dataflow_type]
-# -- Pushξ: Subscriber롣SubscriberΥפϡ
-# dataport.subscription_type ꤵƤ롣
-# -- Pullξ: InPort¦ǡPullǼ뤿ᡢ
-# ä˲⤹ɬפ̵
+# -- Pushの場合: Subscriberを生成する。Subscriberのタイプは、
+# dataport.subscription_type に設定されている。
+# -- Pullの場合: InPort側がデータをPull型で取得するため、
+# 特に何もする必要が無い。
#
# - [dataport.subscription_type]
-# -- Onceξ: SubscriberOnce롣
-# -- Newξ: SubscriberNew롣
-# -- Periodicξ: SubscriberPeriodic롣
+# -- Onceの場合: SubscriberOnceを生成する。
+# -- Newの場合: SubscriberNewを生成する。
+# -- Periodicの場合: SubscriberPeriodicを生成する。
#
# - [dataport.push_interval]
-# -- dataport.subscription_type=Periodicξꤹ롣
+# -- dataport.subscription_type=Periodicの場合周期を設定する。
#
-# 6. 嵭νΤĤǤ⥨顼ǤС顼롣
-# ˽Ԥ줿RTC::RTC_OKǥ롣
+# 6. 上記の処理のうち一つでもエラーであれば、エラーリターンする。
+# 正常に処理が行われた場合はRTC::RTC_OKでリターンする。
#
# @since 0.2.0
#
@@ -204,1153 +204,1278 @@
#
# @endif
#
-class OutPortBase(OpenRTM_aist.PortBase,OpenRTM_aist.DataPortStatus):
- """
- """
-
- ##
- # @if jp
- # @brief Provider 뤿 Functor
- # @else
- # @brief Functor to delete Providers
- # @endif
- #
- class provider_cleanup:
- def __init__(self):
- self._factory = OpenRTM_aist.OutPortProviderFactory.instance()
-
- def __call__(self, p):
- self._factory.deleteObject(p)
-
- ##
- # @if jp
- # @brief Connector 뤿 Functor
- # @else
- # @brief Functor to delete Connectors
- # @endif
- #
- class connector_cleanup:
- def __init__(self):
- pass
-
- def __call__(self, c):
- del c
-
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- # @param name ݡ̾
- #
- # @else
- #
- # @brief A constructor of OutPortBase class.
- #
- # Constructor of OutPortBase.
- #
- # @endif
- # OutPortBase::OutPortBase(const char* name, const char* data_type)
- def __init__(self, name, data_type):
- OpenRTM_aist.PortBase.__init__(self,name)
- self._rtcout.RTC_DEBUG("Port name: %s", name)
-
- self._rtcout.RTC_DEBUG("setting port.port_type: DataOutPort")
- self.addProperty("port.port_type", "DataOutPort")
-
- self._rtcout.RTC_DEBUG("setting dataport.data_type: %s", data_type)
- self.addProperty("dataport.data_type", data_type)
-
- # publisher list
- factory = OpenRTM_aist.PublisherFactory.instance()
- pubs = OpenRTM_aist.flatten(factory.getIdentifiers())
-
- # blank characters are deleted for RTSE's bug
- pubs = pubs.lstrip()
-
- self._rtcout.RTC_DEBUG("available subscription_type: %s", pubs)
- self.addProperty("dataport.subscription_type", pubs)
- self.addProperty("dataport.io_mode", pubs)
-
- self._properties = OpenRTM_aist.Properties()
- self._name = name
- self._connectors = []
- self._consumers = []
- self._providerTypes = ""
- self._consumerTypes = ""
- self._connector_mutex = threading.RLock()
-
- self._listeners = OpenRTM_aist.ConnectorListeners()
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- # Ͽ줿Ƥ Publisher 롣
- #
- # @param self
- #
- # @else
- #
- # @brief destructor
- #
- # Destructor
- #
- # @endif
- def __del__(self, PortBase=OpenRTM_aist.PortBase):
- self._rtcout.RTC_TRACE("OutPortBase destructor")
- # connector Υʥå
- OpenRTM_aist.CORBA_SeqUtil.for_each(self._connectors,
- self.connector_cleanup())
- PortBase.__del__(self)
- return
-
-
- ##
- # @if jp
- # @brief ץѥƥν
- #
- # OutPortΥץѥƥ
- #
- # @else
- #
- # @brief Initializing properties
- #
- # This operation initializes outport's properties
- #
- # @endif
- #
- # void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
-
- self._properties.mergeProperties(prop)
-
- self.configure()
-
- self.initConsumers()
- self.initProviders()
-
- num = [-1]
- if not OpenRTM_aist.stringTo(num, self._properties.getProperty("connection_limit","-1")):
- self._rtcout.RTC_ERROR("invalid connection_limit value: %s",
- self._properties.getProperty("connection_limit"))
-
- self.setConnectionLimit(num[0])
- return
-
- ##
- # @if jp
- #
- # @brief ǡ
- #
- # ݡȤإǡࡣ
- # Хɤ줿ѿꤵ줿ͤݡȤ˽ࡣ
- #
- # @return ߽(:true:false)
- #
- # @else
- #
- # @brief Write data
- #
- # Write data to the port.
- # Write the value, which was set to the bound variable, to the port.
- #
- # @return Writing result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual bool write() = 0;
- def write(self):
- pass
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] Port ³Ԥ
- #
- # Ϳ줿 ConnectoionProfile ξ˴ŤPort֤³Ω
- # 롣δؿϼ˥ץꥱץġ뤫Ƥӽ
- # ȤȤƤ롣
- #
- # @param connector_profile ConnectorProfile
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [CORBA interface] Connect the Port
- #
- # This operation establishes connection according to the given
- # ConnectionProfile inforamtion. This function is premised on
- # calling from mainly application program or tools.
- #
- # @param connector_profile The ConnectorProfile.
- # @return ReturnCode_t The return code of ReturnCode_t type.
- #
- # @endif
- #
- def connect(self, connector_profile):
- self._rtcout.RTC_TRACE("OutPortBase.connect()")
-
-
-
-
-
- if OpenRTM_aist.NVUtil.find_index(connector_profile.properties,
- "dataport.serializer.cdr.endian") is -1:
- self._rtcout.RTC_TRACE("ConnectorProfile dataport.serializer.cdr.endian set.")
- connector_profile.properties.append(OpenRTM_aist.NVUtil.newNV("dataport.serializer.cdr.endian","little,big"))
-
- return OpenRTM_aist.PortBase.connect(self, connector_profile)
-
-
-
- ##
- # @if jp
- #
- # @brief
- #
- # @param self
- # @param connector_profile
- # @return
- #
- # @else
- #
- # @brief
- #
- # @param self
- # @param connector_profile
- # @return
- #
- # @endif
- #
- def notify_connect(self, connector_profile):
- prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
-
-
- node = prop.getNode("dataport.outport")
- portprop = copy.deepcopy(self._properties)
- portprop.mergeProperties(node)
- node.mergeProperties(portprop)
- OpenRTM_aist.NVUtil.copyFromProperties(connector_profile.properties, prop)
-
-
- _str = node.getProperty("fan_out")
- _type = [int(100)]
-
- OpenRTM_aist.stringTo(_type, _str)
-
-
-
- _str = prop.getProperty("dataport.fan_out")
- OpenRTM_aist.stringTo(_type, _str)
-
- value = _type[0]
-
- if value <= len(self._connectors):
- return (RTC.PRECONDITION_NOT_MET, connector_profile)
-
-
- return OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
-
- ##
- # @if jp
- # @brief ץѥƥ
- #
- # OutPortΥץѥƥ롣
- #
- # @return ץѥƥ
- #
- # @else
- #
- # @brief Get properties
- #
- # Getting properties of this OutPort
- #
- # @return OutPort's properties
- #
- # @endif
- #
- # coil::Properties& OutPortBase::properties()
- def properties(self):
- self._rtcout.RTC_TRACE("properties()")
- return self._properties
-
-
- ##
- # @if jp
- # @brief Connector
- # @else
- # @brief Connector list
- # @endif
- #
- # const std::vector& OutPortBase::connectors()
- def connectors(self):
- self._rtcout.RTC_TRACE("connectors(): size = %d", len(self._connectors))
- return self._connectors
-
-
- ##
- # @if jp
- # @brief ConnectorProfile
- # @else
- # @brief ConnectorProfile list
- # @endif
- #
- # ConnectorBase::ConnectorInfoList OutPortBase::getConnectorProfiles()
- def getConnectorProfiles(self):
- self._rtcout.RTC_TRACE("getConnectorProfiles(): size = %d", len(self._connectors))
- profs = []
- for con in self._connectors:
- profs.append(con.profile())
-
- return profs
-
-
- ##
- # @if jp
- # @brief ConnectorId
- # @else
- # @brief ConnectorId list
- # @endif
- #
- # coil::vstring OutPortBase::getConnectorIds()
- def getConnectorIds(self):
- ids = []
-
- for con in self._connectors:
- ids.append(con.id())
-
- self._rtcout.RTC_TRACE("getConnectorIds(): %s", OpenRTM_aist.flatten(ids))
- return ids
-
-
- ##
- # @if jp
- # @brief Connector̾
- # @else
- # @brief Connector name list
- # @endif
- #
- # coil::vstring OutPortBase::getConnectorNames()
- def getConnectorNames(self):
- names = []
- for con in self._connectors:
- names.append(con.name())
-
- self._rtcout.RTC_TRACE("getConnectorNames(): %s", OpenRTM_aist.flatten(names))
- return names
-
-
- ##
- # @if jp
- # @brief ConnectorProfileIDǼ
- #
- # ߽ͭƤ륳ͥIDǼ롣
- #
- # @param id Connector ID
- # @return ͥؤΥݥ
- #
- # @else
- #
- # @brief Getting ConnectorProfile by ID
- #
- # This operation returns Connector specified by ID.
- #
- # @param id Connector ID
- # @return A pointer to connector
- #
- # @endif
- #
- # OutPortConnector* getConnectorById(const char* id);
- def getConnectorById(self, id):
- self._rtcout.RTC_TRACE("getConnectorById(id = %s)", id)
-
- for (i,con) in enumerate(self._connectors):
- if id == con.id():
- return self._connectors[i]
-
- self._rtcout.RTC_WARN("ConnectorProfile with the id(%s) not found.", id)
- return None
-
- ##
- # @if jp
- # @brief ConnectorProfile̾Ǽ
- #
- # ߽ͭƤ륳ͥ̾Ǽ롣
- #
- # @param name Connector name
- # @return ͥؤΥݥ
- #
- # @else
- #
- # @brief Getting Connector by name
- #
- # This operation returns Connector specified by name.
- #
- # @param id Connector ID
- # @return A pointer to connector
- #
- # @endif
- #
- # OutPortConnector* getConnectorByName(const char* name);
- def getConnectorByName(self, name):
- self._rtcout.RTC_TRACE("getConnectorByName(name = %s)", name)
-
- for (i,con) in enumerate(self._connectors):
- if name == con.name():
- return self._connectors[i]
-
- self._rtcout.RTC_WARN("ConnectorProfile with the name(%s) not found.", name)
- return None
-
-
- ##
- # @if jp
- # @brief ConnectorProfileIDǼ
- # @else
- # @brief Getting ConnectorProfile by name
- # @endif
- #
- # bool OutPortBase::getConnectorProfileById(const char* id,
- # ConnectorInfo& prof)
- def getConnectorProfileById(self, id, prof):
- self._rtcout.RTC_TRACE("getConnectorProfileById(id = %s)", id)
-
- conn = self.getConnectorById(id)
-
- if not conn:
- return False
-
- prof[0] = conn.profile()
- return True
-
-
- ##
- # @if jp
- # @brief ConnectorProfile̾Ǽ
- # @else
- # @brief Getting ConnectorProfile by name
- # @endif
- #
- # bool OutPortBase::getConnectorProfileByName(const char* name,
- # ConnectorInfo& prof)
- def getConnectorProfileByName(self, name, prof):
- self._rtcout.RTC_TRACE("getConnectorProfileByName(name = %s)", name)
-
- conn = self.getConnectorByName(name)
-
- if not conn:
- return False
-
- prof[0] = conn.profile()
- return True
-
-
- ##
- # @if jp
- # @brief OutPort activates
- # @else
- # @brief Activate all Port interfaces
- # @endif
- #
- # void OutPortBase::activateInterfaces()
- def activateInterfaces(self):
- self._rtcout.RTC_TRACE("activateInterfaces()")
- for con in self._connectors:
- con.activate()
-
-
- ##
- # @if jp
- # @brief Ƥ Port Υե deactivates
- # @else
- # @brief Deactivate all Port interfaces
- # @endif
- #
- # void OutPortBase::deactivateInterfaces()
- def deactivateInterfaces(self):
- self._rtcout.RTC_TRACE("deactivateInterfaces()")
- for con in self._connectors:
- con.deactivate()
-
-
- ##
- # @if jp
- # @brief ConnectorDataListener ꥹʤɲä
- #
- # Хåեߤޤɤ߽Ф٥Ȥ˴ϢƼꥹʤꤹ롣
- #
- # ǤꥹʤΥפȥХå٥Ȥϰʲ̤
- #
- # - ON_BUFFER_WRITE: Хåե
- # - ON_BUFFER_FULL: Хåեե
- # - ON_BUFFER_WRITE_TIMEOUT: ХåեߥॢȻ
- # - ON_BUFFER_OVERWRITE: Хåե
- # - ON_BUFFER_READ: Хåեɤ߽Ф
- # - ON_SEND: InProtؤ
- # - ON_RECEIVED: InProtؤλ
- # - ON_SEND_ERTIMEOUT: OutPort¦ॢȻ
- # - ON_SEND_ERERROR: OutPort¦顼
- # - ON_RECEIVER_FULL: InProt¦Хåեե
- # - ON_RECEIVER_TIMEOUT: InProt¦ХåեॢȻ
- # - ON_RECEIVER_ERROR: InProt¦顼
- #
- # ꥹʤ ConnectorDataListener ѾʲΥ˥
- # operator() Ƥɬפ롣
- #
- # ConnectorDataListener::
- # operator()(const ConnectorProfile&, const cdrStream&)
- #
- # ǥեȤǤϡδؿͿꥹʥ֥Ȥνͭ
- # OutPort˰ܤꡢOutPortλ⤷ϡ
- # removeConnectorDataListener() ˤ˼ưŪ˲Τ롣
- # ꥹʥ֥ȤνͭƤӽФ¦ǰݻϡ3
- # false ꤷưŪʲΤ뤳ȤǤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- # @param autoclean ꥹʥ֥ȤμưŪΤԤɤΥե饰
- #
- # @else
- # @brief Adding BufferDataListener type listener
- #
- # This operation adds certain listeners related to buffer writing and
- # reading events.
- # The following listener types are available.
- #
- # - ON_BUFFER_WRITE: At the time of buffer write
- # - ON_BUFFER_FULL: At the time of buffer full
- # - ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
- # - ON_BUFFER_OVERWRITE: At the time of buffer overwrite
- # - ON_BUFFER_READ: At the time of buffer read
- # - ON_SEND: At the time of sending to InPort
- # - ON_RECEIVED: At the time of finishing sending to InPort
- # - ON_SENDER_TIMEOUT: At the time of timeout of OutPort
- # - ON_SENDER_ERROR: At the time of error of OutPort
- # - ON_RECEIVER_FULL: At the time of bufferfull of InPort
- # - ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
- # - ON_RECEIVER_ERROR: At the time of error of InPort
- #
- # Listeners should have the following function operator().
- #
- # ConnectorDataListener::
- # operator()(const ConnectorProfile&, const cdrStream&)
- #
- # The ownership of the given listener object is transferred to
- # this OutPort object in default. The given listener object will
- # be destroied automatically in the OutPort's dtor or if the
- # listener is deleted by removeConnectorDataListener() function.
- # If you want to keep ownership of the listener object, give
- # "false" value to 3rd argument to inhibit automatic destruction.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- # @param autoclean A flag for automatic listener destruction
- #
- # @endif
- #
- # void addConnectorDataListener(ConnectorDataListenerType listener_type,
- # ConnectorDataListener* listener,
- # bool autoclean = true);
- def addConnectorDataListener(self, listener_type, listener, autoclean = True):
- self._rtcout.RTC_TRACE("addConnectorDataListener()")
- if listener_type < OpenRTM_aist.ConnectorDataListenerType.CONNECTOR_DATA_LISTENER_NUM:
- self._rtcout.RTC_TRACE("addConnectorDataListener(%s)",
- OpenRTM_aist.ConnectorDataListener.toString(listener_type))
- self._listeners.connectorData_[listener_type].addListener(listener, autoclean)
- return
-
- self._rtcout.RTC_ERROR("addConnectorDataListener(): Unknown Listener Type")
- return
-
-
- ##
- # @if jp
- # @brief ConnectorDataListener ꥹʤ
- #
- # ꤷƼꥹʤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- #
- # @else
- # @brief Removing BufferDataListener type listener
- #
- # This operation removes a specified listener.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- #
- # @endif
- #
- # void removeConnectorDataListener(ConnectorDataListenerType listener_type,
- # ConnectorDataListener* listener);
- def removeConnectorDataListener(self, listener_type, listener):
- self._rtcout.RTC_TRACE("removeConnectorDataListener()")
-
- if listener_type < OpenRTM_aist.ConnectorDataListenerType.CONNECTOR_DATA_LISTENER_NUM:
- self._rtcout.RTC_TRACE("removeConnectorDataListener(%s)",
- OpenRTM_aist.ConnectorDataListener.toString(listener_type))
- self._listeners.connectorData_[listener_type].removeListener(listener)
- return
-
- self._rtcout.RTC_ERROR("removeConnectorDataListener(): Unknown Listener Type")
- return
-
-
- ##
- # @if jp
- # @brief ConnectorListener ꥹʤɲä
- #
- # Хåեߤޤɤ߽Ф٥Ȥ˴ϢƼꥹʤꤹ롣
- #
- # ǤꥹʤΥפ
- #
- # - ON_BUFFER_EMPTY: Хåեξ
- # - ON_BUFFER_READTIMEOUT: ХåեǥॢȤ
- #
- # ꥹʤϰʲΥ˥ operator() Ƥɬפ롣
- #
- # ConnectorListener::operator()(const ConnectorProfile&)
- #
- # ǥեȤǤϡδؿͿꥹʥ֥Ȥνͭ
- # OutPort˰ܤꡢOutPortλ⤷ϡ
- # removeConnectorListener() ˤ˼ưŪ˲Τ롣
- # ꥹʥ֥ȤνͭƤӽФ¦ǰݻϡ3
- # false ꤷưŪʲΤ뤳ȤǤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- # @param autoclean ꥹʥ֥ȤμưŪΤԤɤΥե饰
- #
- # @else
- # @brief Adding ConnectorListener type listener
- #
- # This operation adds certain listeners related to buffer writing and
- # reading events.
- # The following listener types are available.
- #
- # - ON_BUFFER_EMPTY: At the time of buffer empty
- # - ON_BUFFER_READTIMEOUT: At the time of buffer read timeout
- #
- # Listeners should have the following function operator().
- #
- # ConnectorListener::operator()(const ConnectorProfile&)
- #
- # The ownership of the given listener object is transferred to
- # this OutPort object in default. The given listener object will
- # be destroied automatically in the OutPort's dtor or if the
- # listener is deleted by removeConnectorListener() function.
- # If you want to keep ownership of the listener object, give
- # "false" value to 3rd argument to inhibit automatic destruction.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- # @param autoclean A flag for automatic listener destruction
- #
- # @endif
- #
- # void addConnectorListener(ConnectorListenerType callback_type,
- # ConnectorListener* listener,
- # bool autoclean = true);
- def addConnectorListener(self, callback_type, listener, autoclean = True):
- self._rtcout.RTC_TRACE("addConnectorListener()")
-
- if callback_type < OpenRTM_aist.ConnectorListenerType.CONNECTOR_LISTENER_NUM:
- self._rtcout.RTC_TRACE("addConnectorListener(%s)",
- OpenRTM_aist.ConnectorListener.toString(callback_type))
- self._listeners.connector_[callback_type].addListener(listener, autoclean)
- return
- self._rtcout.RTC_ERROR("addConnectorListener(): Unknown Listener Type")
- return
-
-
- ##
- # @if jp
- # @brief ConnectorDataListener ꥹʤ
- #
- # ꤷƼꥹʤ롣
- #
- # @param listener_type ꥹʥ
- # @param listener ꥹʥ֥ȤؤΥݥ
- #
- # @else
- # @brief Removing BufferDataListener type listener
- #
- # This operation removes a specified listener.
- #
- # @param listener_type A listener type
- # @param listener A pointer to a listener object
- #
- # @endif
- #
- # void removeConnectorListener(ConnectorListenerType callback_type,
- # ConnectorListener* listener);
- def removeConnectorListener(self, callback_type, listener):
- self._rtcout.RTC_TRACE("removeConnectorListener()")
-
- if callback_type < OpenRTM_aist.ConnectorListenerType.CONNECTOR_LISTENER_NUM:
- self._rtcout.RTC_TRACE("removeConnectorListener(%s)",
- OpenRTM_aist.ConnectorListener.toString(callback_type))
- self._listeners.connector_[callback_type].removeListener(listener)
- return
- self._rtcout.RTC_ERROR("removeConnectorListener(): Unknown Listener Type")
- return
-
-
- ##
- # @if jp
- # @brief OutPortԤ
- # @else
- # @brief Configureing outport
- # @endif
- #
- #void OutPortBase::configure()
- def configure(self):
- pass
-
-
- ##
- # @if jp
- # @brief Interface
- # @else
- # @brief Publish interface information
- # @endif
- #
- # ReturnCode_t OutPortBase::publishInterfaces(ConnectorProfile& cprof)
- def publishInterfaces(self, cprof):
- self._rtcout.RTC_TRACE("publishInterfaces()")
-
- retval = self._publishInterfaces()
- if retval != RTC.RTC_OK:
- return retval
-
- # prop: [port.outport].
- prop = copy.deepcopy(self._properties)
-
- conn_prop = OpenRTM_aist.Properties()
-
- OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
- prop.mergeProperties(conn_prop.getNode("dataport")) # marge ConnectorProfile
+
+class OutPortBase(OpenRTM_aist.PortBase, OpenRTM_aist.DataPortStatus):
"""
+ """
+
+ ##
+ # @if jp
+ # @brief Connector を削除するための Functor
+ # @else
+ # @brief Functor to delete Connectors
+ # @endif
+ #
+ class connector_cleanup:
+ def __init__(self):
+ pass
+
+ def __call__(self, c):
+ del c
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ。
+ #
+ # @param self
+ # @param name ポート名
+ #
+ # @else
+ #
+ # @brief A constructor of OutPortBase class.
+ #
+ # Constructor of OutPortBase.
+ #
+ # @endif
+ # OutPortBase::OutPortBase(const char* name, const char* data_type)
+
+ def __init__(self, name, data_type):
+ OpenRTM_aist.PortBase.__init__(self, name)
+ self._rtcout.RTC_DEBUG("Port name: %s", name)
+
+ self._rtcout.RTC_DEBUG("setting port.port_type: DataOutPort")
+ self.addProperty("port.port_type", "DataOutPort")
+
+ self._rtcout.RTC_DEBUG("setting dataport.data_type: %s", data_type)
+ self.addProperty("dataport.data_type", data_type)
+
+ # publisher list
+ factory = OpenRTM_aist.PublisherFactory.instance()
+ pubs = OpenRTM_aist.flatten(factory.getIdentifiers())
+
+ # blank characters are deleted for RTSE's bug
+ pubs = pubs.lstrip()
+
+ self._rtcout.RTC_DEBUG("available subscription_type: %s", pubs)
+ self.addProperty("dataport.subscription_type", pubs)
+ self.addProperty("dataport.io_mode", pubs)
+ self._value = None
+
+ self._properties = OpenRTM_aist.Properties()
+ self._name = name
+ self._connectors = []
+ self._consumers = []
+ self._providerTypes = ""
+ self._consumerTypes = ""
+ self._connector_mutex = threading.RLock()
+
+ self._properties.setProperty("data_type", data_type)
+
+ self._listeners = OpenRTM_aist.ConnectorListeners()
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ。
+ # 登録された全ての Publisher を削除する。
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief destructor
+ #
+ # Destructor
+ #
+ # @endif
+
+ def __del__(self, PortBase=OpenRTM_aist.PortBase):
+ self._rtcout.RTC_TRACE("OutPortBase destructor")
+ # connector のクリーンナップ
+ OpenRTM_aist.CORBA_SeqUtil.for_each(self._connectors,
+ self.connector_cleanup())
+ PortBase.__del__(self)
+ return
+
+ ##
+ # @if jp
+ # @brief プロパティの初期化
+ #
+ # OutPortのプロパティを初期化する
+ #
+ # @else
+ #
+ # @brief Initializing properties
+ #
+ # This operation initializes outport's properties
+ #
+ # @endif
+ #
+ # void init(coil::Properties& prop);
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+
+ self._properties.mergeProperties(prop)
+ prop_list = []
+ OpenRTM_aist.NVUtil.copyFromProperties(prop_list, self._properties)
+ self._profile.properties.extend(prop_list)
+
+ self.configure()
+
+ self.initConsumers()
+ self.initProviders()
+
+ if self._consumerTypes and self._providerTypes:
+ self.appendProperty("dataport.dataflow_type", "duplex")
+
+ num = -1
+ ret, num = OpenRTM_aist.stringTo(
+ num, self._properties.getProperty(
+ "connection_limit", "-1"))
+ if not ret:
+ self._rtcout.RTC_ERROR("invalid connection_limit value: %s",
+ self._properties.getProperty("connection_limit"))
+
+ self.setConnectionLimit(num)
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief データ書き込み
+ #
+ # ポートへデータを書き込む。
+ # バインドされた変数に設定された値をポートに書き込む。
+ #
+ # @return 書き込み処理結果(書き込み成功:true、書き込み失敗:false)
+ #
+ # @else
+ #
+ # @brief Write data
+ #
+ # Write data to the port.
+ # Write the value, which was set to the bound variable, to the port.
+ #
+ # @return Writing result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual bool write() = 0;
+ def write(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Port の接続を行う
+ #
+ # 与えられた ConnectoionProfile の情報に基づき、Port間の接続を確立
+ # する。この関数は主にアプリケーションプログラムやツールから呼び出
+ # すことを前提としている。
+ #
+ # @param connector_profile ConnectorProfile
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Connect the Port
+ #
+ # This operation establishes connection according to the given
+ # ConnectionProfile inforamtion. This function is premised on
+ # calling from mainly application program or tools.
+ #
+ # @param connector_profile The ConnectorProfile.
+ # @return ReturnCode_t The return code of ReturnCode_t type.
+ #
+ # @endif
+ #
+
+ def connect(self, connector_profile):
+ self._rtcout.RTC_TRACE("OutPortBase.connect()")
+
+ if OpenRTM_aist.NVUtil.find_index(connector_profile.properties,
+ "dataport.serializer.cdr.endian") == -1:
+ self._rtcout.RTC_TRACE(
+ "ConnectorProfile dataport.serializer.cdr.endian set.")
+ connector_profile.properties.append(
+ OpenRTM_aist.NVUtil.newNV(
+ "dataport.serializer.cdr.endian",
+ "little,big"))
+
+ return OpenRTM_aist.PortBase.connect(self, connector_profile)
+
+ ##
+ # @if jp
+ #
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param connector_profile
+ # @return
+ #
+ # @endif
+ #
+
+ def notify_connect(self, connector_profile):
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(
+ prop, connector_profile.properties)
+
+ node = prop.getNode("dataport.outport")
+ portprop = copy.deepcopy(self._properties)
+ portprop.mergeProperties(node)
+ node.mergeProperties(portprop)
+ OpenRTM_aist.NVUtil.copyFromProperties(
+ connector_profile.properties, prop)
+
+ _str = node.getProperty("fan_out")
+ _type = int(100)
+
+ _, _type = OpenRTM_aist.stringTo(_type, _str)
+
+ _str = prop.getProperty("dataport.fan_out")
+ _, _type = OpenRTM_aist.stringTo(_type, _str)
+
+ value = _type
+
+ if value <= len(self._connectors):
+ return (RTC.PRECONDITION_NOT_MET, connector_profile)
+
+ return OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
+
+ ##
+ # @if jp
+ # @brief プロパティを取得する
+ #
+ # OutPortのプロパティを取得する。
+ #
+ # @return プロパティ
+ #
+ # @else
+ #
+ # @brief Get properties
+ #
+ # Getting properties of this OutPort
+ #
+ # @return OutPort's properties
+ #
+ # @endif
+ #
+ # coil::Properties& OutPortBase::properties()
+ def properties(self):
+ self._rtcout.RTC_TRACE("properties()")
+ return self._properties
+
+ ##
+ # @if jp
+ # @brief Connector を取得
+ # @else
+ # @brief Connector list
+ # @endif
+ #
+ # const std::vector& OutPortBase::connectors()
+
+ def connectors(self):
+ self._rtcout.RTC_TRACE(
+ "connectors(): size = %d", len(
+ self._connectors))
+ return self._connectors
+
+ ##
+ # @if jp
+ # @brief ConnectorProfile を取得
+ # @else
+ # @brief ConnectorProfile list
+ # @endif
+ #
+ # ConnectorBase::ConnectorInfoList OutPortBase::getConnectorProfiles()
+
+ def getConnectorProfiles(self):
+ self._rtcout.RTC_TRACE(
+ "getConnectorProfiles(): size = %d", len(
+ self._connectors))
+ profs = []
+ for con in self._connectors:
+ profs.append(con.profile())
+
+ return profs
+
+ ##
+ # @if jp
+ # @brief ConnectorId を取得
+ # @else
+ # @brief ConnectorId list
+ # @endif
+ #
+ # coil::vstring OutPortBase::getConnectorIds()
+
+ def getConnectorIds(self):
+ ids = []
+
+ for con in self._connectors:
+ ids.append(con.id())
+
+ self._rtcout.RTC_TRACE(
+ "getConnectorIds(): %s",
+ OpenRTM_aist.flatten(ids))
+ return ids
+
+ ##
+ # @if jp
+ # @brief Connectorの名前を取得
+ # @else
+ # @brief Connector name list
+ # @endif
+ #
+ # coil::vstring OutPortBase::getConnectorNames()
+
+ def getConnectorNames(self):
+ names = []
+ for con in self._connectors:
+ names.append(con.name())
+
+ self._rtcout.RTC_TRACE(
+ "getConnectorNames(): %s",
+ OpenRTM_aist.flatten(names))
+ return names
+
+ ##
+ # @if jp
+ # @brief ConnectorProfileをIDで取得
+ #
+ # 現在所有しているコネクタをIDで取得する。
+ #
+ # @param id Connector ID
+ # @return コネクタへのポインタ
+ #
+ # @else
+ #
+ # @brief Getting ConnectorProfile by ID
+ #
+ # This operation returns Connector specified by ID.
+ #
+ # @param id Connector ID
+ # @return A pointer to connector
+ #
+ # @endif
+ #
+ # OutPortConnector* getConnectorById(const char* id);
+
+ def getConnectorById(self, id):
+ self._rtcout.RTC_TRACE("getConnectorById(id = %s)", id)
+
+ for (i, con) in enumerate(self._connectors):
+ if id == con.id():
+ return self._connectors[i]
+
+ self._rtcout.RTC_WARN(
+ "ConnectorProfile with the id(%s) not found.", id)
+ return None
+
+ ##
+ # @if jp
+ # @brief ConnectorProfileを名前で取得
+ #
+ # 現在所有しているコネクタを名前で取得する。
+ #
+ # @param name Connector name
+ # @return コネクタへのポインタ
+ #
+ # @else
+ #
+ # @brief Getting Connector by name
+ #
+ # This operation returns Connector specified by name.
+ #
+ # @param id Connector ID
+ # @return A pointer to connector
+ #
+ # @endif
+ #
+ # OutPortConnector* getConnectorByName(const char* name);
+ def getConnectorByName(self, name):
+ self._rtcout.RTC_TRACE("getConnectorByName(name = %s)", name)
+
+ for (i, con) in enumerate(self._connectors):
+ if name == con.name():
+ return self._connectors[i]
+
+ self._rtcout.RTC_WARN(
+ "ConnectorProfile with the name(%s) not found.", name)
+ return None
+
+ ##
+ # @if jp
+ # @brief ConnectorProfileをIDで取得
+ # @else
+ # @brief Getting ConnectorProfile by name
+ # @endif
+ #
+ # bool OutPortBase::getConnectorProfileById(const char* id,
+ # ConnectorInfo& prof)
+
+ def getConnectorProfileById(self, id):
+ self._rtcout.RTC_TRACE("getConnectorProfileById(id = %s)", id)
+
+ conn = self.getConnectorById(id)
+
+ if not conn:
+ return False, None
+
+ prof = conn.profile()
+ return True, prof
+
+ ##
+ # @if jp
+ # @brief ConnectorProfileを名前で取得
+ # @else
+ # @brief Getting ConnectorProfile by name
+ # @endif
+ #
+ # bool OutPortBase::getConnectorProfileByName(const char* name,
+ # ConnectorInfo& prof)
+
+ def getConnectorProfileByName(self, name):
+ self._rtcout.RTC_TRACE("getConnectorProfileByName(name = %s)", name)
+
+ conn = self.getConnectorByName(name)
+
+ if not conn:
+ return False, None
+
+ prof = conn.profile()
+ return True, prof
+
+ ##
+ # @if jp
+ # @brief OutPortを activates する
+ # @else
+ # @brief Activate all Port interfaces
+ # @endif
+ #
+ # void OutPortBase::activateInterfaces()
+
+ def activateInterfaces(self):
+ self._rtcout.RTC_TRACE("activateInterfaces()")
+ for con in self._connectors:
+ con.activate()
+
+ ##
+ # @if jp
+ # @brief 全ての Port のインターフェースを deactivates する
+ # @else
+ # @brief Deactivate all Port interfaces
+ # @endif
+ #
+ # void OutPortBase::deactivateInterfaces()
+
+ def deactivateInterfaces(self):
+ self._rtcout.RTC_TRACE("deactivateInterfaces()")
+ for con in self._connectors:
+ con.deactivate()
+
+ ##
+ # @if jp
+ # @brief ConnectorDataListener リスナを追加する
+ #
+ # バッファ書き込みまたは読み出しイベントに関連する各種リスナを設定する。
+ #
+ # 設定できるリスナのタイプとコールバックイベントは以下の通り
+ #
+ # - ON_BUFFER_WRITE: バッファ書き込み時
+ # - ON_BUFFER_FULL: バッファフル時
+ # - ON_BUFFER_WRITE_TIMEOUT: バッファ書き込みタイムアウト時
+ # - ON_BUFFER_OVERWRITE: バッファ上書き時
+ # - ON_BUFFER_READ: バッファ読み出し時
+ # - ON_SEND: InProtへの送信時
+ # - ON_RECEIVED: InProtへの送信完了時
+ # - ON_SEND_ERTIMEOUT: OutPort側タイムアウト時
+ # - ON_SEND_ERERROR: OutPort側エラー時
+ # - ON_RECEIVER_FULL: InProt側バッファフル時
+ # - ON_RECEIVER_TIMEOUT: InProt側バッファタイムアウト時
+ # - ON_RECEIVER_ERROR: InProt側エラー時
+ #
+ # リスナは ConnectorDataListener を継承し、以下のシグニチャを持つ
+ # operator() を実装している必要がある。
+ #
+ # ConnectorDataListener::
+ # operator()(const ConnectorProfile&, const cdrStream&)
+ #
+ # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は
+ # OutPortに移り、OutPort解体時もしくは、
+ # removeConnectorDataListener() により削除時に自動的に解体される。
+ # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引
+ # 数に false を指定し、自動的な解体を抑制することができる。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Adding BufferDataListener type listener
+ #
+ # This operation adds certain listeners related to buffer writing and
+ # reading events.
+ # The following listener types are available.
+ #
+ # - ON_BUFFER_WRITE: At the time of buffer write
+ # - ON_BUFFER_FULL: At the time of buffer full
+ # - ON_BUFFER_WRITE_TIMEOUT: At the time of buffer write timeout
+ # - ON_BUFFER_OVERWRITE: At the time of buffer overwrite
+ # - ON_BUFFER_READ: At the time of buffer read
+ # - ON_SEND: At the time of sending to InPort
+ # - ON_RECEIVED: At the time of finishing sending to InPort
+ # - ON_SENDER_TIMEOUT: At the time of timeout of OutPort
+ # - ON_SENDER_ERROR: At the time of error of OutPort
+ # - ON_RECEIVER_FULL: At the time of bufferfull of InPort
+ # - ON_RECEIVER_TIMEOUT: At the time of timeout of InPort
+ # - ON_RECEIVER_ERROR: At the time of error of InPort
+ #
+ # Listeners should have the following function operator().
+ #
+ # ConnectorDataListener::
+ # operator()(const ConnectorProfile&, const cdrStream&)
+ #
+ # The ownership of the given listener object is transferred to
+ # this OutPort object in default. The given listener object will
+ # be destroied automatically in the OutPort's dtor or if the
+ # listener is deleted by removeConnectorDataListener() function.
+ # If you want to keep ownership of the listener object, give
+ # "false" value to 3rd argument to inhibit automatic destruction.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void addConnectorDataListener(ConnectorDataListenerType listener_type,
+ # ConnectorDataListener* listener);
+
+ def addConnectorDataListener(self, listener_type, listener):
+ self._rtcout.RTC_TRACE("addConnectorDataListener()")
+ if self._listeners.addDataListener(listener_type, listener):
+ self._rtcout.RTC_TRACE("addConnectorDataListener(%s)",
+ OpenRTM_aist.ConnectorDataListener.toString(listener_type))
+ return
+
+ self._rtcout.RTC_ERROR(
+ "addConnectorDataListener(): Unknown Listener Type")
+ return
+
+ ##
+ # @if jp
+ # @brief ConnectorDataListener リスナを削除する
+ #
+ # 設定した各種リスナを削除する。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Removing BufferDataListener type listener
+ #
+ # This operation removes a specified listener.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void removeConnectorDataListener(ConnectorDataListenerType listener_type,
+ # ConnectorDataListener* listener);
+
+ def removeConnectorDataListener(self, listener_type, listener):
+ self._rtcout.RTC_TRACE("removeConnectorDataListener()")
+
+ if self._listeners.removeDataListener(listener_type, listener):
+ self._rtcout.RTC_TRACE("removeConnectorDataListener(%s)",
+ OpenRTM_aist.ConnectorDataListener.toString(listener_type))
+ return
+
+ self._rtcout.RTC_ERROR(
+ "removeConnectorDataListener(): Unknown Listener Type")
+ return
+
+ ##
+ # @if jp
+ # @brief ConnectorListener リスナを追加する
+ #
+ # バッファ書き込みまたは読み出しイベントに関連する各種リスナを設定する。
+ #
+ # 設定できるリスナのタイプは
+ #
+ # - ON_BUFFER_EMPTY: バッファが空の場合
+ # - ON_BUFFER_READTIMEOUT: バッファが空でタイムアウトした場合
+ #
+ # リスナは以下のシグニチャを持つ operator() を実装している必要がある。
+ #
+ # ConnectorListener::operator()(const ConnectorProfile&)
+ #
+ # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は
+ # OutPortに移り、OutPort解体時もしくは、
+ # removeConnectorListener() により削除時に自動的に解体される。
+ # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引
+ # 数に false を指定し、自動的な解体を抑制することができる。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Adding ConnectorListener type listener
+ #
+ # This operation adds certain listeners related to buffer writing and
+ # reading events.
+ # The following listener types are available.
+ #
+ # - ON_BUFFER_EMPTY: At the time of buffer empty
+ # - ON_BUFFER_READTIMEOUT: At the time of buffer read timeout
+ #
+ # Listeners should have the following function operator().
+ #
+ # ConnectorListener::operator()(const ConnectorProfile&)
+ #
+ # The ownership of the given listener object is transferred to
+ # this OutPort object in default. The given listener object will
+ # be destroied automatically in the OutPort's dtor or if the
+ # listener is deleted by removeConnectorListener() function.
+ # If you want to keep ownership of the listener object, give
+ # "false" value to 3rd argument to inhibit automatic destruction.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void addConnectorListener(ConnectorListenerType callback_type,
+ # ConnectorListener* listener);
+
+ def addConnectorListener(self, callback_type, listener):
+ self._rtcout.RTC_TRACE("addConnectorListener()")
+
+ if self._listeners.addListener(callback_type, listener):
+ self._rtcout.RTC_TRACE("addConnectorListener(%s)",
+ OpenRTM_aist.ConnectorListener.toString(callback_type))
+ return
+ self._rtcout.RTC_ERROR("addConnectorListener(): Unknown Listener Type")
+ return
+
+ ##
+ # @if jp
+ # @brief ConnectorDataListener リスナを削除する
+ #
+ # 設定した各種リスナを削除する。
+ #
+ # @param listener_type リスナタイプ
+ # @param listener リスナオブジェクトへのポインタ
+ #
+ # @else
+ # @brief Removing BufferDataListener type listener
+ #
+ # This operation removes a specified listener.
+ #
+ # @param listener_type A listener type
+ # @param listener A pointer to a listener object
+ #
+ # @endif
+ #
+ # void removeConnectorListener(ConnectorListenerType callback_type,
+ # ConnectorListener* listener);
+
+ def removeConnectorListener(self, callback_type, listener):
+ self._rtcout.RTC_TRACE("removeConnectorListener()")
+
+ if self._listeners.removeListener(callback_type, listener):
+ self._rtcout.RTC_TRACE("removeConnectorListener(%s)",
+ OpenRTM_aist.ConnectorListener.toString(callback_type))
+ return
+ self._rtcout.RTC_ERROR(
+ "removeConnectorListener(): Unknown Listener Type")
+ return
+
+ ##
+ # @if jp
+ # @brief OutPortの設定を行う
+ # @else
+ # @brief Configureing outport
+ # @endif
+ #
+ # void OutPortBase::configure()
+
+ def configure(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief Interface情報を公開する
+ # @else
+ # @brief Publish interface information
+ # @endif
+ #
+ # ReturnCode_t OutPortBase::publishInterfaces(ConnectorProfile& cprof)
+
+ def publishInterfaces(self, cprof):
+ self._rtcout.RTC_TRACE("publishInterfaces()")
+
+ retval = self._publishInterfaces()
+ if retval != RTC.RTC_OK:
+ return retval
+
+ # prop: [port.outport].
+ prop = copy.deepcopy(self._properties)
+
+ conn_prop = OpenRTM_aist.Properties()
+
+ OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
+ prop.mergeProperties(conn_prop.getNode("dataport")
+ ) # marge ConnectorProfile
+
+ """
# marge ConnectorProfile for buffer property.
# e.g.
# prof[buffer.write.full_policy]
# << cprof[dataport.outport.buffer.write.full_policy]
- #
+ #
"""
- prop.mergeProperties(conn_prop.getNode("dataport.outport"))
+ prop.mergeProperties(conn_prop.getNode("dataport.outport"))
+ if not self.isExistingMarshalingType(prop):
+ return RTC.RTC_ERROR
- #
- # , ConnectorProfile properties ޡ줿ᡢ
- # prop["dataflow_type"]: ǡե
- # prop["interface_type"]: ե
- # ʤɤǽˤʤ롣
- dflow_type = OpenRTM_aist.normalize([prop.getProperty("dataflow_type")])
+ #
+ # ここで, ConnectorProfile からの properties がマージされたため、
+ # prop["dataflow_type"]: データフロータイプ
+ # prop["interface_type"]: インターフェースタイプ
+ # などがアクセス可能になる。
+ dflow_type = OpenRTM_aist.normalize(prop.getProperty("dataflow_type"))
- if dflow_type == "push":
- self._rtcout.RTC_PARANOID("dataflow_type = push .... do nothing")
- return RTC.RTC_OK
+ if dflow_type == "push":
+ self._rtcout.RTC_PARANOID("dataflow_type = push .... do nothing")
+ return RTC.RTC_OK
- elif dflow_type == "pull":
- self._rtcout.RTC_PARANOID("dataflow_type = pull .... create PullConnector")
+ elif dflow_type == "pull":
+ self._rtcout.RTC_PARANOID(
+ "dataflow_type = pull .... create PullConnector")
- provider = self.createProvider(cprof, prop)
- if not provider:
- return RTC.BAD_PARAMETER
-
- # create OutPortPullConnector
- connector = self.createConnector(cprof, prop, provider_ = provider)
- if not connector:
- return RTC.RTC_ERROR
+ provider = self.createProvider(cprof, prop)
+ if not provider:
+ return RTC.BAD_PARAMETER
- # connector set
- provider.setConnector(connector)
+ # create OutPortPullConnector
+ connector = self.createConnector(cprof, prop, provider_=provider)
+ if not connector:
+ self._rtcout.RTC_ERROR("PullConnector creation failed.")
+ return RTC.RTC_ERROR
+ connector.setDataType(self._value)
- self._rtcout.RTC_DEBUG("publishInterface() successfully finished.")
- return RTC.RTC_OK
+ # connector set
+ provider.setConnector(connector)
- self._rtcout.RTC_ERROR("unsupported dataflow_type")
+ self._rtcout.RTC_DEBUG("publishInterface() successfully finished.")
+ return RTC.RTC_OK
- return RTC.BAD_PARAMETER
+ elif dflow_type == "duplex":
+ self._rtcout.RTC_PARANOID(
+ "dataflow_type = duplex .... create DuplexConnector")
+ provider = self.createProvider(cprof, prop)
+ if not provider:
+ return RTC.BAD_PARAMETER
- ##
- # @if jp
- # @brief Interface
- # @else
- # @brief Subscribe interface
- # @endif
- #
- # ReturnCode_t OutPortBase::subscribeInterfaces(const ConnectorProfile& cprof)
- def subscribeInterfaces(self, cprof):
- self._rtcout.RTC_TRACE("subscribeInterfaces()")
+ # create OutDuplexPullConnector
+ connector = self.createDuplexConnector(cprof, prop, provider)
+ if not connector:
+ self._rtcout.RTC_ERROR("DuplexConnector creation failed.")
+ return RTC.RTC_ERROR
+ connector.setDataType(self._value)
- # prop: [port.outport].
- prop = copy.deepcopy(self._properties)
+ # connector set
+ provider.setConnector(connector)
- conn_prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
- prop.mergeProperties(conn_prop.getNode("dataport")) # marge ConnectorProfile
- """
+ self._rtcout.RTC_DEBUG("publishInterface() successfully finished.")
+ return RTC.RTC_OK
+
+ self._rtcout.RTC_ERROR("unsupported dataflow_type")
+
+ return RTC.BAD_PARAMETER
+
+ ##
+ # @if jp
+ # @brief Interface情報を取得する
+ # @else
+ # @brief Subscribe interface
+ # @endif
+ #
+ # ReturnCode_t OutPortBase::subscribeInterfaces(const ConnectorProfile&
+ # cprof)
+
+ def subscribeInterfaces(self, cprof):
+ self._rtcout.RTC_TRACE("subscribeInterfaces()")
+
+ # prop: [port.outport].
+ prop = copy.deepcopy(self._properties)
+
+ conn_prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(conn_prop, cprof.properties)
+ prop.mergeProperties(conn_prop.getNode("dataport")
+ ) # marge ConnectorProfile
+ """
# marge ConnectorProfile for buffer property.
# e.g.
# prof[buffer.write.full_policy]
# << cprof[dataport.outport.buffer.write.full_policy]
"""
- prop.mergeProperties(conn_prop.getNode("dataport.outport"))
-
- #
- # , ConnectorProfile properties ޡ줿ᡢ
- # prop["dataflow_type"]: ǡե
- # prop["interface_type"]: ե
- # ʤɤǽˤʤ롣
- #
- dflow_type = OpenRTM_aist.normalize([prop.getProperty("dataflow_type")])
-
- profile = OpenRTM_aist.ConnectorInfo(cprof.name,
- cprof.connector_id,
- OpenRTM_aist.CORBA_SeqUtil.refToVstring(cprof.ports),
- prop)
- if dflow_type == "push":
- self._rtcout.RTC_PARANOID("dataflow_type = push .... create PushConnector")
-
- # interface
- consumer = self.createConsumer(cprof, prop)
- if not consumer:
+ prop.mergeProperties(conn_prop.getNode("dataport.outport"))
+
+ if not self.isExistingMarshalingType(prop):
+ return RTC.RTC_ERROR
+
+ #
+ # ここで, ConnectorProfile からの properties がマージされたため、
+ # prop["dataflow_type"]: データフロータイプ
+ # prop["interface_type"]: インターフェースタイプ
+ # などがアクセス可能になる。
+ #
+ dflow_type = OpenRTM_aist.normalize(prop.getProperty("dataflow_type"))
+
+ profile = OpenRTM_aist.ConnectorInfo(cprof.name,
+ cprof.connector_id,
+ OpenRTM_aist.CORBA_SeqUtil.refToVstring(
+ cprof.ports),
+ prop)
+ if dflow_type == "push":
+ self._rtcout.RTC_PARANOID(
+ "dataflow_type = push .... create PushConnector")
+
+ # interface
+ consumer = self.createConsumer(cprof, prop)
+ if not consumer:
+ return RTC.BAD_PARAMETER
+
+ # create OutPortPushConnector
+ connector = self.createConnector(cprof, prop, consumer_=consumer)
+ if not connector:
+ return RTC.RTC_ERROR
+ connector.setDataType(self._value)
+
+ ret = connector.setConnectorInfo(profile)
+
+ if ret == RTC.RTC_OK:
+ self._rtcout.RTC_DEBUG(
+ "subscribeInterfaces() successfully finished.")
+
+ return ret
+
+ elif dflow_type == "pull":
+ self._rtcout.RTC_PARANOID("dataflow_type = pull.")
+
+ conn = self.getConnectorById(cprof.connector_id)
+ if not conn:
+ self._rtcout.RTC_ERROR("specified connector not found: %s",
+ cprof.connector_id)
+ return RTC.RTC_ERROR
+
+ ret = conn.setConnectorInfo(profile)
+
+ if ret == RTC.RTC_OK:
+ self._rtcout.RTC_DEBUG(
+ "subscribeInterfaces() successfully finished.")
+
+ return ret
+
+ elif dflow_type == "duplex":
+ self._rtcout.RTC_DEBUG(
+ "dataflow_type = duplex .... set Consumer Object")
+ # create OutPortConsumer
+ consumer = self.createConsumer(cprof, prop)
+ if not consumer:
+ return RTC.BAD_PARAMETER
+
+ connector = self.getConnectorById(cprof.connector_id)
+ if not connector:
+ return RTC.RTC_ERROR
+
+ connector.setDataType(self._value)
+ connector.setConsumer(consumer)
+ ret = connector.setConnectorInfo(profile)
+
+ if ret == RTC.RTC_OK:
+ self._rtcout.RTC_DEBUG(
+ "publishInterface() successfully finished.")
+
+ return ret
+
+ self._rtcout.RTC_ERROR("unsupported dataflow_type")
return RTC.BAD_PARAMETER
- # create OutPortPushConnector
- connector = self.createConnector(cprof, prop, consumer_ = consumer)
- if not connector:
- return RTC.RTC_ERROR
-
- ret = connector.setConnectorInfo(profile)
+ ##
+ # @if jp
+ # @brief 登録されているInterface情報を解除する
+ # @else
+ # @brief Unsubscribe interface
+ # @endif
+ #
+ # void
+ # OutPortBase::unsubscribeInterfaces(const ConnectorProfile&
+ # connector_profile)
+
+ def unsubscribeInterfaces(self, connector_profile):
+ self._rtcout.RTC_TRACE("unsubscribeInterfaces()")
+
+ id = connector_profile.connector_id
+ self._rtcout.RTC_PARANOID("connector_id: %s", id)
+
+ len_ = len(self._connectors)
+ for i in range(len_):
+ idx = (len_ - 1) - i
+ if id == self._connectors[idx].id():
+ # Connector's dtor must call disconnect()
+ self._connectors[idx].unsubscribeInterface(
+ connector_profile.properties)
+ self._connectors[idx].deactivate()
+ self._connectors[idx].disconnect()
+ del self._connectors[idx]
+ self._rtcout.RTC_TRACE("delete connector: %s", id)
+ return
+
+ self._rtcout.RTC_ERROR("specified connector not found: %s", id)
+ return
- if ret == RTC.RTC_OK:
- self._rtcout.RTC_DEBUG("subscribeInterfaces() successfully finished.")
+ ##
+ # @if jp
+ # @brief OutPort provider の初期化
+ # @else
+ # @brief OutPort provider initialization
+ # @endif
+ #
+ # void OutPortBase::initProviders()
+
+ def initProviders(self):
+ self._rtcout.RTC_TRACE("initProviders()")
+
+ # create OutPort providers
+ factory = OpenRTM_aist.OutPortProviderFactory.instance()
+ provider_types = factory.getIdentifiers()
+ self._rtcout.RTC_PARANOID("available OutPortProviders: %s",
+ OpenRTM_aist.flatten(provider_types))
+
+ if self._properties.hasKey("provider_types") and \
+ OpenRTM_aist.normalize(self._properties.getProperty("provider_types")) != "all":
+ self._rtcout.RTC_DEBUG("allowed providers: %s",
+ self._properties.getProperty("provider_types"))
+
+ temp_types = provider_types
+ provider_types = []
+ active_types = OpenRTM_aist.split(
+ self._properties.getProperty("provider_types"), ",")
+
+ temp_types.sort()
+ active_types.sort()
+
+ set_ptypes = set(temp_types).intersection(set(active_types))
+ provider_types = provider_types + list(set_ptypes)
+
+ # OutPortProvider supports "pull" dataflow type
+ if provider_types:
+ self._rtcout.RTC_DEBUG("dataflow_type pull is supported")
+ self.appendProperty("dataport.dataflow_type", "pull")
+ for provider_type in provider_types:
+ self.appendProperty("dataport.interface_type", provider_type)
+
+ self._providerTypes = provider_types
+
+ ##
+ # @if jp
+ # @brief InPort consumer の初期化
+ # @else
+ # @brief InPort consumer initialization
+ # @endif
+ #
+ # void OutPortBase::initConsumers()
+
+ def initConsumers(self):
+ self._rtcout.RTC_TRACE("initConsumers()")
+
+ # create InPort consumers
+ factory = OpenRTM_aist.InPortConsumerFactory.instance()
+ consumer_types = factory.getIdentifiers()
+ self._rtcout.RTC_PARANOID("available InPortConsumer: %s",
+ OpenRTM_aist.flatten(consumer_types))
+
+ if self._properties.hasKey("consumer_types") and \
+ OpenRTM_aist.normalize(self._properties.getProperty("consumer_types")) != "all":
+ self._rtcout.RTC_DEBUG("allowed consumers: %s",
+ self._properties.getProperty("consumer_types"))
+
+ temp_types = consumer_types
+ consumer_types = []
+ active_types = OpenRTM_aist.split(
+ self._properties.getProperty("consumer_types"), ",")
+
+ temp_types.sort()
+ active_types.sort()
+
+ set_ctypes = set(temp_types).intersection(set(active_types))
+ consumer_types = consumer_types + list(set_ctypes)
+
+ # InPortConsumer supports "push" dataflow type
+ if consumer_types:
+ self._rtcout.RTC_PARANOID("dataflow_type push is supported")
+ self.appendProperty("dataport.dataflow_type", "push")
+ for consumer_type in consumer_types:
+ self.appendProperty("dataport.interface_type", consumer_type)
+
+ self._consumerTypes = consumer_types
+
+ ##
+ # @if jp
+ # @brief OutPort provider の生成
+ # @else
+ # @brief OutPort provider creation
+ # @endif
+ #
+ # OutPortProvider*
+ # OutPortBase::createProvider(ConnectorProfile& cprof, coil::Properties&
+ # prop)
+
+ def createProvider(self, cprof, prop):
+ if not prop.getProperty("interface_type") or \
+ not OpenRTM_aist.includes(self._providerTypes, prop.getProperty("interface_type")):
+ self._rtcout.RTC_ERROR("no provider found")
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ self._rtcout.RTC_DEBUG("interface_types: %s",
+ OpenRTM_aist.flatten(self._providerTypes))
+ return None
- return ret
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ provider = OpenRTM_aist.OutPortProviderFactory.instance(
+ ).createObject(prop.getProperty("interface_type"))
- elif dflow_type == "pull":
- self._rtcout.RTC_PARANOID("dataflow_type = pull.")
+ if provider is not None:
+ self._rtcout.RTC_DEBUG("provider created")
+ provider.init(prop.getNode("provider"))
- conn = self.getConnectorById(cprof.connector_id)
- if not conn:
- self._rtcout.RTC_ERROR("specified connector not found: %s",
- cprof.connector_id)
- return RTC.RTC_ERROR
+ if not provider.publishInterface(cprof.properties):
+ self._rtcout.RTC_ERROR(
+ "publishing interface information error")
+ return None
- ret = conn.setConnectorInfo(profile)
+ return provider
- if ret == RTC.RTC_OK:
- self._rtcout.RTC_DEBUG("subscribeInterfaces() successfully finished.")
+ self._rtcout.RTC_ERROR("provider creation failed")
+ return None
- return ret
+ ##
+ # @if jp
+ # @brief InPort consumer の生成
+ # @else
+ # @brief InPort consumer creation
+ # @endif
+ #
+ # InPortConsumer* OutPortBase::createConsumer(const ConnectorProfile& cprof,
+ # coil::Properties& prop)
+
+ def createConsumer(self, cprof, prop):
+ if not prop.getProperty("interface_type") or \
+ not OpenRTM_aist.includes(self._consumerTypes, prop.getProperty("interface_type")):
+ self._rtcout.RTC_ERROR("no consumer found")
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ self._rtcout.RTC_DEBUG("interface_types: %s",
+ OpenRTM_aist.flatten(self._consumerTypes))
+ return None
- self._rtcout.RTC_ERROR("unsupported dataflow_type")
- return RTC.BAD_PARAMETER
+ self._rtcout.RTC_DEBUG(
+ "interface_type: %s",
+ prop.getProperty("interface_type"))
+ consumer = OpenRTM_aist.InPortConsumerFactory.instance(
+ ).createObject(prop.getProperty("interface_type"))
+ if consumer is not None:
+ self._rtcout.RTC_DEBUG("consumer created")
- ##
- # @if jp
- # @brief ϿƤInterface
- # @else
- # @brief Unsubscribe interface
- # @endif
- #
- # void
- # OutPortBase::unsubscribeInterfaces(const ConnectorProfile& connector_profile)
- def unsubscribeInterfaces(self, connector_profile):
- self._rtcout.RTC_TRACE("unsubscribeInterfaces()")
+ consumer.init(prop.getNode("consumer"))
- id = connector_profile.connector_id
- self._rtcout.RTC_PARANOID("connector_id: %s", id)
+ if not consumer.subscribeInterface(cprof.properties):
+ self._rtcout.RTC_ERROR("interface subscription failed.")
+ return 0
- len_ = len(self._connectors)
- for i in range(len_):
- idx = (len_ - 1) - i
- if id == self._connectors[idx].id():
- # Connector's dtor must call disconnect()
- self._connectors[idx].deactivate()
- self._connectors[idx].disconnect()
- del self._connectors[idx]
- self._rtcout.RTC_TRACE("delete connector: %s", id)
- return
+ return consumer
- self._rtcout.RTC_ERROR("specified connector not found: %s", id)
- return
-
-
- ##
- # @if jp
- # @brief OutPort provider ν
- # @else
- # @brief OutPort provider initialization
- # @endif
- #
- # void OutPortBase::initProviders()
- def initProviders(self):
- self._rtcout.RTC_TRACE("initProviders()")
-
- # create OutPort providers
- factory = OpenRTM_aist.OutPortProviderFactory.instance()
- provider_types = factory.getIdentifiers()
- self._rtcout.RTC_PARANOID("available OutPortProviders: %s",
- OpenRTM_aist.flatten(provider_types))
-
- if self._properties.hasKey("provider_types") and \
- OpenRTM_aist.normalize([self._properties.getProperty("provider_types")]) != "all":
- self._rtcout.RTC_DEBUG("allowed providers: %s",
- self._properties.getProperty("provider_types"))
-
- temp_types = provider_types
- provider_types = []
- active_types = OpenRTM_aist.split(self._properties.getProperty("provider_types"), ",")
-
- temp_types.sort()
- active_types.sort()
-
- set_ptypes = set(temp_types).intersection(set(active_types))
- provider_types = provider_types + list(set_ptypes)
-
- # OutPortProvider supports "pull" dataflow type
- if len(provider_types) > 0:
- self._rtcout.RTC_DEBUG("dataflow_type pull is supported")
- self.appendProperty("dataport.dataflow_type", "pull")
- for provider_type in provider_types:
- self.appendProperty("dataport.interface_type",provider_type)
-
- self._providerTypes = provider_types
-
-
- ##
- # @if jp
- # @brief InPort consumer ν
- # @else
- # @brief InPort consumer initialization
- # @endif
- #
- # void OutPortBase::initConsumers()
- def initConsumers(self):
- self._rtcout.RTC_TRACE("initConsumers()")
-
- # create InPort consumers
- factory = OpenRTM_aist.InPortConsumerFactory.instance()
- consumer_types = factory.getIdentifiers()
- self._rtcout.RTC_PARANOID("available InPortConsumer: %s",
- OpenRTM_aist.flatten(consumer_types))
-
- if self._properties.hasKey("consumer_types") and \
- OpenRTM_aist.normalize([self._properties.getProperty("consumer_types")]) != "all":
- self._rtcout.RTC_DEBUG("allowed consumers: %s",
- self._properties.getProperty("consumer_types"))
-
- temp_types = consumer_types
- consumer_types = []
- active_types = OpenRTM_aist.split(self._properties.getProperty("consumer_types"), ",")
-
- temp_types.sort()
- active_types.sort()
-
- set_ctypes = set(temp_types).intersection(set(active_types))
- consumer_types = consumer_types + list(set_ctypes)
-
- # InPortConsumer supports "push" dataflow type
- if len(consumer_types) > 0:
- self._rtcout.RTC_PARANOID("dataflow_type push is supported")
- self.appendProperty("dataport.dataflow_type", "push")
- for consumer_type in consumer_types:
- self.appendProperty("dataport.interface_type",consumer_type)
-
- self._consumerTypes = consumer_types
-
-
- ##
- # @if jp
- # @brief OutPort provider
- # @else
- # @brief OutPort provider creation
- # @endif
- #
- # OutPortProvider*
- # OutPortBase::createProvider(ConnectorProfile& cprof, coil::Properties& prop)
- def createProvider(self, cprof, prop):
- if not prop.getProperty("interface_type") or \
- not OpenRTM_aist.includes(self._providerTypes, prop.getProperty("interface_type")):
- self._rtcout.RTC_ERROR("no provider found")
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- self._rtcout.RTC_DEBUG("interface_types: %s",
- OpenRTM_aist.flatten(self._providerTypes))
- return None
-
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- provider = OpenRTM_aist.OutPortProviderFactory.instance().createObject(prop.getProperty("interface_type"))
-
- if provider is not None:
- self._rtcout.RTC_DEBUG("provider created")
- provider.init(prop.getNode("provider"))
-
- if not provider.publishInterface(cprof.properties):
- self._rtcout.RTC_ERROR("publishing interface information error")
- OpenRTM_aist.OutPortProviderFactory.instance().deleteObject(provider)
+ self._rtcout.RTC_ERROR("consumer creation failed")
return None
- return provider
-
- self._rtcout.RTC_ERROR("provider creation failed")
- return None
-
-
- ##
- # @if jp
- # @brief InPort consumer
- # @else
- # @brief InPort consumer creation
- # @endif
- #
- # InPortConsumer* OutPortBase::createConsumer(const ConnectorProfile& cprof,
- # coil::Properties& prop)
- def createConsumer(self, cprof, prop):
- if not prop.getProperty("interface_type") or \
- not OpenRTM_aist.includes(self._consumerTypes, prop.getProperty("interface_type")):
- self._rtcout.RTC_ERROR("no consumer found")
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- self._rtcout.RTC_DEBUG("interface_types: %s",
- OpenRTM_aist.flatten(self._consumerTypes))
- return None
-
- self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
- consumer = OpenRTM_aist.InPortConsumerFactory.instance().createObject(prop.getProperty("interface_type"))
-
- if consumer is not None:
- self._rtcout.RTC_DEBUG("consumer created")
-
- consumer.init(prop.getNode("consumer"))
-
- if not consumer.subscribeInterface(cprof.properties):
- self._rtcout.RTC_ERROR("interface subscription failed.")
- OpenRTM_aist.InPortConsumerFactory.instance().deleteObject(consumer)
- return 0
-
- return consumer
-
- self._rtcout.RTC_ERROR("consumer creation failed")
- return None
-
-
- ##
- # @if jp
- # @brief OutPortPushConnector
- # @else
- # @brief OutPortPushConnector creation
- # @endif
- #
- # OutPortConnector*
- # OutPortBase::createConnector(const ConnectorProfile& cprof,
- # coil::Properties& prop,
- # InPortConsumer* consumer)
- def createConnector(self, cprof, prop, provider_ = None, consumer_ = None):
- profile = OpenRTM_aist.ConnectorInfo(cprof.name,
- cprof.connector_id,
- OpenRTM_aist.CORBA_SeqUtil.refToVstring(cprof.ports),
- prop)
-
- connector = None
- try:
-
- if consumer_ is not None:
- connector = OpenRTM_aist.OutPortPushConnector(profile, consumer_, self._listeners)
- elif provider_ is not None:
- connector = OpenRTM_aist.OutPortPullConnector(profile, provider_, self._listeners)
-
- else:
- self._rtcout.RTC_ERROR("provider or consumer is not passed. returned 0;")
- return None
+ ##
+ # @if jp
+ # @brief OutPortPushConnector の生成
+ # @else
+ # @brief OutPortPushConnector creation
+ # @endif
+ #
+ # OutPortConnector*
+ # OutPortBase::createConnector(const ConnectorProfile& cprof,
+ # coil::Properties& prop,
+ # InPortConsumer* consumer)
+
+ def createConnector(self, cprof, prop, provider_=None, consumer_=None):
+ profile = OpenRTM_aist.ConnectorInfo(cprof.name,
+ cprof.connector_id,
+ OpenRTM_aist.CORBA_SeqUtil.refToVstring(
+ cprof.ports),
+ prop)
+
+ connector = None
+ try:
+
+ if consumer_ is not None:
+ connector = OpenRTM_aist.OutPortPushConnector(
+ profile, consumer_, self._listeners)
+ elif provider_ is not None:
+ connector = OpenRTM_aist.OutPortPullConnector(
+ profile, provider_, self._listeners)
+
+ else:
+ self._rtcout.RTC_ERROR(
+ "provider or consumer is not passed. returned 0;")
+ return None
+
+ # if connector is None:
+ # self._rtcout.RTC_ERROR("OutPortConnector creation failed")
+ # return 0
+
+ if consumer_ is not None:
+ self._rtcout.RTC_TRACE("OutPortPushConnector created")
+ elif provider_ is not None:
+ self._rtcout.RTC_TRACE("OutPortPullConnector created")
+
+ if OpenRTM_aist.StringUtil.normalize(
+ prop.getProperty("interface_type")) == "direct":
+ if consumer_ is not None:
+ 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 None
+
+ 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)
+ self._rtcout.RTC_PARANOID(
+ "connector push backed: %d", len(
+ self._connectors))
+ return connector
+
+ except BaseException:
+ self._rtcout.RTC_ERROR(
+ "Exeption: OutPortPushConnector creation failed")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return None
- #if connector is None:
- # self._rtcout.RTC_ERROR("OutPortConnector creation failed")
- # return 0
-
- if consumer_ is not None:
- self._rtcout.RTC_TRACE("OutPortPushConnector created")
- elif provider_ is not None:
- self._rtcout.RTC_TRACE("OutPortPullConnector created")
-
-
- if OpenRTM_aist.StringUtil.normalize([prop.getProperty("interface_type")]) == "direct":
- if consumer_ is not None:
- 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
+ ##
+ # @if jp
+ # @brief InPortDuplexConnector の生成
+ #
+ # 双方向通信用コネクタを生成し、生成が成功すれば m_connectors に保存する。
+ #
+ #
+ # @param cprof コネクタプロファイル
+ # @param prop コネクタプロファイルをプロパティに変換
+ # @param provider_ プロバイダ
+ # @return 生成したコネクタ。生成に失敗した場合 None を返す。
+ #
+ # @else
+ # @brief InPortDuplexConnector creation
+ #
+ # @param cprof
+ # @param prop
+ # @param provider_
+ # @return
+ #
+ # @endif
+ #
+ def createDuplexConnector(self, cprof, prop, provider_):
+ profile = OpenRTM_aist.ConnectorInfo(cprof.name,
+ cprof.connector_id,
+ OpenRTM_aist.CORBA_SeqUtil.refToVstring(
+ cprof.ports),
+ prop)
+ connector = None
+ try:
+ connector = OpenRTM_aist.OutPortDuplexConnector(
+ profile, provider_, self._listeners)
+
+ self._rtcout.RTC_TRACE("OutPortDuplexConnector created")
+
+ # guard = OpenRTM_aist.ScopedLock(self._connector_mutex)
+ self._connectors.append(connector)
+ self._rtcout.RTC_PARANOID(
+ "connector duplex backed: %d", len(
+ self._connectors))
+ return connector
+ except BaseException:
+ self._rtcout.RTC_ERROR("OutPortDuplexConnector creation failed")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
return None
- 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)
- self._rtcout.RTC_PARANOID("connector push backed: %d", len(self._connectors))
- return connector
-
- except:
- self._rtcout.RTC_ERROR("Exeption: OutPortPushConnector creation failed")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return None
-
-
-
-
-
- ##
- # @if jp
- # @brief ΥԥInPort
- # @param self
- # @param profile ͥץե
- # @return InPortΥХ(˼ԤNone)
- # @else
- # @brief Getting local peer InPort if available
- # @param self
- # @param profile
- # @return
- # @endif
- #
- # InPortBase*
- # getLocalInPort(const ConnectorInfo& profile)
- def getLocalInPort(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()
- inport = poa.reference_to_servant(obj)
- self._rtcout.RTC_DEBUG("InPortBase servant pointer is obtained.")
- return inport
- except:
- self._rtcout.RTC_DEBUG("Peer port might be a remote port")
- return None
\ No newline at end of file
+ ##
+ # @if jp
+ # @brief ローカルのピアInPortを取得
+ # @param self
+ # @param profile コネクタプロファイル
+ # @return InPortのサーバント(取得に失敗した場合はNone)
+ # @else
+ # @brief Getting local peer InPort if available
+ # @param self
+ # @param profile
+ # @return
+ # @endif
+ #
+ # InPortBase*
+ # getLocalInPort(const ConnectorInfo& profile)
+
+ def getLocalInPort(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()
+ inport = poa.reference_to_servant(obj)
+ self._rtcout.RTC_DEBUG(
+ "InPortBase servant pointer is obtained.")
+ return inport
+ except BaseException:
+ self._rtcout.RTC_DEBUG("Peer port might be a remote port")
+ return None
diff --git a/OpenRTM_aist/OutPortCSPConsumer.py b/OpenRTM_aist/OutPortCSPConsumer.py
new file mode 100644
index 00000000..57d2c54f
--- /dev/null
+++ b/OpenRTM_aist/OutPortCSPConsumer.py
@@ -0,0 +1,213 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+##
+# @file OutPortCSPConsumer.py
+# @brief OutPortCSPConsumer class
+# @date $Date: 2016/01/08 $
+# @author Nobuhiko Miyamoto
+
+
+import OpenRTM_aist
+import OpenRTM
+import CSP
+
+
+##
+# @if jp
+# @class OutPortCSPConsumer
+# @brief OutPortCSPConsumer クラス
+#
+# CSPモデルのチャネルを模擬した出力ポートプロバイダーの実装クラス。
+#
+#
+# @else
+# @class OutPortCSPConsumer
+# @brief OutPortCSPConsumer class
+#
+#
+#
+# @endif
+#
+class OutPortCSPConsumer(OpenRTM_aist.OutPortCorbaCdrConsumer):
+
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # Interface Typeにはshared_memoryを指定する
+ # 共有メモリの空間名はUUIDで作成し、コネクタプロファイルのdataport.shared_memory.addressに保存する
+ #
+ # self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # self
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortCorbaCdrConsumer.__init__(self)
+ OpenRTM_aist.CorbaConsumer.__init__(self, CSP.OutPortCsp)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortCSPConsumer")
+ self._properties = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~OutPortCSPConsumer()")
+ CorbaConsumer.__del__(self)
+
+ # void init(coil::Properties& prop)
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self._properties = prop
+
+ ##
+ # @if jp
+ # @brief バッファをセットする
+ #
+ #
+ # @param buffer OutPortProviderがデータを取り出すバッファへのポインタ
+ #
+ # @else
+ # @brief Setting outside buffer's pointer
+ #
+ # @param buffer A pointer to a data buffer to be used by OutPortProvider
+ #
+ # @endif
+ #
+ # virtual void setBuffer(CdrBufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ pass
+
+ # void OutPortCorbaCdrConsumer::setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners)
+
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListener()")
+ self._listeners = listeners
+ self._profile = info
+ return
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+
+ ##
+ # @if jp
+ # @brief 接続先のProviderからデータを取得する
+ #
+ # @param data データの格納先
+ # @return リターンコード
+ # PORT_OK：正常終了
+ # PORT_ERROR：バッファの読み込みエラー、通常は発生しない
+ # BUFFER_FULL：バッファフル、通常は発生しない
+ # BUFFER_EMPTY：バッファが空
+ # BUFFER_TIMEOUT：一定時間以内にバッファにデータが追加されなかった
+ # CONNECTION_LOST：通信エラー
+ # UNKNOWN_ERROR：その他のエラー
+ #
+ # @else
+ # @brief
+ #
+ #
+ # @param data
+ # @return
+ #
+ # @endif
+ #
+ # ::OpenRTM::PortStatus put()
+ # throw (CORBA::SystemException);
+ def get(self):
+ self._rtcout.RTC_PARANOID("get()")
+
+ try:
+ data = None
+ outportcsp = self._ptr()
+ ret, cdr_data = outportcsp.get()
+
+ if ret == OpenRTM.PORT_OK:
+ self._rtcout.RTC_DEBUG("get() successful")
+ data = cdr_data
+ self.onReceived(data)
+ self.onBufferWrite(data)
+
+ return self.PORT_OK, data
+ return self.convertReturn(ret, data)
+
+ except BaseException:
+ self._rtcout.RTC_WARN("Exception caught from OutPort.get().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST, None
+
+ ##
+ # @if jp
+ # @brief データ読み込み可能かを接続先のproviderに確認
+ #
+ #
+ # @param self
+ # @param retry True：再検索、False：通常の読み込み確認
+ # @return True：読み込み可能、False：読み込み不可
+ # 通信エラーが発生した場合はFalseを返す
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param retry
+ # @return
+ #
+ # @endif
+ #
+ def isReadable(self, retry=False):
+ self._rtcout.RTC_PARANOID("isReadable()")
+ try:
+ outportcsp = self._ptr()
+ return outportcsp.is_readable(retry)
+ except BaseException:
+ self._rtcout.RTC_WARN(
+ "Exception caught from OutPort.isReadable().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return False
+
+
+##
+# @if jp
+# @brief モジュール登録関数
+#
+#
+# @else
+# @brief
+#
+#
+# @endif
+#
+def OutPortCSPConsumerInit():
+ factory = OpenRTM_aist.OutPortConsumerFactory.instance()
+ factory.addFactory("csp_channel",
+ OpenRTM_aist.OutPortCSPConsumer)
diff --git a/OpenRTM_aist/OutPortCSPProvider.py b/OpenRTM_aist/OutPortCSPProvider.py
new file mode 100644
index 00000000..e4d785bb
--- /dev/null
+++ b/OpenRTM_aist/OutPortCSPProvider.py
@@ -0,0 +1,271 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+##
+# @file OutPortCSPProvider.py
+# @brief OutPortCSPProvider class
+# @date $Date: 2019/03/12 $
+# @author Nobuhiko Miyamoto
+
+
+import OpenRTM_aist
+import OpenRTM
+import CSP__POA
+
+
+##
+# @if jp
+# @class OutPortCSPProvider
+# @brief OutPortCSPProvider クラス
+#
+# CSPモデルのチャネルを模擬した出力ポートプロバイダーの実装クラス。
+#
+#
+# @else
+# @class InPortCorbaCdrProvider
+# @brief InPortCorbaCdrProvider class
+#
+#
+#
+# @endif
+#
+class OutPortCSPProvider(OpenRTM_aist.OutPortProvider, CSP__POA.OutPortCsp):
+
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # Interface Typeにはshared_memoryを指定する
+ # 共有メモリの空間名はUUIDで作成し、コネクタプロファイルのdataport.shared_memory.addressに保存する
+ #
+ # self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # self
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortProvider.__init__(self)
+
+ # PortProfile setting
+ self.setInterfaceType("csp_channel")
+ self._objref = self._this()
+ self._buffer = None
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ref",
+ self._objref))
+ self._listeners = None
+ self._connector = None
+ self._profile = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self)
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
+
+ # void init(coil::Properties& prop)
+ def init(self, prop):
+
+ pass
+
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+
+ ##
+ # @if jp
+ # @brief バッファからデータを取得する
+ #
+ # @param self
+ # @return (リターンコード、取得データ)
+ # PORT_OK：正常完了
+ # PORT_ERROR：バッファ読み出しエラー、通常は発生しない
+ # BUFFER_FULL：バッファがフル、通常は発生しない
+ # BUFFER_EMPTY：バッファが空
+ # BUFFER_TIMEOUT：読み込みタイムアウト
+ # UNKNOWN_ERROR：その他のエラー
+ #
+ #
+ # @else
+ # @brief Get data from the buffer
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+ def get(self):
+ self._rtcout.RTC_PARANOID("OutPortCSPProvider.get()")
+
+ if not self._connector:
+ self.onSenderError()
+ return (OpenRTM.UNKNOWN_ERROR, "")
+
+ try:
+ ret, cdr = self._connector.read()
+
+ if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ if cdr is None:
+ self._rtcout.RTC_ERROR("buffer is empty.")
+ return (OpenRTM.BUFFER_EMPTY, "")
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return (OpenRTM.UNKNOWN_ERROR, "")
+
+ return self.convertReturn(ret, cdr)
+
+ ##
+ # @if jp
+ # @brief データ読み込み可能かを確認
+ #
+ # @param self
+ # @param retry True：再検索、False：通常の読み込み確認
+ # @return True：読み込み可能、False：読み込み不可
+ #
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param retry
+ # @return
+ #
+ # @endif
+ #
+
+ def is_readable(self, retry):
+ self._rtcout.RTC_PARANOID("is_readable()")
+ if self._connector:
+ return self._connector.isReadable(retry)
+ return False
+
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ def onSend(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ def onBufferEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ def onBufferReadTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT, self._profile)
+ return
+
+ def onSenderEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+ return
+
+ def onSenderTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
+ return
+
+ def onSenderError(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
+ return
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ data = self.onBufferRead(data)
+ data = self.onSend(data)
+ return (OpenRTM.PORT_OK, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onSenderError()
+ return (OpenRTM.PORT_ERROR, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ # never come here
+ return (OpenRTM.BUFFER_FULL, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ self.onBufferEmpty()
+ self.onSenderEmpty()
+ return (OpenRTM.BUFFER_EMPTY, data)
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onSenderError()
+ return (OpenRTM.PORT_ERROR, data)
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ self.onBufferReadTimeout()
+ self.onSenderTimeout()
+ return (OpenRTM.BUFFER_TIMEOUT, data)
+
+ else:
+ return (OpenRTM.UNKNOWN_ERROR, data)
+
+
+def OutPortCSPProviderInit():
+ factory = OpenRTM_aist.OutPortProviderFactory.instance()
+ factory.addFactory("csp_channel",
+ OpenRTM_aist.OutPortCSPProvider)
diff --git a/OpenRTM_aist/OutPortConnector.py b/OpenRTM_aist/OutPortConnector.py
index 1a5b6497..3e8f9062 100644
--- a/OpenRTM_aist/OutPortConnector.py
+++ b/OpenRTM_aist/OutPortConnector.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -24,16 +24,16 @@
##
# @if jp
# @class OutPortConnector
-# @brief OutPortConnector 쥯饹
+# @brief OutPortConnector 基底クラス
#
-# OutPort Push/Pull Ƽ Connector 뤿
-# 쥯饹
+# OutPort の Push/Pull 各種 Connector を派生させるための
+# 基底クラス。
#
# @since 1.0.0
#
# @else
# @class OutPortConnector
-# @brief IPortConnector base class
+# @brief IｎPortConnector base class
#
# The base class to derive subclasses for OutPort's Push/Pull Connectors
#
@@ -41,152 +41,241 @@
#
# @endif
#
+
+
class OutPortConnector(OpenRTM_aist.ConnectorBase):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- # @else
- # @brief Constructor
- # @endif
- #
- # OutPortConnector(ConnectorInfo& info);
- def __init__(self, info):
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortConnector")
- self._profile = info
- self._endian = True
- self._directMode = False
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- # @else
- # @brief Destructor
- # @endif
- #
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- # @brief ConnectorInfo
- #
- # ConnectorInfo
- #
- # @else
- # @brief Getting ConnectorInfo
- #
- # This operation returns ConnectorInfo
- #
- # @endif
- #
- # const ConnectorInfo& profile();
- def profile(self):
- self._rtcout.RTC_TRACE("profile()")
- return self._profile
-
- ##
- # @if jp
- # @brief Connector ID
- #
- # Connector ID
- #
- # @else
- # @brief Getting Connector ID
- #
- # This operation returns Connector ID
- #
- # @endif
- #
- # const char* id();
- def id(self):
- self._rtcout.RTC_TRACE("id() = %s", self.profile().id)
- return self.profile().id
-
-
- ##
- # @if jp
- # @brief Connector ̾
- #
- # Connector ̾
- #
- # @else
- # @brief Getting Connector name
- #
- # This operation returns Connector name
- #
- # @endif
- #
- # const char* name();
- def name(self):
- self._rtcout.RTC_TRACE("name() = %s", self.profile().name)
- return self.profile().name
-
-
- # ReturnCode_t setConnectorInfo(ConnectorInfo info);
- def setConnectorInfo(self, info):
- self._profile = info
-
- if self._profile.properties.hasKey("serializer"):
- endian = self._profile.properties.getProperty("serializer.cdr.endian")
- if not endian:
- self._rtcout.RTC_ERROR("InPortConnector.setConnectorInfo(): endian is not supported.")
- return RTC.RTC_ERROR
-
- endian = OpenRTM_aist.split(endian, ",") # Maybe endian is ["little","big"]
- endian = OpenRTM_aist.normalize(endian) # Maybe self._endian is "little" or "big"
-
- if endian == "little":
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # @else
+ # @brief Constructor
+ # @endif
+ #
+ # OutPortConnector(ConnectorInfo& info);
+ def __init__(self, info):
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortConnector")
+ self._profile = info
self._endian = True
- elif endian == "big":
- self._endian = False
- else:
- return RTC.RTC_ERROR
-
- else:
- self._endian = True # little endian
-
- return RTC.RTC_OK
-
- ##
- # @if jp
- # @brief 쥯³⡼ɤ
- #
- #
- # @else
- # @brief
- #
- # This
- #
- # @endif
- #
- # const char* name();
- def setDirectMode(self):
- self._directMode = True
-
- ##
- # @if jp
- # @brief 쥯³⡼ɤȽ
- #
- # @return True쥯³⡼,falseʳ
- #
- # @else
- # @brief
- #
- # @return
- #
- # @endif
- #
- # const char* name();
- def directMode(self):
- return self._directMode
-
-
- def write(self, data):
- pass
- def read(self, data):
- pass
\ No newline at end of file
+ self._directMode = False
+ self._dataType = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ # @else
+ # @brief Destructor
+ # @endif
+ #
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief ConnectorInfo 取得
+ #
+ # ConnectorInfo を取得する
+ #
+ # @else
+ # @brief Getting ConnectorInfo
+ #
+ # This operation returns ConnectorInfo
+ #
+ # @endif
+ #
+ # const ConnectorInfo& profile();
+
+ def profile(self):
+ self._rtcout.RTC_TRACE("profile()")
+ return self._profile
+
+ ##
+ # @if jp
+ # @brief Connector ID 取得
+ #
+ # Connector ID を取得する
+ #
+ # @else
+ # @brief Getting Connector ID
+ #
+ # This operation returns Connector ID
+ #
+ # @endif
+ #
+ # const char* id();
+ def id(self):
+ self._rtcout.RTC_TRACE("id() = %s", self.profile().id)
+ return self.profile().id
+
+ ##
+ # @if jp
+ # @brief Connector 名取得
+ #
+ # Connector 名を取得する
+ #
+ # @else
+ # @brief Getting Connector name
+ #
+ # This operation returns Connector name
+ #
+ # @endif
+ #
+ # const char* name();
+
+ def name(self):
+ self._rtcout.RTC_TRACE("name() = %s", self.profile().name)
+ return self.profile().name
+
+ # ReturnCode_t setConnectorInfo(ConnectorInfo info);
+
+ def setConnectorInfo(self, info):
+ self._profile = info
+
+ if self._profile.properties.hasKey("serializer"):
+ endian = self._profile.properties.getProperty(
+ "serializer.cdr.endian")
+ if not endian:
+ self._rtcout.RTC_ERROR(
+ "InPortConnector.setConnectorInfo(): endian is not supported.")
+ return RTC.RTC_ERROR
+
+ # Maybe endian is ["little","big"]
+ endian = OpenRTM_aist.split(endian, ",")
+ # Maybe self._endian is "little" or "big"
+ endian = OpenRTM_aist.normalize(endian[0])
+
+ if endian == "little":
+ self._endian = True
+ elif endian == "big":
+ self._endian = False
+ else:
+ return RTC.RTC_ERROR
+
+ else:
+ self._endian = True # little endian
+
+ return RTC.RTC_OK
+
+ ##
+ # @if jp
+ # @brief ダイレクト接続モードに設定
+ #
+ #
+ # @else
+ # @brief
+ #
+ # This
+ #
+ # @endif
+ #
+ # const char* name();
+ def setDirectMode(self):
+ self._directMode = True
+
+ ##
+ # @if jp
+ # @brief ダイレクト接続モードかの判定
+ #
+ # @return True：ダイレクト接続モード,false：それ以外
+ #
+ # @else
+ # @brief
+ #
+ # @return
+ #
+ # @endif
+ #
+ # const char* name();
+ def directMode(self):
+ return self._directMode
+
+ def write(self, data):
+ pass
+
+ def read(self, data=None):
+ pass
+
+ #
+ # @if jp
+ # @brief データを書き込める状態かを判定
+ # @param self
+ # @param retry True：再確認、False：通常の書き込み確認
+ # @return True：書き込み可能
+ # @else
+ # @brief
+ # @param self
+ # @param retry
+ # @return
+ # @endif
+ def isWritable(self, retry):
+ return False
+
+ #
+ # @if jp
+ # @brief データを読み込める状態かを判定
+ # @param self
+ # @return True：読み込み可能
+ # @else
+ # @brief
+ # @param self
+ # @return
+ # @return
+ # @endif
+ def isReadable(self):
+ return False
+
+ #
+ # @if jp
+ # @brief データを書き込める状態かを判定
+ # @param self
+ # @return True：書き込み可能
+ # @else
+ # @brief
+ # @param self
+ # @return
+ # @endif
+ def setReadListener(self, listener):
+ pass
+
+ #
+ # @if jp
+ # @brief データを読み込める状態かを判定
+ # @param self
+ # @return True：読み込み可能
+ # @else
+ # @brief
+ # @param self
+ # @return
+ # @return
+ # @endif
+ def setIsReadableListener(self, listener):
+ pass
+
+ ##
+ # @if jp
+ # @brief コンシューマの設定
+ # @else
+ # @brief set Consumer
+ # @endif
+ def setConsumer(self, consumer):
+ pass
+
+ ##
+ # @if jp
+ # @brief コンシューマのインターフェースの登録を取り消す
+ # @param prop コネクタプロファイルのプロパティ
+ # @else
+ # @brief
+ # @param prop
+ # @endif
+ def unsubscribeInterface(self, prop):
+ pass
+
+ # template
+ # void setDataTyep(DataType data);
+
+ def setDataType(self, data):
+ self._dataType = data
\ No newline at end of file
diff --git a/OpenRTM_aist/OutPortConsumer.py b/OpenRTM_aist/OutPortConsumer.py
index 8e3f7615..0815a69a 100644
--- a/OpenRTM_aist/OutPortConsumer.py
+++ b/OpenRTM_aist/OutPortConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortConsumer.py
@@ -22,13 +22,13 @@
#
# @class OutPortConsumer
#
-# @brief OutPortConsumer 饹
+# @brief OutPortConsumer クラス
#
-# ϥݡȥ塼ޤΤΥ饹
-# ƶݥ饹ϡʲδؿμʤФʤʤ
-# - pull(): ǡ
-# - subscribeInterface(): ǡΤؤϿ
-# - unsubscribeInterface(): ǡΤϿ
+# 出力ポートコンシューマのためのクラス
+# 各具象クラスは、以下の関数の実装を提供しなければならない。
+# - pull(): データ受信
+# - subscribeInterface(): データ受信通知への登録
+# - unsubscribeInterface(): データ受信通知の登録解除
#
# @since 0.4.0
#
@@ -36,65 +36,72 @@
# @class OutPortConsumer
# @brief OutPortConsumer class
# @endif
+
+
class OutPortConsumer(OpenRTM_aist.DataPortStatus):
- """
- """
-
- ##
- # @if jp
- # @brief Interface³Functor
- # @else
- # @brief Functor to subscribe the interface
- # @endif
- #
- class subscribe:
- # subscribe(const SDOPackage::NVList& prop)
- def __init__(self, prop):
- self._prop = prop
- return
-
- # void operator()(OutPortConsumer* consumer)
- def __call__(self, consumer):
- consumer.subscribeInterface(self._prop)
- return
-
- ##
- # @if jp
- # @brief Interface³Functor
- # @else
- # @brief Functor to unsubscribe the interface
- # @endif
- #
- class unsubscribe:
- # unsubscribe(const SDOPackage::NVList& prop)
- def __init__(self, prop):
- self._prop = prop
- return
-
- # void operator()(OutPortConsumer* consumer)
- def __call__(self, consumer):
- consumer.unsubscribeInterface(self._prop)
- return
+ """
+ """
+
+ def get(self, data):
+ return self.CONNECTION_LOST
+
+ def isReadable(self):
+ return True
+
+ ##
+ # @if jp
+ # @brief Interface接続用Functor
+ # @else
+ # @brief Functor to subscribe the interface
+ # @endif
+ #
+ class subscribe:
+ # subscribe(const SDOPackage::NVList& prop)
+ def __init__(self, prop):
+ self._prop = prop
+ return
+
+ # void operator()(OutPortConsumer* consumer)
+ def __call__(self, consumer):
+ consumer.subscribeInterface(self._prop)
+ return
+
+ ##
+ # @if jp
+ # @brief Interface接続解除用Functor
+ # @else
+ # @brief Functor to unsubscribe the interface
+ # @endif
+ #
+ class unsubscribe:
+ # unsubscribe(const SDOPackage::NVList& prop)
+ def __init__(self, prop):
+ self._prop = prop
+ return
+
+ # void operator()(OutPortConsumer* consumer)
+ def __call__(self, consumer):
+ consumer.unsubscribeInterface(self._prop)
+ return
outportconsumerfactory = None
-class OutPortConsumerFactory(OpenRTM_aist.Factory,OutPortConsumer):
- def __init__(self):
- OpenRTM_aist.Factory.__init__(self)
- pass
-
- def __del__(self):
- pass
+class OutPortConsumerFactory(OpenRTM_aist.Factory, OutPortConsumer):
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self)
+ pass
+ def __del__(self):
+ pass
- def instance():
- global outportconsumerfactory
+ def instance():
+ global outportconsumerfactory
- if outportconsumerfactory is None:
- outportconsumerfactory = OutPortConsumerFactory()
+ if outportconsumerfactory is None:
+ outportconsumerfactory = OutPortConsumerFactory()
- return outportconsumerfactory
+ return outportconsumerfactory
- instance = staticmethod(instance)
+ instance = staticmethod(instance)
diff --git a/OpenRTM_aist/OutPortCorbaCdrConsumer.py b/OpenRTM_aist/OutPortCorbaCdrConsumer.py
index 7829fd91..9be53e7b 100644
--- a/OpenRTM_aist/OutPortCorbaCdrConsumer.py
+++ b/OpenRTM_aist/OutPortCorbaCdrConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -26,11 +26,11 @@
# @if jp
# @class OutPortCorbaCdrConsumer
#
-# @brief OutPortCorbaCdrConsumer 饹
+# @brief OutPortCorbaCdrConsumer クラス
#
-# ̿ʤ CORBA Ѥϥݡȥ塼ޤμ饹
+# 通信手段に CORBA を利用した出力ポートコンシューマの実装クラス。
#
-# @param DataType ܥݡȤˤưǡ
+# @param DataType 本ポートにて扱うデータ型
#
# @since 1.0.0
#
@@ -39,7 +39,7 @@
#
# @brief OutPortCorbaCdrConsumer class
#
-# This is an implementation class of the output Consumer
+# This is an implementation class of the output Consumer
# that uses CORBA for means of communication.
#
# @param DataType Data type for this port
@@ -48,389 +48,398 @@
#
# @endif
#
-class OutPortCorbaCdrConsumer(OpenRTM_aist.OutPortConsumer,OpenRTM_aist.CorbaConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param buffer ܥݡȤ˳ƤХåե
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param buffer Buffer that is attached to this port
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.CorbaConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortCorbaCdrConsumer")
- self._buffer = None
- self._profile = None
- self._listeners = None
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
- self._rtcout.RTC_PARANOID("~OutPortCorbaCdrConsumer()")
- CorbaConsumer.__del__(self)
- pass
-
-
- ##
- # @if jp
- # @brief
- #
- # OutPortConsumerγƼԤ饹ǤϡͿ줿
- # PropertiesɬפʾƳƼԤ init()
- # ϡOutPortProviderľ太ӡ³ˤ줾ƤФ
- # ǽ롣äơδؿʣƤФ뤳ȤꤷƵ
- # Ҥ٤Ǥ롣
- #
- # @param prop
- #
- # @else
- #
- # @brief Initializing configuration
- #
- # This operation would be called to configure in initialization.
- # In the concrete class, configuration should be performed
- # getting appropriate information from the given Properties data.
- # This function might be called right after instantiation and
- # connection sequence respectivly. Therefore, this function
- # should be implemented assuming multiple call.
- #
- # @param prop Configuration information
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- return
-
-
- ##
- # @if jp
- # @brief ХåեåȤ
- #
- # OutPortConsumerǡФХåեåȤ롣
- # Ǥ˥åȤ줿Хåե硢ΥХåեؤ
- # ݥФƾ롣
- # OutPortProviderϥХåեνͭꤷƤʤΤǡ
- # Хåեκϥ桼ǤǹԤʤФʤʤ
- #
- # @param buffer OutPortProviderǡФХåեؤΥݥ
- #
- # @else
- # @brief Setting outside buffer's pointer
- #
- # A pointer to a buffer from which OutPortProvider retrieve data.
- # If already buffer is set, previous buffer's pointer will be
- # overwritten by the given pointer to a buffer. Since
- # OutPortProvider does not assume ownership of the buffer
- # pointer, destructor of the buffer should be done by user.
- #
- # @param buffer A pointer to a data buffer to be used by OutPortProvider
- #
- # @endif
- #
- # virtual void setBuffer(CdrBufferBase* buffer);
- def setBuffer(self, buffer):
- self._rtcout.RTC_TRACE("setBuffer()")
- self._buffer = buffer
- return
-
-
- # void OutPortCorbaCdrConsumer::setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners)
- def setListener(self, info, listeners):
- self._rtcout.RTC_TRACE("setListener()")
- self._listeners = listeners
- self._profile = info
- return
-
-
- ##
- # @if jp
- # @brief ǡɤ߽Ф
- #
- # ꤵ줿ǡɤ߽Ф
- #
- # @param data ɤ߽Фǡ륪֥
- #
- # @return ǡɤ߽Ф(ɤ߽Ф:trueɤ߽Ф:false)
- #
- # @else
- # @brief Read data
- #
- # Read set data
- #
- # @param data Object to receive the read data
- #
- # @return Read result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual ReturnCode get(cdrMemoryStream& data);
- def get(self, data):
- self._rtcout.RTC_PARANOID("get()")
-
- try:
- outportcdr = self.getObject()._narrow(OpenRTM.OutPortCdr)
- ret,cdr_data = outportcdr.get()
-
- if ret == OpenRTM.PORT_OK:
- self._rtcout.RTC_DEBUG("get() successful")
- data[0] = cdr_data
- self.onReceived(data[0])
- self.onBufferWrite(data[0])
-
- if self._buffer.full():
- self._rtcout.RTC_INFO("InPort buffer is full.")
- self.onBufferFull(data[0])
- self.onReceiverFull(data[0])
-
- self._buffer.put(data[0])
- self._buffer.advanceWptr()
- self._buffer.advanceRptr()
-
- return self.PORT_OK
- return self.convertReturn(ret,data[0])
-
- except:
- self._rtcout.RTC_WARN("Exception caught from OutPort.get().")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
-
- ##
- # @if jp
- # @brief ǡΤؤϿ
- #
- # ꤵ줿ץѥƥ˴ŤơǡΤμϿ롣
- #
- # @param properties Ͽ
- #
- # @return Ͽ(Ͽ:trueϿ:false)
- #
- # @else
- # @brief Subscribe the data receive notification
- #
- # Subscribe the data receive notification based on specified property
- # information
- #
- # @param properties Subscription information
- #
- # @return Subscription result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
- def subscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("subscribeInterface()")
- index = OpenRTM_aist.NVUtil.find_index(properties,"dataport.corba_cdr.outport_ior")
-
- if index < 0:
- self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior not found.")
- return False
-
- if OpenRTM_aist.NVUtil.isString(properties,"dataport.corba_cdr.outport_ior"):
- self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior found.")
- ior = ""
- #try:
- ior = any.from_any(properties[index].value, keep_structs=True)
- #except:
- # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- orb = OpenRTM_aist.Manager.instance().getORB()
- obj = orb.string_to_object(ior)
- ret = self.setObject(obj)
- if ret:
- self._rtcout.RTC_DEBUG("CorbaConsumer was set successfully.")
- else:
- self._rtcout.RTC_ERROR("Invalid object reference.")
-
- return ret
-
- return False
-
-
- ##
- # @if jp
- # @brief ǡΤϿ
- #
- # ǡΤμ꤫Ͽ롣
- #
- # @param properties Ͽ
- #
- # @else
- # @brief Unsubscribe the data receive notification
- #
- # Unsubscribe the data receive notification.
- #
- # @param properties Unsubscription information
- #
- # @endif
- #
- # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
- def unsubscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeInterface()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.corba_cdr.outport_ior")
- if index < 0:
- self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior not found.")
- return
-
- ior = ""
-
- try:
- ior = any.from_any(properties[index].value, keep_structs=True)
-
- if ior:
- self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior found.")
- orb = OpenRTM_aist.Manager.instance().getORB()
- obj = orb.string_to_object(ior)
- if self._ptr(True)._is_equivalent(obj):
- self.releaseObject()
- self._rtcout.RTC_DEBUG("CorbaConsumer's reference was released.")
- return
-
- self._rtcout.RTC_ERROR("hmm. Inconsistent object reference.")
-
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- return
-
- ##
- # @if jp
- # @brief Ѵ (DataPortStatus -> BufferStatus)
- # @else
- # @brief Return codes conversion
- # @endif
- #
- # ReturnCode convertReturn(::OpenRTM::PortStatus status,
- # const cdrMemoryStream& data)
- def convertReturn(self, status, data):
- if status == OpenRTM.PORT_OK:
- # never comes here
- return self.PORT_OK
- elif status == OpenRTM.PORT_ERROR:
- self.onSenderError()
- return self.PORT_ERROR
+class OutPortCorbaCdrConsumer(
+ OpenRTM_aist.OutPortConsumer, OpenRTM_aist.CorbaConsumer):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param buffer 本ポートに割り当てるバッファ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param buffer Buffer that is attached to this port
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.CorbaConsumer.__init__(self, OpenRTM.OutPortCdr)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortCorbaCdrConsumer")
+ self._buffer = None
+ self._profile = None
+ self._listeners = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~OutPortCorbaCdrConsumer()")
+ CorbaConsumer.__del__(self)
+ pass
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # OutPortConsumerの各種設定を行う。実装クラスでは、与えられた
+ # Propertiesから必要な情報を取得して各種設定を行う。この init() 関
+ # 数は、OutPortProvider生成直後および、接続時にそれぞれ呼ばれる可
+ # 能性がある。したがって、この関数は複数回呼ばれることを想定して記
+ # 述されるべきである。
+ #
+ # @param prop 設定情報
+ #
+ # @else
+ #
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure in initialization.
+ # In the concrete class, configuration should be performed
+ # getting appropriate information from the given Properties data.
+ # This function might be called right after instantiation and
+ # connection sequence respectivly. Therefore, this function
+ # should be implemented assuming multiple call.
+ #
+ # @param prop Configuration information
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ return
+
+ ##
+ # @if jp
+ # @brief バッファをセットする
+ #
+ # OutPortConsumerがデータを取り出すバッファをセットする。
+ # すでにセットされたバッファがある場合、以前のバッファへの
+ # ポインタに対して上書きされる。
+ # OutPortProviderはバッファの所有権を仮定していないので、
+ # バッファの削除はユーザの責任で行わなければならない。
+ #
+ # @param buffer OutPortProviderがデータを取り出すバッファへのポインタ
+ #
+ # @else
+ # @brief Setting outside buffer's pointer
+ #
+ # A pointer to a buffer from which OutPortProvider retrieve data.
+ # If already buffer is set, previous buffer's pointer will be
+ # overwritten by the given pointer to a buffer. Since
+ # OutPortProvider does not assume ownership of the buffer
+ # pointer, destructor of the buffer should be done by user.
+ #
+ # @param buffer A pointer to a data buffer to be used by OutPortProvider
+ #
+ # @endif
+ #
+ # virtual void setBuffer(CdrBufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ self._rtcout.RTC_TRACE("setBuffer()")
+ self._buffer = buffer
+ return
+
+ # void OutPortCorbaCdrConsumer::setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners)
+
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListener()")
+ self._listeners = listeners
+ self._profile = info
+ return
+
+ ##
+ # @if jp
+ # @brief データを読み出す
+ #
+ # 設定されたデータを読み出す。
+ #
+ # @param data 読み出したデータを受け取るオブジェクト
+ #
+ # @return データ読み出し処理結果(読み出し成功:true、読み出し失敗:false)
+ #
+ # @else
+ # @brief Read data
+ #
+ # Read set data
+ #
+ # @param data Object to receive the read data
+ #
+ # @return Read result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual ReturnCode get(cdrMemoryStream& data);
+
+ def get(self):
+ self._rtcout.RTC_PARANOID("get()")
+
+ try:
+ data = None
+ outportcdr = self._ptr()
+ ret, cdr_data = outportcdr.get()
+
+ if ret == OpenRTM.PORT_OK:
+ self._rtcout.RTC_DEBUG("get() successful")
+ data = cdr_data
+ data = self.onReceived(data)
+ data = self.onBufferWrite(data)
+
+ if self._buffer.full():
+ self._rtcout.RTC_INFO("InPort buffer is full.")
+ data = self.onBufferFull(data)
+ data = self.onReceiverFull(data)
+
+ self._buffer.put(data)
+ self._buffer.advanceWptr()
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK, data
+ return self.convertReturn(ret, data)
+
+ except BaseException:
+ self._rtcout.RTC_WARN("Exception caught from OutPort.get().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST, None
+
+ ##
+ # @if jp
+ # @brief データ受信通知への登録
+ #
+ # 指定されたプロパティに基づいて、データ受信通知の受け取りに登録する。
+ #
+ # @param properties 登録情報
+ #
+ # @return 登録処理結果(登録成功:true、登録失敗:false)
+ #
+ # @else
+ # @brief Subscribe the data receive notification
+ #
+ # Subscribe the data receive notification based on specified property
+ # information
+ #
+ # @param properties Subscription information
+ #
+ # @return Subscription result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
+
+ def subscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("subscribeInterface()")
+ index = OpenRTM_aist.NVUtil.find_index(
+ properties, "dataport.corba_cdr.outport_ior")
+
+ if index < 0:
+ self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior not found.")
+ return False
+
+ if OpenRTM_aist.NVUtil.isString(
+ properties, "dataport.corba_cdr.outport_ior"):
+ self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior found.")
+ ior = ""
+ # try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+ # except:
+ # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ obj = orb.string_to_object(ior)
+ ret = self.setObject(obj)
+ if ret:
+ self._rtcout.RTC_DEBUG("CorbaConsumer was set successfully.")
+ else:
+ self._rtcout.RTC_ERROR("Invalid object reference.")
+
+ return ret
+
+ return False
+
+ ##
+ # @if jp
+ # @brief データ受信通知からの登録解除
+ #
+ # データ受信通知の受け取りから登録を解除する。
+ #
+ # @param properties 登録解除情報
+ #
+ # @else
+ # @brief Unsubscribe the data receive notification
+ #
+ # Unsubscribe the data receive notification.
+ #
+ # @param properties Unsubscription information
+ #
+ # @endif
+ #
+ # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
+
+ def unsubscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeInterface()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.corba_cdr.outport_ior")
+ if index < 0:
+ self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior not found.")
+ return
+
+ ior = ""
+
+ try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+
+ if ior:
+ self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior found.")
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ obj = orb.string_to_object(ior)
+ if self._ptr(True)._is_equivalent(obj):
+ self.releaseObject()
+ self._rtcout.RTC_DEBUG(
+ "CorbaConsumer's reference was released.")
+ return
+
+ self._rtcout.RTC_ERROR("hmm. Inconsistent object reference.")
+
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ return
+
+ ##
+ # @if jp
+ # @brief リターンコード変換 (DataPortStatus -> BufferStatus)
+ # @else
+ # @brief Return codes conversion
+ # @endif
+ #
+ # ReturnCode convertReturn(::OpenRTM::PortStatus status,
+ # const cdrMemoryStream& data)
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM.PORT_OK:
+ # never comes here
+ return self.PORT_OK, data
+
+ elif status == OpenRTM.PORT_ERROR:
+ self.onSenderError()
+ return self.PORT_ERROR, data
+
+ elif status == OpenRTM.BUFFER_FULL:
+ # never comes here
+ return self.BUFFER_FULL, data
+
+ elif status == OpenRTM.BUFFER_EMPTY:
+ self.onSenderEmpty()
+ return self.BUFFER_EMPTY, data
+
+ elif status == OpenRTM.BUFFER_TIMEOUT:
+ self.onSenderTimeout()
+ return self.BUFFER_TIMEOUT, data
+
+ elif status == OpenRTM.UNKNOWN_ERROR:
+ self.onSenderError()
+ return self.UNKNOWN_ERROR, data
+
+ else:
+ self.onSenderError()
+ return self.UNKNOWN_ERROR, data
- elif status == OpenRTM.BUFFER_FULL:
- # never comes here
- return self.BUFFER_FULL
+ ##
+ # @brief Connector data listener functions
+ #
+ # inline void onBufferWrite(const cdrMemoryStream& data)
- elif status == OpenRTM.BUFFER_EMPTY:
- self.onSenderEmpty()
- return self.BUFFER_EMPTY
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
- elif status == OpenRTM.BUFFER_TIMEOUT:
- self.onSenderTimeout()
- return self.BUFFER_TIMEOUT
+ return data
- elif status == OpenRTM.UNKNOWN_ERROR:
- self.onSenderError()
- return self.UNKNOWN_ERROR
+ # inline void onBufferFull(const cdrMemoryStream& data)
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
- else:
- self.onSenderError()
- return self.UNKNOWN_ERROR
+ return data
+ # inline void onReceived(const cdrMemoryStream& data)
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
-
- ##
- # @brief Connector data listener functions
- #
- # inline void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
+ return data
- return
-
-
- # inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
-
- return
-
-
- # inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
+ # inline void onReceiverFull(const cdrMemoryStream& data)
- return
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
- # inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
+ ##
+ # @brief Connector listener functions
+ #
+ # inline void onSenderEmpty()
- return
+ def onSenderEmpty(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+ return
- ##
- # @brief Connector listener functions
- #
- # inline void onSenderEmpty()
- def onSenderEmpty(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
+ # inline void onSenderTimeout()
- return
+ def onSenderTimeout(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
+ return
- # inline void onSenderTimeout()
- def onSenderTimeout(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT].notify(self._profile)
+ # inline void onSenderError()
- return
+ def onSenderError(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
-
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
-
- return
+ return
def OutPortCorbaCdrConsumerInit():
- factory = OpenRTM_aist.OutPortConsumerFactory.instance()
- factory.addFactory("corba_cdr",
- OpenRTM_aist.OutPortCorbaCdrConsumer,
- OpenRTM_aist.Delete)
- return
+ factory = OpenRTM_aist.OutPortConsumerFactory.instance()
+ factory.addFactory("corba_cdr",
+ OpenRTM_aist.OutPortCorbaCdrConsumer)
+ return
diff --git a/OpenRTM_aist/OutPortCorbaCdrProvider.py b/OpenRTM_aist/OutPortCorbaCdrProvider.py
index fdcc49cd..8f4c0cfb 100644
--- a/OpenRTM_aist/OutPortCorbaCdrProvider.py
+++ b/OpenRTM_aist/OutPortCorbaCdrProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortCorbaProvider.py
@@ -17,19 +17,19 @@
#
-
import OpenRTM_aist
-import OpenRTM__POA,OpenRTM
+import OpenRTM__POA
+import OpenRTM
##
# @if jp
# @class OutPortCorbaCdrProvider
-# @brief OutPortCorbaCdrProvider 饹
+# @brief OutPortCorbaCdrProvider クラス
#
-# OutPortProvider
+# OutPortProvider
#
-# ǡž CORBA OpenRTM::OutPortCdr եѤ
-# pull ǡե¸ OutPort ץХ饹
+# データ転送に CORBA の OpenRTM::OutPortCdr インターフェースを利用し
+# た、pull 型データフロー型を実現する OutPort プロバイダクラス。
#
# @since 0.4.0
#
@@ -45,404 +45,409 @@
#
# @endif
#
+
+
class OutPortCorbaCdrProvider(OpenRTM_aist.OutPortProvider,
OpenRTM__POA.OutPortCdr):
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param buffer ץХ˳ƤХåե֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param buffer Buffer object that is assigned to this provider
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.OutPortProvider.__init__(self)
- self.setInterfaceType("corba_cdr")
-
- # ConnectorProfile setting
- self._objref = self._this()
-
- self._buffer = None
-
- # set outPort's reference
- orb = OpenRTM_aist.Manager.instance().getORB()
-
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ior",
- orb.object_to_string(self._objref)))
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ref",
- self._objref))
-
- self._listeners = None
- self._connector = None
- self._profile = None
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- return
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- oid = self._default_POA().servant_to_id(self)
- self._default_POA().deactivate_object(oid)
-
- ##
- # @if jp
- # @brief
- #
- # InPortConsumerγƼԤ饹ǤϡͿ줿
- # PropertiesɬפʾƳƼԤ init()
- # ϡOutPortProviderľ太ӡ³ˤ줾ƤФ
- # ǽ롣äơδؿʣƤФ뤳ȤꤷƵ
- # Ҥ٤Ǥ롣
- #
- # @param prop
- #
- # @else
- #
- # @brief Initializing configuration
- #
- # This operation would be called to configure in initialization.
- # In the concrete class, configuration should be performed
- # getting appropriate information from the given Properties data.
- # This function might be called right after instantiation and
- # connection sequence respectivly. Therefore, this function
- # should be implemented assuming multiple call.
- #
- # @param prop Configuration information
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- pass
-
-
- ##
- # @if jp
- # @brief ХåեåȤ
- #
- # OutPortProviderǡФХåեåȤ롣
- # Ǥ˥åȤ줿Хåե硢ΥХåեؤ
- # ݥФƾ롣
- # OutPortProviderϥХåեνͭꤷƤʤΤǡ
- # Хåեκϥ桼ǤǹԤʤФʤʤ
- #
- # @param buffer OutPortProviderǡФХåեؤΥݥ
- #
- # @else
- # @brief Setting outside buffer's pointer
- #
- # A pointer to a buffer from which OutPortProvider retrieve data.
- # If already buffer is set, previous buffer's pointer will be
- # overwritten by the given pointer to a buffer. Since
- # OutPortProvider does not assume ownership of the buffer
- # pointer, destructor of the buffer should be done by user.
- #
- # @param buffer A pointer to a data buffer to be used by OutPortProvider
- #
- # @endif
- #
- # virtual void setBuffer(BufferBase* buffer);
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
-
- ##
- # @if jp
- # @brief ꥹʤꤹ롣
- #
- # OutPort ϥǡˤƼ磻٥ȤФΥꥹ
- # ֥Ȥ뤹륳Хå롣ܺ٤
- # ConnectorListener.h ConnectorDataListener, ConnectorListener
- # ȤΤȡOutPortCorbaCdrProvider ǤϡʲΥХå
- # 롣
- #
- # - ON_BUFFER_READ
- # - ON_SEND
- # - ON_BUFFER_EMPTY
- # - ON_BUFFER_READ_TIMEOUT
- # - ON_SENDER_EMPTY
- # - ON_SENDER_TIMEOUT
- # - ON_SENDER_ERROR
- #
- # @param info ³
- # @param listeners ꥹʥ֥
- #
- # @else
- # @brief Set the listener.
- #
- # OutPort provides callback functionality that calls specific
- # listener objects according to the events in the data publishing
- # process. For details, see documentation of
- # ConnectorDataListener class and ConnectorListener class in
- # ConnectorListener.h. In this OutPortCorbaCdrProvider provides
- # the following callbacks.
- #
- # - ON_BUFFER_READ
- # - ON_SEND
- # - ON_BUFFER_EMPTY
- # - ON_BUFFER_READ_TIMEOUT
- # - ON_SENDER_EMPTY
- # - ON_SENDER_TIMEOUT
- # - ON_SENDER_ERROR
- #
- # @param info Connector information
- # @param listeners Listener objects
- #
- # @endif
- #
- # virtual void setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
-
- ##
- # @if jp
- # @brief Connectorꤹ롣
- #
- # OutPort ³Ω OutPortConnector ֥Ȥ
- # ֥ȤΥݥȶˤδؿƤӽФͭ
- # OutPort ݻΤ OutPortProvider OutPortConnector
- # ƤϤʤ
- #
- # @param connector OutPortConnector
- #
- # @else
- # @brief set Connector
- #
- # OutPort creates OutPortConnector object when it establishes
- # connection between OutPort and InPort, and it calls this
- # function with a pointer to the connector object. Since the
- # OutPort has the ownership of this connector, OutPortProvider
- # should not delete it.
- #
- # @param connector OutPortConnector
- #
- # @endif
- #
- # virtual void setConnector(OutPortConnector* connector);
- def setConnector(self, connector):
- self._connector = connector
- return
-
-
- ##
- # @if jp
- # @brief [CORBA interface] Хåեǡ
- #
- # ꤵ줿Хåեǡ롣
- #
- # @return ǡ
- #
- # @else
- # @brief [CORBA interface] Get data from the buffer
- #
- # Get data from the internal buffer.
- #
- # @return Data got from the buffer.
- #
- # @endif
- #
- # virtual ::OpenRTM::PortStatus get(::OpenRTM::CdrData_out data);
- def get(self):
- self._rtcout.RTC_PARANOID("OutPortCorbaCdrProvider.get()")
- if not self._connector:
- self.onSenderError()
- return (OpenRTM.UNKNOWN_ERROR, "")
-
- try:
- cdr = [None]
- ret = self._connector.read(cdr)
-
- if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
- if not cdr[0]:
- self._rtcout.RTC_ERROR("buffer is empty.")
- return (OpenRTM.BUFFER_EMPTY, "")
-
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
- return (OpenRTM.UNKNOWN_ERROR, "")
-
- return self.convertReturn(ret, cdr[0])
-
- ##
- # @if jp
- # @brief ON_BUFFER_READ ΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_READ event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferRead(const cdrMemoryStream& data)
- def onBufferRead(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_SEND ΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_SEND event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onSend(const cdrMemoryStream& data)
- def onSend(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_EMPTYΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_BUFFER_EMPTY event to listeners
- # @endif
- #
- # inline void onBufferEmpty()
- def onBufferEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_READ_TIMEOUT ΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_BUFFER_READ_TIMEOUT event to listeners
- # @endif
- #
- # inline void onBufferReadTimeout()
- def onBufferReadTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_EMPTYΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_EMPTY event to listeners
- # @endif
- #
- # inline void onSenderEmpty()
- def onSenderEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_TIMEOUT ΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_TIMEOUT event to listeners
- # @endif
- #
- # inline void onSenderTimeout()
- def onSenderTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_ERRORΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_ERROR event to listeners
- # @endif
- #
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
- return
-
-
- ##
- # @if jp
- # @brief Ѵ
- # @else
- # @brief Return codes conversion
- # @endif
- #
- # ::OpenRTM::PortStatus convertReturn(BufferStatus::Enum status,
- # const cdrMemoryStream& data);
- def convertReturn(self, status, data):
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- self.onBufferRead(data)
- self.onSend(data)
- return (OpenRTM.PORT_OK, data)
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- self.onSenderError()
- return (OpenRTM.PORT_ERROR, data)
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- # never come here
- return (OpenRTM.BUFFER_FULL, data)
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
- self.onBufferEmpty()
- self.onSenderEmpty()
- return (OpenRTM.BUFFER_EMPTY, data)
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- self.onSenderError()
- return (OpenRTM.PORT_ERROR, data)
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferReadTimeout()
- self.onSenderTimeout()
- return (OpenRTM.BUFFER_TIMEOUT, data)
-
- else:
- return (OpenRTM.UNKNOWN_ERROR, data)
-
-
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param buffer 当該プロバイダに割り当てるバッファオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param buffer Buffer object that is assigned to this provider
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortProvider.__init__(self)
+ self.setInterfaceType("corba_cdr")
+
+ # ConnectorProfile setting
+ self._objref = self._this()
+
+ self._buffer = None
+
+ # set outPort's reference
+ orb = OpenRTM_aist.Manager.instance().getORB()
+
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ref",
+ self._objref))
+
+ self._listeners = None
+ self._connector = None
+ self._profile = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = self._default_POA().servant_to_id(self)
+ self._default_POA().deactivate_object(oid)
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う。実装クラスでは、与えられた
+ # Propertiesから必要な情報を取得して各種設定を行う。この init() 関
+ # 数は、OutPortProvider生成直後および、接続時にそれぞれ呼ばれる可
+ # 能性がある。したがって、この関数は複数回呼ばれることを想定して記
+ # 述されるべきである。
+ #
+ # @param prop 設定情報
+ #
+ # @else
+ #
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure in initialization.
+ # In the concrete class, configuration should be performed
+ # getting appropriate information from the given Properties data.
+ # This function might be called right after instantiation and
+ # connection sequence respectivly. Therefore, this function
+ # should be implemented assuming multiple call.
+ #
+ # @param prop Configuration information
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+ ##
+ # @if jp
+ # @brief バッファをセットする
+ #
+ # OutPortProviderがデータを取り出すバッファをセットする。
+ # すでにセットされたバッファがある場合、以前のバッファへの
+ # ポインタに対して上書きされる。
+ # OutPortProviderはバッファの所有権を仮定していないので、
+ # バッファの削除はユーザの責任で行わなければならない。
+ #
+ # @param buffer OutPortProviderがデータを取り出すバッファへのポインタ
+ #
+ # @else
+ # @brief Setting outside buffer's pointer
+ #
+ # A pointer to a buffer from which OutPortProvider retrieve data.
+ # If already buffer is set, previous buffer's pointer will be
+ # overwritten by the given pointer to a buffer. Since
+ # OutPortProvider does not assume ownership of the buffer
+ # pointer, destructor of the buffer should be done by user.
+ #
+ # @param buffer A pointer to a data buffer to be used by OutPortProvider
+ #
+ # @endif
+ #
+ # virtual void setBuffer(BufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ ##
+ # @if jp
+ # @brief リスナを設定する。
+ #
+ # OutPort はデータ送信処理における各種イベントに対して特定のリスナ
+ # オブジェクトをコールするコールバック機構を提供する。詳細は
+ # ConnectorListener.h の ConnectorDataListener, ConnectorListener
+ # 等を参照のこと。OutPortCorbaCdrProvider では、以下のコールバック
+ # が提供される。
+ #
+ # - ON_BUFFER_READ
+ # - ON_SEND
+ # - ON_BUFFER_EMPTY
+ # - ON_BUFFER_READ_TIMEOUT
+ # - ON_SENDER_EMPTY
+ # - ON_SENDER_TIMEOUT
+ # - ON_SENDER_ERROR
+ #
+ # @param info 接続情報
+ # @param listeners リスナオブジェクト
+ #
+ # @else
+ # @brief Set the listener.
+ #
+ # OutPort provides callback functionality that calls specific
+ # listener objects according to the events in the data publishing
+ # process. For details, see documentation of
+ # ConnectorDataListener class and ConnectorListener class in
+ # ConnectorListener.h. In this OutPortCorbaCdrProvider provides
+ # the following callbacks.
+ #
+ # - ON_BUFFER_READ
+ # - ON_SEND
+ # - ON_BUFFER_EMPTY
+ # - ON_BUFFER_READ_TIMEOUT
+ # - ON_SENDER_EMPTY
+ # - ON_SENDER_TIMEOUT
+ # - ON_SENDER_ERROR
+ #
+ # @param info Connector information
+ # @param listeners Listener objects
+ #
+ # @endif
+ #
+ # virtual void setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners);
+
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ ##
+ # @if jp
+ # @brief Connectorを設定する。
+ #
+ # OutPort は接続確立時に OutPortConnector オブジェクトを生成し、生
+ # 成したオブジェクトのポインタと共にこの関数を呼び出す。所有権は
+ # OutPort が保持するので OutPortProvider は OutPortConnector を削
+ # 除してはいけない。
+ #
+ # @param connector OutPortConnector
+ #
+ # @else
+ # @brief set Connector
+ #
+ # OutPort creates OutPortConnector object when it establishes
+ # connection between OutPort and InPort, and it calls this
+ # function with a pointer to the connector object. Since the
+ # OutPort has the ownership of this connector, OutPortProvider
+ # should not delete it.
+ #
+ # @param connector OutPortConnector
+ #
+ # @endif
+ #
+ # virtual void setConnector(OutPortConnector* connector);
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+
+ ##
+ # @if jp
+ # @brief [CORBA interface] バッファからデータを取得する
+ #
+ # 設定された内部バッファからデータを取得する。
+ #
+ # @return 取得データ
+ #
+ # @else
+ # @brief [CORBA interface] Get data from the buffer
+ #
+ # Get data from the internal buffer.
+ #
+ # @return Data got from the buffer.
+ #
+ # @endif
+ #
+ # virtual ::OpenRTM::PortStatus get(::OpenRTM::CdrData_out data);
+
+ def get(self):
+ self._rtcout.RTC_PARANOID("OutPortCorbaCdrProvider.get()")
+ if not self._connector:
+ self.onSenderError()
+ return (OpenRTM.UNKNOWN_ERROR, "")
+
+ try:
+ ret, cdr = self._connector.read()
+
+ if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ if not cdr:
+ self._rtcout.RTC_ERROR("buffer is empty.")
+ return (OpenRTM.BUFFER_EMPTY, "")
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return (OpenRTM.UNKNOWN_ERROR, "")
+
+ return self.convertReturn(ret, cdr)
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_READ のリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_READ event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferRead(const cdrMemoryStream& data)
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_SEND のリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_SEND event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onSend(const cdrMemoryStream& data)
+ def onSend(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_EMPTYのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_BUFFER_EMPTY event to listeners
+ # @endif
+ #
+ # inline void onBufferEmpty()
+ def onBufferEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_READ_TIMEOUT のリスナへ通知する。
+ # @else
+ # @brief Notify an ON_BUFFER_READ_TIMEOUT event to listeners
+ # @endif
+ #
+ # inline void onBufferReadTimeout()
+ def onBufferReadTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_EMPTYのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_EMPTY event to listeners
+ # @endif
+ #
+ # inline void onSenderEmpty()
+ def onSenderEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_TIMEOUT のリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_TIMEOUT event to listeners
+ # @endif
+ #
+ # inline void onSenderTimeout()
+ def onSenderTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_ERRORのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_ERROR event to listeners
+ # @endif
+ #
+ # inline void onSenderError()
+ def onSenderError(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief リターンコード変換
+ # @else
+ # @brief Return codes conversion
+ # @endif
+ #
+ # ::OpenRTM::PortStatus convertReturn(BufferStatus::Enum status,
+ # const cdrMemoryStream& data);
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ data = self.onBufferRead(data)
+ data = self.onSend(data)
+ return (OpenRTM.PORT_OK, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onSenderError()
+ return (OpenRTM.PORT_ERROR, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ # never come here
+ return (OpenRTM.BUFFER_FULL, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ self.onBufferEmpty()
+ self.onSenderEmpty()
+ return (OpenRTM.BUFFER_EMPTY, data)
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onSenderError()
+ return (OpenRTM.PORT_ERROR, data)
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ self.onBufferReadTimeout()
+ self.onSenderTimeout()
+ return (OpenRTM.BUFFER_TIMEOUT, data)
+
+ else:
+ return (OpenRTM.UNKNOWN_ERROR, data)
def OutPortCorbaCdrProviderInit():
- factory = OpenRTM_aist.OutPortProviderFactory.instance()
- factory.addFactory("corba_cdr",
- OpenRTM_aist.OutPortCorbaCdrProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.OutPortProviderFactory.instance()
+ factory.addFactory("corba_cdr",
+ OpenRTM_aist.OutPortCorbaCdrProvider)
diff --git a/OpenRTM_aist/OutPortDSConsumer.py b/OpenRTM_aist/OutPortDSConsumer.py
index cb5b53a1..7c70ed82 100644
--- a/OpenRTM_aist/OutPortDSConsumer.py
+++ b/OpenRTM_aist/OutPortDSConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -16,7 +16,6 @@
# All rights reserved.
-
from omniORB import any
import OpenRTM_aist
import RTC
@@ -25,11 +24,11 @@
# @if jp
# @class OutPortDSConsumer
#
-# @brief OutPortDSConsumer 饹
+# @brief OutPortDSConsumer クラス
#
-# ̿ʤ CORBA Ѥϥݡȥ塼ޤμ饹
+# 通信手段に CORBA を利用した出力ポートコンシューマの実装クラス。
#
-# @param DataType ܥݡȤˤưǡ
+# @param DataType 本ポートにて扱うデータ型
#
# @since 1.2.0
#
@@ -38,7 +37,7 @@
#
# @brief OutPortDSConsumer class
#
-# This is an implementation class of the output Consumer
+# This is an implementation class of the output Consumer
# that uses CORBA for means of communication.
#
# @param DataType Data type for this port
@@ -47,389 +46,400 @@
#
# @endif
#
-class OutPortDSConsumer(OpenRTM_aist.OutPortConsumer,OpenRTM_aist.CorbaConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param buffer ܥݡȤ˳ƤХåե
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param buffer Buffer that is attached to this port
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.CorbaConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortDSConsumer")
- self._buffer = None
- self._profile = None
- self._listeners = None
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
- self._rtcout.RTC_PARANOID("~OutPortDSConsumer()")
- CorbaConsumer.__del__(self)
- pass
-
-
- ##
- # @if jp
- # @brief
- #
- # OutPortConsumerγƼԤ饹ǤϡͿ줿
- # PropertiesɬפʾƳƼԤ init()
- # ϡOutPortProviderľ太ӡ³ˤ줾ƤФ
- # ǽ롣äơδؿʣƤФ뤳ȤꤷƵ
- # Ҥ٤Ǥ롣
- #
- # @param prop
- #
- # @else
- #
- # @brief Initializing configuration
- #
- # This operation would be called to configure in initialization.
- # In the concrete class, configuration should be performed
- # getting appropriate information from the given Properties data.
- # This function might be called right after instantiation and
- # connection sequence respectivly. Therefore, this function
- # should be implemented assuming multiple call.
- #
- # @param prop Configuration information
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- return
-
-
- ##
- # @if jp
- # @brief ХåեåȤ
- #
- # OutPortConsumerǡФХåեåȤ롣
- # Ǥ˥åȤ줿Хåե硢ΥХåեؤ
- # ݥФƾ롣
- # OutPortProviderϥХåեνͭꤷƤʤΤǡ
- # Хåեκϥ桼ǤǹԤʤФʤʤ
- #
- # @param buffer OutPortProviderǡФХåեؤΥݥ
- #
- # @else
- # @brief Setting outside buffer's pointer
- #
- # A pointer to a buffer from which OutPortProvider retrieve data.
- # If already buffer is set, previous buffer's pointer will be
- # overwritten by the given pointer to a buffer. Since
- # OutPortProvider does not assume ownership of the buffer
- # pointer, destructor of the buffer should be done by user.
- #
- # @param buffer A pointer to a data buffer to be used by OutPortProvider
- #
- # @endif
- #
- # virtual void setBuffer(CdrBufferBase* buffer);
- def setBuffer(self, buffer):
- self._rtcout.RTC_TRACE("setBuffer()")
- self._buffer = buffer
- return
-
-
- # void OutPortDSConsumer::setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners)
- def setListener(self, info, listeners):
- self._rtcout.RTC_TRACE("setListener()")
- self._listeners = listeners
- self._profile = info
- return
-
-
- ##
- # @if jp
- # @brief ǡɤ߽Ф
- #
- # ꤵ줿ǡɤ߽Ф
- #
- # @param data ɤ߽Фǡ륪֥
- #
- # @return ǡɤ߽Ф(ɤ߽Ф:trueɤ߽Ф:false)
- #
- # @else
- # @brief Read data
- #
- # Read set data
- #
- # @param data Object to receive the read data
- #
- # @return Read result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual ReturnCode get(cdrMemoryStream& data);
- def get(self, data):
- self._rtcout.RTC_PARANOID("get()")
-
- try:
- ds = self.getObject()._narrow(RTC.DataPullService)
- ret,cdr_data = ds.pull()
-
- if ret == RTC.PORT_OK:
- self._rtcout.RTC_DEBUG("get() successful")
- data[0] = cdr_data
- self.onReceived(data[0])
- self.onBufferWrite(data[0])
-
- if self._buffer.full():
- self._rtcout.RTC_INFO("InPort buffer is full.")
- self.onBufferFull(data[0])
- self.onReceiverFull(data[0])
-
- self._buffer.put(data[0])
- self._buffer.advanceWptr()
- self._buffer.advanceRptr()
-
- return self.PORT_OK
- return self.convertReturn(ret,data[0])
-
- except:
- self._rtcout.RTC_WARN("Exception caught from OutPort.get().")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
-
- ##
- # @if jp
- # @brief ǡΤؤϿ
- #
- # ꤵ줿ץѥƥ˴ŤơǡΤμϿ롣
- #
- # @param properties Ͽ
- #
- # @return Ͽ(Ͽ:trueϿ:false)
- #
- # @else
- # @brief Subscribe the data receive notification
- #
- # Subscribe the data receive notification based on specified property
- # information
- #
- # @param properties Subscription information
- #
- # @return Subscription result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
- def subscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("subscribeInterface()")
- index = OpenRTM_aist.NVUtil.find_index(properties,"dataport.data_service.outport_ior")
-
- if index < 0:
- self._rtcout.RTC_DEBUG("dataport.data_service.outport_ior not found.")
- return False
-
- if OpenRTM_aist.NVUtil.isString(properties,"dataport.data_service.outport_ior"):
- self._rtcout.RTC_DEBUG("dataport.data_service.outport_ior found.")
- ior = ""
- #try:
- ior = any.from_any(properties[index].value, keep_structs=True)
- #except:
- # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- orb = OpenRTM_aist.Manager.instance().getORB()
- obj = orb.string_to_object(ior)
- ret = self.setObject(obj)
- if ret:
- self._rtcout.RTC_DEBUG("CorbaConsumer was set successfully.")
- else:
- self._rtcout.RTC_ERROR("Invalid object reference.")
-
- return ret
-
- return False
-
-
- ##
- # @if jp
- # @brief ǡΤϿ
- #
- # ǡΤμ꤫Ͽ롣
- #
- # @param properties Ͽ
- #
- # @else
- # @brief Unsubscribe the data receive notification
- #
- # Unsubscribe the data receive notification.
- #
- # @param properties Unsubscription information
- #
- # @endif
- #
- # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
- def unsubscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeInterface()")
- index = OpenRTM_aist.NVUtil.find_index(properties,
- "dataport.data_service.outport_ior")
- if index < 0:
- self._rtcout.RTC_DEBUG("dataport.data_service.outport_ior not found.")
- return
-
- ior = ""
-
- try:
- ior = any.from_any(properties[index].value, keep_structs=True)
-
- if ior:
- self._rtcout.RTC_DEBUG("dataport.data_service.outport_ior found.")
- orb = OpenRTM_aist.Manager.instance().getORB()
- obj = orb.string_to_object(ior)
- if self._ptr(True)._is_equivalent(obj):
- self.releaseObject()
- self._rtcout.RTC_DEBUG("CorbaConsumer's reference was released.")
- return
-
- self._rtcout.RTC_ERROR("hmm. Inconsistent object reference.")
-
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- return
-
-
- ##
- # @if jp
- # @brief Ѵ (DataPortStatus -> BufferStatus)
- # @else
- # @brief Return codes conversion
- # @endif
- #
- # ReturnCode convertReturn(::OpenRTM::PortStatus status,
- # const cdrMemoryStream& data)
- def convertReturn(self, status, data):
- if status == RTC.PORT_OK:
- # never comes here
- return self.PORT_OK
- elif status == RTC.PORT_ERROR:
- self.onSenderError()
- return self.PORT_ERROR
- elif status == RTC.BUFFER_FULL:
- # never comes here
- return self.BUFFER_FULL
+class OutPortDSConsumer(OpenRTM_aist.OutPortConsumer,
+ OpenRTM_aist.CorbaConsumer):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param buffer 本ポートに割り当てるバッファ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param buffer Buffer that is attached to this port
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.CorbaConsumer.__init__(self, RTC.DataPullService)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortDSConsumer")
+ self._buffer = None
+ self._profile = None
+ self._listeners = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~OutPortDSConsumer()")
+ CorbaConsumer.__del__(self)
+ pass
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # OutPortConsumerの各種設定を行う。実装クラスでは、与えられた
+ # Propertiesから必要な情報を取得して各種設定を行う。この init() 関
+ # 数は、OutPortProvider生成直後および、接続時にそれぞれ呼ばれる可
+ # 能性がある。したがって、この関数は複数回呼ばれることを想定して記
+ # 述されるべきである。
+ #
+ # @param prop 設定情報
+ #
+ # @else
+ #
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure in initialization.
+ # In the concrete class, configuration should be performed
+ # getting appropriate information from the given Properties data.
+ # This function might be called right after instantiation and
+ # connection sequence respectivly. Therefore, this function
+ # should be implemented assuming multiple call.
+ #
+ # @param prop Configuration information
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ return
+
+ ##
+ # @if jp
+ # @brief バッファをセットする
+ #
+ # OutPortConsumerがデータを取り出すバッファをセットする。
+ # すでにセットされたバッファがある場合、以前のバッファへの
+ # ポインタに対して上書きされる。
+ # OutPortProviderはバッファの所有権を仮定していないので、
+ # バッファの削除はユーザの責任で行わなければならない。
+ #
+ # @param buffer OutPortProviderがデータを取り出すバッファへのポインタ
+ #
+ # @else
+ # @brief Setting outside buffer's pointer
+ #
+ # A pointer to a buffer from which OutPortProvider retrieve data.
+ # If already buffer is set, previous buffer's pointer will be
+ # overwritten by the given pointer to a buffer. Since
+ # OutPortProvider does not assume ownership of the buffer
+ # pointer, destructor of the buffer should be done by user.
+ #
+ # @param buffer A pointer to a data buffer to be used by OutPortProvider
+ #
+ # @endif
+ #
+ # virtual void setBuffer(CdrBufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ self._rtcout.RTC_TRACE("setBuffer()")
+ self._buffer = buffer
+ return
+
+ # void OutPortDSConsumer::setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners)
+
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListener()")
+ self._listeners = listeners
+ self._profile = info
+ return
+
+ ##
+ # @if jp
+ # @brief データを読み出す
+ #
+ # 設定されたデータを読み出す。
+ #
+ # @param data 読み出したデータを受け取るオブジェクト
+ #
+ # @return データ読み出し処理結果(読み出し成功:true、読み出し失敗:false)
+ #
+ # @else
+ # @brief Read data
+ #
+ # Read set data
+ #
+ # @param data Object to receive the read data
+ #
+ # @return Read result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual ReturnCode get(cdrMemoryStream& data);
+
+ def get(self, data):
+ self._rtcout.RTC_PARANOID("get()")
+
+ try:
+ dataservice = self._ptr()
+ ret, cdr_data = dataservice.pull()
+
+ if ret == RTC.PORT_OK:
+ self._rtcout.RTC_DEBUG("get() successful")
+ data = cdr_data
+ data = self.onReceived(data)
+ data = self.onBufferWrite(data)
+
+ if self._buffer.full():
+ self._rtcout.RTC_INFO("InPort buffer is full.")
+ data = self.onBufferFull(data)
+ data = self.onReceiverFull(data)
+
+ self._buffer.put(data)
+ self._buffer.advanceWptr()
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK, data
+ return self.convertReturn(ret, data)
+
+ except BaseException:
+ self._rtcout.RTC_WARN("Exception caught from OutPort.get().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST, None
+
+ ##
+ # @if jp
+ # @brief データ受信通知への登録
+ #
+ # 指定されたプロパティに基づいて、データ受信通知の受け取りに登録する。
+ #
+ # @param properties 登録情報
+ #
+ # @return 登録処理結果(登録成功:true、登録失敗:false)
+ #
+ # @else
+ # @brief Subscribe the data receive notification
+ #
+ # Subscribe the data receive notification based on specified property
+ # information
+ #
+ # @param properties Subscription information
+ #
+ # @return Subscription result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
+
+ def subscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("subscribeInterface()")
+ index = OpenRTM_aist.NVUtil.find_index(
+ properties, "dataport.data_service.outport_ior")
+
+ if index < 0:
+ self._rtcout.RTC_DEBUG(
+ "dataport.data_service.outport_ior not found.")
+ return False
+
+ if OpenRTM_aist.NVUtil.isString(
+ properties, "dataport.data_service.outport_ior"):
+ self._rtcout.RTC_DEBUG("dataport.data_service.outport_ior found.")
+ ior = ""
+ # try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+ # except:
+ # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ obj = orb.string_to_object(ior)
+ ret = self.setObject(obj)
+ if ret:
+ self._rtcout.RTC_DEBUG("CorbaConsumer was set successfully.")
+ else:
+ self._rtcout.RTC_ERROR("Invalid object reference.")
+
+ return ret
+
+ return False
+
+ ##
+ # @if jp
+ # @brief データ受信通知からの登録解除
+ #
+ # データ受信通知の受け取りから登録を解除する。
+ #
+ # @param properties 登録解除情報
+ #
+ # @else
+ # @brief Unsubscribe the data receive notification
+ #
+ # Unsubscribe the data receive notification.
+ #
+ # @param properties Unsubscription information
+ #
+ # @endif
+ #
+ # virtual void unsubscribeInterface(const SDOPackage::NVList& properties);
+
+ def unsubscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeInterface()")
+ index = OpenRTM_aist.NVUtil.find_index(properties,
+ "dataport.data_service.outport_ior")
+ if index < 0:
+ self._rtcout.RTC_DEBUG(
+ "dataport.data_service.outport_ior not found.")
+ return
+
+ ior = ""
+
+ try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+
+ if ior:
+ self._rtcout.RTC_DEBUG(
+ "dataport.data_service.outport_ior found.")
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ obj = orb.string_to_object(ior)
+ if self._ptr(True)._is_equivalent(obj):
+ self.releaseObject()
+ self._rtcout.RTC_DEBUG(
+ "CorbaConsumer's reference was released.")
+ return
+
+ self._rtcout.RTC_ERROR("hmm. Inconsistent object reference.")
+
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ return
+
+ ##
+ # @if jp
+ # @brief リターンコード変換 (DataPortStatus -> BufferStatus)
+ # @else
+ # @brief Return codes conversion
+ # @endif
+ #
+ # ReturnCode convertReturn(::OpenRTM::PortStatus status,
+ # const cdrMemoryStream& data)
+
+ def convertReturn(self, status, data):
+ if status == RTC.PORT_OK:
+ # never comes here
+ return self.PORT_OK, data
+
+ elif status == RTC.PORT_ERROR:
+ self.onSenderError()
+ return self.PORT_ERROR, data
+
+ elif status == RTC.BUFFER_FULL:
+ # never comes here
+ return self.BUFFER_FULL, data
+
+ elif status == RTC.BUFFER_EMPTY:
+ self.onSenderEmpty()
+ return self.BUFFER_EMPTY, data
+
+ elif status == RTC.BUFFER_TIMEOUT:
+ self.onSenderTimeout()
+ return self.BUFFER_TIMEOUT, data
+
+ elif status == RTC.UNKNOWN_ERROR:
+ self.onSenderError()
+ return self.UNKNOWN_ERROR, data
+
+ else:
+ self.onSenderError()
+ return self.UNKNOWN_ERROR, data
+
+ ##
+ # @brief Connector data listener functions
+ #
+ # inline void onBufferWrite(const cdrMemoryStream& data)
- elif status == RTC.BUFFER_EMPTY:
- self.onSenderEmpty()
- return self.BUFFER_EMPTY
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+
+ return data
+
+ # inline void onBufferFull(const cdrMemoryStream& data)
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
- elif status == RTC.BUFFER_TIMEOUT:
- self.onSenderTimeout()
- return self.BUFFER_TIMEOUT
+ return data
- elif status == RTC.UNKNOWN_ERROR:
- self.onSenderError()
- return self.UNKNOWN_ERROR
+ # inline void onReceived(const cdrMemoryStream& data)
- else:
- self.onSenderError()
- return self.UNKNOWN_ERROR
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+ # inline void onReceiverFull(const cdrMemoryStream& data)
-
- ##
- # @brief Connector data listener functions
- #
- # inline void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
-
- return
-
-
- # inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
-
- return
-
-
- # inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
-
- return
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
- # inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
-
- return
+ ##
+ # @brief Connector listener functions
+ #
+ # inline void onSenderEmpty()
+ def onSenderEmpty(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
- ##
- # @brief Connector listener functions
- #
- # inline void onSenderEmpty()
- def onSenderEmpty(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
+ return
- return
+ # inline void onSenderTimeout()
+ def onSenderTimeout(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
- # inline void onSenderTimeout()
- def onSenderTimeout(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT].notify(self._profile)
+ return
- return
+ # inline void onSenderError()
-
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
+ def onSenderError(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
- return
+ return
def OutPortDSConsumerInit():
- factory = OpenRTM_aist.OutPortConsumerFactory.instance()
- factory.addFactory("data_service",
- OpenRTM_aist.OutPortDSConsumer,
- OpenRTM_aist.Delete)
- return
+ factory = OpenRTM_aist.OutPortConsumerFactory.instance()
+ factory.addFactory("data_service",
+ OpenRTM_aist.OutPortDSConsumer)
+ return
diff --git a/OpenRTM_aist/OutPortDSProvider.py b/OpenRTM_aist/OutPortDSProvider.py
index 75b665e7..1f25962a 100644
--- a/OpenRTM_aist/OutPortDSProvider.py
+++ b/OpenRTM_aist/OutPortDSProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortDSProvider.py
@@ -15,20 +15,19 @@
# All rights reserved.
-
-
import OpenRTM_aist
-import RTC__POA,RTC
+import RTC__POA
+import RTC
##
# @if jp
# @class OutPortDSProvider
-# @brief OutPortDSProvider 饹
+# @brief OutPortDSProvider クラス
#
-# OutPortProvider
+# OutPortProvider
#
-# ǡž CORBA OpenRTM::DataPullService եѤ
-# pull ǡե¸ OutPort ץХ饹
+# データ転送に CORBA の OpenRTM::DataPullService インターフェースを利用し
+# た、pull 型データフロー型を実現する OutPort プロバイダクラス。
#
# @since 1.2.0
#
@@ -44,409 +43,412 @@
#
# @endif
#
-class OutPortDSProvider(OpenRTM_aist.OutPortProvider,
- RTC__POA.DataPullService):
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param buffer ץХ˳ƤХåե֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param buffer Buffer object that is assigned to this provider
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.OutPortProvider.__init__(self)
- self.setInterfaceType("data_service")
-
- # ConnectorProfile setting
- self._objref = self._this()
-
- self._buffer = None
-
- # set outPort's reference
- orb = OpenRTM_aist.Manager.instance().getORB()
-
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.outport_ior",
- orb.object_to_string(self._objref)))
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.outport_ref",
- self._objref))
-
- self._listeners = None
- self._connector = None
- self._profile = None
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- return
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- oid = self._default_POA().servant_to_id(self)
- self._default_POA().deactivate_object(oid)
-
- ##
- # @if jp
- # @brief
- #
- # InPortConsumerγƼԤ饹ǤϡͿ줿
- # PropertiesɬפʾƳƼԤ init()
- # ϡOutPortProviderľ太ӡ³ˤ줾ƤФ
- # ǽ롣äơδؿʣƤФ뤳ȤꤷƵ
- # Ҥ٤Ǥ롣
- #
- # @param prop
- #
- # @else
- #
- # @brief Initializing configuration
- #
- # This operation would be called to configure in initialization.
- # In the concrete class, configuration should be performed
- # getting appropriate information from the given Properties data.
- # This function might be called right after instantiation and
- # connection sequence respectivly. Therefore, this function
- # should be implemented assuming multiple call.
- #
- # @param prop Configuration information
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- pass
-
-
- ##
- # @if jp
- # @brief ХåեåȤ
- #
- # OutPortProviderǡФХåեåȤ롣
- # Ǥ˥åȤ줿Хåե硢ΥХåեؤ
- # ݥФƾ롣
- # OutPortProviderϥХåեνͭꤷƤʤΤǡ
- # Хåեκϥ桼ǤǹԤʤФʤʤ
- #
- # @param buffer OutPortProviderǡФХåեؤΥݥ
- #
- # @else
- # @brief Setting outside buffer's pointer
- #
- # A pointer to a buffer from which OutPortProvider retrieve data.
- # If already buffer is set, previous buffer's pointer will be
- # overwritten by the given pointer to a buffer. Since
- # OutPortProvider does not assume ownership of the buffer
- # pointer, destructor of the buffer should be done by user.
- #
- # @param buffer A pointer to a data buffer to be used by OutPortProvider
- #
- # @endif
- #
- # virtual void setBuffer(BufferBase* buffer);
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
-
- ##
- # @if jp
- # @brief ꥹʤꤹ롣
- #
- # OutPort ϥǡˤƼ磻٥ȤФΥꥹ
- # ֥Ȥ뤹륳Хå롣ܺ٤
- # ConnectorListener.h ConnectorDataListener, ConnectorListener
- # ȤΤȡOutPortDSProvider ǤϡʲΥХå
- # 롣
- #
- # - ON_BUFFER_READ
- # - ON_SEND
- # - ON_BUFFER_EMPTY
- # - ON_BUFFER_READ_TIMEOUT
- # - ON_SENDER_EMPTY
- # - ON_SENDER_TIMEOUT
- # - ON_SENDER_ERROR
- #
- # @param info ³
- # @param listeners ꥹʥ֥
- #
- # @else
- # @brief Set the listener.
- #
- # OutPort provides callback functionality that calls specific
- # listener objects according to the events in the data publishing
- # process. For details, see documentation of
- # ConnectorDataListener class and ConnectorListener class in
- # ConnectorListener.h. In this OutPortDSProvider provides
- # the following callbacks.
- #
- # - ON_BUFFER_READ
- # - ON_SEND
- # - ON_BUFFER_EMPTY
- # - ON_BUFFER_READ_TIMEOUT
- # - ON_SENDER_EMPTY
- # - ON_SENDER_TIMEOUT
- # - ON_SENDER_ERROR
- #
- # @param info Connector information
- # @param listeners Listener objects
- #
- # @endif
- #
- # virtual void setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
-
- ##
- # @if jp
- # @brief Connectorꤹ롣
- #
- # OutPort ³Ω OutPortConnector ֥Ȥ
- # ֥ȤΥݥȶˤδؿƤӽФͭ
- # OutPort ݻΤ OutPortProvider OutPortConnector
- # ƤϤʤ
- #
- # @param connector OutPortConnector
- #
- # @else
- # @brief set Connector
- #
- # OutPort creates OutPortConnector object when it establishes
- # connection between OutPort and InPort, and it calls this
- # function with a pointer to the connector object. Since the
- # OutPort has the ownership of this connector, OutPortProvider
- # should not delete it.
- #
- # @param connector OutPortConnector
- #
- # @endif
- #
- # virtual void setConnector(OutPortConnector* connector);
- def setConnector(self, connector):
- self._connector = connector
- return
-
-
- def get(self):
- self._rtcout.RTC_PARANOID("OutPortDSProvider.get()")
- return (RTC.UNKNOWN_ERROR, "")
-
- ##
- # @if jp
- # @brief [CORBA interface] Хåեǡ
- #
- # ꤵ줿Хåեǡ롣
- #
- # @return ǡ
- #
- # @else
- # @brief [CORBA interface] Get data from the buffer
- #
- # Get data from the internal buffer.
- #
- # @return Data got from the buffer.
- #
- # @endif
- #
- # virtual ::OpenRTM::PortStatus pull(::RTC::CdrData_out data);
- def pull(self):
- self._rtcout.RTC_PARANOID("OutPortDSProvider.pull()")
- if not self._connector:
- self.onSenderError()
- return (RTC.UNKNOWN_ERROR, "")
-
- try:
-
- cdr = [None]
- ret = self._connector.read(cdr)
-
- if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
- if not cdr[0]:
- self._rtcout.RTC_ERROR("buffer is empty.")
- return (RTC.BUFFER_EMPTY, "")
-
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
- return (RTC.UNKNOWN_ERROR, "")
-
- return self.convertReturn(ret, cdr[0])
-
- ##
- # @if jp
- # @brief ON_BUFFER_READ ΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_READ event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferRead(const cdrMemoryStream& data)
- def onBufferRead(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_SEND ΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_SEND event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onSend(const cdrMemoryStream& data)
- def onSend(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_EMPTYΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_BUFFER_EMPTY event to listeners
- # @endif
- #
- # inline void onBufferEmpty()
- def onBufferEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_READ_TIMEOUT ΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_BUFFER_READ_TIMEOUT event to listeners
- # @endif
- #
- # inline void onBufferReadTimeout()
- def onBufferReadTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_EMPTYΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_EMPTY event to listeners
- # @endif
- #
- # inline void onSenderEmpty()
- def onSenderEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_TIMEOUT ΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_TIMEOUT event to listeners
- # @endif
- #
- # inline void onSenderTimeout()
- def onSenderTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_ERRORΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_ERROR event to listeners
- # @endif
- #
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
- return
-
-
- ##
- # @if jp
- # @brief Ѵ
- # @else
- # @brief Return codes conversion
- # @endif
- #
- # ::OpenRTM::PortStatus convertReturn(BufferStatus::Enum status,
- # const cdrMemoryStream& data);
- def convertReturn(self, status, data):
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- self.onBufferRead(data)
- self.onSend(data)
- return (RTC.PORT_OK, data)
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- self.onSenderError()
- return (RTC.PORT_ERROR, data)
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- # never come here
- return (RTC.BUFFER_FULL, data)
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
- self.onBufferEmpty()
- self.onSenderEmpty()
- return (RTC.BUFFER_EMPTY, data)
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- self.onSenderError()
- return (RTC.PORT_ERROR, data)
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferReadTimeout()
- self.onSenderTimeout()
- return (RTC.BUFFER_TIMEOUT, data)
-
- else:
- return (RTC.UNKNOWN_ERROR, data)
-
+class OutPortDSProvider(OpenRTM_aist.OutPortProvider,
+ RTC__POA.DataPullService):
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param buffer 当該プロバイダに割り当てるバッファオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param buffer Buffer object that is assigned to this provider
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortProvider.__init__(self)
+ self.setInterfaceType("data_service")
+
+ # ConnectorProfile setting
+ self._objref = self._this()
+
+ self._buffer = None
+
+ # set outPort's reference
+ orb = OpenRTM_aist.Manager.instance().getORB()
+
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.outport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.data_service.outport_ref",
+ self._objref))
+
+ self._listeners = None
+ self._connector = None
+ self._profile = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = self._default_POA().servant_to_id(self)
+ self._default_POA().deactivate_object(oid)
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う。実装クラスでは、与えられた
+ # Propertiesから必要な情報を取得して各種設定を行う。この init() 関
+ # 数は、OutPortProvider生成直後および、接続時にそれぞれ呼ばれる可
+ # 能性がある。したがって、この関数は複数回呼ばれることを想定して記
+ # 述されるべきである。
+ #
+ # @param prop 設定情報
+ #
+ # @else
+ #
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure in initialization.
+ # In the concrete class, configuration should be performed
+ # getting appropriate information from the given Properties data.
+ # This function might be called right after instantiation and
+ # connection sequence respectivly. Therefore, this function
+ # should be implemented assuming multiple call.
+ #
+ # @param prop Configuration information
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+ ##
+ # @if jp
+ # @brief バッファをセットする
+ #
+ # OutPortProviderがデータを取り出すバッファをセットする。
+ # すでにセットされたバッファがある場合、以前のバッファへの
+ # ポインタに対して上書きされる。
+ # OutPortProviderはバッファの所有権を仮定していないので、
+ # バッファの削除はユーザの責任で行わなければならない。
+ #
+ # @param buffer OutPortProviderがデータを取り出すバッファへのポインタ
+ #
+ # @else
+ # @brief Setting outside buffer's pointer
+ #
+ # A pointer to a buffer from which OutPortProvider retrieve data.
+ # If already buffer is set, previous buffer's pointer will be
+ # overwritten by the given pointer to a buffer. Since
+ # OutPortProvider does not assume ownership of the buffer
+ # pointer, destructor of the buffer should be done by user.
+ #
+ # @param buffer A pointer to a data buffer to be used by OutPortProvider
+ #
+ # @endif
+ #
+ # virtual void setBuffer(BufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ ##
+ # @if jp
+ # @brief リスナを設定する。
+ #
+ # OutPort はデータ送信処理における各種イベントに対して特定のリスナ
+ # オブジェクトをコールするコールバック機構を提供する。詳細は
+ # ConnectorListener.h の ConnectorDataListener, ConnectorListener
+ # 等を参照のこと。OutPortDSProvider では、以下のコールバック
+ # が提供される。
+ #
+ # - ON_BUFFER_READ
+ # - ON_SEND
+ # - ON_BUFFER_EMPTY
+ # - ON_BUFFER_READ_TIMEOUT
+ # - ON_SENDER_EMPTY
+ # - ON_SENDER_TIMEOUT
+ # - ON_SENDER_ERROR
+ #
+ # @param info 接続情報
+ # @param listeners リスナオブジェクト
+ #
+ # @else
+ # @brief Set the listener.
+ #
+ # OutPort provides callback functionality that calls specific
+ # listener objects according to the events in the data publishing
+ # process. For details, see documentation of
+ # ConnectorDataListener class and ConnectorListener class in
+ # ConnectorListener.h. In this OutPortDSProvider provides
+ # the following callbacks.
+ #
+ # - ON_BUFFER_READ
+ # - ON_SEND
+ # - ON_BUFFER_EMPTY
+ # - ON_BUFFER_READ_TIMEOUT
+ # - ON_SENDER_EMPTY
+ # - ON_SENDER_TIMEOUT
+ # - ON_SENDER_ERROR
+ #
+ # @param info Connector information
+ # @param listeners Listener objects
+ #
+ # @endif
+ #
+ # virtual void setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners);
+
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ ##
+ # @if jp
+ # @brief Connectorを設定する。
+ #
+ # OutPort は接続確立時に OutPortConnector オブジェクトを生成し、生
+ # 成したオブジェクトのポインタと共にこの関数を呼び出す。所有権は
+ # OutPort が保持するので OutPortProvider は OutPortConnector を削
+ # 除してはいけない。
+ #
+ # @param connector OutPortConnector
+ #
+ # @else
+ # @brief set Connector
+ #
+ # OutPort creates OutPortConnector object when it establishes
+ # connection between OutPort and InPort, and it calls this
+ # function with a pointer to the connector object. Since the
+ # OutPort has the ownership of this connector, OutPortProvider
+ # should not delete it.
+ #
+ # @param connector OutPortConnector
+ #
+ # @endif
+ #
+ # virtual void setConnector(OutPortConnector* connector);
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+
+ def get(self):
+ self._rtcout.RTC_PARANOID("OutPortDSProvider.get()")
+ return (RTC.UNKNOWN_ERROR, "")
+
+ ##
+ # @if jp
+ # @brief [CORBA interface] バッファからデータを取得する
+ #
+ # 設定された内部バッファからデータを取得する。
+ #
+ # @return 取得データ
+ #
+ # @else
+ # @brief [CORBA interface] Get data from the buffer
+ #
+ # Get data from the internal buffer.
+ #
+ # @return Data got from the buffer.
+ #
+ # @endif
+ #
+ # virtual ::OpenRTM::PortStatus pull(::RTC::CdrData_out data);
+ def pull(self):
+ self._rtcout.RTC_PARANOID("OutPortDSProvider.pull()")
+ if not self._connector:
+ self.onSenderError()
+ return (RTC.UNKNOWN_ERROR, "")
+
+ try:
+ ret, cdr = self._connector.read()
+
+ if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ if not cdr:
+ self._rtcout.RTC_ERROR("buffer is empty.")
+ return (RTC.BUFFER_EMPTY, "")
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return (RTC.UNKNOWN_ERROR, "")
+
+ return self.convertReturn(ret, cdr)
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_READ のリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_READ event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferRead(const cdrMemoryStream& data)
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_SEND のリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_SEND event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onSend(const cdrMemoryStream& data)
+ def onSend(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_EMPTYのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_BUFFER_EMPTY event to listeners
+ # @endif
+ #
+ # inline void onBufferEmpty()
+ def onBufferEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_READ_TIMEOUT のリスナへ通知する。
+ # @else
+ # @brief Notify an ON_BUFFER_READ_TIMEOUT event to listeners
+ # @endif
+ #
+ # inline void onBufferReadTimeout()
+ def onBufferReadTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_EMPTYのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_EMPTY event to listeners
+ # @endif
+ #
+ # inline void onSenderEmpty()
+ def onSenderEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_TIMEOUT のリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_TIMEOUT event to listeners
+ # @endif
+ #
+ # inline void onSenderTimeout()
+ def onSenderTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_ERRORのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_ERROR event to listeners
+ # @endif
+ #
+ # inline void onSenderError()
+ def onSenderError(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief リターンコード変換
+ # @else
+ # @brief Return codes conversion
+ # @endif
+ #
+ # ::OpenRTM::PortStatus convertReturn(BufferStatus::Enum status,
+ # const cdrMemoryStream& data);
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ data = self.onBufferRead(data)
+ data = self.onSend(data)
+ return (RTC.PORT_OK, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onSenderError()
+ return (RTC.PORT_ERROR, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ # never come here
+ return (RTC.BUFFER_FULL, data)
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ self.onBufferEmpty()
+ self.onSenderEmpty()
+ return (RTC.BUFFER_EMPTY, data)
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onSenderError()
+ return (RTC.PORT_ERROR, data)
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ self.onBufferReadTimeout()
+ self.onSenderTimeout()
+ return (RTC.BUFFER_TIMEOUT, data)
+
+ else:
+ return (RTC.UNKNOWN_ERROR, data)
+
def OutPortDSProviderInit():
- factory = OpenRTM_aist.OutPortProviderFactory.instance()
- factory.addFactory("data_service",
- OpenRTM_aist.OutPortDSProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.OutPortProviderFactory.instance()
+ factory.addFactory("data_service",
+ OpenRTM_aist.OutPortDSProvider)
diff --git a/OpenRTM_aist/OutPortDirectConsumer.py b/OpenRTM_aist/OutPortDirectConsumer.py
index 1a06dbab..bf5183db 100644
--- a/OpenRTM_aist/OutPortDirectConsumer.py
+++ b/OpenRTM_aist/OutPortDirectConsumer.py
@@ -1,14 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortDirectConsumer.py
# @brief OutPortDirectConsumer class
# @date $Date: 2016/01/08 $
# @author Nobuhiko Miyamoto
-#
-
-
+#
import OpenRTM_aist
@@ -19,9 +17,9 @@
#
# @class InPortDirectConsumer
#
-# @brief InPortDirectConsumer 饹
+# @brief InPortDirectConsumer クラス
#
-# ǡ쥯Ȥ˽pull̿¸OutPortޡ饹
+# データをダイレクトに書き込むpull型通信を実現するOutPortコンシュマークラス
#
# @else
# @class InPortDirectConsumer
@@ -33,235 +31,233 @@
# @endif
#
class OutPortDirectConsumer(OpenRTM_aist.OutPortConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param self
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.OutPortConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortDirectConsumer")
- self._listeners = None
- self._profile = None
- self._properties = None
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @param self
- #
- # @endif
- #
- def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
- self._rtcout.RTC_PARANOID("~OutPortDirectConsumer()")
-
- pass
-
-
- ##
- # @if jp
- # @brief
- #
- # InPortConsumerγƼԤ
- #
- # @self
- #
- #
- # @else
- # @brief Initializing configuration
- #
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- self._properties = prop
- return
-
- ##
- # @if jp
- # @brief
- #
- # @param self
- # @param data
- # @return
- #
- # @else
- # @brief
- #
- # @param self
- # @param data
- # @return
- #
- # @endif
- #
- # virtual ReturnCode put(const cdrMemoryStream& data);
- def get(self, data):
- self._rtcout.RTC_PARANOID("get()")
- return self.UNKNOWN_ERROR
-
-
- # virtual void setBuffer(CdrBufferBase* buffer);
- def setBuffer(self, buffer):
- self._rtcout.RTC_TRACE("setBuffer()")
- return
-
-
- # void OutPortCorbaCdrConsumer::setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners)
- def setListener(self, info, listeners):
- self._rtcout.RTC_TRACE("setListener()")
- self._listeners = listeners
- self._profile = info
- return
-
-
-
-
-
- ##
- # @if jp
- # @brief InterfaceProfile
- #
- #
- # @param self
- # @param properties InterfaceProfileץѥƥ
- #
- # @else
- # @brief Publish InterfaceProfile information
- #
- #
- # @param self
- # @param properties Properties to get InterfaceProfile information
- #
- # @endif
- #
- # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
- def subscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("subscribeInterface()")
-
-
- return True
-
-
- ##
- # @if jp
- # @brief ǡΤؤϿ
- #
- # @param self
- # @param properties Ͽ
- #
- # @return Ͽ(Ͽ:trueϿ:false)
- #
- # @else
- # @brief Subscribe to the data sending notification
- #
- # @param self
- # @param properties Information for subscription
- #
- # @return Subscription result (Successful:true, Failed:false)
- #
- # @endif
- #
- # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
- def unsubscribeInterface(self, properties):
- self._rtcout.RTC_TRACE("unsubscribeInterface()")
- return
-
-
-
-
-
-
- # inline void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
-
- return
-
-
- # inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortConsumer.__init__(self)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortDirectConsumer")
+ self._listeners = None
+ self._profile = None
+ self._properties = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~OutPortDirectConsumer()")
+
+ pass
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う
+ #
+ # @self
+ #
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self._properties = prop
+ return
+
+ ##
+ # @if jp
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @endif
+ #
+ # virtual ReturnCode put(const cdrMemoryStream& data);
+ def get(self, data):
+ self._rtcout.RTC_PARANOID("get()")
+ return self.UNKNOWN_ERROR
+
+ # virtual void setBuffer(CdrBufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ self._rtcout.RTC_TRACE("setBuffer()")
+ return
+
+ # void OutPortCorbaCdrConsumer::setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners)
+
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListener()")
+ self._listeners = listeners
+ self._profile = info
+ return
+
+ ##
+ # @if jp
+ # @brief InterfaceProfile情報を公開する
+ #
+ #
+ # @param self
+ # @param properties InterfaceProfile情報を受け取るプロパティ
+ #
+ # @else
+ # @brief Publish InterfaceProfile information
+ #
+ #
+ # @param self
+ # @param properties Properties to get InterfaceProfile information
+ #
+ # @endif
+ #
+ # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
+
+ def subscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("subscribeInterface()")
+
+ return True
+
+ ##
+ # @if jp
+ # @brief データ送信通知への登録
+ #
+ # @param self
+ # @param properties 登録情報
+ #
+ # @return 登録処理結果(登録成功:true、登録失敗:false)
+ #
+ # @else
+ # @brief Subscribe to the data sending notification
+ #
+ # @param self
+ # @param properties Information for subscription
+ #
+ # @return Subscription result (Successful:true, Failed:false)
+ #
+ # @endif
+ #
+ # virtual bool subscribeInterface(const SDOPackage::NVList& properties);
+
+ def unsubscribeInterface(self, properties):
+ self._rtcout.RTC_TRACE("unsubscribeInterface()")
+ return
+
+ # inline void onBufferWrite(const cdrMemoryStream& data)
+
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+
+ return data
+
+ # inline void onBufferFull(const cdrMemoryStream& data)
+
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+
+ return data
+
+ # inline void onReceived(const cdrMemoryStream& data)
+
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+
+ return data
+
+ # inline void onReceiverFull(const cdrMemoryStream& data)
+
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+
+ return data
+
+ ##
+ # @brief Connector listener functions
+ #
+ # inline void onSenderEmpty()
+
+ def onSenderEmpty(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+
+ return
+
+ # inline void onSenderTimeout()
+
+ def onSenderTimeout(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
+
+ return
- return
-
-
- # inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
-
- return
+ # inline void onSenderError()
+ def onSenderError(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
- # inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
-
- return
-
-
- ##
- # @brief Connector listener functions
- #
- # inline void onSenderEmpty()
- def onSenderEmpty(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
-
- return
-
-
- # inline void onSenderTimeout()
- def onSenderTimeout(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT].notify(self._profile)
-
- return
-
-
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
-
- return
+ return
def OutPortDirectConsumerInit():
- factory = OpenRTM_aist.OutPortConsumerFactory.instance()
- factory.addFactory("direct",
- OpenRTM_aist.OutPortDirectConsumer,
- OpenRTM_aist.Delete)
- return
+ factory = OpenRTM_aist.OutPortConsumerFactory.instance()
+ factory.addFactory("direct",
+ OpenRTM_aist.OutPortDirectConsumer)
+ return
diff --git a/OpenRTM_aist/OutPortDirectProvider.py b/OpenRTM_aist/OutPortDirectProvider.py
index 00cea8e0..afa56015 100644
--- a/OpenRTM_aist/OutPortDirectProvider.py
+++ b/OpenRTM_aist/OutPortDirectProvider.py
@@ -1,14 +1,12 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortDirectProvider.py
# @brief OutPortDirectProvider class
# @date $Date: 2016/01/08 $
# @author Nobuhiko Miyamoto
-#
-
-
+#
import OpenRTM_aist
@@ -17,9 +15,9 @@
##
# @if jp
# @class OutPortDirectProvider
-# @brief OutPortDirectProvider 饹
+# @brief OutPortDirectProvider クラス
#
-# ǡ쥯Ȥ˽pull̿¸OutPortץХ饹
+# データをダイレクトに書き込むpull型通信を実現するOutPortプロバイダクラス
#
# @param self
#
@@ -33,154 +31,148 @@
# @endif
#
class OutPortDirectProvider(OpenRTM_aist.OutPortProvider):
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- # @brief Constructor
- #
- # @param self
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.OutPortProvider.__init__(self)
- self.setInterfaceType("direct")
-
-
-
- self._listeners = None
- self._buffer = None
- self._profile = None
- #self._connector = None
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @param self
- #
- # @endif
- #
- def __del__(self):
-
- return
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- pass
-
- # void init(coil::Properties& prop);
- def init(self, prop):
- pass
-
-
-
- # virtual void setBuffer(BufferBase* buffer);
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
-
-
- # virtual void setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
-
-
- # virtual void setConnector(OutPortConnector* connector);
- def setConnector(self, connector):
- self._connector = connector
- return
-
-
-
-
-
- # inline void onBufferRead(const cdrMemoryStream& data)
- def onBufferRead(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- return
-
-
- # inline void onSend(const cdrMemoryStream& data)
- def onSend(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- return
-
-
- # inline void onBufferEmpty()
- def onBufferEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
- return
-
-
- # inline void onBufferReadTimeout()
- def onBufferReadTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile)
- return
-
-
- # inline void onSenderEmpty()
- def onSenderEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
- return
-
-
- # inline void onSenderTimeout()
- def onSenderTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT].notify(self._profile)
- return
-
-
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
- return
-
-
-
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortProvider.__init__(self)
+ self.setInterfaceType("direct")
+
+ self._listeners = None
+ self._buffer = None
+ self._profile = None
+ #self._connector = None
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @param self
+ #
+ # @endif
+ #
+ def __del__(self):
+
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ pass
+
+ # void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+ # virtual void setBuffer(BufferBase* buffer);
+
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ # virtual void setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners);
+
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ # virtual void setConnector(OutPortConnector* connector);
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+
+ # inline void onBufferRead(const cdrMemoryStream& data)
+
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ # inline void onSend(const cdrMemoryStream& data)
+
+ def onSend(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ # inline void onBufferEmpty()
+
+ def onBufferEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ # inline void onBufferReadTimeout()
+
+ def onBufferReadTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT, self._profile)
+ return
+
+ # inline void onSenderEmpty()
+
+ def onSenderEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+ return
+
+ # inline void onSenderTimeout()
+
+ def onSenderTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
+ return
+
+ # inline void onSenderError()
+
+ def onSenderError(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
+ return
def OutPortDirectProviderInit():
- factory = OpenRTM_aist.OutPortProviderFactory.instance()
- factory.addFactory("direct",
- OpenRTM_aist.OutPortDirectProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.OutPortProviderFactory.instance()
+ factory.addFactory("direct",
+ OpenRTM_aist.OutPortDirectProvider)
diff --git a/OpenRTM_aist/OutPortDuplexConnector.py b/OpenRTM_aist/OutPortDuplexConnector.py
new file mode 100644
index 00000000..b93faf88
--- /dev/null
+++ b/OpenRTM_aist/OutPortDuplexConnector.py
@@ -0,0 +1,533 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+
+##
+# @file OutPortDuplexConnector.py
+# @brief Bidirectional type connector class
+# @date $Date$
+# @author Nobuhiko Miyamoto
+#
+# Copyright (C) 2019
+# Noriaki Ando
+# Robot Innovation Research Center,
+# National Institute of
+# Advanced Industrial Science and Technology (AIST), Japan
+# All rights reserved.
+#
+
+import OpenRTM_aist
+import threading
+
+
+##
+# @if jp
+# @class OutPortPullConnector
+# @brief OutPortPullConnector クラス
+#
+#
+# @since 2.0.0
+#
+# @else
+# @class OutPortPullConnector
+# @brief OutPortPullConnector class
+#
+#
+# @since 2.0.0
+#
+# @endif
+#
+class OutPortDuplexConnector(OpenRTM_aist.OutPortConnector):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # @param info ConnectorInfo
+ # @param provider OutPortProvider
+ # @param listeners ConnectorListeners 型のリスナオブジェクトリスト
+ # @param buffer CdrBufferBase 型のバッファ
+ #
+ # @else
+ # @brief Constructor
+ #
+ #
+ # @param info ConnectorInfo
+ # @param provider OutPortProvider
+ # @param listeners ConnectorListeners type lsitener object list
+ # @param buffer CdrBufferBase type buffer
+ #
+ # @endif
+ #
+ # OutPortPullConnector(ConnectorInfo info,
+ # OutPortProvider* provider,
+ # ConnectorListeners& listeners,
+ # CdrBufferBase* buffer = 0);
+ def __init__(self, info, provider, listeners, buffer=None):
+ OpenRTM_aist.OutPortConnector.__init__(self, info)
+ self._provider = provider
+ self._listeners = listeners
+
+ if not self._provider:
+ self._rtcout.RTC_ERROR(
+ "Exeption: in OutPortPullConnector.__init__().")
+ raise
+
+ self._buffer = buffer
+ self._info = info
+ self._provider.init(info.properties)
+ self._provider.setConnector(self)
+ self._provider.setListener(info, self._listeners)
+
+ self._consumer = None
+ self._isReadableCallback = None
+ self._readCallback = None
+
+ self._marshaling_type = info.properties.getProperty(
+ "marshaling_type", "cdr")
+ self._marshaling_type = self._marshaling_type.strip()
+
+ self._serializer = None
+
+ self.onConnect()
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # disconnect() が呼ばれ、provider, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # This operation calls disconnect(), which destructs and deletes
+ # the consumer, the publisher and the buffer.
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief データの書き込み
+ #
+ # 設定したConsumerオブジェクトによりInPort側にデータを送信する
+ # 戻り値は設定したConsumerオブジェクトに依存する
+ #
+ # @param self
+ # @param data 書き込むデータ
+ # @return リターンコード
+ #
+ # @else
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @endif
+ #
+ # virtual ReturnCode write(const cdrMemoryStream& data);
+
+ def write(self, data):
+ self._rtcout.RTC_TRACE("write()")
+
+ if self._consumer:
+ ret, cdr_data = self.serializeData(data)
+ if ret == self.PORT_OK:
+ return self._consumer.put(cdr_data)
+ else:
+ return ret
+ else:
+ return self.PORT_ERROR
+
+ ##
+ # @if jp
+ # @brief データ書き込み可能かOutPort側に確認
+ #
+ # 設定したConsumerオブジェクトによりInPort側にデー化書き込み可能かを確認する
+ # 戻り値は設定したConsumerオブジェクトに依存する
+ #
+ # @param self
+ # @param retry True：再検索、False：通常の書き込み確認
+ # @return True：書き込み可能、False：書き込み不可
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param retry
+ # @return
+ #
+ # @endif
+ #
+ def isWritable(self, retry=False):
+ if self._consumer:
+ return self._consumer.isWritable(retry)
+ return False
+
+ ##
+ # @if jp
+ # @brief データ読み込み
+ # InPort側からリモートに呼び出す
+ # 内部でデータ読み込み時のリスナが呼び出される
+ # 戻り値はリスナに依存する
+ #
+ # @param self
+ # @param data 読み込んだデータを格納する変数
+ # @return リターンコード
+ # BUFFER_OK：正常完了
+ # PRECONDITION_NOT_MET：エラー
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @return
+ #
+ # @endif
+ #
+ def read(self, data=None):
+ if self._readCallback:
+ ret, data = self._readCallback()
+ return ret, data
+ return OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET, data
+
+ ##
+ # @if jp
+ # @brief データ読み込み可能かを確認
+ # InPort側からリモートに呼び出す
+ # 内部でデータ読み込み確認時のリスナが呼び出される
+ # 戻り値はリスナに依存する
+ #
+ # @param self
+ # @param retry True：再検索、False：通常の読み込み確認
+ # @return True：読み込み可能、False：読み込み不可
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param retry
+ # @return
+ #
+ # @endif
+ #
+ def isReadable(self, retry=False):
+ if self._isReadableCallback:
+ return self._isReadableCallback(self, retry)
+ return False
+
+ ##
+ # @if jp
+ # @brief データ読み込み時のリスナを登録
+ #
+ # @param self
+ # @param listener リスナ
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+
+ def setReadListener(self, listener):
+ self._readCallback = listener
+
+ ##
+ # @if jp
+ # @brief データ読み込み確認時のリスナを登録
+ #
+ # @param self
+ # @param listener リスナ
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ #
+ def setIsReadableListener(self, listener):
+ self._isReadableCallback = listener
+
+ ##
+ # @if jp
+ # @brief 接続解除
+ #
+ # consumer, publisher, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief disconnect
+ #
+ # This operation destruct and delete the consumer, the publisher
+ # and the buffer.
+ #
+ # @endif
+ #
+ # virtual ReturnCode disconnect();
+ def disconnect(self):
+ self._rtcout.RTC_TRACE("disconnect()")
+ self.onDisconnect()
+ # delete provider
+ if self._provider:
+ self._provider.exit()
+ self._provider = None
+
+ if self._serializer:
+ self._rtcout.RTC_DEBUG("delete serializer")
+ self._serializer = None
+
+ if self._consumer:
+ self._rtcout.RTC_DEBUG("delete consumer")
+ cfactory = OpenRTM_aist.InPortConsumerFactory.instance()
+
+ self._consumer = None
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief Buffer を取得する
+ #
+ # Connector が保持している Buffer を返す
+ #
+ # @else
+ # @brief Getting Buffer
+ #
+ # This operation returns this connector's buffer
+ #
+ # @endif
+ #
+ # virtual CdrBufferBase* getBuffer();
+
+ def getBuffer(self):
+ return self._buffer
+
+ ##
+ # @if jp
+ # @brief アクティブ化
+ #
+ # このコネクタをアクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector activation
+ #
+ # This operation activates this connector
+ #
+ # @endif
+ #
+ # virtual void activate(){}; // do nothing
+
+ def activate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化
+ #
+ # このコネクタを非アクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector deactivation
+ #
+ # This operation deactivates this connector
+ #
+ # @endif
+ #
+ # virtual void deactivate(){}; // do nothing
+
+ def deactivate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief Bufferの生成
+ # @else
+ # @brief create buffer
+ # @endif
+ #
+ # CdrBufferBase* createBuffer(ConnectorInfo& info);
+
+ def createBuffer(self, info):
+ buf_type = info.properties.getProperty("buffer_type", "ring_buffer")
+ return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
+
+ ##
+ # @if jp
+ # @brief 接続確立時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is established
+ # @endif
+ # void onConnect()
+
+ def onConnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(OpenRTM_aist.ConnectorListenerType.ON_CONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief 接続切断時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is destroied
+ # @endif
+ # void onDisconnect()
+
+ def onDisconnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief コンシューマの設定
+ # @else
+ # @brief set Consumer
+ # @endif
+ def setConsumer(self, consumer):
+ self._consumer = consumer
+ self._consumer.setListener(self._info, self._listeners)
+
+ ##
+ # @if jp
+ # @brief データの符号化
+ # @param self
+ # @param cdr 符号化前のデータ
+ # @return ret, data
+ # ret：リターンコード
+ # PORT_OK：正常完了
+ # PRECONDITION_NOT_MET：サポートされていないエンディアン
+ # SERIALIZE_ERROR：符号化処理でエラー
+ # PRECONDITION_NOT_MET：その他のエラー
+ # data：符号化後のデータ
+ # @else
+ # @brief
+ # @param self
+ # @param cdr
+ # @return
+ # @endif
+
+ def serializeData(self, data):
+ if self._serializer is None:
+ self._rtcout.RTC_ERROR("serializer creation failure.")
+ return self.UNKNOWN_ERROR, cdr_data
+ self._serializer.isLittleEndian(self._endian)
+ ser_ret, cdr_data = self._serializer.serialize(data)
+ if ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOT_SUPPORT_ENDIAN:
+ self._rtcout.RTC_ERROR(
+ "write(): endian %s is not support.", self._endian)
+ return self.UNKNOWN_ERROR, cdr_data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_ERROR:
+ self._rtcout.RTC_ERROR("unkown error.")
+ return self.UNKNOWN_ERROR, cdr_data
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOTFOUND:
+ self._rtcout.RTC_ERROR(
+ "write(): serializer %s is not support.", self._marshaling_type)
+ return self.UNKNOWN_ERROR, cdr_data
+ return self.PORT_OK, cdr_data
+
+ ##
+ # @if jp
+ # @brief コンシューマのインターフェースの登録を取り消す
+ # @param prop コネクタプロファイルのプロパティ
+ # @else
+ # @brief
+ # @param prop
+ # @endif
+ def unsubscribeInterface(self, prop):
+ if self._consumer:
+ self._consumer.unsubscribeInterface(prop)
+
+
+ def setDataType(self, data):
+ OpenRTM_aist.OutPortConnector.setDataType(self, data)
+ self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
+
+
+##
+# @if jp
+# @class ReadListenerBase
+# @brief ReadListenerBase クラス
+#
+# 読み込み時リスナのベースクラス
+#
+# @since 2.0.0
+#
+# @else
+# @class ReadListenerBase
+# @brief ReadListenerBase class
+#
+#
+# @since 2.0.0
+#
+# @endif
+#
+class ReadListenerBase(object):
+ ##
+ # @if jp
+ # @brief 仮想コールバック関数
+ # @param self
+ # @return 読み込んだデータ
+ # @else
+ # @brief
+ # @param self
+ # @return 読み込んだデータ
+ # @endif
+ def __call__(self):
+ return (OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET, None)
+
+##
+# @if jp
+# @class IsReadableListenerBase
+# @brief IsReadableListenerBase クラス
+#
+# 読み込み確認時リスナのベースクラス
+#
+# @since 2.0.0
+#
+# @else
+# @class IsReadableListenerBase
+# @brief IsReadableListenerBase class
+#
+#
+# @since 2.0.0
+#
+# @endif
+#
+
+
+class IsReadableListenerBase(object):
+ ##
+ # @if jp
+ # @brief 仮想コールバック関数
+ # @param self
+ # @param con OutPortConnector
+ # @return True：読み込み可、False：読み込み不可
+ # @else
+ # @brief
+ # @param self
+ # @param con
+ # @return
+ # @endif
+ def __call__(self, con):
+ return False
diff --git a/OpenRTM_aist/OutPortProvider.py b/OpenRTM_aist/OutPortProvider.py
index 6cf08884..a52e0823 100644
--- a/OpenRTM_aist/OutPortProvider.py
+++ b/OpenRTM_aist/OutPortProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortProvider.py
@@ -16,7 +16,6 @@
# All rights reserved.
-
import OpenRTM_aist
##
@@ -25,221 +24,221 @@
# @class OutPortProvider
# @brief OutPortProvider
#
-# - Port ФƲƤ뤫롣
-# PortProfile properties Provider ˴ؤɲä롣
+# - Port に対して何を提供しているかを宣言する。
+# PortProfile の properties に Provider に関する情報を追加する。
#
-# () OutPort Provide
+# (例) OutPort を Provide する場合
#
-# OutPortCorbaProvider ʲ
+# OutPortCorbaProvider が以下を宣言
# - dataport.interface_type = CORBA_Any
# - dataport.dataflow_type = Push, Pull
# - dataport.subscription_type = Once, New, Periodic
-#
+#
# @since 0.4.0
#
# @else
#
#
# @endif
-class OutPortProvider(OpenRTM_aist.DataPortStatus):
- """
- """
-
-
-
- ##
- # @if jp
- # @brief եץե뤿Υե
- # @else
- # @brief Functor to publish interface profile
- # @endif
- #
- class publishInterfaceProfileFunc:
- def __init__(self, prop):
- self._prop = prop
-
- def __call__(self, provider):
- provider.publishInterfaceProfile(self._prop)
-
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- #
- # @else
- # @brief Constructor
- # @endif
- def __init__(self):
- self._properties = []
- self._portType = ""
- self._dataType = ""
- self._interfaceType = ""
- self._dataflowType = ""
- self._subscriptionType = ""
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortProvider")
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- pass
-
- ##
- # @if jp
- # @brief InterfaceProfile
- #
- # InterfaceProfile롣
- # ǻꤹץѥƥ NameValue ֥Ȥ
- # dataport.interface_type ͤĴ١ݡȤꤵƤ
- # եפȰפΤ߾롣
- #
- # @param self
- # @param prop InterfaceProfileץѥƥ
- #
- # @else
- #
- # @endif
- # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
- def publishInterfaceProfile(self, prop):
- OpenRTM_aist.NVUtil.appendStringValue(prop, "dataport.interface_type", self._interfaceType)
- OpenRTM_aist.NVUtil.append(prop, self._properties)
-
- ##
- # @if jp
- # @brief Interface
- #
- # Interface롣
- # ǻꤹץѥƥ NameValue ֥Ȥ
- # dataport.interface_type ͤĴ١ݡȤꤵƤʤ
- # NameValue ˾ɲä롣
- # ǤƱ쥤եϿѤߤξϲԤʤ
- #
- # @param self
- # @param prop InterfaceProfileץѥƥ
- #
- # @else
- #
- # @endif
- # virtual bool publishInterface(SDOPackage::NVList& properties);
- def publishInterface(self, prop):
- if not OpenRTM_aist.NVUtil.isStringValue(prop,"dataport.interface_type",self._interfaceType):
- return False
-
- OpenRTM_aist.NVUtil.append(prop,self._properties)
- return True
-
-
- ##
- # @if jp
- # @brief ݡȥפꤹ
- #
- # ǻꤷݡȥפꤹ롣
- #
- # @param self
- # @param port_type оݥݡȥ
- #
- # @else
- #
- # @endif
- def setPortType(self, port_type):
- self._portType = port_type
-
-
- ##
- # @if jp
- # @brief ǡפꤹ
- #
- # ǻꤷǡפꤹ롣
- #
- # @param self
- # @param data_type оݥǡ
- #
- # @else
- #
- # @endif
- def setDataType(self, data_type):
- self._dataType = data_type
-
-
- ##
- # @if jp
- # @brief եפꤹ
- #
- # ǻꤷեפꤹ롣
- #
- # @param self
- # @param interface_type оݥե
- #
- # @else
- #
- # @endif
- def setInterfaceType(self, interface_type):
- self._interfaceType = interface_type
-
-
- ##
- # @if jp
- # @brief ǡեפꤹ
- #
- # ǻꤷǡեפꤹ롣
- #
- # @param self
- # @param dataflow_type оݥǡե
- #
- # @else
- #
- # @endif
- def setDataFlowType(self, dataflow_type):
- self._dataflowType = dataflow_type
-
-
- ##
- # @if jp
- # @brief ֥ץפꤹ
- #
- # ǻꤷ֥ץפꤹ롣
- #
- # @param self
- # @param subs_type оݥ֥ץ
- #
- # @else
- #
- # @endif
- def setSubscriptionType(self, subs_type):
- self._subscriptionType = subs_type
+class OutPortProvider(OpenRTM_aist.DataPortStatus):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief インターフェースプロファイルを公開するたのファンクタ
+ # @else
+ # @brief Functor to publish interface profile
+ # @endif
+ #
+ class publishInterfaceProfileFunc:
+ def __init__(self, prop):
+ self._prop = prop
+
+ def __call__(self, provider):
+ provider.publishInterfaceProfile(self._prop)
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ # @endif
+
+ def __init__(self):
+ self._properties = []
+ self._portType = ""
+ self._dataType = ""
+ self._interfaceType = ""
+ self._dataflowType = ""
+ self._subscriptionType = ""
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortProvider")
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ pass
+
+ ##
+ # @if jp
+ # @brief InterfaceProfile情報を公開する
+ #
+ # InterfaceProfile情報を公開する。
+ # 引数で指定するプロパティ情報内の NameValue オブジェクトの
+ # dataport.interface_type 値を調べ、当該ポートに設定されている
+ # インターフェースタイプと一致する場合のみ情報を取得する。
+ #
+ # @param self
+ # @param prop InterfaceProfile情報を受け取るプロパティ
+ #
+ # @else
+ #
+ # @endif
+ # virtual void publishInterfaceProfile(SDOPackage::NVList& properties);
+ def publishInterfaceProfile(self, prop):
+ OpenRTM_aist.NVUtil.appendStringValue(
+ prop, "dataport.interface_type", self._interfaceType)
+ OpenRTM_aist.NVUtil.append(prop, self._properties)
+
+ ##
+ # @if jp
+ # @brief Interface情報を公開する
+ #
+ # Interface情報を公開する。
+ # 引数で指定するプロパティ情報内の NameValue オブジェクトの
+ # dataport.interface_type 値を調べ、当該ポートに設定されていなければ
+ # NameValue に情報を追加する。
+ # すでに同一インターフェースが登録済みの場合は何も行わない。
+ #
+ # @param self
+ # @param prop InterfaceProfile情報を受け取るプロパティ
+ #
+ # @else
+ #
+ # @endif
+ # virtual bool publishInterface(SDOPackage::NVList& properties);
+ def publishInterface(self, prop):
+ if not OpenRTM_aist.NVUtil.isStringValue(
+ prop, "dataport.interface_type", self._interfaceType):
+ return False
+
+ OpenRTM_aist.NVUtil.append(prop, self._properties)
+ return True
+
+ ##
+ # @if jp
+ # @brief ポートタイプを設定する
+ #
+ # 引数で指定したポートタイプを設定する。
+ #
+ # @param self
+ # @param port_type 設定対象ポートタイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setPortType(self, port_type):
+ self._portType = port_type
+
+ ##
+ # @if jp
+ # @brief データタイプを設定する
+ #
+ # 引数で指定したデータタイプを設定する。
+ #
+ # @param self
+ # @param data_type 設定対象データタイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setDataType(self, data_type):
+ self._dataType = data_type
+
+ ##
+ # @if jp
+ # @brief インターフェースタイプを設定する
+ #
+ # 引数で指定したインターフェースタイプを設定する。
+ #
+ # @param self
+ # @param interface_type 設定対象インターフェースタイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setInterfaceType(self, interface_type):
+ self._interfaceType = interface_type
+
+ ##
+ # @if jp
+ # @brief データフロータイプを設定する
+ #
+ # 引数で指定したデータフロータイプを設定する。
+ #
+ # @param self
+ # @param dataflow_type 設定対象データフロータイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setDataFlowType(self, dataflow_type):
+ self._dataflowType = dataflow_type
+
+ ##
+ # @if jp
+ # @brief サブスクリプションタイプを設定する
+ #
+ # 引数で指定したサブスクリプションタイプを設定する。
+ #
+ # @param self
+ # @param subs_type 設定対象サブスクリプションタイプ
+ #
+ # @else
+ #
+ # @endif
+
+ def setSubscriptionType(self, subs_type):
+ self._subscriptionType = subs_type
+
outportproviderfactory = None
-class OutPortProviderFactory(OpenRTM_aist.Factory,OutPortProvider):
- def __init__(self):
- OpenRTM_aist.Factory.__init__(self)
- pass
+class OutPortProviderFactory(OpenRTM_aist.Factory, OutPortProvider):
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self)
+ pass
+
+ def __del__(self):
+ pass
- def __del__(self):
- pass
+ def instance():
+ global outportproviderfactory
+ if outportproviderfactory is None:
+ outportproviderfactory = OutPortProviderFactory()
- def instance():
- global outportproviderfactory
-
- if outportproviderfactory is None:
- outportproviderfactory = OutPortProviderFactory()
-
- return outportproviderfactory
+ return outportproviderfactory
- instance = staticmethod(instance)
+ instance = staticmethod(instance)
diff --git a/OpenRTM_aist/OutPortPullConnector.py b/OpenRTM_aist/OutPortPullConnector.py
index fdf8f206..2688f8a7 100644
--- a/OpenRTM_aist/OutPortPullConnector.py
+++ b/OpenRTM_aist/OutPortPullConnector.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -17,8 +17,6 @@
# All rights reserved.
#
-from omniORB import cdrMarshal
-from omniORB import any
import OpenRTM_aist
import threading
@@ -27,24 +25,24 @@
##
# @if jp
# @class OutPortPullConnector
-# @brief OutPortPullConnector 饹
+# @brief OutPortPullConnector クラス
#
-# OutPort pull ǡեΤ Connector 饹Υ
-# Ȥϡ³ dataflow_type pull ꤵ줿硢
-# OutPort ˤäͭ졢InPortPullConnector Фˤʤäơ
-# ǡݡȤ pull Υǡե¸롣Ĥ³Фơ
-# ĤΥǡȥͣ Connector б롣
-# Connector ³ UUID ID ˤ̤롣
+# OutPort の pull 型データフローのための Connector クラス。このオブ
+# ジェクトは、接続時に dataflow_type に pull が指定された場合、
+# OutPort によって生成・所有され、InPortPullConnector と対になって、
+# データポートの pull 型のデータフローを実現する。一つの接続に対して、
+# 一つのデータストリームを提供する唯一の Connector が対応する。
+# Connector は 接続時に生成される UUID 形式の ID により区別される。
#
-# OutPortPullConnector ϰʲλĤΥ֥Ȥͭ롣
+# OutPortPullConnector は以下の三つのオブジェクトを所有し管理する。
#
# - InPortConsumer
# - Buffer
#
-# OutPort ˽ޤ줿ǡ OutPortPullConnector::write()
-# Buffer ˽ޤ롣InPortPullConnector
-# OutPortPullConnector ǡɤ߽ФȤ InPort ˥ǡ
-# ž롣
+# OutPort に書き込まれたデータは OutPortPullConnector::write() に渡
+# され Buffer に書き込まれる。InPortPullConnector が
+# OutPortPullConnector からデータを読み出すことで InPort にデータが
+# 転送される。
#
# @since 1.0.0
#
@@ -76,336 +74,353 @@
# @endif
#
class OutPortPullConnector(OpenRTM_aist.OutPortConnector):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # OutPortPullConnector Υȥ饯ϥ֥˲
- # ˤȤ롣ConnectorInfo ³ޤߡξ˽Х
- # ե롣OutPort եΥץХ֥
- # ȤؤΥݥꡢͭĤΤǡOutPortPullConnector
- # OutPortProvider βǤġƼ磻٥ȤФ륳Х
- # ConnectorListeners Ŭڤʥߥǥ
- # ХåƤӽФǡХåե⤷ OutPortBase
- # ϤΥݥ롣
- #
- # @param info ConnectorInfo
- # @param provider OutPortProvider
- # @param listeners ConnectorListeners Υꥹʥ֥ȥꥹ
- # @param buffer CdrBufferBase ΥХåե
- #
- # @else
- # @brief Constructor
- #
- # OutPortPullConnector's constructor is given the following
- # arguments. According to ConnectorInfo which includes
- # connection information, a buffer is created. It is also given
- # a pointer to the provider object for the OutPort interface.
- # The owner-ship of the pointer is owned by this
- # OutPortPullConnector, it has responsibility to destruct the
- # OutPortProvider. OutPortPullConnector also has
- # ConnectorListeners to provide event callback mechanisms, and
- # they would be called at the proper timing. If data buffer is
- # given by OutPortBase, the pointer to the buffer is also given
- # as arguments.
- #
- # @param info ConnectorInfo
- # @param provider OutPortProvider
- # @param listeners ConnectorListeners type lsitener object list
- # @param buffer CdrBufferBase type buffer
- #
- # @endif
- #
- # OutPortPullConnector(ConnectorInfo info,
- # OutPortProvider* provider,
- # ConnectorListeners& listeners,
- # CdrBufferBase* 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
-
-
-
- if not self._buffer:
- self._buffer = self.createBuffer(info)
-
- if not self._provider or not self._buffer:
- self._rtcout.RTC_ERROR("Exeption: in OutPortPullConnector.__init__().")
- raise
-
- self._buffer.init(info.properties.getNode("buffer"))
- self._provider.init(info.properties)
- self._provider.setBuffer(self._buffer)
- self._provider.setConnector(self)
- self._provider.setListener(info, self._listeners)
- self.onConnect()
-
- self._sync_readwrite = False
- if OpenRTM_aist.toBool(info.properties.getProperty("sync_readwrite"),"YES","NO",False):
- self._sync_readwrite = True
-
- self._writecompleted_worker = OutPortPullConnector.WorkerThreadCtrl()
- self._readcompleted_worker = OutPortPullConnector.WorkerThreadCtrl()
- self._readready_worker = OutPortPullConnector.WorkerThreadCtrl()
-
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # disconnect() ƤФ졢provider, buffer Ρ롣
- #
- # @else
- #
- # @brief Destructor
- #
- # This operation calls disconnect(), which destructs and deletes
- # the consumer, the publisher and the buffer.
- #
- # @endif
- #
- def __del__(self):
- return
-
-
- ##
- # @if jp
- # @brief ǡν
- #
- # PublisherФƥǡߡˤбInPort
- # ǡž롣
- #
- # @else
- #
- # @brief Writing data
- #
- # This operation writes data into publisher and then the data
- # will be transferred to correspondent InPort.
- #
- # @endif
- #
- # virtual ReturnCode write(const cdrMemoryStream& data);
- def write(self, data):
- if self._directMode:
- return self.PORT_OK
- # data -> (conversion) -> CDR stream
- cdr_data = None
- if self._endian is not None:
- cdr_data = cdrMarshal(any.to_any(data).typecode(), data, self._endian)
- else:
- self._rtcout.RTC_ERROR("write(): endian %s is not support.",self._endian)
- return self.UNKNOWN_ERROR
- if self._buffer:
- if self._sync_readwrite:
- self._readready_worker._cond.acquire()
- while not self._readready_worker._completed:
- self._readready_worker._cond.wait()
- self._readready_worker._cond.release()
-
- self._buffer.write(cdr_data)
-
- if self._sync_readwrite:
- self._writecompleted_worker._completed = True
- self._writecompleted_worker._cond.acquire()
- self._writecompleted_worker._cond.notify()
- self._writecompleted_worker._cond.release()
-
- self._readcompleted_worker._cond.acquire()
- while not self._readcompleted_worker._completed:
- self._readcompleted_worker._cond.wait()
- self._readcompleted_worker._cond.release()
-
- self._writecompleted_worker._completed = False
- else:
- return self.UNKNOWN_ERROR
- return self.PORT_OK
-
- def read(self, data):
-
- if self._sync_readwrite:
- self._readcompleted_worker._completed = False
-
- self._readready_worker._completed = True
- self._readready_worker._cond.acquire()
- self._readready_worker._cond.notify()
- self._readready_worker._cond.release()
-
- self._writecompleted_worker._cond.acquire()
- while not self._writecompleted_worker._completed:
- self._writecompleted_worker._cond.wait()
- self._writecompleted_worker._cond.release()
-
-
- if self._buffer.empty():
- self._rtcout.RTC_ERROR("buffer is empty.")
- data[0] = ""
- return OpenRTM_aist.BufferStatus.BUFFER_EMPTY
-
-
- ret = self._buffer.read(data)
-
- if self._sync_readwrite:
- self._readcompleted_worker._completed = True
- self._readcompleted_worker._cond.acquire()
- self._readcompleted_worker._cond.notify()
- self._readcompleted_worker._cond.release()
-
- self._readready_worker._completed = False
-
-
- return ret
-
-
- ##
- # @if jp
- # @brief ³
- #
- # consumer, publisher, buffer Ρ롣
- #
- # @else
- #
- # @brief disconnect
- #
- # This operation destruct and delete the consumer, the publisher
- # and the buffer.
- #
- # @endif
- #
- # virtual ReturnCode disconnect();
- def disconnect(self):
- self._rtcout.RTC_TRACE("disconnect()")
- self.onDisconnect()
- # delete provider
- if self._provider:
- OpenRTM_aist.OutPortProviderFactory.instance().deleteObject(self._provider)
- self._provider.exit()
- self._provider = 0
-
- # delete buffer
- if self._buffer:
- OpenRTM_aist.CdrBufferFactory.instance().deleteObject(self._buffer)
- self._buffer = 0
-
-
-
- return self.PORT_OK
-
-
- ##
- # @if jp
- # @brief Buffer
- #
- # Connector ݻƤ Buffer ֤
- #
- # @else
- # @brief Getting Buffer
- #
- # This operation returns this connector's buffer
- #
- # @endif
- #
- # virtual CdrBufferBase* getBuffer();
- def getBuffer(self):
- return self._buffer
-
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector activation
- #
- # This operation activates this connector
- #
- # @endif
- #
- # virtual void activate(){}; // do nothing
- def activate(self): # do nothing
- pass
-
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector deactivation
- #
- # This operation deactivates this connector
- #
- # @endif
- #
- # virtual void deactivate(){}; // do nothing
- def deactivate(self): # do nothing
- pass
-
-
- ##
- # @if jp
- # @brief Buffer
- # @else
- # @brief create buffer
- # @endif
- #
- # CdrBufferBase* createBuffer(ConnectorInfo& info);
- def createBuffer(self, info):
- buf_type = info.properties.getProperty("buffer_type","ring_buffer")
- return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
-
-
- ##
- # @if jp
- # @brief ³Ω˥ХåƤ
- # @else
- # @brief Invoke callback when connection is established
- # @endif
- # void onConnect()
- def onConnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_CONNECT].notify(self._profile)
- return
-
-
- ##
- # @if jp
- # @brief ³ǻ˥ХåƤ
- # @else
- # @brief Invoke callback when connection is destroied
- # @endif
- # void onDisconnect()
- def onDisconnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief 쥯³⡼ɤ
- # @else
- # @brief
- # @endif
- # void onDisconnect()
- def setDirectMode(self):
- self._directMode = True
-
- class WorkerThreadCtrl:
- def __init__(self):
- self._mutex = threading.RLock()
- self._cond = threading.Condition(self._mutex)
- self._completed = False
-
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # OutPortPullConnector のコンストラクタはオブジェクト生成時に下記
+ # を引数にとる。ConnectorInfo は接続情報を含み、この情報に従いバッ
+ # ファ等を生成する。OutPort インターフェースのプロバイダオブジェク
+ # トへのポインタを取り、所有権を持つので、OutPortPullConnector は
+ # OutPortProvider の解体責任を持つ。各種イベントに対するコールバッ
+ # ク機構を提供する ConnectorListeners を持ち、適切なタイミングでコー
+ # ルバックを呼び出す。データバッファがもし OutPortBase から提供さ
+ # れる場合はそのポインタを取る。
+ #
+ # @param info ConnectorInfo
+ # @param provider OutPortProvider
+ # @param listeners ConnectorListeners 型のリスナオブジェクトリスト
+ # @param buffer CdrBufferBase 型のバッファ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # OutPortPullConnector's constructor is given the following
+ # arguments. According to ConnectorInfo which includes
+ # connection information, a buffer is created. It is also given
+ # a pointer to the provider object for the OutPort interface.
+ # The owner-ship of the pointer is owned by this
+ # OutPortPullConnector, it has responsibility to destruct the
+ # OutPortProvider. OutPortPullConnector also has
+ # ConnectorListeners to provide event callback mechanisms, and
+ # they would be called at the proper timing. If data buffer is
+ # given by OutPortBase, the pointer to the buffer is also given
+ # as arguments.
+ #
+ # @param info ConnectorInfo
+ # @param provider OutPortProvider
+ # @param listeners ConnectorListeners type lsitener object list
+ # @param buffer CdrBufferBase type buffer
+ #
+ # @endif
+ #
+ # OutPortPullConnector(ConnectorInfo info,
+ # OutPortProvider* provider,
+ # ConnectorListeners& listeners,
+ # CdrBufferBase* 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
+
+ if not self._buffer:
+ self._buffer = self.createBuffer(info)
+
+ if not self._provider or not self._buffer:
+ self._rtcout.RTC_ERROR(
+ "Exeption: in OutPortPullConnector.__init__().")
+ raise
+
+ self._buffer.init(info.properties.getNode("buffer"))
+ self._provider.init(info.properties)
+ self._provider.setBuffer(self._buffer)
+ self._provider.setConnector(self)
+ self._provider.setListener(info, self._listeners)
+ self.onConnect()
+
+ self._sync_readwrite = False
+ if OpenRTM_aist.toBool(info.properties.getProperty(
+ "sync_readwrite"), "YES", "NO", False):
+ self._sync_readwrite = True
+
+ self._writecompleted_worker = OutPortPullConnector.WorkerThreadCtrl()
+ self._readcompleted_worker = OutPortPullConnector.WorkerThreadCtrl()
+ self._readready_worker = OutPortPullConnector.WorkerThreadCtrl()
+
+ self._marshaling_type = info.properties.getProperty(
+ "marshaling_type", "cdr")
+ self._marshaling_type = self._marshaling_type.strip()
+
+ self._serializer = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # disconnect() が呼ばれ、provider, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # This operation calls disconnect(), which destructs and deletes
+ # the consumer, the publisher and the buffer.
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief データの書き込み
+ #
+ # Publisherに対してデータを書き込み、これにより対応するInPortへ
+ # データが転送される。
+ #
+ # @else
+ #
+ # @brief Writing data
+ #
+ # This operation writes data into publisher and then the data
+ # will be transferred to correspondent InPort.
+ #
+ # @endif
+ #
+ # virtual ReturnCode write(const cdrMemoryStream& data);
+
+ def write(self, data):
+ if self._directMode:
+ return self.PORT_OK
+ # data -> (conversion) -> CDR stream
+ if self._serializer is None:
+ self._rtcout.RTC_ERROR("serializer creation failure.")
+ return self.UNKNOWN_ERROR
+
+ self._serializer.isLittleEndian(self._endian)
+ ser_ret, cdr_data = self._serializer.serialize(data)
+ if ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOT_SUPPORT_ENDIAN:
+ self._rtcout.RTC_ERROR(
+ "write(): endian %s is not support.", self._endian)
+ return self.UNKNOWN_ERROR
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_ERROR:
+ self._rtcout.RTC_ERROR("unkown error.")
+ return self.UNKNOWN_ERROR
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOTFOUND:
+ self._rtcout.RTC_ERROR(
+ "write(): serializer %s is not support.",
+ self._marshaling_type)
+ return self.UNKNOWN_ERROR
+
+ if self._buffer:
+ if self._sync_readwrite:
+ self._readready_worker._cond.acquire()
+ while not self._readready_worker._completed:
+ self._readready_worker._cond.wait()
+ self._readready_worker._cond.release()
+
+ self._buffer.write(cdr_data)
+
+ if self._sync_readwrite:
+ self._writecompleted_worker._completed = True
+ self._writecompleted_worker._cond.acquire()
+ self._writecompleted_worker._cond.notify()
+ self._writecompleted_worker._cond.release()
+
+ self._readcompleted_worker._cond.acquire()
+ while not self._readcompleted_worker._completed:
+ self._readcompleted_worker._cond.wait()
+ self._readcompleted_worker._cond.release()
+
+ self._writecompleted_worker._completed = False
+ else:
+ return self.UNKNOWN_ERROR
+ return self.PORT_OK
+
+ def read(self, data=None):
+
+ if self._sync_readwrite:
+ self._readcompleted_worker._completed = False
+
+ self._readready_worker._completed = True
+ self._readready_worker._cond.acquire()
+ self._readready_worker._cond.notify()
+ self._readready_worker._cond.release()
+
+ self._writecompleted_worker._cond.acquire()
+ while not self._writecompleted_worker._completed:
+ self._writecompleted_worker._cond.wait()
+ self._writecompleted_worker._cond.release()
+
+ if self._buffer.empty():
+ self._rtcout.RTC_ERROR("buffer is empty.")
+ return OpenRTM_aist.BufferStatus.BUFFER_EMPTY, ""
+
+ ret, data = self._buffer.read()
+
+ if self._sync_readwrite:
+ self._readcompleted_worker._completed = True
+ self._readcompleted_worker._cond.acquire()
+ self._readcompleted_worker._cond.notify()
+ self._readcompleted_worker._cond.release()
+
+ self._readready_worker._completed = False
+
+ return ret, data
+
+ ##
+ # @if jp
+ # @brief 接続解除
+ #
+ # consumer, publisher, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief disconnect
+ #
+ # This operation destruct and delete the consumer, the publisher
+ # and the buffer.
+ #
+ # @endif
+ #
+ # virtual ReturnCode disconnect();
+
+ def disconnect(self):
+ self._rtcout.RTC_TRACE("disconnect()")
+ self.onDisconnect()
+ # delete provider
+ if self._provider:
+ self._provider.exit()
+ self._provider = None
+
+ # delete buffer
+ self._buffer = None
+
+ self._serializer = None
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief Buffer を取得する
+ #
+ # Connector が保持している Buffer を返す
+ #
+ # @else
+ # @brief Getting Buffer
+ #
+ # This operation returns this connector's buffer
+ #
+ # @endif
+ #
+ # virtual CdrBufferBase* getBuffer();
+
+ def getBuffer(self):
+ return self._buffer
+
+ ##
+ # @if jp
+ # @brief アクティブ化
+ #
+ # このコネクタをアクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector activation
+ #
+ # This operation activates this connector
+ #
+ # @endif
+ #
+ # virtual void activate(){}; // do nothing
+
+ def activate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化
+ #
+ # このコネクタを非アクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector deactivation
+ #
+ # This operation deactivates this connector
+ #
+ # @endif
+ #
+ # virtual void deactivate(){}; // do nothing
+
+ def deactivate(self): # do nothing
+ pass
+
+ ##
+ # @if jp
+ # @brief Bufferの生成
+ # @else
+ # @brief create buffer
+ # @endif
+ #
+ # CdrBufferBase* createBuffer(ConnectorInfo& info);
+
+ def createBuffer(self, info):
+ buf_type = info.properties.getProperty("buffer_type", "ring_buffer")
+ return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
+
+ ##
+ # @if jp
+ # @brief 接続確立時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is established
+ # @endif
+ # void onConnect()
+
+ def onConnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_CONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief 接続切断時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is destroied
+ # @endif
+ # void onDisconnect()
+
+ def onDisconnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ダイレクト接続モードに設定
+ # @else
+ # @brief
+ # @endif
+ # void onDisconnect()
+ def setDirectMode(self):
+ self._directMode = True
+
+ def setDataType(self, data):
+ OpenRTM_aist.OutPortConnector.setDataType(self, data)
+ self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
+
+ class WorkerThreadCtrl:
+ def __init__(self):
+ self._mutex = threading.RLock()
+ self._cond = threading.Condition(self._mutex)
+ self._completed = False
diff --git a/OpenRTM_aist/OutPortPushConnector.py b/OpenRTM_aist/OutPortPushConnector.py
index 03bb3f01..0841a01f 100644
--- a/OpenRTM_aist/OutPortPushConnector.py
+++ b/OpenRTM_aist/OutPortPushConnector.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -17,8 +17,6 @@
# All rights reserved.
#
-from omniORB import cdrMarshal
-from omniORB import any
import OpenRTM_aist
@@ -26,25 +24,25 @@
##
# @if jp
# @class OutPortPushConnector
-# @brief OutPortPushConnector 饹
+# @brief OutPortPushConnector クラス
#
-# OutPort push ǡեΤ Connector 饹Υ
-# Ȥϡ³ dataflow_type push ꤵ줿硢
-# OutPort ˤäͭ졢InPortPushConnector Фˤʤäơ
-# ǡݡȤ push Υǡե¸롣Ĥ³Фơ
-# ĤΥǡȥͣ Connector б롣
-# Connector ³ UUID ID ˤ̤롣
+# OutPort の push 型データフローのための Connector クラス。このオブ
+# ジェクトは、接続時に dataflow_type に push が指定された場合、
+# OutPort によって生成・所有され、InPortPushConnector と対になって、
+# データポートの push 型のデータフローを実現する。一つの接続に対して、
+# 一つのデータストリームを提供する唯一の Connector が対応する。
+# Connector は 接続時に生成される UUID 形式の ID により区別される。
#
-# OutPortPushConnector ϰʲλĤΥ֥Ȥͭ롣
+# OutPortPushConnector は以下の三つのオブジェクトを所有し管理する。
#
# - InPortConsumer
# - Buffer
# - Publisher
#
-# OutPort ˽ޤ줿ǡ OutPortPushConnector::write()
-# 졢Connector Publisher ˥ǡࡣPublisher Ϥ
-# ˽äƥǡ Buffer InPortConsumer Ф
-# push 뤳Ȥ InPort ˥ǡž롣
+# OutPort に書き込まれたデータは OutPortPushConnector::write() に渡
+# され、Connector は Publisher にデータを書き込む。Publisher はその
+# 特性に従ってデータを Buffer から取得し InPortConsumer に対して
+# push することで InPort にデータが転送される。
#
# @since 1.0.0
#
@@ -78,405 +76,445 @@
# @endif
#
class OutPortPushConnector(OpenRTM_aist.OutPortConnector):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # OutPortPushConnector Υȥ饯ϥ֥˲
- # ˤȤ롣ConnectorInfo ³ޤߡξ˽ѥ
- # åХåե롣InPort եФ
- # 塼ޥ֥ȤؤΥݥꡢͭĤΤǡ
- # OutPortPushConnector InPortConsumer βǤġƼ磻
- # ٥ȤФ륳Хå ConnectorListeners
- # ŬڤʥߥǥХåƤӽФǡХåե
- # OutPortBase ϤΥݥ롣
- #
- # @param info ConnectorInfo
- # @param consumer InPortConsumer
- # @param listeners ConnectorListeners Υꥹʥ֥ȥꥹ
- # @param buffer CdrBufferBase ΥХåե
- #
- # @else
- # @brief Constructor
- #
- # OutPortPushConnector's constructor is given the following
- # arguments. According to ConnectorInfo which includes
- # connection information, a publisher and a buffer are created.
- # It is also given a pointer to the consumer object for the
- # InPort interface. The owner-ship of the pointer is owned by
- # this OutPortPushConnector, it has responsibility to destruct
- # the InPortConsumer. OutPortPushConnector also has
- # ConnectorListeners to provide event callback mechanisms, and
- # they would be called at the proper timing. If data buffer is
- # given by OutPortBase, the pointer to the buffer is also given
- # as arguments.
- #
- # @param info ConnectorInfo
- # @param consumer InPortConsumer
- # @param listeners ConnectorListeners type lsitener object list
- # @param buffer CdrBufferBase type buffer
- #
- # @endif
- #
- # OutPortPushConnector(ConnectorInfo info,
- # InPortConsumer* consumer,
- # ConnectorListeners& listeners,
- # CdrBufferBase* buffer = 0);
- def __init__(self, info, consumer, listeners, buffer = None):
- OpenRTM_aist.OutPortConnector.__init__(self, info)
-
- self._buffer = buffer
- self._consumer = consumer
- self._listeners = listeners
-
- self._directInPort = None
- self._inPortListeners = None
-
- # publisher/buffer creation. This may throw std::bad_alloc;
- self._publisher = self.createPublisher(info)
- if not self._buffer:
- self._buffer = self.createBuffer(info)
-
-
- if not self._publisher or not self._buffer or not self._consumer:
- raise
-
- if self._publisher.init(info.properties) != self.PORT_OK:
- raise
-
- if self._profile.properties.hasKey("serializer"):
- endian = self._profile.properties.getProperty("serializer.cdr.endian")
- if not endian:
- self._rtcout.RTC_ERROR("write(): endian is not set.")
- raise
-
- endian = OpenRTM_aist.split(endian, ",") # Maybe endian is ["little","big"]
- endian = OpenRTM_aist.normalize(endian) # Maybe self._endian is "little" or "big"
- if endian == "little":
- self._endian = True
- elif endian == "big":
- self._endian = False
- else:
- self._endian = None
-
- else:
- self._endian = True # little endian
-
- self._buffer.init(info.properties.getNode("buffer"))
- self._consumer.init(info.properties)
- self._publisher.setConsumer(self._consumer)
- self._publisher.setBuffer(self._buffer)
- self._publisher.setListener(self._profile, self._listeners)
-
- self.onConnect()
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # disconnect() ƤФ졢consumer, publisher, buffer Ρ롣
- #
- # @else
- #
- # @brief Destructor
- #
- # This operation calls disconnect(), which destructs and deletes
- # the consumer, the publisher and the buffer.
- #
- # @endif
- #
- def __del__(self):
- return
-
- ##
- # @if jp
- # @brief ǡν
- #
- # PublisherФƥǡߡˤбInPortإǡ
- # ž롣ｪλ PORT_OK ֤롣ʳ
- # 硢顼ͤȤơCONNECTION_LOST, BUFFER_FULL,
- # BUFFER_ERROR, PORT_ERROR, BUFFER_TIMEOUT, PRECONDITION_NO_MET
- # ֤롣
- #
- # @return PORT_OK ｪλ
- # CONNECTION_LOST ³Ȥ
- # BUFFER_FULL ХåեդǤ
- # BUFFER_ERROR Хåե顼
- # BUFFER_TIMEOUT ХåեؤνߤॢȤ
- # PRECONDITION_NOT_MET ʤ
- # PORT_ERROR ¾Υ顼
- #
- # @else
- #
- # @brief Writing data
- #
- # This operation writes data into publisher and then the data
- # will be transferred to correspondent InPort. If data is written
- # properly, this function will return PORT_OK return code. Except
- # normal return, CONNECTION_LOST, BUFFER_FULL, BUFFER_ERROR,
- # PORT_ERROR, BUFFER_TIMEOUT and PRECONDITION_NO_MET will be
- # returned as error codes.
- #
- # @return PORT_OK Normal return
- # CONNECTION_LOST Connectin lost
- # BUFFER_FULL Buffer full
- # BUFFER_ERROR Buffer error
- # BUFFER_TIMEOUT Timeout
- # PRECONDITION_NOT_MET Precondition not met
- # PORT_ERROR Other error
- #
- # @endif
- #
- # template
- # virtual ReturnCode write(const DataType& data);
- def write(self, data):
- self._rtcout.RTC_TRACE("write()")
-
- 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._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._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._rtcout.RTC_TRACE("ON_RECEIVED(InPort,OutPort), ")
- self._rtcout.RTC_TRACE("callback called in direct mode.")
- return self.PORT_OK
- # data -> (conversion) -> CDR stream
- cdr_data = None
- if self._endian is not None:
- cdr_data = cdrMarshal(any.to_any(data).typecode(), data, self._endian)
- else:
- self._rtcout.RTC_ERROR("write(): endian %s is not support.",self._endian)
- return self.UNKNOWN_ERROR
-
- return self._publisher.write(cdr_data, -1, 0)
-
-
- ##
- # @if jp
- # @brief ³
- #
- # consumer, publisher, buffer Ρ롣
- #
- # @else
- #
- # @brief disconnect
- #
- # This operation destruct and delete the consumer, the publisher
- # and the buffer.
- #
- # @endif
- #
- # virtual ReturnCode disconnect();
- def disconnect(self):
- self._rtcout.RTC_TRACE("disconnect()")
- self.onDisconnect()
- # delete publisher
- if self._publisher:
- self._rtcout.RTC_DEBUG("delete publisher")
- pfactory = OpenRTM_aist.PublisherFactory.instance()
- pfactory.deleteObject(self._publisher)
-
- self._publisher = None
-
- # delete consumer
- if self._consumer:
- self._rtcout.RTC_DEBUG("delete consumer")
- cfactory = OpenRTM_aist.InPortConsumerFactory.instance()
- cfactory.deleteObject(self._consumer)
-
- self._consumer = None
-
- # delete buffer
- if self._buffer:
- self._rtcout.RTC_DEBUG("delete buffer")
- bfactory = OpenRTM_aist.CdrBufferFactory.instance()
- bfactory.deleteObject(self._buffer)
-
- self._buffer = None
- self._rtcout.RTC_TRACE("disconnect() done")
-
- return self.PORT_OK
-
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector activation
- #
- # This operation activates this connector
- #
- # @endif
- #
- # virtual void activate();
- def activate(self):
- self._publisher.activate()
- return
-
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Υͥƥֲ
- #
- # @else
- #
- # @brief Connector deactivation
- #
- # This operation deactivates this connector
- #
- # @endif
- #
- # virtual void deactivate();
- def deactivate(self):
- self._publisher.deactivate()
- return
-
-
- ##
- # @if jp
- # @brief Buffer
- #
- # Connector ݻƤ Buffer ֤
- #
- # @else
- # @brief Getting Buffer
- #
- # This operation returns this connector's buffer
- #
- # @endif
- #
- # virtual CdrBufferBase* getBuffer();
- def getBuffer(self):
- return self._buffer
-
-
- ##
- # @if jp
- # @brief Publisher
- #
- # Ϳ줿³˴Ťѥ֥å롣
- #
- # @param info ³
- # @return ѥ֥åؤΥݥ
- #
- # @else
- # @brief create buffer
- #
- # This function creates a publisher based on given information.
- #
- # @param info Connector information
- # @return The poitner to the publisher
- #
- # @endif
- #
- # virtual PublisherBase* createPublisher(ConnectorInfo& info);
- def createPublisher(self, info):
- pub_type = info.properties.getProperty("io_mode")
- if not pub_type:
- pub_type = info.properties.getProperty("subscription_type","flush")
- pub_type = OpenRTM_aist.normalize([pub_type])
- if pub_type == "flush":
- info.properties.setProperty("io_mode","block")
- elif pub_type == "new":
- info.properties.setProperty("io_mode","nonblock")
- else:
- info.properties.setProperty("io_mode","pub_type")
-
- return OpenRTM_aist.PublisherFactory.instance().createObject(pub_type)
-
-
- ##
- # @if jp
- # @brief Buffer
- #
- # Ϳ줿³˴ŤХåե롣
- #
- # @param info ³
- # @return ХåեؤΥݥ
- #
- # @else
- # @brief create buffer
- #
- # This function creates a buffer based on given information.
- #
- # @param info Connector information
- # @return The poitner to the buffer
- #
- # @endif
- #
- # virtual CdrBufferBase* createBuffer(ConnectorInfo& info);
- def createBuffer(self, info):
- buf_type = info.properties.getProperty("buffer_type",
- "ring_buffer")
-
- return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
-
-
- ##
- # @if jp
- # @brief ³Ω˥ХåƤ
- # @else
- # @brief Invoke callback when connection is established
- # @endif
- # void onConnect()
- def onConnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_CONNECT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ³ǻ˥ХåƤ
- # @else
- # @brief Invoke callback when connection is destroied
- # @endif
- # void onDisconnect()
- def onDisconnect(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ǡ쥯Ȥ˽िInPortΥХȤꤹ
- #
- # @param self
- # @param directInPort InPortΥХ
- # @return True: False: ѤߤΤἺ
- # @else
- # @brief
- #
- # @param self
- # @param directInPort
- # @return
- # @endif
- #
- # bool setInPort(InPortBase* directInPort);
- def setInPort(self, directInPort):
- if self._directInPort is not None:
- return False
- self._directInPort = directInPort
- self._inPortListeners = self._directInPort._listeners
- return True
\ No newline at end of file
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # OutPortPushConnector のコンストラクタはオブジェクト生成時に下記
+ # を引数にとる。ConnectorInfo は接続情報を含み、この情報に従いパブ
+ # リッシャやバッファ等を生成する。InPort インターフェースに対する
+ # コンシューマオブジェクトへのポインタを取り、所有権を持つので、
+ # OutPortPushConnector は InPortConsumer の解体責任を持つ。各種イ
+ # ベントに対するコールバック機構を提供する ConnectorListeners を持
+ # ち、適切なタイミングでコールバックを呼び出す。データバッファがも
+ # し OutPortBase から提供される場合はそのポインタを取る。
+ #
+ # @param info ConnectorInfo
+ # @param consumer InPortConsumer
+ # @param listeners ConnectorListeners 型のリスナオブジェクトリスト
+ # @param buffer CdrBufferBase 型のバッファ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # OutPortPushConnector's constructor is given the following
+ # arguments. According to ConnectorInfo which includes
+ # connection information, a publisher and a buffer are created.
+ # It is also given a pointer to the consumer object for the
+ # InPort interface. The owner-ship of the pointer is owned by
+ # this OutPortPushConnector, it has responsibility to destruct
+ # the InPortConsumer. OutPortPushConnector also has
+ # ConnectorListeners to provide event callback mechanisms, and
+ # they would be called at the proper timing. If data buffer is
+ # given by OutPortBase, the pointer to the buffer is also given
+ # as arguments.
+ #
+ # @param info ConnectorInfo
+ # @param consumer InPortConsumer
+ # @param listeners ConnectorListeners type lsitener object list
+ # @param buffer CdrBufferBase type buffer
+ #
+ # @endif
+ #
+ # OutPortPushConnector(ConnectorInfo info,
+ # InPortConsumer* consumer,
+ # ConnectorListeners& listeners,
+ # CdrBufferBase* buffer = 0);
+ def __init__(self, info, consumer, listeners, buffer=None):
+ OpenRTM_aist.OutPortConnector.__init__(self, info)
+
+ self._buffer = buffer
+ self._consumer = consumer
+ self._listeners = listeners
+
+ self._directInPort = None
+ self._inPortListeners = None
+
+ # publisher/buffer creation. This may throw std::bad_alloc;
+ self._publisher = self.createPublisher(info)
+ if not self._buffer:
+ self._buffer = self.createBuffer(info)
+
+ if not self._publisher or not self._buffer or not self._consumer:
+ raise
+
+ if self._publisher.init(info.properties) != self.PORT_OK:
+ raise
+
+ if self._profile.properties.hasKey("serializer"):
+ endian = self._profile.properties.getProperty(
+ "serializer.cdr.endian")
+ if not endian:
+ self._rtcout.RTC_ERROR("write(): endian is not set.")
+ raise
+
+ # Maybe endian is ["little","big"]
+ endian = OpenRTM_aist.split(endian, ",")
+ # Maybe self._endian is "little" or "big"
+ endian = OpenRTM_aist.normalize(endian[0])
+ if endian == "little":
+ self._endian = True
+ elif endian == "big":
+ self._endian = False
+ else:
+ self._endian = None
+
+ else:
+ self._endian = True # little endian
+
+ self._buffer.init(info.properties.getNode("buffer"))
+ self._consumer.init(info.properties)
+ self._publisher.setConsumer(self._consumer)
+ self._publisher.setBuffer(self._buffer)
+ self._publisher.setListener(self._profile, self._listeners)
+
+ self._marshaling_type = info.properties.getProperty(
+ "marshaling_type", "cdr")
+ self._marshaling_type = self._marshaling_type.strip()
+
+ self._serializer = None
+
+ self.onConnect()
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ #
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief データの書き込み
+ #
+ # Publisherに対してデータを書き込み、これにより対応するInPortへデー
+ # タが転送される。正常終了した場合 PORT_OK が返される。それ以外の
+ # 場合、エラー値として、CONNECTION_LOST, BUFFER_FULL,
+ # BUFFER_ERROR, PORT_ERROR, BUFFER_TIMEOUT, PRECONDITION_NO_MET が
+ # 返される。
+ #
+ # @return PORT_OK 正常終了
+ # CONNECTION_LOST 接続がロストした
+ # BUFFER_FULL バッファが一杯である
+ # BUFFER_ERROR バッファエラー
+ # BUFFER_TIMEOUT バッファへの書き込みがタイムアウトした
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ # PORT_ERROR その他のエラー
+ #
+ # @else
+ #
+ # @brief Writing data
+ #
+ # This operation writes data into publisher and then the data
+ # will be transferred to correspondent InPort. If data is written
+ # properly, this function will return PORT_OK return code. Except
+ # normal return, CONNECTION_LOST, BUFFER_FULL, BUFFER_ERROR,
+ # PORT_ERROR, BUFFER_TIMEOUT and PRECONDITION_NO_MET will be
+ # returned as error codes.
+ #
+ # @return PORT_OK Normal return
+ # CONNECTION_LOST Connectin lost
+ # BUFFER_FULL Buffer full
+ # BUFFER_ERROR Buffer error
+ # BUFFER_TIMEOUT Timeout
+ # PRECONDITION_NOT_MET Precondition not met
+ # PORT_ERROR Other error
+ #
+ # @endif
+ #
+ # template
+ # virtual ReturnCode write(const DataType& data);
+ def write(self, data):
+ self._rtcout.RTC_TRACE("write()")
+
+ if self._directInPort is not None:
+ if self._directInPort.isNew():
+ #self._listeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ #self._inPortListeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ #self._listeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ #self._inPortListeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, 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.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ #self._inPortListeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, 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.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ #self._inPortListeners.notifyData(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ self._rtcout.RTC_TRACE("ON_RECEIVED(InPort,OutPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ return self.PORT_OK
+ # data -> (conversion) -> CDR stream
+ if self._serializer is None:
+ self._rtcout.RTC_ERROR("serializer creation failure.")
+ return self.UNKNOWN_ERROR
+
+ self._serializer.isLittleEndian(self._endian)
+ ser_ret, cdr_data = self._serializer.serialize(data)
+ if ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOT_SUPPORT_ENDIAN:
+ self._rtcout.RTC_ERROR(
+ "write(): endian %s is not support.", self._endian)
+ return self.UNKNOWN_ERROR
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_ERROR:
+ self._rtcout.RTC_ERROR("unkown error.")
+ return self.UNKNOWN_ERROR
+ elif ser_ret == OpenRTM_aist.ByteDataStreamBase.SERIALIZE_NOTFOUND:
+ self._rtcout.RTC_ERROR(
+ "write(): serializer %s is not support.",
+ self._marshaling_type)
+ return self.UNKNOWN_ERROR
+
+ return self._publisher.write(cdr_data, -1, 0)
+
+ ##
+ # @if jp
+ # @brief 接続解除
+ #
+ # consumer, publisher, buffer が解体・削除される。
+ #
+ # @else
+ #
+ # @brief disconnect
+ #
+ # This operation destruct and delete the consumer, the publisher
+ # and the buffer.
+ #
+ # @endif
+ #
+ # virtual ReturnCode disconnect();
+
+ def disconnect(self):
+ self._rtcout.RTC_TRACE("disconnect()")
+ self.onDisconnect()
+ # delete publisher
+ if self._publisher:
+ self._rtcout.RTC_DEBUG("delete publisher")
+ self._publisher.exit()
+ pfactory = OpenRTM_aist.PublisherFactory.instance()
+
+ self._publisher = None
+
+ # delete consumer
+ if self._consumer:
+ self._rtcout.RTC_DEBUG("delete consumer")
+ cfactory = OpenRTM_aist.InPortConsumerFactory.instance()
+
+ self._consumer = None
+
+ # delete buffer
+ if self._buffer:
+ self._rtcout.RTC_DEBUG("delete buffer")
+ bfactory = OpenRTM_aist.CdrBufferFactory.instance()
+
+ self._buffer = None
+
+ if self._serializer:
+ self._rtcout.RTC_DEBUG("delete serializer")
+ self._serializer = None
+
+ self._rtcout.RTC_TRACE("disconnect() done")
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief アクティブ化
+ #
+ # このコネクタをアクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector activation
+ #
+ # This operation activates this connector
+ #
+ # @endif
+ #
+ # virtual void activate();
+
+ def activate(self):
+ self._publisher.activate()
+ return
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化
+ #
+ # このコネクタを非アクティブ化する
+ #
+ # @else
+ #
+ # @brief Connector deactivation
+ #
+ # This operation deactivates this connector
+ #
+ # @endif
+ #
+ # virtual void deactivate();
+
+ def deactivate(self):
+ self._publisher.deactivate()
+ return
+
+ ##
+ # @if jp
+ # @brief Buffer を取得する
+ #
+ # Connector が保持している Buffer を返す
+ #
+ # @else
+ # @brief Getting Buffer
+ #
+ # This operation returns this connector's buffer
+ #
+ # @endif
+ #
+ # virtual CdrBufferBase* getBuffer();
+
+ def getBuffer(self):
+ return self._buffer
+
+ ##
+ # @if jp
+ # @brief Publisherの生成
+ #
+ # 与えられた接続情報に基づきパブリッシャを生成する。
+ #
+ # @param info 接続情報
+ # @return パブリッシャへのポインタ
+ #
+ # @else
+ # @brief create buffer
+ #
+ # This function creates a publisher based on given information.
+ #
+ # @param info Connector information
+ # @return The poitner to the publisher
+ #
+ # @endif
+ #
+ # virtual PublisherBase* createPublisher(ConnectorInfo& info);
+
+ def createPublisher(self, info):
+ pub_type = info.properties.getProperty("io_mode")
+ if not pub_type:
+ pub_type = info.properties.getProperty(
+ "subscription_type", "flush")
+ pub_type = OpenRTM_aist.normalize(pub_type)
+ if pub_type == "flush":
+ info.properties.setProperty("io_mode", "block")
+ elif pub_type == "new":
+ info.properties.setProperty("io_mode", "nonblock")
+ else:
+ info.properties.setProperty("io_mode", "pub_type")
+
+ return OpenRTM_aist.PublisherFactory.instance().createObject(pub_type)
+
+ ##
+ # @if jp
+ # @brief Bufferの生成
+ #
+ # 与えられた接続情報に基づきバッファを生成する。
+ #
+ # @param info 接続情報
+ # @return バッファへのポインタ
+ #
+ # @else
+ # @brief create buffer
+ #
+ # This function creates a buffer based on given information.
+ #
+ # @param info Connector information
+ # @return The poitner to the buffer
+ #
+ # @endif
+ #
+ # virtual CdrBufferBase* createBuffer(ConnectorInfo& info);
+
+ def createBuffer(self, info):
+ buf_type = info.properties.getProperty("buffer_type",
+ "ring_buffer")
+
+ return OpenRTM_aist.CdrBufferFactory.instance().createObject(buf_type)
+
+ ##
+ # @if jp
+ # @brief 接続確立時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is established
+ # @endif
+ # void onConnect()
+
+ def onConnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_CONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief 接続切断時にコールバックを呼ぶ
+ # @else
+ # @brief Invoke callback when connection is destroied
+ # @endif
+ # void onDisconnect()
+ def onDisconnect(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief データをダイレクトに書き込むためのInPortのサーバントを設定する
+ #
+ # @param self
+ # @param directInPort InPortのサーバント
+ # @return True: 設定に成功 False: 既に設定済みのため失敗
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param directInPort
+ # @return
+ # @endif
+ #
+ # bool setInPort(InPortBase* directInPort);
+ def setInPort(self, directInPort):
+ if self._directInPort is not None:
+ return False
+ self._directInPort = directInPort
+ self._inPortListeners = self._directInPort._listeners
+ return True
+
+ ##
+ # @if jp
+ # @brief コンシューマのインターフェースの登録を取り消す
+ # @param prop コネクタプロファイルのプロパティ
+ # @else
+ # @brief
+ # @param prop
+ # @endif
+ def unsubscribeInterface(self, prop):
+ if self._consumer:
+ self._consumer.unsubscribeInterface(prop)
+
+ def setDataType(self, data):
+ OpenRTM_aist.OutPortConnector.setDataType(self, data)
+ self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
diff --git a/OpenRTM_aist/OutPortSHMConsumer.py b/OpenRTM_aist/OutPortSHMConsumer.py
index 21a6e324..110d5dd2 100644
--- a/OpenRTM_aist/OutPortSHMConsumer.py
+++ b/OpenRTM_aist/OutPortSHMConsumer.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -11,7 +11,6 @@
#
-
import OpenRTM_aist
import OpenRTM
import OpenRTM__POA
@@ -23,9 +22,9 @@
# @if jp
# @class OutPortSHMConsumer
#
-# @brief OutPortSHMConsumer 饹
+# @brief OutPortSHMConsumer クラス
#
-# ̿ʤ ͭ ѤϥݡȥץХμ饹
+# 通信手段に 共有メモリ を利用した出力ポートプロバイダーの実装クラス。
#
#
# @else
@@ -36,173 +35,162 @@
#
# @endif
#
-class OutPortSHMConsumer(OpenRTM_aist.OutPortCorbaCdrConsumer):
- """
- """
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.OutPortCorbaCdrConsumer.__init__(self)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortSHMConsumer")
-
- self._shmem = OpenRTM_aist.SharedMemory()
-
- self._mutex = threading.RLock()
- self._outportcdr = OpenRTM.PortSharedMemory._nil
- return
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
- self._rtcout.RTC_PARANOID("~OutPortSHMConsumer()")
- CorbaConsumer.__del__(self)
- try:
- if not CORBA.is_nil(self._outportcdr):
- self._outportcdr.close_memory(True)
- except:
- self._rtcout.RTC_WARN("Exception caught from PortSharedMemory.close_memory().")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self._shmem)
- OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
-
-
-
-
- ##
- # @if jp
- # @brief
- #
- # OutPortConsumerγƼԤ
- #
- # @param self
- # @param prop ͥץѥƥ
- #
- # @else
- # @brief Initializing configuration
- #
- #
- # @endif
- #
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
-
- self._properties = prop
-
- return
-
- def setObject(self, obj):
- if OpenRTM_aist.CorbaConsumer.setObject(self, obj):
- ref_ = self.getObject()
- if ref_:
- outportcdr = self.getObject()._narrow(OpenRTM__POA.PortSharedMemory)
- if outportcdr is None:
- return False
- outportcdr.setInterface(self._shmem._this())
- return True
- return False
-
-
-
- ##
- # @if jp
- # @brief ǡɤ߽Ф
- #
- # ꤵ줿ǡɤ߽Ф
- #
- # ǡΥ϶ͭƬ8byte
- # ǡ϶꤫ͭɤ߹
- #
- # @param data ɤ߽Фǡ륪֥
- #
- # @return
- #
- # @else
- # @brief Read data
- #
- # Read set data
- #
- # @param data Object to receive the read data
- #
- # @return Return Code
- #
- # @endif
- #
- # virtual ReturnCode get(cdrMemoryStream& data);
- def get(self, data):
- self._rtcout.RTC_PARANOID("get()")
-
- try:
- outportcdr = self.getObject()._narrow(OpenRTM__POA.PortSharedMemory)
-
- self._outportcdr = outportcdr
-
- guard = OpenRTM_aist.ScopedLock(self._mutex)
- ret = outportcdr.get()
-
- if ret == OpenRTM.PORT_OK:
- self._rtcout.RTC_DEBUG("get() successful")
-
-
-
- shm_data = self._shmem.read()
-
-
- data[0] = shm_data
- self.onReceived(data[0])
- self.onBufferWrite(data[0])
-
- if self._buffer.full():
- self._rtcout.RTC_INFO("InPort buffer is full.")
- self.onBufferFull(data[0])
- self.onReceiverFull(data[0])
-
- self._buffer.put(data[0])
- self._buffer.advanceWptr()
- self._buffer.advanceRptr()
-
- return self.PORT_OK
- return self.convertReturn(ret,data[0])
-
- except:
- self._rtcout.RTC_WARN("Exception caught from OutPort.get().")
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
-
-
+class OutPortSHMConsumer(OpenRTM_aist.OutPortCorbaCdrConsumer):
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortCorbaCdrConsumer.__init__(self)
+ OpenRTM_aist.CorbaConsumer.__init__(
+ self, OpenRTM__POA.PortSharedMemory)
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("OutPortSHMConsumer")
+
+ self._shmem = OpenRTM_aist.SharedMemory()
+
+ self._mutex = threading.RLock()
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+ def __del__(self, CorbaConsumer=OpenRTM_aist.CorbaConsumer):
+ self._rtcout.RTC_PARANOID("~OutPortSHMConsumer()")
+ CorbaConsumer.__del__(self)
+ try:
+ if not self._ptr():
+ self._ptr().close_memory(True)
+ except BaseException:
+ self._rtcout.RTC_WARN(
+ "Exception caught from PortSharedMemory.close_memory().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ oid = OpenRTM_aist.Manager.instance().getPOA().servant_to_id(self._shmem)
+ OpenRTM_aist.Manager.instance().getPOA().deactivate_object(oid)
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # OutPortConsumerの各種設定を行う
+ #
+ # @param self
+ # @param prop コネクタプロパティ
+ #
+ # @else
+ # @brief Initializing configuration
+ #
+ #
+ # @endif
+ #
+ # virtual void init(coil::Properties& prop);
+
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+
+ self._properties = prop
+
+ return
+
+ def setObject(self, obj):
+ if OpenRTM_aist.CorbaConsumer.setObject(self, obj):
+ portshmem = self._ptr()
+ if portshmem:
+ portshmem.setInterface(self._shmem._this())
+ return True
+ return False
+
+ ##
+ # @if jp
+ # @brief データを読み出す
+ #
+ # 設定されたデータを読み出す。
+ #
+ # データのサイズは共有メモリも先頭8byteから取得する
+ # データは共有メモリから読み込む
+ #
+ # @param data 読み出したデータを受け取るオブジェクト
+ #
+ # @return リターンコード
+ #
+ # @else
+ # @brief Read data
+ #
+ # Read set data
+ #
+ # @param data Object to receive the read data
+ #
+ # @return Return Code
+ #
+ # @endif
+ #
+ # virtual ReturnCode get(cdrMemoryStream& data);
+
+ def get(self):
+ self._rtcout.RTC_PARANOID("get()")
+
+ try:
+ portshmem = self._ptr()
+
+ guard = OpenRTM_aist.ScopedLock(self._mutex)
+ ret = portshmem.get()
+
+ data = None
+
+ if ret == OpenRTM.PORT_OK:
+ self._rtcout.RTC_DEBUG("get() successful")
+
+ shm_data = self._shmem.read()
+
+ data = shm_data
+ self.onReceived(data)
+ self.onBufferWrite(data)
+
+ if self._buffer.full():
+ self._rtcout.RTC_INFO("InPort buffer is full.")
+ self.onBufferFull(data)
+ self.onReceiverFull(data)
+
+ self._buffer.put(data)
+ self._buffer.advanceWptr()
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK, data
+ return self.convertReturn(ret, data)
+
+ except BaseException:
+ self._rtcout.RTC_WARN("Exception caught from OutPort.get().")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST, None
def OutPortSHMConsumerInit():
- factory = OpenRTM_aist.OutPortConsumerFactory.instance()
- factory.addFactory("shared_memory",
- OpenRTM_aist.OutPortSHMConsumer,
- OpenRTM_aist.Delete)
- return
+ factory = OpenRTM_aist.OutPortConsumerFactory.instance()
+ factory.addFactory("shared_memory",
+ OpenRTM_aist.OutPortSHMConsumer)
+ return
diff --git a/OpenRTM_aist/OutPortSHMProvider.py b/OpenRTM_aist/OutPortSHMProvider.py
index 7adef647..8f1d27b7 100644
--- a/OpenRTM_aist/OutPortSHMProvider.py
+++ b/OpenRTM_aist/OutPortSHMProvider.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file OutPortSHMProvider.py
@@ -10,7 +10,6 @@
#
-
import OpenRTM_aist
import OpenRTM
@@ -18,11 +17,11 @@
##
# @if jp
# @class OutPortSHMProvider
-# @brief OutPortSHMProvider 饹
+# @brief OutPortSHMProvider クラス
#
-# OutPortProvider
+# OutPortProvider
#
-# ̿ʤ ͭ ѤϥݡȥץХμ饹
+# 通信手段に 共有メモリ を利用した出力ポートプロバイダの実装クラス。
#
#
# @else
@@ -33,241 +32,227 @@
#
# @endif
#
-class OutPortSHMProvider(OpenRTM_aist.OutPortProvider,OpenRTM_aist.SharedMemory):
- ##
- # @if jp
- # @brief ȥ饯
- # ͭζ̾UUIDǺͥץեdataport.shared_memory.address¸
- #
- # ȥ饯
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @endif
- #
- def __init__(self):
- OpenRTM_aist.OutPortProvider.__init__(self)
- OpenRTM_aist.SharedMemory.__init__(self)
- self.setInterfaceType("shared_memory")
-
- self._objref = self._this()
- self._buffer = None
- orb = OpenRTM_aist.Manager.instance().getORB()
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ior",
- orb.object_to_string(self._objref)))
- self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ref",
- self._objref))
- self._listeners = None
- self._connector = None
- self._profile = None
-
-
- self._shm_address = str(OpenRTM_aist.uuid1())
-
- self._endian = True
-
-
-
-
-
-
-
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- return
-
- ##
- # @if jp
- # @brief λ
- #
- # @else
- # @brief
- #
- #
- #
- # @endif
- #
- def exit(self):
- oid = self._default_POA().servant_to_id(self)
- self._default_POA().deactivate_object(oid)
-
- # virtual void init(coil::Properties& prop);
- def init(self, prop):
-
- ds = prop.getProperty("shem_default_size")
- self._memory_size = self.string_to_MemorySize(ds)
-
-
- if prop.hasKey("serializer"):
- endian = prop.getProperty("serializer.cdr.endian", "little")
-
-
- endian = OpenRTM_aist.split(endian, ",")
- endian = OpenRTM_aist.normalize(endian)
- if endian == "little":
- self._endian = True
- elif endian == "big":
- self._endian = False
-
- else:
- self._endian = True
-
- return
-
- def setBuffer(self, buffer):
- self._buffer = buffer
- return
-
- def setListener(self, info, listeners):
- self._profile = info
- self._listeners = listeners
- return
-
- def setConnector(self, connector):
- self._connector = connector
- return
-
-
-
-
- ##
- # @if jp
- # @brief Хåեǡ
- #
- # @return (ɡǡ)
- #
- # @else
- # @brief Get data from the buffer
- #
- #
- # @return
- #
- # @endif
- #
- # virtual ::OpenRTM::PortStatus get(::OpenRTM::CdrData_out data);
- def get(self):
- self._rtcout.RTC_PARANOID("OutPortSHMProvider.get()")
-
- if not self._connector:
- self.onSenderError()
- return OpenRTM.UNKNOWN_ERROR
-
- try:
-
- cdr = [None]
- ret = self._connector.read(cdr)
-
- if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
- if cdr[0] is None:
- self._rtcout.RTC_ERROR("buffer is empty.")
- return OpenRTM.BUFFER_EMPTY
-
- except:
- self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
- return OpenRTM.UNKNOWN_ERROR
-
-
- self.setEndian(self._endian)
- self.create_memory(self._memory_size, self._shm_address)
- if cdr[0]:
- self.write(cdr[0])
-
- return self.convertReturn(ret, cdr[0])
-
-
- def onBufferRead(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- return
-
- def onSend(self, data):
- if self._listeners and self._profile:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- return
-
-
-
- def onBufferEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
- return
-
- def onBufferReadTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT].notify(self._profile)
- return
-
- def onSenderEmpty(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
- return
-
- def onSenderTimeout(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT].notify(self._profile)
- return
-
- def onSenderError(self):
- if self._listeners and self._profile:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
- return
-
- def convertReturn(self, status, data):
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- self.onBufferRead(data)
- self.onSend(data)
- return OpenRTM.PORT_OK
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- self.onSenderError()
- return OpenRTM.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- # never come here
- return OpenRTM.BUFFER_FULL
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
- self.onBufferEmpty()
- self.onSenderEmpty()
- return OpenRTM.BUFFER_EMPTY
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- self.onSenderError()
- return OpenRTM.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferReadTimeout()
- self.onSenderTimeout()
- return OpenRTM.BUFFER_TIMEOUT
-
- else:
- return OpenRTM.UNKNOWN_ERROR
-
-
+class OutPortSHMProvider(OpenRTM_aist.OutPortProvider,
+ OpenRTM_aist.SharedMemory):
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ # 共有メモリの空間名はUUIDで作成し、コネクタプロファイルのdataport.shared_memory.addressに保存する
+ #
+ # コンストラクタ
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @endif
+ #
+ def __init__(self):
+ OpenRTM_aist.OutPortProvider.__init__(self)
+ OpenRTM_aist.SharedMemory.__init__(self)
+ self.setInterfaceType("shared_memory")
+
+ self._objref = self._this()
+ self._buffer = None
+ orb = OpenRTM_aist.Manager.instance().getORB()
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ior",
+ orb.object_to_string(self._objref)))
+ self._properties.append(OpenRTM_aist.NVUtil.newNV("dataport.corba_cdr.outport_ref",
+ self._objref))
+ self._listeners = None
+ self._connector = None
+ self._profile = None
+
+ self._shm_address = str(OpenRTM_aist.uuid1())
+ self._endian = True
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @else
+ # @brief Destructor
+ #
+ # Destructor
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ return
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @else
+ # @brief
+ #
+ #
+ #
+ # @endif
+ #
+ def exit(self):
+ oid = self._default_POA().servant_to_id(self)
+ self._default_POA().deactivate_object(oid)
+
+ # virtual void init(coil::Properties& prop);
+ def init(self, prop):
+
+ ds = prop.getProperty("shem_default_size")
+ self._memory_size = self.string_to_MemorySize(ds)
+
+ if prop.hasKey("serializer"):
+ endian = prop.getProperty("serializer.cdr.endian", "little")
+
+ endian = OpenRTM_aist.split(endian, ",")
+ endian = OpenRTM_aist.normalize(endian[0])
+ if endian == "little":
+ self._endian = True
+ elif endian == "big":
+ self._endian = False
+
+ else:
+ self._endian = True
+
+ return
+
+ def setBuffer(self, buffer):
+ self._buffer = buffer
+ return
+
+ def setListener(self, info, listeners):
+ self._profile = info
+ self._listeners = listeners
+ return
+
+ def setConnector(self, connector):
+ self._connector = connector
+ return
+
+ ##
+ # @if jp
+ # @brief バッファからデータを取得する
+ #
+ # @return (リターンコード、取得データ)
+ #
+ # @else
+ # @brief Get data from the buffer
+ #
+ #
+ # @return
+ #
+ # @endif
+ #
+ # virtual ::OpenRTM::PortStatus get(::OpenRTM::CdrData_out data);
+
+ def get(self):
+ self._rtcout.RTC_PARANOID("OutPortSHMProvider.get()")
+
+ if not self._connector:
+ self.onSenderError()
+ return OpenRTM.UNKNOWN_ERROR
+
+ try:
+ ret, cdr = self._connector.read()
+
+ if ret == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ if cdr is None:
+ self._rtcout.RTC_ERROR("buffer is empty.")
+ return OpenRTM.BUFFER_EMPTY
+
+ except BaseException:
+ self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+ return OpenRTM.UNKNOWN_ERROR
+
+ self.setEndian(self._endian)
+ self.create_memory(self._memory_size, self._shm_address)
+ if cdr:
+ self.write(cdr)
+
+ return self.convertReturn(ret, cdr)
+
+ def onBufferRead(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ def onSend(self, data):
+ if self._listeners and self._profile:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ def onBufferEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ def onBufferReadTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_READ_TIMEOUT, self._profile)
+ return
+
+ def onSenderEmpty(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+ return
+
+ def onSenderTimeout(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_TIMEOUT, self._profile)
+ return
+
+ def onSenderError(self):
+ if self._listeners and self._profile:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
+ return
+
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ data = self.onBufferRead(data)
+ self.onSend(data)
+ return OpenRTM.PORT_OK
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ self.onSenderError()
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ # never come here
+ return OpenRTM.BUFFER_FULL
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_EMPTY:
+ self.onBufferEmpty()
+ self.onSenderEmpty()
+ return OpenRTM.BUFFER_EMPTY
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ self.onSenderError()
+ return OpenRTM.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ self.onBufferReadTimeout()
+ self.onSenderTimeout()
+ return OpenRTM.BUFFER_TIMEOUT
+
+ else:
+ return OpenRTM.UNKNOWN_ERROR
def OutPortSHMProviderInit():
- factory = OpenRTM_aist.OutPortProviderFactory.instance()
- factory.addFactory("shared_memory",
- OpenRTM_aist.OutPortSHMProvider,
- OpenRTM_aist.Delete)
+ factory = OpenRTM_aist.OutPortProviderFactory.instance()
+ factory.addFactory("shared_memory",
+ OpenRTM_aist.OutPortSHMProvider)
diff --git a/OpenRTM_aist/PeriodicECSharedComposite.py b/OpenRTM_aist/PeriodicECSharedComposite.py
index 83b6cfc2..7268c919 100644
--- a/OpenRTM_aist/PeriodicECSharedComposite.py
+++ b/OpenRTM_aist/PeriodicECSharedComposite.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file PeriodicECSharedComposite.h
@@ -19,8 +19,6 @@
#
-
-
from omniORB import CORBA
import OpenRTM
import RTC
@@ -28,46 +26,44 @@
periodicecsharedcomposite_spec = ["implementation_id", "PeriodicECSharedComposite",
- "type_name", "PeriodicECSharedComposite",
- "description", "PeriodicECSharedComposite",
- "version", "1.0",
- "vendor", "jp.go.aist",
- "category", "composite.PeriodicECShared",
- "activity_type", "DataFlowComponent",
- "max_instance", "0",
- "language", "Python",
- "lang_type", "script",
- "exported_ports", "",
+ "type_name", "PeriodicECSharedComposite",
+ "description", "PeriodicECSharedComposite",
+ "version", "1.0",
+ "vendor", "jp.go.aist",
+ "category", "composite.PeriodicECShared",
+ "activity_type", "DataFlowComponent",
+ "max_instance", "0",
+ "language", "Python",
+ "lang_type", "script",
+ "exported_ports", "",
"conf.default.members", "",
"conf.default.exported_ports", "",
""]
-
+
def stringToStrVec(v, _is):
- str = [_is]
- OpenRTM_aist.eraseBlank(str)
- v[0] = str[0].split(",")
- return True
+ _str = OpenRTM_aist.eraseBlank(_is)
+ v = _str.split(",")
+ return True, v
class setCallback(OpenRTM_aist.ConfigurationSetListener):
- def __init__(self, org):
- self._org = org
- pass
-
- def __call__(self, config_set):
- self._org.updateDelegatedPorts()
+ def __init__(self, org):
+ self._org = org
+ pass
+ def __call__(self, config_set):
+ self._org.updateDelegatedPorts()
class addCallback(OpenRTM_aist.ConfigurationSetListener):
- def __init__(self, org):
- self._org = org
- pass
+ def __init__(self, org):
+ self._org = org
+ pass
- def __call__(self, config_set):
- self._org.updateDelegatedPorts()
- return
+ def __call__(self, config_set):
+ self._org.updateDelegatedPorts()
+ return
##
@@ -86,518 +82,533 @@ def __call__(self, config_set):
#
class PeriodicECOrganization(OpenRTM_aist.Organization_impl):
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param rtobj オブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param rtobj Object
+ #
+ # @endif
+ #
+ def __init__(self, rtobj):
+ OpenRTM_aist.Organization_impl.__init__(self, rtobj.getObjRef())
+ self._rtobj = rtobj
+ self._ec = None
+ self._rtcMembers = []
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf(
+ "rtobject.PeriodicECOrganization")
+ self._expPorts = []
+ return
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param rtobj ֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param rtobj Object
- #
- # @endif
- #
- def __init__(self, rtobj):
- OpenRTM_aist.Organization_impl.__init__(self,rtobj.getObjRef())
- self._rtobj = rtobj
- self._ec = None
- self._rtcMembers = []
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.PeriodicECOrganization")
- self._expPorts = []
- return
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] OrganizationСɲä
- #
- # Organization ݻСꥹȤͿ줿SDOListɲä롣
- #
- # @param sdo_list ɲä SDO СΥꥹ
- # @return ɲäɤbool֤
- #
- # @else
- #
- # @brief [CORBA interface] Add Organization member
- #
- # This operation adds the given SDOList to the existing organization's
- # member list
- #
- # @param sdo_list SDO member list to be added
- # @return boolean will returned if the operation succeed
- #
- # @endif
- #
- # Boolean add_members(const SDOList& sdo_list)
- def add_members(self, sdo_list):
- self._rtcout.RTC_DEBUG("add_members()")
- self.updateExportedPortsList()
- for sdo in sdo_list:
- dfc = [None]
- if not self.sdoToDFC(sdo, dfc):
- sdo_list.remove(sdo)
- continue
- member = self.Member(dfc[0])
- self.stopOwnedEC(member)
- self.addOrganizationToTarget(member)
- self.addParticipantToEC(member)
- self.addPort(member, self._expPorts)
- self._rtcMembers.append(member)
-
- result = OpenRTM_aist.Organization_impl.add_members(self,sdo_list)
-
- return result
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] OrganizationСåȤ
- #
- # Organization ݻСꥹȤͿ줿
- # SDOList˥åȤ롣
- #
- # @param sdo_list ˥åȤ SDO СΥꥹ
- # @return ɲäɤbool֤
- #
- # @else
- #
- # @brief [CORBA interface] Set Organization member
- #
- # This operation removes existing member list and sets the given
- # SDOList to the existing organization's member list
- #
- # @param sdo_list SDO member list to be set
- # @return boolean will returned if the operation succeed
- #
- # @endif
- #
- # Boolean set_members(const SDOList& sdo_list)
- def set_members(self, sdo_list):
- self._rtcout.RTC_DEBUG("set_members()")
- # self._rtcMembers = []
- self.removeAllMembers()
- self.updateExportedPortsList()
-
- for sdo in sdo_list:
- dfc = [None]
- if not self.sdoToDFC(sdo, dfc):
- sdo_list.remove(sdo)
- continue
-
- member = self.Member(dfc[0])
- self.stopOwnedEC(member)
- self.addOrganizationToTarget(member)
- self.addParticipantToEC(member)
- self.addPort(member, self._expPorts)
- self._rtcMembers.append(member)
-
- result = OpenRTM_aist.Organization_impl.set_members(self, sdo_list)
-
- return result
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] OrganizationС
- #
- # Organization ݻСꥹSDO롣
- #
- # @param id SDO ID
- # @return ɲäɤbool֤
- #
- # @else
- #
- # @brief [CORBA interface] Remove a member of Organization
- #
- # This operation removes a SDO from existing member list by specified ID.
- #
- # @param id The ID of the SDO to be removed
- # @return boolean will returned if the operation succeed
- #
- # @endif
- #
- # Boolean remove_member(const char* id)
- def remove_member(self, id):
- self._rtcout.RTC_DEBUG("remove_member(id = %s)", id)
- rm_rtc = []
- for member in self._rtcMembers:
- if str(id) != str(member._profile.instance_name):
- continue
- self.removePort(member, self._expPorts)
- self._rtobj.getProperties().setProperty("conf.default.exported_ports", OpenRTM_aist.flatten(self._expPorts))
- self.removeParticipantFromEC(member)
- self.removeOrganizationFromTarget(member)
- self.startOwnedEC(member)
- #rm_rtc.append(member)
- self._rtcMembers.remove(member)
- break
-
- #for m in rm_rtc:
- # self._rtcMembers.remove(m)
- result = OpenRTM_aist.Organization_impl.remove_member(self, id)
- return result
-
-
-
- ##
- # @if jp
- # @brief OrganizationС
- # @else
- # @brief Remove a member of Organization
- # @endif
- #
- def removeAllMembers(self):
- self._rtcout.RTC_DEBUG("removeAllMembers()")
- self.updateExportedPortsList()
- for member in self._rtcMembers:
- self.removePort(member, self._expPorts)
- self.removeParticipantFromEC(member)
- self.removeOrganizationFromTarget(member)
- self.startOwnedEC(member)
- OpenRTM_aist.Organization_impl.remove_member(self, member._profile.instance_name)
-
- self._rtcMembers = []
- self._expPorts = []
- return
-
-
- ##
- # @if jp
- # @brief SDODFCؤѴ
- # @else
- # @brief Conversion from SDO to DFC
- # @endif
- #
- # bool sdoToDFC(const SDO_ptr sdo, ::OpenRTM::DataFlowComponent_ptr& dfc);
- def sdoToDFC(self, sdo, dfc):
- if CORBA.is_nil(sdo):
- return False
-
- dfc[0] = sdo._narrow(OpenRTM.DataFlowComponent)
- if CORBA.is_nil(dfc[0]):
- return False
-
- return True
-
-
- ##
- # @if jp
- # @brief Owned ExecutionContext ߤ
- # @else
- # @brief Stop Owned ExecutionContexts
- # @endif
- #
- # void stopOwnedEC(Member& member);
- def stopOwnedEC(self, member):
- ecs = member._eclist
- for ec in ecs:
- ec.stop()
-
- return
-
-
- ##
- # @if jp
- # @brief Owned ExecutionContext ư
- # @else
- # @brief Start Owned ExecutionContexts
- # @endif
- #
- def startOwnedEC(self, member):
- ecs = member._eclist
- for ec in ecs:
- ec.start()
-
- return
-
-
- ##
- # @if jp
- # @brief DFC Organization ֥ȤͿ
- # @else
- # @brief Set Organization object to target DFC
- # @endif
- #
- # void addOrganizationToTarget(Member& member);
- def addOrganizationToTarget(self, member):
- conf = member._config
- if CORBA.is_nil(conf):
- return
-
- conf.add_organization(self._objref)
- return
-
-
- ##
- # @if jp
- # @brief Organization ֥Ȥ DFC
- # @else
- # @brief Remove Organization object from a target DFC
- # @endif
- #
- # void removeOrganizationFromTarget(Member& member)
- def removeOrganizationFromTarget(self, member):
- # get given RTC's configuration object
- if CORBA.is_nil(member._config):
- return
-
- # set organization to target RTC's conf
- member._config.remove_organization(self._pId)
- return
-
-
- ##
- # @if jp
- # @brief Composite ExecutionContext DFC ˥åȤ
- # @else
- # @brief Set CompositeRTC's ExecutionContext to the given DFC
- # @endif
- #
- # void addParticipantToEC(Member& member)
- def addParticipantToEC(self, member):
- if CORBA.is_nil(self._ec) or self._ec is None:
- ecs = self._rtobj.get_owned_contexts()
- if len(ecs) > 0:
- self._ec = ecs[0]
- else:
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Organizationメンバーを追加する
+ #
+ # Organization が保持するメンバーリストに与えられたSDOListを追加する。
+ #
+ # @param sdo_list 追加される SDO メンバーのリスト
+ # @return 追加が成功したかどうかがboolで返される
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Add Organization member
+ #
+ # This operation adds the given SDOList to the existing organization's
+ # member list
+ #
+ # @param sdo_list SDO member list to be added
+ # @return boolean will returned if the operation succeed
+ #
+ # @endif
+ #
+ # Boolean add_members(const SDOList& sdo_list)
+
+ def add_members(self, sdo_list):
+ self._rtcout.RTC_DEBUG("add_members()")
+ self.updateExportedPortsList()
+ for sdo in sdo_list:
+ ret, dfc = self.sdoToDFC(sdo)
+ if not ret:
+ sdo_list.remove(sdo)
+ continue
+ member = self.Member(dfc)
+ self.stopOwnedEC(member)
+ self.addOrganizationToTarget(member)
+ self.addParticipantToEC(member)
+ self.addPort(member, self._expPorts)
+ self._rtcMembers.append(member)
+
+ result = OpenRTM_aist.Organization_impl.add_members(self, sdo_list)
+
+ return result
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Organizationメンバーをセットする
+ #
+ # Organization が保持するメンバーリストを削除し、与えられた
+ # SDOListを新規にセットする。
+ #
+ # @param sdo_list 新規にセットされる SDO メンバーのリスト
+ # @return 追加が成功したかどうかがboolで返される
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Set Organization member
+ #
+ # This operation removes existing member list and sets the given
+ # SDOList to the existing organization's member list
+ #
+ # @param sdo_list SDO member list to be set
+ # @return boolean will returned if the operation succeed
+ #
+ # @endif
+ #
+ # Boolean set_members(const SDOList& sdo_list)
+
+ def set_members(self, sdo_list):
+ self._rtcout.RTC_DEBUG("set_members()")
+ # self._rtcMembers = []
+ self.removeAllMembers()
+ self.updateExportedPortsList()
+
+ for sdo in sdo_list:
+ ret, dfc = self.sdoToDFC(sdo)
+ if not ret:
+ sdo_list.remove(sdo)
+ continue
+
+ member = self.Member(dfc)
+ self.stopOwnedEC(member)
+ self.addOrganizationToTarget(member)
+ self.addParticipantToEC(member)
+ self.addPort(member, self._expPorts)
+ self._rtcMembers.append(member)
+
+ result = OpenRTM_aist.Organization_impl.set_members(self, sdo_list)
+
+ return result
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Organizationメンバーを削除する
+ #
+ # Organization が保持するメンバーリスト内の特定のSDOを削除する。
+ #
+ # @param id 削除される SDO の ID
+ # @return 追加が成功したかどうかがboolで返される
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Remove a member of Organization
+ #
+ # This operation removes a SDO from existing member list by specified ID.
+ #
+ # @param id The ID of the SDO to be removed
+ # @return boolean will returned if the operation succeed
+ #
+ # @endif
+ #
+ # Boolean remove_member(const char* id)
+
+ def remove_member(self, id):
+ self._rtcout.RTC_DEBUG("remove_member(id = %s)", id)
+ rm_rtc = []
+ for member in self._rtcMembers:
+ if str(id) != str(member._profile.instance_name):
+ continue
+ self.removePort(member, self._expPorts)
+ self._rtobj.getProperties().setProperty(
+ "conf.default.exported_ports",
+ OpenRTM_aist.flatten(
+ self._expPorts))
+ self.removeParticipantFromEC(member)
+ self.removeOrganizationFromTarget(member)
+ self.startOwnedEC(member)
+ # rm_rtc.append(member)
+ self._rtcMembers.remove(member)
+ break
+
+ # for m in rm_rtc:
+ # self._rtcMembers.remove(m)
+ result = OpenRTM_aist.Organization_impl.remove_member(self, id)
+ return result
+
+ ##
+ # @if jp
+ # @brief Organizationメンバーを削除する
+ # @else
+ # @brief Remove a member of Organization
+ # @endif
+ #
+
+ def removeAllMembers(self):
+ self._rtcout.RTC_DEBUG("removeAllMembers()")
+ self.updateExportedPortsList()
+ for member in self._rtcMembers:
+ self.removePort(member, self._expPorts)
+ self.removeParticipantFromEC(member)
+ self.removeOrganizationFromTarget(member)
+ self.startOwnedEC(member)
+ OpenRTM_aist.Organization_impl.remove_member(
+ self, member._profile.instance_name)
+
+ self._rtcMembers = []
+ self._expPorts = []
return
-
- self.addRTCToEC(member._rtobj)
-
- return
-
- def addRTCToEC(self, rtobj):
-
- # set ec to target RTC
-
-
- orglist = rtobj.get_owned_organizations()
- if len(orglist) == 0:
- self._ec.add_component(rtobj)
-
- #orglist = member._rtobj.get_organizations()
-
- for org in orglist:
- sdos = org.get_members()
- for sdo in sdos:
- dfc = [None]
- if not self.sdoToDFC(sdo, dfc):
- continue
- self.addRTCToEC(dfc[0])
-
-
-
- ##
- # @if jp
- # @brief Composite ExecutionContext DFC
- # @else
- # @brief Remove participant DFC from CompositeRTC's ExecutionContext
- # @endif
- #
- # void PeriodicECOrganization::removeParticipantFromEC(Member& member)
- def removeParticipantFromEC(self, member):
- if CORBA.is_nil(self._ec) or self._ec is None:
- ecs = self._rtobj.get_owned_contexts()
- if len(ecs) > 0:
- self._ec = ecs[0]
- else:
- self._rtcout.RTC_FATAL("no owned EC")
+
+ ##
+ # @if jp
+ # @brief SDOからDFCへの変換
+ # @else
+ # @brief Conversion from SDO to DFC
+ # @endif
+ #
+ # bool sdoToDFC(const SDO_ptr sdo, ::OpenRTM::DataFlowComponent_ptr& dfc);
+
+ def sdoToDFC(self, sdo):
+ if CORBA.is_nil(sdo):
+ return False, None
+
+ dfc = sdo._narrow(OpenRTM.DataFlowComponent)
+ if CORBA.is_nil(dfc):
+ return False, dfc
+
+ return True, dfc
+
+ ##
+ # @if jp
+ # @brief Owned ExecutionContext を停止させる
+ # @else
+ # @brief Stop Owned ExecutionContexts
+ # @endif
+ #
+ # void stopOwnedEC(Member& member);
+
+ def stopOwnedEC(self, member):
+ ecs = member._eclist
+ for ec in ecs:
+ ec.stop()
+
+ return
+
+ ##
+ # @if jp
+ # @brief Owned ExecutionContext を起動する
+ # @else
+ # @brief Start Owned ExecutionContexts
+ # @endif
+ #
+
+ def startOwnedEC(self, member):
+ ecs = member._eclist
+ for ec in ecs:
+ ec.start()
+
+ return
+
+ ##
+ # @if jp
+ # @brief DFC に Organization オブジェクトを与える
+ # @else
+ # @brief Set Organization object to target DFC
+ # @endif
+ #
+ # void addOrganizationToTarget(Member& member);
+
+ def addOrganizationToTarget(self, member):
+ conf = member._config
+ if CORBA.is_nil(conf):
+ return
+
+ conf.add_organization(self._objref)
+ return
+
+ ##
+ # @if jp
+ # @brief Organization オブジェクトを DFCから削除する
+ # @else
+ # @brief Remove Organization object from a target DFC
+ # @endif
+ #
+ # void removeOrganizationFromTarget(Member& member)
+
+ def removeOrganizationFromTarget(self, member):
+ # get given RTC's configuration object
+ if CORBA.is_nil(member._config):
+ return
+
+ # set organization to target RTC's conf
+ member._config.remove_organization(self._pId)
+ return
+
+ ##
+ # @if jp
+ # @brief Composite の ExecutionContext を DFC にセットする
+ # @else
+ # @brief Set CompositeRTC's ExecutionContext to the given DFC
+ # @endif
+ #
+ # void addParticipantToEC(Member& member)
+
+ def addParticipantToEC(self, member):
+ if CORBA.is_nil(self._ec) or self._ec is None:
+ ecs = self._rtobj.get_owned_contexts()
+ if ecs:
+ self._ec = ecs[0]
+ else:
+ return
+
+ self.addRTCToEC(member._rtobj)
+
return
- self._ec.remove_component(member._rtobj)
-
- #orglist = member._rtobj.get_organizations()
- orglist = member._rtobj.get_owned_organizations()
-
- for org in orglist:
- sdos = org.get_members()
- for sdo in sdos:
- dfc = [None]
- if not self.sdoToDFC(sdo, dfc):
- continue
- self._ec.remove_component(dfc[0])
- return
-
-
- ##
- # @if jp
- # @brief Composite ExecutionContext DFC ˥åȤ
- # @else
- # @brief Set CompositeRTC's ExecutionContext to the given DFC
- # @endif
- #
- # void setCompositeECToTarget(::OpenRTM::DataFlowComponent_ptr dfc);
- # def setCompositeECToTarget(self, dfc):
- # if CORBA.is_nil(dfc):
- # return
- #
- # if CORBA.is_nil(self._ec) or self._ec is None:
- # ecs = self._rtobj.get_owned_contexts()
- # if len(ecs) > 0:
- # self._ec = ecs[0]
- # else:
- # return
- #
- # self._ec.add_component(dfc)
-
- ##
- # @if jp
- # @brief ݡȤѾ
- # @else
- # @brief Delegate given RTC's ports to the Composite
- # @endif
- #
- # void addPort(Member& member, PortList& portlist);
- def addPort(self, member, portlist):
- self._rtcout.RTC_TRACE("addPort(%s)", OpenRTM_aist.flatten(portlist))
- if len(portlist) == 0:
- return
-
- #comp_name = member._profile.instance_name
- plist = member._profile.port_profiles
-
- # port delegation
- for prof in plist:
- # port name -> comp_name.port_name
- port_name = prof.name
-
- self._rtcout.RTC_DEBUG("port_name: %s is in %s?", (port_name,OpenRTM_aist.flatten(portlist)))
- if not port_name in portlist:
- self._rtcout.RTC_DEBUG("Not found: %s is in %s?", (port_name,OpenRTM_aist.flatten(portlist)))
- continue
-
- self._rtcout.RTC_DEBUG("Found: %s is in %s", (port_name,OpenRTM_aist.flatten(portlist)))
- self._rtobj.addPort(prof.port_ref)
- self._rtcout.RTC_DEBUG("Port %s was delegated.", port_name)
-
- return
-
-
- ##
- # @if jp
- # @brief ѾƤݡȤ
- # @else
- # @brief Remove delegated participatns's ports from the composite
- # @endif
- #
- # void removePort(Member& member, PortList& portlist)
- def removePort(self, member, portlist):
- self._rtcout.RTC_DEBUG("removePort()")
- if len(portlist) == 0:
- return
-
- #comp_name = member._profile.instance_name
- plist = member._profile.port_profiles
-
- # port delegation
- for prof in plist:
- # port name -> comp_name.port_name
- port_name = prof.name
-
- self._rtcout.RTC_DEBUG("port_name: %s is in %s?", (port_name,OpenRTM_aist.flatten(portlist)))
- if not port_name in portlist:
- self._rtcout.RTC_DEBUG("Not found: %s is in %s?", (port_name,OpenRTM_aist.flatten(portlist)))
- continue
-
- self._rtcout.RTC_DEBUG("Found: %s is in %s", (port_name,OpenRTM_aist.flatten(portlist)))
- self._rtobj.removePort(prof.port_ref)
- portlist.remove(port_name)
- self._rtcout.RTC_DEBUG("Port %s was deleted.", port_name)
-
- return
-
-
- ##
- # @if jp
- # @brief PortsList
- # @else
- # @brief PortsList is updated.
- # @endif
- #
- def updateExportedPortsList(self):
- plist = self._rtobj.getProperties().getProperty("conf.default.exported_ports")
- if plist:
- p = [plist]
- OpenRTM_aist.eraseBlank(p)
- self._expPorts = p[0].split(",")
-
- return
-
- ##
- # @if jp
- # @brief OrganizationС/
- # @else
- # @brief Update/Remove a member of Organization
- # @endif
- #
- def updateDelegatedPorts(self):
- oldPorts = self._expPorts
- ports = self._rtobj.getProperties().getProperty("conf.default.exported_ports")
- newPorts = ports.split(",")
-
-
- removedPorts = list(set(oldPorts).difference(set(newPorts)))
- createdPorts = list(set(newPorts).difference(set(oldPorts)))
-
- self._rtcout.RTC_VERBOSE("old ports: %s", OpenRTM_aist.flatten(oldPorts))
- self._rtcout.RTC_VERBOSE("new ports: %s", OpenRTM_aist.flatten(newPorts))
- self._rtcout.RTC_VERBOSE("remove ports: %s", OpenRTM_aist.flatten(removedPorts))
- self._rtcout.RTC_VERBOSE("add ports: %s", OpenRTM_aist.flatten(createdPorts))
-
- for member in self._rtcMembers:
- self.removePort(member, removedPorts)
- self.addPort(member, createdPorts)
-
- self._expPorts = newPorts
- return
-
-
- class Member:
- def __init__(self, rtobj):
- self._rtobj = rtobj
- self._profile = rtobj.get_component_profile()
- self._eclist = rtobj.get_owned_contexts()
- self._config = rtobj.get_configuration()
- return
-
- def __call__(self, x):
- tmp = x
- tmp.swap(self)
- return self
-
-
- def swap(self, x):
- rtobj = x._rtobj
- profile = x._profile
- eclist = x._eclist
- config = x._config
-
- x._rtobj = self._rtobj
- x._profile = self._profile
- x._eclist = self._eclist
- x._config = self._config
-
- self._rtobj = rtobj
- self._profile = profile
- self._eclist = eclist
- self._config = config
- return
-
+
+ def addRTCToEC(self, rtobj):
+
+ # set ec to target RTC
+
+ orglist = rtobj.get_owned_organizations()
+ if not orglist:
+ self._ec.add_component(rtobj)
+
+ #orglist = member._rtobj.get_organizations()
+
+ for org in orglist:
+ sdos = org.get_members()
+ for sdo in sdos:
+ ret, dfc = self.sdoToDFC(sdo)
+ if not ret:
+ continue
+ self.addRTCToEC(dfc)
+
+ ##
+ # @if jp
+ # @brief Composite の ExecutionContext から DFC を削除する
+ # @else
+ # @brief Remove participant DFC from CompositeRTC's ExecutionContext
+ # @endif
+ #
+ # void PeriodicECOrganization::removeParticipantFromEC(Member& member)
+
+ def removeParticipantFromEC(self, member):
+ if CORBA.is_nil(self._ec) or self._ec is None:
+ ecs = self._rtobj.get_owned_contexts()
+ if ecs:
+ self._ec = ecs[0]
+ else:
+ self._rtcout.RTC_FATAL("no owned EC")
+ return
+ self._ec.remove_component(member._rtobj)
+
+ #orglist = member._rtobj.get_organizations()
+ orglist = member._rtobj.get_owned_organizations()
+
+ for org in orglist:
+ sdos = org.get_members()
+ for sdo in sdos:
+ ret, dfc = self.sdoToDFC(sdo)
+ if not ret:
+ continue
+ self._ec.remove_component(dfc)
+ return
+
+ ##
+ # @if jp
+ # @brief Composite の ExecutionContext を DFC にセットする
+ # @else
+ # @brief Set CompositeRTC's ExecutionContext to the given DFC
+ # @endif
+ #
+ # void setCompositeECToTarget(::OpenRTM::DataFlowComponent_ptr dfc);
+ # def setCompositeECToTarget(self, dfc):
+ # if CORBA.is_nil(dfc):
+ # return
+ #
+ # if CORBA.is_nil(self._ec) or self._ec is None:
+ # ecs = self._rtobj.get_owned_contexts()
+ # if len(ecs) > 0:
+ # self._ec = ecs[0]
+ # else:
+ # return
+ #
+ # self._ec.add_component(dfc)
+
+ ##
+ # @if jp
+ # @brief ポートを委譲する
+ # @else
+ # @brief Delegate given RTC's ports to the Composite
+ # @endif
+ #
+ # void addPort(Member& member, PortList& portlist);
+
+ def addPort(self, member, portlist):
+ self._rtcout.RTC_TRACE("addPort(%s)", OpenRTM_aist.flatten(portlist))
+ if not portlist:
+ return
+
+ #comp_name = member._profile.instance_name
+ plist = member._profile.port_profiles
+
+ # port delegation
+ for prof in plist:
+ # port name -> comp_name.port_name
+ port_name = prof.name
+
+ self._rtcout.RTC_DEBUG(
+ "port_name: %s is in %s?",
+ (port_name,
+ OpenRTM_aist.flatten(portlist)))
+ if not port_name in portlist:
+ self._rtcout.RTC_DEBUG(
+ "Not found: %s is in %s?", (port_name, OpenRTM_aist.flatten(portlist)))
+ continue
+
+ self._rtcout.RTC_DEBUG(
+ "Found: %s is in %s", (port_name, OpenRTM_aist.flatten(portlist)))
+ self._rtobj.addPort(prof.port_ref)
+ self._rtcout.RTC_DEBUG("Port %s was delegated.", port_name)
+
+ return
+
+ ##
+ # @if jp
+ # @brief 委譲していたポートを削除する
+ # @else
+ # @brief Remove delegated participatns's ports from the composite
+ # @endif
+ #
+ # void removePort(Member& member, PortList& portlist)
+
+ def removePort(self, member, portlist):
+ self._rtcout.RTC_DEBUG("removePort()")
+ if not portlist:
+ return
+
+ #comp_name = member._profile.instance_name
+ plist = member._profile.port_profiles
+
+ # port delegation
+ for prof in plist:
+ # port name -> comp_name.port_name
+ port_name = prof.name
+
+ self._rtcout.RTC_DEBUG(
+ "port_name: %s is in %s?",
+ (port_name,
+ OpenRTM_aist.flatten(portlist)))
+ if not port_name in portlist:
+ self._rtcout.RTC_DEBUG(
+ "Not found: %s is in %s?", (port_name, OpenRTM_aist.flatten(portlist)))
+ continue
+
+ self._rtcout.RTC_DEBUG(
+ "Found: %s is in %s", (port_name, OpenRTM_aist.flatten(portlist)))
+ self._rtobj.removePort(prof.port_ref)
+ portlist.remove(port_name)
+ self._rtcout.RTC_DEBUG("Port %s was deleted.", port_name)
+
+ return
+
+ ##
+ # @if jp
+ # @brief PortsListを更新する
+ # @else
+ # @brief PortsList is updated.
+ # @endif
+ #
+
+ def updateExportedPortsList(self):
+ plist = self._rtobj.getProperties().getProperty("conf.default.exported_ports")
+ if plist:
+ p = OpenRTM_aist.eraseBlank(plist)
+ self._expPorts = p.split(",")
+
+ return
+
+ ##
+ # @if jp
+ # @brief Organizationメンバーを更新/削除する
+ # @else
+ # @brief Update/Remove a member of Organization
+ # @endif
+ #
+ def updateDelegatedPorts(self):
+ oldPorts = self._expPorts
+ ports = self._rtobj.getProperties().getProperty("conf.default.exported_ports")
+ newPorts = ports.split(",")
+
+ removedPorts = list(set(oldPorts).difference(set(newPorts)))
+ createdPorts = list(set(newPorts).difference(set(oldPorts)))
+
+ self._rtcout.RTC_VERBOSE(
+ "old ports: %s",
+ OpenRTM_aist.flatten(oldPorts))
+ self._rtcout.RTC_VERBOSE(
+ "new ports: %s",
+ OpenRTM_aist.flatten(newPorts))
+ self._rtcout.RTC_VERBOSE(
+ "remove ports: %s",
+ OpenRTM_aist.flatten(removedPorts))
+ self._rtcout.RTC_VERBOSE(
+ "add ports: %s",
+ OpenRTM_aist.flatten(createdPorts))
+
+ for member in self._rtcMembers:
+ self.removePort(member, removedPorts)
+ self.addPort(member, createdPorts)
+
+ self._expPorts = newPorts
+ return
+
+ class Member:
+ def __init__(self, rtobj):
+ self._rtobj = rtobj
+ self._profile = rtobj.get_component_profile()
+ self._eclist = rtobj.get_owned_contexts()
+ self._config = rtobj.get_configuration()
+ return
+
+ def __call__(self, x):
+ tmp = x
+ tmp.swap(self)
+ return self
+
+ def swap(self, x):
+ rtobj = x._rtobj
+ profile = x._profile
+ eclist = x._eclist
+ config = x._config
+
+ x._rtobj = self._rtobj
+ x._profile = self._profile
+ x._eclist = self._eclist
+ x._config = self._config
+
+ self._rtobj = rtobj
+ self._profile = profile
+ self._eclist = eclist
+ self._config = config
+ return
+
##
# @if jp
# @namespace RTC
#
-# @brief RTݡͥ
+# @brief RTコンポーネント
#
# @else
#
@@ -611,11 +622,11 @@ def swap(self, x):
##
# @if jp
# @class PeriodicECSharedComposite
-# @brief PeriodicECSharedComposite 饹
+# @brief PeriodicECSharedComposite クラス
#
-# ǡեRTComponentδ쥯饹
-# ƼǡեRTComponentϡܥ饹ѾǼ
-# 롣
+# データフロー型RTComponentの基底クラス。
+# 各種データフロー型RTComponentを実装する場合は、本クラスを継承する形で実装
+# する。
#
# @since 0.4.0
#
@@ -632,410 +643,404 @@ def swap(self, x):
#
class PeriodicECSharedComposite(OpenRTM_aist.DataFlowComponentBase):
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param manager マネージャオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ #
+ # Constructor
+ #
+ # @param manager Manager object
+ #
+ # @endif
+ #
+ def __init__(self, manager):
+ OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
+
+ self._ref = self._this()
+ self._objref = self._ref
+ self._org = OpenRTM_aist.PeriodicECOrganization(self)
+ OpenRTM_aist.CORBA_SeqUtil.push_back(self._sdoOwnedOrganizations,
+ self._org.getObjRef())
+
+ self._members = [[]]
+ self.bindParameter("members", self._members, " ", stringToStrVec)
+ self._rtcout = OpenRTM_aist.Manager.instance(
+ ).getLogbuf("rtobject.periodic_ec_shared")
+ self._configsets.addConfigurationSetListener(
+ OpenRTM_aist.ConfigurationSetListenerType.ON_SET_CONFIG_SET,
+ setCallback(self._org))
+
+ self._configsets.addConfigurationSetListener(
+ OpenRTM_aist.ConfigurationSetListenerType.ON_ADD_CONFIG_SET,
+ addCallback(self._org))
+ self._properties.setProperty("exec_cxt.periodic.sync_transition", "NO")
+ self._properties.setProperty("exec_cxt.periodic.sync_activation", "NO")
+ self._properties.setProperty(
+ "exec_cxt.periodic.sync_deactivation", "NO")
+ self._properties.setProperty("exec_cxt.periodic.sync_reset", "NO")
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param manager ޥ͡㥪֥
- #
- # @else
- # @brief Constructor
- #
- # Constructor
- #
- # @param manager Manager object
- #
- # @endif
- #
- def __init__(self, manager):
- OpenRTM_aist.DataFlowComponentBase.__init__(self,manager)
-
- self._ref = self._this()
- self._objref = self._ref
- self._org = OpenRTM_aist.PeriodicECOrganization(self)
- OpenRTM_aist.CORBA_SeqUtil.push_back(self._sdoOwnedOrganizations,
- self._org.getObjRef())
-
- self._members = [[]]
- self.bindParameter("members", self._members, " ", stringToStrVec)
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.periodic_ec_shared")
- self._configsets.addConfigurationSetListener(\
- OpenRTM_aist.ConfigurationSetListenerType.ON_SET_CONFIG_SET,
- setCallback(self._org))
-
- self._configsets.addConfigurationSetListener(\
- OpenRTM_aist.ConfigurationSetListenerType.ON_ADD_CONFIG_SET,
- addCallback(self._org))
- self._properties.setProperty("exec_cxt.periodic.sync_transition","NO")
- self._properties.setProperty("exec_cxt.periodic.sync_activation","NO")
- self._properties.setProperty("exec_cxt.periodic.sync_deactivation","NO")
- self._properties.setProperty("exec_cxt.periodic.sync_reset","NO")
-
- return
-
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @else
- # @brief Destructor
- #
- # Destructor
- #
- # @endif
- #
- def __del__(self):
- self._rtcout.RTC_TRACE("destructor of PeriodicECSharedComposite")
- OpenRTM_aist.RTObject_impl.__del__(self)
-
- ##
- # @if jp
- # @brief λؿ
- # ʥ֥Ȥƥ֤ˤ
- #
- # @param self
- #
- # @else
- # @brief
- #
- # @param self
- #
- # @endif
- def shutdown(self):
- OpenRTM_aist.RTObject_impl.shutdown(self)
- poa = OpenRTM_aist.Manager.instance().getPOA()
- poa.deactivate_object(poa.servant_to_id(self._org))
- del self._org
-
- ##
- # @if jp
- # @brief
- #
- # ǡե RTComponent ν¹Ԥ롣
- # ºݤνϡƶݥ饹˵Ҥ롣
- #
- # @else
- # @brief Initialization
- #
- # Initialization the data flow type RT-Component.
- # Write the actual initialization code in each concrete class.
- #
- # @endif
- #
- def onInitialize(self):
- self._rtcout.RTC_TRACE("onInitialize()")
-
- active_set = self._properties.getProperty("configuration.active_config",
- "default")
- if self._configsets.haveConfig(active_set):
- self._configsets.update(active_set)
- else:
- self._configsets.update("default")
-
- mgr = OpenRTM_aist.Manager.instance()
- sdos = []
- for member in self._members[0]:
- member = member.replace("|","")
- member = member.strip()
- if member == "":
- continue
-
- rtc = mgr.getComponent(member)
-
- if rtc is None:
- print("no RTC found: ", member)
- continue
-
- sdo = rtc.getObjRef()
- if CORBA.is_nil(sdo):
- continue
-
- OpenRTM_aist.CORBA_SeqUtil.push_back(sdos, sdo)
-
- try:
- self._org.set_members(sdos)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
-
- return RTC.RTC_OK
-
-
- ##
- # @if jp
- #
- # @brief ѥХåؿ
- #
- # ComponentAction::on_activated ƤФ줿ݤ˼¹Ԥ륳Хå
- # ؿ
-# Port ζݥ饹ϡ̾ RT ݡͥȥƱ
-# 졢ᥤեϿ塢RT ݡͥȤ
-# Ͽ졢饢ǽ Port ȤƵǽ뤳ȤꤷƤ롣
+# Port の具象クラスは、通常 RT コンポーネントインスタンス生成時に同時に
+# 生成され、提供・要求インターフェースを登録した後、RT コンポーネントに
+# 登録され、外部からアクセス可能な Port として機能することを想定している。
#
-# RTC::Port CORBA եȤưʲΥڥ졼롣
+# RTC::Port は CORBA インターフェースとして以下のオペレーションを提供する。
#
# - get_port_profile()
# - get_connector_profiles()
@@ -52,19 +52,19 @@
# - notify_disconnect()
# - disconnect_all()
#
-# Υ饹ǤϡΥڥ졼μ롣
+# このクラスでは、これらのオペレーションの実装を提供する。
#
-# Υڥ졼Τget_port_profile(), get_connector_profiles(),
-# get_connector_profile(), connect(), disconnect(), disconnect_all() ϡ
-# ֥饹ˤä˿ѹɬפʤᡢС饤
-# 뤳ȤϿ侩ʤ
+# これらのオペレーションのうち、get_port_profile(), get_connector_profiles(),
+# get_connector_profile(), connect(), disconnect(), disconnect_all() は、
+# サブクラスにおいて特に振る舞いを変更する必要がないため、オーバーライド
+# することは推奨されない。
#
-# notify_connect(), notify_disconnect() ˤĤƤϡ֥饹
-# 륤եμ˱ơѹɬפ
-# ⤷ʤľܥС饤ɤ뤳ȤϿ侩줺
-# Ҥ notify_connect(), notify_disconnect() ιˤƤҤ٤̤
-# δؿ˴Ϣ ؿС饤ɤ뤳Ȥˤ꿶ѹ
-# Ȥ侩롣
+# notify_connect(), notify_disconnect() については、サブクラスが提供・要求
+# するインターフェースの種類に応じて、振る舞いを変更する必要が生ずる
+# かもしれないが、これらを直接オーバーライドすることは推奨されず、
+# 後述の notify_connect(), notify_disconnect() の項においても述べられる通り
+# これらの関数に関連した 関数をオーバーライドすることにより振る舞いを変更する
+# ことが推奨される。
#
# @since 0.4.0
#
@@ -100,7 +100,7 @@
#
# In these operations, as for get_port_profile(), get_connector_profiles(),
# get_connector_profile(), connect(), disconnect() and disconnect_all(),
-# since their behaviors especially need not to be change in subclass,
+# since their behaviors especially need not to be change in subclass,
# overriding is not recommended.
#
# As for notify_connect() and notify_disconnect(), you may have to modify
@@ -114,2437 +114,2479 @@
#
# @endif
class PortBase(RTC__POA.PortService):
- """
- """
-
-
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # PortBase Υȥ饯 Port ̾ name ˼Ԥ
- # ƱˡʬȤ CORBA Object ȤƳȤ PortProfile
- # port_ref ˼ȤΥ֥ȥեǼ롣
- # ̾ˤϡ"." ʳʸѤ뤳ȤǤ롣
- #
- # @param self
- # @param name Port ̾(ǥե:None)
- #
- # @else
- #
- # @brief Constructor
- #
- # The constructor of the ProtBase class is given the name of this Port
- # and initialized. At the same time, the PortBase activates itself
- # as CORBA object and stores its object reference to the PortProfile's
- # port_ref member.
- # Characters except "." can be used for the name of the port.
- #
- # @param name The name of Port
- #
- # @endif
- def __init__(self, name=None):
- self._ownerInstanceName = "unknown"
- self._objref = self._this()
-
- self._profile = RTC.PortProfile("", [], RTC.PortService._nil, [], RTC.RTObject._nil,[])
- # Now Port name is .. r1648
- if name is None:
- self._profile.name = "unknown.unknown"
- else:
- self._profile.name = self._ownerInstanceName+"."+name
-
- self._profile.port_ref = self._objref
- self._profile.owner = RTC.RTObject._nil
- self._profile_mutex = threading.RLock()
- self._connection_mutex = threading.RLock()
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf(name)
- self._onPublishInterfaces = None
- self._onSubscribeInterfaces = None
- self._onConnected = None
- self._onUnsubscribeInterfaces = None
- self._onDisconnected = None
- self._onConnectionLost = None
- self._connectionLimit = -1
- self._portconnListeners = None
- self._properties = OpenRTM_aist.Properties()
- return
-
-
- ##
- # @if jp
- #
- # @brief ǥȥ饯
- #
- # ǥȥ饯ǤϡPortService CORBA ֥Ȥ deactivate
- # Ԥdeactivate˺ݤ㳰ꤲ뤳ȤϤʤ
- #
- # @else
- #
- # @brief Destructor
- #
- # In the destructor, PortService CORBA object is deactivated.
- # This function never throws exception.
- #
- # @endif
- #
- def __del__(self):
- pass
-
-
- ##
- # @if jp
- #
- # @brief λؿ
- #
- # @param self
- #
- # @else
- #
- # @brief
- #
- # @param self
- #
- # @endif
- #
- def exit(self):
- self._rtcout.RTC_TRACE("PortBase.__del__()")
- #try:
- # poa = OpenRTM_aist.Manager.instance().getPOA()
- # oid = poa.servant_to_id(self)
- # poa.deactivate_object(oid)
- #except:
- # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] PortProfile
- #
- # PortݻPortProfile֤
- # PortProfile ¤ΤϰʲΥСġ
- #
- # - name [string ] Port ̾
- # - interfaces [PortInterfaceProfileList ] Port ݻ
- # PortInterfaceProfile Υ
- # - port_ref [Port Object ] Port ȤΥ֥ȥե
- # - connector_profile [ConnectorProfileList ] Port ݻ
- # ConnectorProfile Υ
- # - owner [RTObject Object ] Port ͭ
- # RTObjectΥե
- # - properties [NVList ] ¾Υץѥƥ
- #
- # @param self
- #
- # @return PortProfile
- #
- # @else
- #
- # @brief [CORBA interface] Get the PortProfile of the Port
- #
- # This operation returns the PortProfile of the Port.
- # PortProfile struct has the following members,
- #
- # - name [string ] The name of the Port.
- # - interfaces [PortInterfaceProfileList] The sequence of
- # PortInterfaceProfile owned by the Port
- # - port_ref [Port Object] The object reference of the Port.
- # - connector_profile [ConnectorProfileList] The sequence of
- # ConnectorProfile owned by the Port.
- # - owner [RTObject Object] The object reference of
- # RTObject that is owner of the Port.
- # - properties [NVList] The other properties.
- #
- # @return the PortProfile of the Port
- #
- # @endif
- # PortProfile* get_port_profile()
- def get_port_profile(self):
- self._rtcout.RTC_TRACE("get_port_profile()")
-
- self.updateConnectors()
-
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
-
- prof = RTC.PortProfile(self._profile.name,
- self._profile.interfaces,
- self._profile.port_ref,
- self._profile.connector_profiles,
- self._profile.owner,
- self._profile.properties)
-
- return prof
-
-
- ##
- # @if jp
- #
- # @brief PortProfile 롣
- #
- # δؿϡ֥ݻƤ PortProfile
- # const Ȥ֤ const ؿǤ롣
- #
- # @post δؿƤӽФȤˤ֤ѹ뤳ȤϤʤ
- #
- # @return PortProfile
- #
- # @else
- #
- # @brief Get the PortProfile of the Port
- #
- # This function is a const function that returns a const
- # reference of the PortProfile stored in this Port.
- #
- # @post This function never changes the state of the object.
- #
- # @return PortProfile
- #
- # @endif
- # PortProfile& getPortProfile() const;
- def getPortProfile(self):
- self._rtcout.RTC_TRACE("getPortProfile()")
- return self._profile
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] ConnectorProfileList
- #
- # Portݻ ConnectorProfile sequence ֤
- # ConnectorProfile Port ֤³ץեݻ빽¤ΤǤꡢ
- # ³Port֤ǾԤϢ뤹٤Ƥ Port Ʊͤ
- # ݻ롣
- # ConnectorProfile ϰʲΥСݻƤ롣
- #
- # - name [string ] Υͥ̾
- # - connector_id [string ] ˡID
- # - ports [Port sequnce] Υͥ˴Ϣ Port Υ֥
- # եΥ
- # - properties [NVList ] ¾Υץѥƥ
- #
- # @param self
- #
- # @return Port ݻ ConnectorProfile
- #
- # @else
- #
- # @brief [CORBA interface] Get the ConnectorProfileList of the Port
- #
- # This operation returns a list of the ConnectorProfiles of the Port.
- # ConnectorProfile includes the connection information that describes
- # relation between (among) Ports, and Ports exchange the ConnectionProfile
- # on connection process and hold the same information in each Port.
- # ConnectionProfile has the following members,
- #
- # - name [string] The name of the connection.
- # - connector_id [string] Unique identifier.
- # - ports [Port sequnce] The sequence of Port's object reference
- # that are related the connection.
- # - properties [NVList] The other properties.
- #
- # @return the ConnectorProfileList of the Port
- #
- # @endif
- # virtual ConnectorProfileList* get_connector_profiles()
- def get_connector_profiles(self):
- self._rtcout.RTC_TRACE("get_connector_profiles()")
-
- self.updateConnectors()
-
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- return self._profile.connector_profiles
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] ConnectorProfile
- #
- # connector_id ǻꤵ줿 ConnectorProfile ֤
- # ꤷ connector_id ConnectorProfile ݻƤʤϡ
- # ConnectorProfile ֤
- #
- # @param self
- # @param connector_id ConnectorProfile ID
- #
- # @return connector_id ǻꤵ줿 ConnectorProfile
- #
- # @else
- #
- # @brief [CORBA interface] Get the ConnectorProfile
- #
- # This operation returns the ConnectorProfiles specified connector_id.
- #
- # @param connector_id ID of the ConnectorProfile
- #
- # @return the ConnectorProfile identified by the connector_id
- #
- # @endif
- # ConnectorProfile* get_connector_profile(const char* connector_id)
- def get_connector_profile(self, connector_id):
- self._rtcout.RTC_TRACE("get_connector_profile(%s)", connector_id)
-
- self.updateConnectors()
-
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- index = OpenRTM_aist.CORBA_SeqUtil.find(self._profile.connector_profiles,
- self.find_conn_id(connector_id))
- if index < 0:
- conn_prof = RTC.ConnectorProfile("","",[],[])
- return conn_prof
-
- conn_prof = RTC.ConnectorProfile(self._profile.connector_profiles[index].name,
- self._profile.connector_profiles[index].connector_id,
- self._profile.connector_profiles[index].ports,
- self._profile.connector_profiles[index].properties)
- return conn_prof
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] Port ³Ԥ
- #
- # Ϳ줿 ConnectoionProfile ξ˴ŤPort֤³Ω
- # 롣δؿϼ˥ץꥱץġ뤫Ƥӽ
- # ȤȤƤ롣
- #
- # @pre ץꥱץϡݡͥȴ֤ʣ
- # Port ³뤿ˡŬڤͤåȤ ConnectorProfile
- # connect() ΰȤͿƸƤӽФʤФʤʤ
- #
- # @pre connect() Ϳ ConnectorProfile ΥСΤ
- # name, ports, properties СФƥǡåȤʤ
- # ʤʤconnector_id ˤ̾ʸꤹ뤫ŬUUID
- # ʸꤹɬפ롣
- #
- # @pre ConnectorProfile::name ³ˤĤ̾ CORBA::string
- # ˳ǼǤǤդʸǤɬפ롣
- #
- # @pre ConnectorProfile::connector_id Ϥ٤Ƥ³Фưդ
- # ID (̾UUID) Ǽ롣UUID connect() ؿǹ
- # ΤǡƤӽФ¦϶ʸꤹ롣¸³ƱUUID
- # ꤷ connect() ƤӽФˤ PRECONDITION_NOT_MET 顼
- # ֤γĥǴ¸³ץե뤿
- # ˴¸ UUID ꤷƸƤӽФˡѤǽ롣
- #
- # @pre ConnectorProfile::ports RTC::PortService Υǡ
- # ³̾2İʾΥݡȤΥ֥ȻȤɬ
- # פ롣㳰ȤơݡȤΥ֥ȻȤ1ĤǼ
- # connect()ƤӽФȤǡݡȤΥե
- # ꡢüʥݡ(CORBARTC::PortServiceʳ)Ф
- # ³Ԥ⤢롣
- #
- # @pre ConnectorProfile::properties ϥݡȤ˴Ϣդ줿
- # եФץѥƥͿ뤿˻Ѥ롣ץѥƥϡ
- # string Any ͤȤƤĥڥΥǤꡢ
- # ˤǤդCORBAǡǼǤ뤬ǽʸ¤ string Ȥ
- # ƳǼ뤳Ȥ侩롣
- #
- # @pre ʾ connect() ƤӽФꤹ ConnectorProfile Υ
- # ФޤȤȰʲΤ褦ˤʤ롣
- #
- # - ConnectorProfile::name: Ǥդ³̾
- # - ConnectorProfile::connector_id: ʸ
- # - ConnectorProfile::ports: 1İʾΥݡ
- # - ConnectorProfile::properties: եФץѥƥ
- #
- # @post connect() ؿϡConnectorProfile::ports˳Ǽ줿ݡ
- # ȥƬΥݡȤФ notify_connect() Ƥ֡
- #
- # @post notify_connect() ConnectorProfile::ports ˳Ǽ줿ݡ
- # Ƚ notify_connect() ɸƤӽФ롣Υ
- # ƤӽФϡnotify_connect() ǥ顼ФƤݡȤΥ
- # ȻȤͭǤ¤ꡢɬ٤ƤΥݡȤФƹԤ
- # Ȥݾڤ롣ͭǤʤ֥ȻȤ¸
- # 硢ΥݡȤåפơΥݡȤФ
- # notify_connect() ƤӽФ
- #
- # @post connect() ؿϡnotify_connect()ͤRTC_OKǤС
- # RTC_OK ֤λ³ϴλ롣RTC_OKʳ
- # ξϡ³IDФdisconnect()ƤӽФ³
- # notify_connect() ֤顼ɤΤޤ֤
- #
- # @post connect() ΰȤϤ ConnectorProfile ˤϡ
- # ConnectorProfile::connector_id ӡΥݡȤ
- # publishInterfaces() ǸݡȥեγƼ
- # ǼƤ롣connect() notify_connect()
- # ConnectorProfile::{name, ports} ѹ뤳ȤϤʤ
- #
- # @param connector_profile ConnectorProfile
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [CORBA interface] Connect the Port
- #
- # This operation establishes connection according to the given
- # ConnectionProfile inforamtion. This function is premised on
- # calling from mainly application program or tools.
- #
- # @pre To establish the connection among Ports of RT-Components,
- # application programs must call this operation giving
- # ConnectorProfile with valid values as an argument.
- #
- # @pre Out of ConnectorProfile member variables, "name", "ports"
- # and "properties" members shall be set valid
- # data. "connector_id" shall be set as empty string value or
- # valid string UUID value.
- #
- # @pre ConnectorProfile::name that is connection identifier shall
- # be any valid CORBA::string.
- #
- #
- # @pre ConnectorProfile::connector_id shall be set unique
- # identifier (usually UUID is used) for all connections. Since
- # UUID string value is usually set in the connect() function,
- # caller should just set empty string. If the connect() is called
- # with the same UUID as existing connection, this function
- # returns PRECONDITION_NOT_MET error. However, in order to update
- # the existing connection profile, the "connect()" operation with
- # existing connector ID might be used as valid method by future
- # extension
- #
- # @pre ConnectorProfile::ports, which is sequence of
- # RTC::PortService references, shall store usually two or more
- # ports' references. As exceptions, the "connect()" operation
- # might be called with only one reference in ConnectorProfile, in
- # case of just getting interfaces information from the port, or
- # connecting a special port (i.e. the peer port except
- # RTC::PortService on CORBA).
- #
- # @pre ConnectorProfile::properties might be used to give certain
- # properties to the service interfaces associated with the port.
- # The properties is a sequence variable with a pair of key string
- # and Any type value. Although the A variable can store any type
- # of values, it is not recommended except string.
- #
- # @pre The following is the summary of the ConnectorProfile
- # member to be set when this operation is called.
- #
- # - ConnectorProfile::name: The any name of connection
- # - ConnectorProfile::connector_id: Empty string
- # - ConnectorProfile::ports: One or more port references
- # - ConnectorProfile::properties: Properties for the interfaces
- #
- # @post connect() operation will call the first port in the
- # sequence of the ConnectorProfile.
- #
- # @post "noify_connect()"s perform cascaded call to the ports
- # stored in the ConnectorProfile::ports by order. Even if errors
- # are raised by intermediate notify_connect() operation, as long
- # as ports' object references are valid, it is guaranteed that
- # this cascaded call is completed in all the ports. If invalid
- # or dead ports exist in the port's sequence, the ports are
- # skipped and notify_connect() is called for the next valid port.
- #
- # @post connect() function returns RTC_OK if all the
- # notify_connect() return RTC_OK. At this time the connection is
- # completed. If notify_connect()s return except RTC_OK,
- # connect() calls disconnect() operation with the connector_id to
- # destruct the connection, and then it returns error code from
- # notify_connect().
- #
- # @post The ConnectorProfile argument of the connect() operation
- # returns ConnectorProfile::connector_id and various information
- # about service interfaces that is published by
- # publishInterfaces() in the halfway ports. The connect() and
- # halfway notify_connect() functions never change
- # ConnectorProfile::{name, ports}.
- #
- # @param connector_profile The ConnectorProfile.
- # @return ReturnCode_t The return code of ReturnCode_t type.
- #
- # @endif
- #
- # virtual ReturnCode_t connect(ConnectorProfile& connector_profile)
- def connect(self, connector_profile):
- self._rtcout.RTC_TRACE("connect()")
- if self.isEmptyId(connector_profile):
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- self.setUUID(connector_profile)
- #assert(not self.isExistingConnId(connector_profile.connector_id))
- del guard
- else:
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- if self.isExistingConnId(connector_profile.connector_id):
- self._rtcout.RTC_ERROR("Connection already exists.")
- return (RTC.PRECONDITION_NOT_MET,connector_profile)
- del guard
-
-
- try:
- retval,connector_profile = connector_profile.ports[0].notify_connect(connector_profile)
- if retval != RTC.RTC_OK:
- self._rtcout.RTC_ERROR("Connection failed. cleanup.")
- self.disconnect(connector_profile.connector_id)
-
- return (retval, connector_profile)
- #return connector_profile.ports[0].notify_connect(connector_profile)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return (RTC.BAD_PARAMETER, connector_profile)
-
-
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] Port ³ΤԤ
- #
- # Υڥ졼ϡPort֤³ԤݤˡPort֤Ū
- # ˸ƤФ륪ڥ졼Ǥäơ̾異ץꥱץ
- # 䡢PortʳRTCϢ֥ƤӽФ뤳Ȥꤵ
- # Ƥʤ
- #
- # notify_connect() Τϥƥץ졼ȥåɥѥȤơ
- # 饹Ǽ뤳Ȥ publishInterfaces(),
- # subscribeInterfaces() 2ĤδؿǸƤӽФμ
- # ʲ̤Ǥ롣
- #
- # - publishInterfaces(): եθ
- # - connectNext(): Port notify_connect() θƤӽФ
- # - subscribeInterfaces(): եμ
- # - ³¸
- #
- # notify_connect() ConnectorProfile::ports ˳ǼƤ
- # Port ν˽äơɾ˸ƤӽФԤȤˤꡢ
- # եθȼϢ٤ƤΥݡȤФƹԤ
- # ΥɸƤӽФǤ뤳ȤϤʤɬ
- # ConnectorProfile::ports ˳ǼƤݡȤФƹԤ롣
- #
- # @pre notify_connect() ConnectorProfile::ports ˳Ǽ
- # Port ȥꥹȤΤ Port ȤλȤμ˳Ǽ
- # Port Ф notify_connect() ƤӽФä
- # ConnectorProfile::ports ˤ Port λȤǼƤɬ
- # 롣⤷ȤλȤǼƤʤ硢¾νˤ
- # ꥨ顼ʤСBAD_PARAMETER 顼֤롣
- #
- # @pre ƤӽФ ConnectorProfile::connector_id ˤϰդID
- # UUID ݻƤɬפ롣̾ connector_id
- # connect() ؿˤͿ졢ʸξư̤Ǥ롣
- #
- # @post ConnectorProfile::name, ConnectorProfile::connector_id,
- # ConnectorProfile::ports notify_connect() θƤӽФˤ
- # 뤳ȤϤʤѤǤ롣
- #
- # @post ConnectorProfile::properties notify_connect() ǡ
- # Port ĥӥե˴ؤ¾ Port
- # 뤿ˡץѥƥޤ롣
- #
- # @post ʤConnectorProfile::ports ΥꥹȤκǽ Port
- # notify_connet() λǤϡ٤ƤδϢ Port
- # notify_connect() θƤӽФλ롣publishInterfaces(),
- # connectNext(), subscribeInterfaces() ³¸Τ
- # 줫ʳǥ顼ȯǤ⡢顼ɤŪݻ
- # Ƥꡢǽ顼Υ顼ɤ֤롣
- #
- # @param connector_profile ConnectorProfile
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [CORBA interface] Notify the Ports connection
- #
- # This operation is usually called from other ports' connect() or
- # notify_connect() operations when connection between ports is
- # established. This function is not premised on calling from
- # other functions or application programs.
- #
- # According to the template method pattern, the notify_connect()
- # calls "publishInterfaces()" and "subsctiveInterfaces()"
- # functions, which are premised on implementing in the
- # subclasses. The processing sequence is as follows.
- #
- # - publishInterfaces(): Publishing interface information
- # - connectNext(): Calling notify_connect() of the next port
- # - subscribeInterfaces(): Subscribing interface information
- # - Storing connection profile
- #
- # According to the order of port's references stored in the
- # ConnectorProfile::ports, publishing interface information to
- # all the ports and subscription interface information from all
- # the ports is performed by "notify_connect()"s. This cascaded
- # call never aborts in the halfway operations, and calling
- # sequence shall be completed for all the ports.
- #
- # @pre notify_connect() calls notify_connect() for the port's
- # reference that is stored in next of this port's reference in
- # the sequence of the ConnectorProfile::ports. Therefore the
- # reference of this port shall be stored in the
- # ConnectorProfile::ports. If this port's reference is not stored
- # in the sequence, BAD_PARAMETER error will be returned, except
- # the return code is overwritten by other operations.
- #
- # @pre UUID shall be set to ConnectorProfile::connector_id as a
- # unique identifier when this operation is called. Usually,
- # connector_id is given by a connect() function and, the behavior
- # is undefined in the case of a null character.
- #
- # @post ConnectorProfile::name, ConnectorProfile::connector_id,
- # ConnectorProfile::ports are invariant, and they are never
- # rewritten by notify_connect() operations.
- #
- # @post In order to transfer interface information to other
- # ports, interface property information is stored into the
- # ConnectorProfile::properties.
- #
- # @post At the end of notify_connect() operation for the first
- # port stored in the ConnectorProfile::ports sequence, the
- # related ports' notify_connect() invocations complete. Even if
- # errors are raised at the halfway of publishInterfaces(),
- # connectNext(), subscribeInterfaces() and storing process of
- # ConnectorProfile, error codes are saved and the first error is
- # returned.
- #
- # @param connector_profile The ConnectorProfile.
- # @return ReturnCode_t The return code of ReturnCode_t type.
- #
- # @endif
- #
- # virtual ReturnCode_t notify_connect(ConnectorProfile& connector_profile)
- def notify_connect(self, connector_profile):
- self._rtcout.RTC_TRACE("notify_connect()")
-
- prop = OpenRTM_aist.Properties()
- OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
-
- default_value = OpenRTM_aist.toBool(self._properties.getProperty("allow_dup_connection"), "YES","NO",False)
-
- if not OpenRTM_aist.toBool(prop.getProperty("dataport.allow_dup_connection"), "YES","NO",default_value):
- for port in connector_profile.ports:
- if not port._is_equivalent(self._objref):
- ret = OpenRTM_aist.CORBA_RTCUtil.already_connected(port, self._objref)
- if ret:
- return (RTC.PRECONDITION_NOT_MET, connector_profile)
-
-
- guard_connection = OpenRTM_aist.ScopedLock(self._connection_mutex)
-
- # publish owned interface information to the ConnectorProfile
- retval = [RTC.RTC_OK for i in range(3)]
-
- self.onNotifyConnect(self.getName(),connector_profile)
- retval[0] = self.publishInterfaces(connector_profile)
- if retval[0] != RTC.RTC_OK:
- self._rtcout.RTC_ERROR("publishInterfaces() in notify_connect() failed.")
-
- self.onPublishInterfaces(self.getName(), connector_profile, retval[0])
- if self._onPublishInterfaces:
- self._onPublishInterfaces(connector_profile)
-
- # call notify_connect() of the next Port
- retval[1], connector_profile = self.connectNext(connector_profile)
- if retval[1] != RTC.RTC_OK:
- self._rtcout.RTC_ERROR("connectNext() in notify_connect() failed.")
-
- self.onConnectNextport(self.getName(), connector_profile, retval[1])
- # subscribe interface from the ConnectorProfile's information
- if self._onSubscribeInterfaces:
- self._onSubscribeInterfaces(connector_profile)
-
- retval[2] = self.subscribeInterfaces(connector_profile)
- if retval[2] != RTC.RTC_OK:
- self._rtcout.RTC_ERROR("subscribeInterfaces() in notify_connect() failed.")
- #self.notify_disconnect(connector_profile.connector_id)
-
- self.onSubscribeInterfaces(self.getName(), connector_profile, retval[2])
-
- self._rtcout.RTC_PARANOID("%d connectors are existing",
- len(self._profile.connector_profiles))
-
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- # update ConnectorProfile
- index = self.findConnProfileIndex(connector_profile.connector_id)
- if index < 0:
- OpenRTM_aist.CORBA_SeqUtil.push_back(self._profile.connector_profiles,
- connector_profile)
- self._rtcout.RTC_PARANOID("New connector_id. Push backed.")
-
- else:
- self._profile.connector_profiles[index] = connector_profile
- self._rtcout.RTC_PARANOID("Existing connector_id. Updated.")
-
- for ret in retval:
- if ret != RTC.RTC_OK:
- self.onConnected(self.getName(), connector_profile, ret)
- return (ret, connector_profile)
-
- # connection established without errors
- if self._onConnected:
- self._onConnected(connector_profile)
- self.onConnected(self.getName(), connector_profile, RTC.RTC_OK)
- return (RTC.RTC_OK, connector_profile)
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] Port ³
- #
- # Υڥ졼Ϳ줿 connector_id б³
- # 롣connector_id ̾ƥΤˤưդ UUID ʸ
- # Ǥꡢ connect()/notify_connect() θƤӽФˤ
- # Ω줿³ץե ConnectorProfile::connector_id б
- # 롣
- #
- # @pre connector_id Port ݻ ConnectorProfile ξʤ
- # Ĥ ID ˰פʸǤʤФʤʤ Port
- # ConnectorProfile Υꥹ connector_id Ʊ ID
- # ConnectorProfile ¸ߤʤФδؿ BAD_PARAMETER 顼
- # ֤
- #
- # @pre connector_id Ʊ ID ConnectorProfile::ports ˤ
- # ͭ Port λȤޤޤƤʤФʤʤ
- #
- # @post disconnect() ؿϡConnectorProfile::ports Port λ
- # ȥꥹȤƬФơnotify_disconnect() ƤӽФȤ̵
- # Ǥʤɡnotify_disconnect() θƤӽФ˼Ԥˤϡ
- # ȥꥹȤƬ֤ޤ notify_disconnect() θ
- # ӽФnotify_disconnect() θƤӽФ˰ĤǤС
- # notify_disconnect() ֵͤΤޤ֤Ĥʤä
- # ˤ RTC_ERROR 顼֤
- #
- # @param connector_id ConnectorProfile ID
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [CORBA interface] Disconnect the Port
- #
- # This operation destroys connection between this port and the
- # peer port according to given connector_id. Usually connector_id
- # should be a UUID string that is unique in the system. And the
- # connection, which is established by connect()/notify_connect()
- # functions, is identified by the ConnectorProfile::connector_id.
- #
- # @pre connector_id shall be a character string which is same
- # with ID of at least one of the ConnectorProfiles stored in this
- # port. If ConnectorProfile that has same ID with the given
- # connector_id does not exist in the list of ConnectorProfile,
- # this operation returns BAD_PARAMTER error.
- #
- # @pre ConnectorProfile::ports that is same ID with given
- # connector_id shall store the valid ports' references.
- #
- # @post disconnect() function invokes the notify_disconnect() for
- # the port that is stored in the first of the
- # ConnectorProfile::ports. If notify_disconnect() call fails for
- # the first port, It tries on calling "notify_disconnect()" in
- # order for ports stored in ConnectorProfile::ports until the
- # operation call is succeeded. If notify_disconnect() succeeded
- # for at least one port, it returns return code from
- # notify_disconnect(). If none of notify_connect() call
- # succeeded, it returns RTC_ERROR error.
- #
- # @param connector_id The ID of the ConnectorProfile.
- # @return ReturnCode_t The return code of ReturnCode_t type.
- #
- # @endif
- #
- # virtual ReturnCode_t disconnect(const char* connector_id)
- def disconnect(self, connector_id):
- self._rtcout.RTC_TRACE("disconnect(%s)", connector_id)
-
- index = self.findConnProfileIndex(connector_id)
-
- if index < 0:
- self._rtcout.RTC_ERROR("Invalid connector id: %s", connector_id)
- return RTC.BAD_PARAMETER
- prof = None
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- if index < len(self._profile.connector_profiles):
- prof = self._profile.connector_profiles[index]
- del guard
-
- if len(prof.ports) < 1:
- self._rtcout.RTC_FATAL("ConnectorProfile has empty port list.")
- return RTC.PRECONDITION_NOT_MET
-
- for i in range(len(prof.ports)):
- p = prof.ports[i]
- try:
- return p.notify_disconnect(connector_id)
- except:
- self._rtcout.RTC_WARN(OpenRTM_aist.Logger.print_exception())
- continue
-
- self._rtcout.RTC_ERROR("notify_disconnect() for all ports failed.")
- return RTC.RTC_ERROR
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] Port ³ΤԤ
- #
- # Υڥ졼ϡPort֤³ԤݤˡPort֤
- # Ū˸ƤФ륪ڥ졼Ǥꡢ̾異ץꥱץ
- # 䡢 Port ʳ RTC Ϣ֥ƤӽФ뤳Ȥ
- # ꤵƤʤ
- #
- # notify_disconnect() Τϥƥץ졼ȥåɥѥȤơ
- # ֥饹Ǽ뤳Ȥ unsubscribeInterfaces() ؿ
- # ǸƤӽФμϰʲ̤Ǥ롣
- #
- # - ConnectorProfile θ
- # - Port notify_disconnect() ƤӽФ
- # - unsubscribeInterfaces()
- # - ConnectorProfile κ
- #
- # notify_disconnect() ConnectorProfile::ports ˳ǼƤ
- # Port ν˽äơɾ˸ƤӽФԤȤˤꡢ
- # ³β٤Ƥ Port Τ롣
- #
- # @pre Port Ϳ줿 connector_id б ConnectorProfile
- # ݻƤʤФʤʤ
- #
- # @post connector_id б ConnectorProfile Ĥʤ
- # BAD_PARAMETER 顼֤
- #
- # @post ɸƤӽФԤݤˤ ConnectorProfile::ports
- # ݻƤ Port λȥꥹȤΤȤλȤμλȤ
- # notify_disconnect() ƤӽФθƤӽФ㳰ȯ
- # ˤϡƤӽФåפꥹȤμλȤФ
- # notify_disconnect() ƤӽФĤƤӽФʤ硢
- # RTC_ERROR 顼ɤ֤
- #
- # @post ʤConnectorProfile::ports ΥꥹȤκǽ Port
- # notify_disconnet() λǤϡ٤ƤδϢ Port
- # notify_disconnect() θƤӽФλ롣
- #
- # @param connector_id ConnectorProfile ID
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [CORBA interface] Notify the Ports disconnection
- #
- # This operation is invoked between Ports internally when the
- # connection is destroied. Generally it is not premised on
- # calling from application programs or RTC objects except Port
- # object.
- #
- # According to the template method pattern, the
- # notify_disconnect() calls unsubsctiveInterfaces() function,
- # which are premised on implementing in the subclasses. The
- # processing sequence is as follows.
- #
- # - Searching ConnectorProfile
- # - Calling notify_disconnect() for the next port
- # - Unsubscribing interfaces
- # - Deleting ConnectorProfile
- #
- # notify_disconnect() notifies disconnection to all the ports by
- # cascaded call to the stored ports in the
- # ConnectorProfile::ports in order.
- #
- # @pre The port shall store the ConnectorProfile having same id
- # with connector_id.
- #
- # @post If ConnectorProfile of same ID with connector_id does not
- # exist, it returns BAD_PARAMETER error.
- #
- # @post For the cascaded call, this operation calls
- # noify_disconnect() for the port that is stored in the next of
- # this port in the ConnectorProfile::ports. If the operation
- # call raises exception for some failure, it tries to call
- # notify_disconnect() and skips until the operation succeeded.
- # If none of operation call succeeded, it returns RTC_ERROR.
- #
- # @post At the end of notify_disconnect() operation for the first
- # port stored in the ConnectorProfile::ports sequence, the
- # related ports' notify_disconnect() invocations complete.
- #
- # @param connector_id The ID of the ConnectorProfile.
- # @return ReturnCode_t The return code of ReturnCode_t type.
- #
- # @endif
- #
- # virtual ReturnCode_t notify_disconnect(const char* connector_id)
- def notify_disconnect(self, connector_id):
- self._rtcout.RTC_TRACE("notify_disconnect(%s)", 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.
-
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
-
- index = self.findConnProfileIndex(connector_id)
-
- if index < 0:
- self._rtcout.RTC_ERROR("Invalid connector id: %s", connector_id)
- return RTC.BAD_PARAMETER
-
- prof = RTC.ConnectorProfile(self._profile.connector_profiles[index].name,
- self._profile.connector_profiles[index].connector_id,
- self._profile.connector_profiles[index].ports,
- self._profile.connector_profiles[index].properties)
- self.onNotifyDisconnect(self.getName(), prof)
-
- retval = self.disconnectNext(prof)
- self.onDisconnectNextport(self.getName(), prof, retval)
-
- if self._onUnsubscribeInterfaces:
- self._onUnsubscribeInterfaces(prof)
- self.onUnsubscribeInterfaces(self.getName(), prof)
- self.unsubscribeInterfaces(prof)
-
- if self._onDisconnected:
- self._onDisconnected(prof)
-
- OpenRTM_aist.CORBA_SeqUtil.erase(self._profile.connector_profiles, index)
-
- self.onDisconnected(self.getName(), prof, retval)
- return retval
-
-
- ##
- # @if jp
- #
- # @brief [CORBA interface] Port ³
- #
- # Υڥ졼Ϥ Port ˴ϢƤ³롣
- #
- # @param self
- #
- # @return ReturnCode_t Υ
- #
- # @else
- #
- # @brief [CORBA interface] Connect the Port
- #
- # This operation destroys all connection channels owned by the Port.
- #
- # @return ReturnCode_t The return code of this operation.
- #
- # @endif
- # virtual ReturnCode_t disconnect_all()
- def disconnect_all(self):
- self._rtcout.RTC_TRACE("disconnect_all()")
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- plist = copy.deepcopy(self._profile.connector_profiles)
- del guard
-
- retcode = RTC.RTC_OK
- len_ = len(plist)
- self._rtcout.RTC_DEBUG("disconnecting %d connections.", len_)
-
- # disconnect all connections
- # Call disconnect() for each ConnectorProfile.
- for i in range(len_):
- tmpret = self.disconnect(plist[i].connector_id)
- if tmpret != RTC.RTC_OK:
- retcode = tmpret
-
- return retcode
-
-
- #============================================================
- # Local operations
- #============================================================
-
- ##
- # @if jp
- # @brief Port ̾ꤹ
- #
- # Port ̾ꤹ롣̾ Port ݻ PortProfile.name
- # ȿǤ롣
- #
- # @param self
- # @param name Port ̾
- #
- # @else
- # @brief Set the name of this Port
- #
- # This operation sets the name of this Port. The given Port's name is
- # applied to Port's PortProfile.name.
- #
- # @param name The name of this Port.
- #
- # @endif
- # void setName(const char* name);
- def setName(self, name):
- self._rtcout.RTC_TRACE("setName(%s)", name)
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- self._profile.name = name
- return
-
- ##
- # @if jp
- # @brief Port ̾
- # @else
- # @brief Get the name of this Port
- # @return The name of this Port.
- # @endif
- #
- # const char* PortBase::getName() const
- def getName(self):
- self._rtcout.RTC_TRACE("getName() = %s", self._profile.name)
- return self._profile.name
-
-
- ##
- # @if jp
- # @brief PortProfile
- #
- # Portݻ PortProfile const Ȥ֤
- #
- # @param self
- #
- # @return Port PortProfile
- #
- # @else
- # @brief Get the PortProfile of the Port
- #
- # This operation returns const reference of the PortProfile.
- #
- # @return the PortProfile of the Port
- #
- # @endif
- # const PortProfile& getProfile() const;
- def getProfile(self):
- self._rtcout.RTC_TRACE("getProfile()")
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- return self._profile
-
-
- ##
- # @if jp
- #
- # @brief Port Υ֥ȻȤꤹ
- #
- # Υڥ졼 Port PortProfile ˤ Port Ȥ
- # ֥ȻȤꤹ롣
- #
- # @param self
- # @param port_ref Port Υ֥Ȼ
- #
- # @else
- #
- # @brief Set the object reference of this Port
- #
- # This operation sets the object reference itself
- # to the Port's PortProfile.
- #
- # @param The object reference of this Port.
- #
- # @endif
- # void setPortRef(PortService_ptr port_ref);
- def setPortRef(self, port_ref):
- self._rtcout.RTC_TRACE("setPortRef()")
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- self._profile.port_ref = port_ref
-
-
- ##
- # @if jp
- #
- # @brief Port Υ֥ȻȤ
- #
- # Υڥ졼 Port PortProfile ݻƤ
- # Port ȤΥ֥ȻȤ롣
- #
- # @param self
- #
- # @return Port Υ֥Ȼ
- #
- # @else
- #
- # @brief Get the object reference of this Port
- #
- # This operation returns the object reference
- # that is stored in the Port's PortProfile.
- #
- # @return The object reference of this Port.
- #
- # @endif
- # PortService_ptr getPortRef();
- def getPortRef(self):
- self._rtcout.RTC_TRACE("getPortRef()")
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- return self._profile.port_ref
-
-
- ##
- # @if jp
- #
- # @brief Port owner RTObject ꤹ
- #
- # Υڥ졼 Port PortProfile.owner ꤹ롣
- #
- # @param self
- # @param owner Port ͭ RTObject λ
- #
- # @else
- #
- # @brief Set the owner RTObject of the Port
- #
- # This operation sets the owner RTObject of this Port.
- #
- # @param owner The owner RTObject's reference of this Port
- #
- # @endif
- # void setOwner(RTObject_ptr owner);
- def setOwner(self, owner):
- prof = owner.get_component_profile()
- self._ownerInstanceName = prof.instance_name
- self._rtcout.RTC_TRACE("setOwner(%s)", self._ownerInstanceName)
-
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
- plist = self._profile.name.split(".")
- if not self._ownerInstanceName:
- self._rtcout.RTC_ERROR("Owner is not set.")
- self._rtcout.RTC_ERROR("addXXXPort() should be called in onInitialize().")
- portname = self._ownerInstanceName+"."+plist[-1]
-
- self._profile.owner = owner
- self._profile.name = portname
-
-
- #============================================================
- # callbacks
- #============================================================
-
- ##
- # @if jp
- #
- # @brief եݤ˸ƤФ륳ХååȤ
- #
- # Υڥ졼ϡΥݡȤ³ˡݡȼȤĥ
- # ӥե륿ߥǸƤФ륳Х
- # եåȤ롣
- #
- # ХåեνͭϡƤӽФ¦ˤꡢ֥
- # ɬפʤʤä˲ΤΤϸƤӽФ¦ǤǤ롣
- #
- # ΥХåեϡPortBase饹β۴ؿǤ
- # publishInterfaces() ƤФ줿ȤˡƱ ConnectorProfile
- # Ȥ˸ƤӽФ롣ΥХåѤơ
- # publishInterfaces() ConnectorProfile ѹ뤳Ȥ
- # ǽǤ뤬³طʤ褦ConnectorProfile
- # ѹˤդפ롣
- #
- # @param on_publish ConnectionCallback Υ֥饹֥ȤΥݥ
- #
- # @else
- #
- # @brief Setting callback called on publish interfaces
- #
- # This operation sets a functor that is called after publishing
- # interfaces process when connecting between ports.
- #
- # Since the ownership of the callback functor object is owned by
- # the caller, it has the responsibility of object destruction.
- #
- # The callback functor is called after calling
- # publishInterfaces() that is virtual member function of the
- # PortBase class with an argument of ConnectorProfile type that
- # is same as the argument of publishInterfaces() function.
- # Although by using this functor, you can modify the ConnectorProfile
- # published by publishInterfaces() function, the modification
- # should be done carefully for fear of causing connection
- # inconsistency.
- #
- # @param on_publish a pointer to ConnectionCallback's subclasses
- #
- # @endif
- #
- # void setOnPublishInterfaces(ConnectionCallback* on_publish);
- def setOnPublishInterfaces(self, on_publish):
- self._onPublishInterfaces = on_publish
- return
-
-
- ##
- # @if jp
- #
- # @brief եݤ˸ƤФ륳ХååȤ
- #
- # Υڥ졼ϡΥݡȤ³ˡΥݡȤĥ
- # ӥե륿ߥǸƤФ륳Х
- # եåȤ롣
- #
- # ХåեνͭϡƤӽФ¦ˤꡢ֥
- # ɬפʤʤä˲ΤΤϸƤӽФ¦ǤǤ롣
- #
- # ΥХåեϡPortBase饹β۴ؿǤ
- # subscribeInterfaces() ƤФˡƱ ConnectorProfile
- # Ȥ˸ƤӽФ롣ΥХåѤơ
- # subscribeInterfaces() Ϳ ConnectorProfile ѹ뤳Ȥ
- # ǽǤ뤬³طʤ褦ConnectorProfile
- # ѹˤդפ롣
- #
- # @param on_subscribe ConnectionCallback Υ֥饹֥ȤΥݥ
- #
- # @else
- #
- # @brief Setting callback called on publish interfaces
- #
- # This operation sets a functor that is called before subscribing
- # interfaces process when connecting between ports.
- #
- # Since the ownership of the callback functor object is owned by
- # the caller, it has the responsibility of object destruction.
- #
- # The callback functor is called before calling
- # subscribeInterfaces() that is virtual member function of the
- # PortBase class with an argument of ConnectorProfile type that
- # is same as the argument of subscribeInterfaces() function.
- # Although by using this functor, you can modify ConnectorProfile
- # argument for subscribeInterfaces() function, the modification
- # should be done carefully for fear of causing connection
- # inconsistency.
- #
- # @param on_subscribe a pointer to ConnectionCallback's subclasses
- #
- # @endif
- #
- #void setOnSubscribeInterfaces(ConnectionCallback* on_subscribe);
- def setOnSubscribeInterfaces(self, on_subscribe):
- self._onSubscribeInterfaces = on_subscribe
- return
-
-
- ##
- # @if jp
- #
- # @brief ³λ˸ƤФ륳ХååȤ
- #
- # Υڥ졼ϡΥݡȤ³λ˸ƤФ롢Х
- # եåȤ롣
- #
- # ХåեνͭϡƤӽФ¦ˤꡢ֥
- # ɬפʤʤä˲ΤΤϸƤӽФ¦ǤǤ롣
- #
- # ΥХåեϡݡȤ³¹ԴؿǤ
- # notify_connect() νλľˡ³ｪλݤ˸¤ä
- # ƤӽФ륳ХåǤ롣³βǥ顼ȯ
- # ˤϸƤӽФʤ
- #
- # ΥХåե notify_connect() out ѥ
- # Ȥ֤ΤƱ ConnectorProfile ȤȤ˸ƤӽФΤǡ
- # ³ˤƸ줿٤ƤΥե뤳
- # Ǥ롣ΥХåѤơnotify_connect() ֤
- # ConnectorProfile ѹ뤳ȤǽǤ뤬³ط
- # ʤ褦ConnectorProfile ѹˤդפ롣
- #
- # @param on_subscribe ConnectionCallback Υ֥饹֥ȤΥݥ
- #
- # @else
- #
- # @brief Setting callback called on connection established
- #
- # This operation sets a functor that is called when connection
- # between ports established.
- #
- # Since the ownership of the callback functor object is owned by
- # the caller, it has the responsibility of object destruction.
- #
- # The callback functor is called only when notify_connect()
- # function successfully returns. In case of error, the functor
- # will not be called.
- #
- # Since this functor is called with ConnectorProfile argument
- # that is same as out-parameter of notify_connect() function, you
- # can get all the information of published interfaces of related
- # ports in the connection. Although by using this functor, you
- # can modify ConnectorProfile argument for out-paramter of
- # notify_connect(), the modification should be done carefully for
- # fear of causing connection inconsistency.
- #
- # @param on_subscribe a pointer to ConnectionCallback's subclasses
- #
- # @endif
- #
- # void setOnConnected(ConnectionCallback* on_connected);
- def setOnConnected(self, on_connected):
- self._onConnected = on_connected
- return
-
-
- ##
- # @if jp
- #
- # @brief եݤ˸ƤФ륳ХååȤ
- #
- # Υڥ졼ϡΥݡȤ³ˡΥݡȤĥ
- # ӥե륿ߥǸƤФ륳Х
- # եåȤ롣
- #
- # ХåեνͭϡƤӽФ¦ˤꡢ֥
- # ɬפʤʤä˲ΤΤϸƤӽФ¦ǤǤ롣
- #
- # ΥХåեϡPortBase饹β۴ؿǤ
- # unsubscribeInterfaces() ƤФˡƱ ConnectorProfile
- # Ȥ˸ƤӽФ롣ΥХåѤơ
- # unsubscribeInterfaces() Ϳ ConnectorProfile ѹ뤳Ȥ
- # ǽǤ뤬³طʤ褦ConnectorProfile
- # ѹˤդפ롣
- #
- # @param on_unsubscribe ConnectionCallback Υ֥饹֥
- # ȤΥݥ
- #
- # @else
- #
- # @brief Setting callback called on unsubscribe interfaces
- #
- # This operation sets a functor that is called before unsubscribing
- # interfaces process when disconnecting between ports.
- #
- # Since the ownership of the callback functor object is owned by
- # the caller, it has the responsibility of object destruction.
- #
- # The callback functor is called before calling
- # unsubscribeInterfaces() that is virtual member function of the
- # PortBase class with an argument of ConnectorProfile type that
- # is same as the argument of unsubscribeInterfaces() function.
- # Although by using this functor, you can modify ConnectorProfile
- # argument for unsubscribeInterfaces() function, the modification
- # should be done carefully for fear of causing connection
- # inconsistency.
- #
- # @param on_unsubscribe a pointer to ConnectionCallback's subclasses
- #
- # @endif
- #
- # void setOnUnsubscribeInterfaces(ConnectionCallback* on_subscribe);
- def setOnUnsubscribeInterfaces(self, on_subscribe):
- self._onUnsubscribeInterfaces = on_subscribe
- return
-
-
- ##
- # @if jp
- #
- # @brief ³˸ƤФ륳ХååȤ
- #
- # Υڥ졼ϡΥݡȤ³˸ƤФ롢Х
- # եåȤ롣
- #
- # ХåեνͭϡƤӽФ¦ˤꡢ֥
- # ɬפʤʤä˲ΤΤϸƤӽФ¦ǤǤ롣
- #
- # ΥХåեϡݡȤ³¹ԴؿǤ
- # notify_disconnect() νλľˡƤӽФ륳ХåǤ롣
- #
- # ΥХåե³б ConnectorProfile Ȥ
- # ˸ƤӽФ롣 ConnectorProfile ϤΥեƽФ
- # ˴Τǡѹۤ˱ƶͿ뤳ȤϤʤ
- #
- # @param on_disconnected ConnectionCallback Υ֥饹֥
- # ȤΥݥ
- #
- # @else
- #
- # @brief Setting callback called on disconnected
- #
- # This operation sets a functor that is called when connection
- # between ports is destructed.
- #
- # Since the ownership of the callback functor object is owned by
- # the caller, it has the responsibility of object destruction.
- #
- # The callback functor is called just before notify_disconnect()
- # that is disconnection execution function returns.
- #
- # This functor is called with argument of corresponding
- # ConnectorProfile. Since this ConnectorProfile will be
- # destructed after calling this functor, modifications never
- # affect others.
- #
- # @param on_disconnected a pointer to ConnectionCallback's subclasses
- #
- # @endif
- #
- # void setOnDisconnected(ConnectionCallback* on_disconnected);
- def setOnDisconnected(self, on_disconnected):
- self._onDisconnected = on_disconnected
- return
-
- # void setOnConnectionLost(ConnectionCallback* on_connection_lost);
- def setOnConnectionLost(self, on_connection_lost):
- self._onConnectionLost = on_connection_lost
- return
-
-
- ##
- # @if jp
- # @brief PortConnectListeners ΥۥåȤ
- #
- # ݡȤ³˴ؤꥹʷݻۥ饹ؤΥݥ
- # åȤ롣δؿ̾ƤRTObjectƤФ졢RTObject
- # ۥ饹ؤΥݥåȤ롣
- #
- # @param portconnListeners PortConnectListeners ֥ȤΥݥ
- #
- # @else
- # @brief Setting PortConnectListener holder
- #
- # This operation sets a functor that is called when connection
- # of this port does lost.
- #
- # @param on_connection_lost a pointer to ConnectionCallback's subclasses
- #
- # @endif
- #
- # void setPortConnectListenerHolder(PortConnectListeners* portconnListeners);
- def setPortConnectListenerHolder(self, portconnListeners):
- self._portconnListeners = portconnListeners
- return
-
-
- ##
- # @if jp
- #
- # @brief Interface (֥饹)
- #
- # Υڥ졼ϡnotify_connect() λϤ˥
- # ؿǤ롣
- # notify_connect() Ǥϡ
- #
- # - publishInterfaces()
- # - connectNext()
- # - subscribeInterfaces()
- # - updateConnectorProfile()
- #
- # ν protected ؿ뤵³Ԥ롣
- # .. r1648
+ if name is None:
+ self._profile.name = "unknown.unknown"
+ else:
+ self._profile.name = self._ownerInstanceName + "." + name
+
+ self._profile.port_ref = self._objref
+ self._profile.owner = RTC.RTObject._nil
+ self._profile_mutex = threading.RLock()
+ self._connection_mutex = threading.RLock()
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf(name)
+ self._onPublishInterfaces = None
+ self._onSubscribeInterfaces = None
+ self._onConnected = None
+ self._onUnsubscribeInterfaces = None
+ self._onDisconnected = None
+ self._onConnectionLost = None
+ self._connectionLimit = -1
+ self._portconnListeners = None
+ self._properties = OpenRTM_aist.Properties()
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief デストラクタ
+ #
+ # デストラクタでは、PortService CORBA オブジェクトの deactivate を
+ # 行う。deactivateに際して例外を投げることはない。
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # In the destructor, PortService CORBA object is deactivated.
+ # This function never throws exception.
+ #
+ # @endif
+ #
+
+ def __del__(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief 終了関数
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
+ #
+
+ def exit(self):
+ self._rtcout.RTC_TRACE("PortBase.__del__()")
+ # try:
+ # poa = OpenRTM_aist.Manager.instance().getPOA()
+ # oid = poa.servant_to_id(self)
+ # poa.deactivate_object(oid)
+ # except:
+ # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] PortProfileを取得する
+ #
+ # Portが保持するPortProfileを返す。
+ # PortProfile 構造体は以下のメンバーを持つ。
+ #
+ # - name [string 型] Port の名前。
+ # - interfaces [PortInterfaceProfileList 型] Port が保持する
+ # PortInterfaceProfile のシーケンス
+ # - port_ref [Port Object 型] Port 自身のオブジェクトリファレンス
+ # - connector_profile [ConnectorProfileList 型] Port が現在保持する
+ # ConnectorProfile のシーケンス
+ # - owner [RTObject Object 型] この Port を所有する
+ # RTObjectのリファレンス
+ # - properties [NVList 型] その他のプロパティ。
+ #
+ # @param self
+ #
+ # @return PortProfile
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Get the PortProfile of the Port
+ #
+ # This operation returns the PortProfile of the Port.
+ # PortProfile struct has the following members,
+ #
+ # - name [string ] The name of the Port.
+ # - interfaces [PortInterfaceProfileList] The sequence of
+ # PortInterfaceProfile owned by the Port
+ # - port_ref [Port Object] The object reference of the Port.
+ # - connector_profile [ConnectorProfileList] The sequence of
+ # ConnectorProfile owned by the Port.
+ # - owner [RTObject Object] The object reference of
+ # RTObject that is owner of the Port.
+ # - properties [NVList] The other properties.
+ #
+ # @return the PortProfile of the Port
+ #
+ # @endif
+ # PortProfile* get_port_profile()
+ def get_port_profile(self):
+ self._rtcout.RTC_TRACE("get_port_profile()")
+
+ self.updateConnectors()
+
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+
+ prof = RTC.PortProfile(self._profile.name,
+ self._profile.interfaces,
+ self._profile.port_ref,
+ self._profile.connector_profiles,
+ self._profile.owner,
+ self._profile.properties)
+
+ return prof
+
+ ##
+ # @if jp
+ #
+ # @brief PortProfile を取得する。
+ #
+ # この関数は、オブジェクト内部に保持されている PortProfile の
+ # const 参照を返す const 関数である。
+ #
+ # @post この関数を呼び出すことにより内部状態が変更されることはない。
+ #
+ # @return PortProfile
+ #
+ # @else
+ #
+ # @brief Get the PortProfile of the Port
+ #
+ # This function is a const function that returns a const
+ # reference of the PortProfile stored in this Port.
+ #
+ # @post This function never changes the state of the object.
+ #
+ # @return PortProfile
+ #
+ # @endif
+ # PortProfile& getPortProfile() const;
+
+ def getPortProfile(self):
+ self._rtcout.RTC_TRACE("getPortProfile()")
+ return self._profile
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] ConnectorProfileListを取得する
+ #
+ # Portが保持する ConnectorProfile の sequence を返す。
+ # ConnectorProfile は Port 間の接続プロファイル情報を保持する構造体であり、
+ # 接続時にPort間で情報交換を行い、関連するすべての Port で同一の値が
+ # 保持される。
+ # ConnectorProfile は以下のメンバーを保持している。
+ #
+ # - name [string 型] このコネクタの名前。
+ # - connector_id [string 型] ユニークなID
+ # - ports [Port sequnce] このコネクタに関連する Port のオブジェクト
+ # リファレンスのシーケンス。
+ # - properties [NVList 型] その他のプロパティ。
+ #
+ # @param self
+ #
+ # @return この Port が保持する ConnectorProfile
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Get the ConnectorProfileList of the Port
+ #
+ # This operation returns a list of the ConnectorProfiles of the Port.
+ # ConnectorProfile includes the connection information that describes
+ # relation between (among) Ports, and Ports exchange the ConnectionProfile
+ # on connection process and hold the same information in each Port.
+ # ConnectionProfile has the following members,
+ #
+ # - name [string] The name of the connection.
+ # - connector_id [string] Unique identifier.
+ # - ports [Port sequnce] The sequence of Port's object reference
+ # that are related the connection.
+ # - properties [NVList] The other properties.
+ #
+ # @return the ConnectorProfileList of the Port
+ #
+ # @endif
+ # virtual ConnectorProfileList* get_connector_profiles()
+
+ def get_connector_profiles(self):
+ self._rtcout.RTC_TRACE("get_connector_profiles()")
+
+ self.updateConnectors()
+
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ return self._profile.connector_profiles
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] ConnectorProfile を取得する
+ #
+ # connector_id で指定された ConnectorProfile を返す。
+ # 指定した connector_id を持つ ConnectorProfile を保持していない場合は、
+ # 空の ConnectorProfile を返す。
+ #
+ # @param self
+ # @param connector_id ConnectorProfile の ID
+ #
+ # @return connector_id で指定された ConnectorProfile
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Get the ConnectorProfile
+ #
+ # This operation returns the ConnectorProfiles specified connector_id.
+ #
+ # @param connector_id ID of the ConnectorProfile
+ #
+ # @return the ConnectorProfile identified by the connector_id
+ #
+ # @endif
+ # ConnectorProfile* get_connector_profile(const char* connector_id)
+
+ def get_connector_profile(self, connector_id):
+ self._rtcout.RTC_TRACE("get_connector_profile(%s)", connector_id)
+
+ self.updateConnectors()
+
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ index = OpenRTM_aist.CORBA_SeqUtil.find(self._profile.connector_profiles,
+ self.find_conn_id(connector_id))
+ if index < 0:
+ conn_prof = RTC.ConnectorProfile("", "", [], [])
+ return conn_prof
+
+ conn_prof = RTC.ConnectorProfile(self._profile.connector_profiles[index].name,
+ self._profile.connector_profiles[index].connector_id,
+ self._profile.connector_profiles[index].ports,
+ self._profile.connector_profiles[index].properties)
+ return conn_prof
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Port の接続を行う
+ #
+ # 与えられた ConnectoionProfile の情報に基づき、Port間の接続を確立
+ # する。この関数は主にアプリケーションプログラムやツールから呼び出
+ # すことを前提としている。
+ #
+ # @pre アプリケーションプログラムは、コンポーネント間の複数の
+ # Port を接続するために、適切な値をセットした ConnectorProfile を
+ # connect() の引数として与えて呼び出さなければならない。
+ #
+ # @pre connect() に与える ConnectorProfile のメンバーのうち、
+ # name, ports, properties メンバーに対してデータをセットしなければ
+ # ならない。connector_id には通常空文字を設定するか、適当なUUIDを
+ # 文字列で設定する必要がある。
+ #
+ # @pre ConnectorProfile::name は接続につける名前で CORBA::string
+ # 型に格納できる任意の文字列である必要がある。
+ #
+ # @pre ConnectorProfile::connector_id はすべての接続に対して一意な
+ # ID (通常はUUID) が格納される。UUIDの設定は connect() 関数内で行
+ # われるので、呼び出し側は空文字を設定する。既存の接続と同じUUIDを
+ # 設定し connect() を呼び出した場合には PRECONDITION_NOT_MET エラー
+ # を返す。ただし、将来の拡張で既存の接続プロファイルを更新するため
+ # に既存の UUID を設定して呼び出す使用法が用いられる可能性がある。
+ #
+ # @pre ConnectorProfile::ports は RTC::PortService のシーケンスで、
+ # 接続を構成する通常2つ以上のポートのオブジェクト参照を代入する必
+ # 要がある。例外として、ポートのオブジェクト参照を1つだけ格納して
+ # connect()を呼び出すことで、ポートのインターフェース情報を取得し
+ # たり、特殊なポート(CORBAのRTC::PortService以外の相手)に対して接
+ # 続を行う場合もある。
+ #
+ # @pre ConnectorProfile::properties はポートに関連付けられたインター
+ # フェースに対するプロパティを与えるために使用する。プロパティは、
+ # string 型をキー、Any 型を値としてもつペアのシーケンスであり、値
+ # には任意のCORBAデータ型を格納できるが、可能な限り string 型とし
+ # て格納されることが推奨される。
+ #
+ # @pre 以上 connect() 呼び出し時に設定する ConnectorProfile のメン
+ # バをまとめると以下のようになる。
+ #
+ # - ConnectorProfile::name: 任意の接続名
+ # - ConnectorProfile::connector_id: 空文字
+ # - ConnectorProfile::ports: 1つ以上のポート
+ # - ConnectorProfile::properties: インターフェースに対するプロパティ
+ #
+ # @post connect() 関数は、ConnectorProfile::portsに格納されたポー
+ # トシーケンスの先頭のポートに対して notify_connect() を呼ぶ。
+ #
+ # @post notify_connect() は ConnectorProfile::ports に格納されたポー
+ # ト順に notify_connect() をカスケード呼び出しする。このカスケード
+ # 呼び出しは、途中のnotify_connect() でエラーが出てもポートのオブ
+ # ジェクト参照が有効である限り、必ずすべてのポートに対して行われる
+ # ことが保証される。有効でないオブジェクト参照がシーケンス中に存在
+ # する場合、そのポートをスキップして、次のポートに対して
+ # notify_connect() を呼び出す。
+ #
+ # @post connect() 関数は、notify_connect()の戻り値がRTC_OKであれば、
+ # RTC_OK を返す。この時点で接続は完了する。RTC_OK以外
+ # の場合は、この接続IDに対してdisconnect()を呼び出し接続を解除し、
+ # notify_connect() が返したエラーリターンコードをそのまま返す。
+ #
+ # @post connect() の引数として渡した ConnectorProfile には、
+ # ConnectorProfile::connector_id および、途中のポートが
+ # publishInterfaces() で公開したポートインターフェースの各種情報が
+ # 格納されている。connect() および途中の notify_connect() が
+ # ConnectorProfile::{name, ports} を変更することはない。
+ #
+ # @param connector_profile ConnectorProfile
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Connect the Port
+ #
+ # This operation establishes connection according to the given
+ # ConnectionProfile inforamtion. This function is premised on
+ # calling from mainly application program or tools.
+ #
+ # @pre To establish the connection among Ports of RT-Components,
+ # application programs must call this operation giving
+ # ConnectorProfile with valid values as an argument.
+ #
+ # @pre Out of ConnectorProfile member variables, "name", "ports"
+ # and "properties" members shall be set valid
+ # data. "connector_id" shall be set as empty string value or
+ # valid string UUID value.
+ #
+ # @pre ConnectorProfile::name that is connection identifier shall
+ # be any valid CORBA::string.
+ #
+ #
+ # @pre ConnectorProfile::connector_id shall be set unique
+ # identifier (usually UUID is used) for all connections. Since
+ # UUID string value is usually set in the connect() function,
+ # caller should just set empty string. If the connect() is called
+ # with the same UUID as existing connection, this function
+ # returns PRECONDITION_NOT_MET error. However, in order to update
+ # the existing connection profile, the "connect()" operation with
+ # existing connector ID might be used as valid method by future
+ # extension
+ #
+ # @pre ConnectorProfile::ports, which is sequence of
+ # RTC::PortService references, shall store usually two or more
+ # ports' references. As exceptions, the "connect()" operation
+ # might be called with only one reference in ConnectorProfile, in
+ # case of just getting interfaces information from the port, or
+ # connecting a special port (i.e. the peer port except
+ # RTC::PortService on CORBA).
+ #
+ # @pre ConnectorProfile::properties might be used to give certain
+ # properties to the service interfaces associated with the port.
+ # The properties is a sequence variable with a pair of key string
+ # and Any type value. Although the A variable can store any type
+ # of values, it is not recommended except string.
+ #
+ # @pre The following is the summary of the ConnectorProfile
+ # member to be set when this operation is called.
+ #
+ # - ConnectorProfile::name: The any name of connection
+ # - ConnectorProfile::connector_id: Empty string
+ # - ConnectorProfile::ports: One or more port references
+ # - ConnectorProfile::properties: Properties for the interfaces
+ #
+ # @post connect() operation will call the first port in the
+ # sequence of the ConnectorProfile.
+ #
+ # @post "noify_connect()"s perform cascaded call to the ports
+ # stored in the ConnectorProfile::ports by order. Even if errors
+ # are raised by intermediate notify_connect() operation, as long
+ # as ports' object references are valid, it is guaranteed that
+ # this cascaded call is completed in all the ports. If invalid
+ # or dead ports exist in the port's sequence, the ports are
+ # skipped and notify_connect() is called for the next valid port.
+ #
+ # @post connect() function returns RTC_OK if all the
+ # notify_connect() return RTC_OK. At this time the connection is
+ # completed. If notify_connect()s return except RTC_OK,
+ # connect() calls disconnect() operation with the connector_id to
+ # destruct the connection, and then it returns error code from
+ # notify_connect().
+ #
+ # @post The ConnectorProfile argument of the connect() operation
+ # returns ConnectorProfile::connector_id and various information
+ # about service interfaces that is published by
+ # publishInterfaces() in the halfway ports. The connect() and
+ # halfway notify_connect() functions never change
+ # ConnectorProfile::{name, ports}.
+ #
+ # @param connector_profile The ConnectorProfile.
+ # @return ReturnCode_t The return code of ReturnCode_t type.
+ #
+ # @endif
+ #
+ # virtual ReturnCode_t connect(ConnectorProfile& connector_profile)
+
+ def connect(self, connector_profile):
+ self._rtcout.RTC_TRACE("connect()")
+ if self.isEmptyId(connector_profile):
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ self.setUUID(connector_profile)
+ #assert(not self.isExistingConnId(connector_profile.connector_id))
+ del guard
+ else:
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ if self.isExistingConnId(connector_profile.connector_id):
+ self._rtcout.RTC_ERROR("Connection already exists.")
+ return (RTC.PRECONDITION_NOT_MET, connector_profile)
+ del guard
+
+ try:
+ retval, connector_profile = connector_profile.ports[0].notify_connect(
+ connector_profile)
+ if retval != RTC.RTC_OK:
+ self._rtcout.RTC_ERROR("Connection failed. cleanup.")
+ self.disconnect(connector_profile.connector_id)
+
+ return (retval, connector_profile)
+ # return
+ # connector_profile.ports[0].notify_connect(connector_profile)
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return (RTC.BAD_PARAMETER, connector_profile)
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Port の接続通知を行う
+ #
+ # このオペレーションは、Port間の接続が行われる際に、Port間で内部的
+ # に呼ばれるオペレーションであって、通常アプリケーションプログラム
+ # や、Port以外のRTC関連オブジェクト等から呼び出されることは想定さ
+ # れていない。
+ #
+ # notify_connect() 自体はテンプレートメソッドパターンとして、サブ
+ # クラスで実装されることが前提の publishInterfaces(),
+ # subscribeInterfaces() の2つの関数を内部で呼び出す。処理の手順は
+ # 以下の通りである。
+ #
+ # - publishInterfaces(): インターフェース情報の公開
+ # - connectNext(): 次の Port の notify_connect() の呼び出し
+ # - subscribeInterfaces(): インターフェース情報の取得
+ # - 接続情報の保存
+ #
+ # notify_connect() は ConnectorProfile::ports に格納されている
+ # Port の順序に従って、カスケード状に呼び出しを行うことにより、イ
+ # ンターフェース情報の公開と取得を関連すすべてのポートに対して行う。
+ # このカスケード呼び出しは途中で中断されることはなく、必ず
+ # ConnectorProfile::ports に格納されている全ポートに対して行われる。
+ #
+ # @pre notify_connect() は ConnectorProfile::ports 内に格納されて
+ # いる Port 参照リストのうち、当該 Port 自身の参照の次に格納されて
+ # いる Port に対して notify_connect() を呼び出す。したがって
+ # ConnectorProfile::ports には当該 Port の参照が格納されている必要
+ # がある。もし、自身の参照が格納されていない場合、その他の処理によ
+ # りエラーが上書きされなければ、BAD_PARAMETER エラーが返される。
+ #
+ # @pre 呼び出し時に ConnectorProfile::connector_id には一意なIDと
+ # して UUID が保持されている必要がある。通常 connector_id は
+ # connect() 関数により与えられ、空文字の場合は動作は未定義である。
+ #
+ # @post ConnectorProfile::name, ConnectorProfile::connector_id,
+ # ConnectorProfile::ports は notify_connect() の呼び出しにより
+ # 書き換えられることはなく不変である。
+ #
+ # @post ConnectorProfile::properties は notify_connect() の内部で、
+ # 当該 Port が持つサービスインターフェースに関する情報を他の Port
+ # に伝えるために、プロパティ情報が書き込まれる。
+ #
+ # @post なお、ConnectorProfile::ports のリストの最初 Port の
+ # notify_connet() が終了した時点では、すべての関連する Port の
+ # notify_connect() の呼び出しが完了する。publishInterfaces(),
+ # connectNext(), subscribeInterfaces() および接続情報の保存のいず
+ # れかの段階でエラーが発生した場合でも、エラーコードは内部的に保持
+ # されており、最初に生じたエラーのエラーコードが返される。
+ #
+ # @param connector_profile ConnectorProfile
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Notify the Ports connection
+ #
+ # This operation is usually called from other ports' connect() or
+ # notify_connect() operations when connection between ports is
+ # established. This function is not premised on calling from
+ # other functions or application programs.
+ #
+ # According to the template method pattern, the notify_connect()
+ # calls "publishInterfaces()" and "subsctiveInterfaces()"
+ # functions, which are premised on implementing in the
+ # subclasses. The processing sequence is as follows.
+ #
+ # - publishInterfaces(): Publishing interface information
+ # - connectNext(): Calling notify_connect() of the next port
+ # - subscribeInterfaces(): Subscribing interface information
+ # - Storing connection profile
+ #
+ # According to the order of port's references stored in the
+ # ConnectorProfile::ports, publishing interface information to
+ # all the ports and subscription interface information from all
+ # the ports is performed by "notify_connect()"s. This cascaded
+ # call never aborts in the halfway operations, and calling
+ # sequence shall be completed for all the ports.
+ #
+ # @pre notify_connect() calls notify_connect() for the port's
+ # reference that is stored in next of this port's reference in
+ # the sequence of the ConnectorProfile::ports. Therefore the
+ # reference of this port shall be stored in the
+ # ConnectorProfile::ports. If this port's reference is not stored
+ # in the sequence, BAD_PARAMETER error will be returned, except
+ # the return code is overwritten by other operations.
+ #
+ # @pre UUID shall be set to ConnectorProfile::connector_id as a
+ # unique identifier when this operation is called. Usually,
+ # connector_id is given by a connect() function and, the behavior
+ # is undefined in the case of a null character.
+ #
+ # @post ConnectorProfile::name, ConnectorProfile::connector_id,
+ # ConnectorProfile::ports are invariant, and they are never
+ # rewritten by notify_connect() operations.
+ #
+ # @post In order to transfer interface information to other
+ # ports, interface property information is stored into the
+ # ConnectorProfile::properties.
+ #
+ # @post At the end of notify_connect() operation for the first
+ # port stored in the ConnectorProfile::ports sequence, the
+ # related ports' notify_connect() invocations complete. Even if
+ # errors are raised at the halfway of publishInterfaces(),
+ # connectNext(), subscribeInterfaces() and storing process of
+ # ConnectorProfile, error codes are saved and the first error is
+ # returned.
+ #
+ # @param connector_profile The ConnectorProfile.
+ # @return ReturnCode_t The return code of ReturnCode_t type.
+ #
+ # @endif
+ #
+ # virtual ReturnCode_t notify_connect(ConnectorProfile& connector_profile)
+
+ def notify_connect(self, connector_profile):
+ self._rtcout.RTC_TRACE("notify_connect()")
+
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(
+ prop, connector_profile.properties)
+
+ default_value = OpenRTM_aist.toBool(
+ self._properties.getProperty("allow_dup_connection"), "YES", "NO", False)
+
+ if not OpenRTM_aist.toBool(prop.getProperty(
+ "dataport.allow_dup_connection"), "YES", "NO", default_value):
+ for port in connector_profile.ports:
+ if not port._is_equivalent(self._objref):
+ ret = OpenRTM_aist.CORBA_RTCUtil.already_connected(
+ port, self._objref)
+ if ret:
+ return (RTC.PRECONDITION_NOT_MET, connector_profile)
+
+ guard_connection = OpenRTM_aist.ScopedLock(self._connection_mutex)
+
+ # publish owned interface information to the ConnectorProfile
+ retval = [RTC.RTC_OK for i in range(3)]
+
+ self.onNotifyConnect(self.getName(), connector_profile)
+ retval[0] = self.publishInterfaces(connector_profile)
+ if retval[0] != RTC.RTC_OK:
+ self._rtcout.RTC_ERROR(
+ "publishInterfaces() in notify_connect() failed.")
+
+ self.onPublishInterfaces(self.getName(), connector_profile, retval[0])
+ if self._onPublishInterfaces:
+ self._onPublishInterfaces(connector_profile)
+
+ # call notify_connect() of the next Port
+ retval[1], connector_profile = self.connectNext(connector_profile)
+ if retval[1] != RTC.RTC_OK:
+ self._rtcout.RTC_ERROR("connectNext() in notify_connect() failed.")
+
+ self.onConnectNextport(self.getName(), connector_profile, retval[1])
+ # subscribe interface from the ConnectorProfile's information
+ if self._onSubscribeInterfaces:
+ self._onSubscribeInterfaces(connector_profile)
+
+ retval[2] = self.subscribeInterfaces(connector_profile)
+ if retval[2] != RTC.RTC_OK:
+ self._rtcout.RTC_ERROR(
+ "subscribeInterfaces() in notify_connect() failed.")
+ # self.notify_disconnect(connector_profile.connector_id)
+
+ self.onSubscribeInterfaces(
+ self.getName(), connector_profile, retval[2])
+
self._rtcout.RTC_PARANOID("%d connectors are existing",
len(self._profile.connector_profiles))
+
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ # update ConnectorProfile
+ index = self.findConnProfileIndex(connector_profile.connector_id)
+ if index < 0:
+ OpenRTM_aist.CORBA_SeqUtil.push_back(self._profile.connector_profiles,
+ connector_profile)
+ self._rtcout.RTC_PARANOID("New connector_id. Push backed.")
+
+ else:
+ self._profile.connector_profiles[index] = connector_profile
+ self._rtcout.RTC_PARANOID("Existing connector_id. Updated.")
+
+ for ret in retval:
+ if ret != RTC.RTC_OK:
+ self.onConnected(self.getName(), connector_profile, ret)
+ return (ret, connector_profile)
+
+ # connection established without errors
+ if self._onConnected:
+ self._onConnected(connector_profile)
+ self.onConnected(self.getName(), connector_profile, RTC.RTC_OK)
+ return (RTC.RTC_OK, connector_profile)
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Port の接続を解除する
+ #
+ # このオペレーションは与えられた connector_id に対応する接続を解除
+ # する。connector_id は通常、システム全体において一意な UUID の文
+ # 字列であり、事前に connect()/notify_connect() の呼び出しにより確
+ # 立された接続プロファイル ConnectorProfile::connector_id に対応す
+ # る。
+ #
+ # @pre connector_id は Port が保持する ConnectorProfile の少なくと
+ # も一つの ID に一致する文字列でなければならない。当該 Port が持つ
+ # ConnectorProfile のリスト内に connector_id と同一の ID を持つ
+ # ConnectorProfile が存在しなければこの関数は BAD_PARAMETER エラー
+ # を返す。
+ #
+ # @pre connector_id と同じ ID を持つ ConnectorProfile::ports には
+ # 有効な Port の参照が含まれていなければならない。
+ #
+ # @post disconnect() 関数は、ConnectorProfile::ports の Port の参
+ # 照リストの先頭に対して、notify_disconnect() を呼び出す。参照が無
+ # 効であるなど、notify_disconnect() の呼び出しに失敗した場合には、
+ # 参照リストの先頭から順番に成功するまで notify_disconnect() の呼
+ # び出しを試す。notify_disconnect() の呼び出しに一つでも成功すれば、
+ # notify_disconnect() の返却値をそのまま返し、一つも成功しなかった
+ # 場合には RTC_ERROR エラーを返す。
+ #
+ # @param connector_id ConnectorProfile の ID
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Disconnect the Port
+ #
+ # This operation destroys connection between this port and the
+ # peer port according to given connector_id. Usually connector_id
+ # should be a UUID string that is unique in the system. And the
+ # connection, which is established by connect()/notify_connect()
+ # functions, is identified by the ConnectorProfile::connector_id.
+ #
+ # @pre connector_id shall be a character string which is same
+ # with ID of at least one of the ConnectorProfiles stored in this
+ # port. If ConnectorProfile that has same ID with the given
+ # connector_id does not exist in the list of ConnectorProfile,
+ # this operation returns BAD_PARAMTER error.
+ #
+ # @pre ConnectorProfile::ports that is same ID with given
+ # connector_id shall store the valid ports' references.
+ #
+ # @post disconnect() function invokes the notify_disconnect() for
+ # the port that is stored in the first of the
+ # ConnectorProfile::ports. If notify_disconnect() call fails for
+ # the first port, It tries on calling "notify_disconnect()" in
+ # order for ports stored in ConnectorProfile::ports until the
+ # operation call is succeeded. If notify_disconnect() succeeded
+ # for at least one port, it returns return code from
+ # notify_disconnect(). If none of notify_connect() call
+ # succeeded, it returns RTC_ERROR error.
+ #
+ # @param connector_id The ID of the ConnectorProfile.
+ # @return ReturnCode_t The return code of ReturnCode_t type.
+ #
+ # @endif
+ #
+ # virtual ReturnCode_t disconnect(const char* connector_id)
+
+ def disconnect(self, connector_id):
+ self._rtcout.RTC_TRACE("disconnect(%s)", connector_id)
+
+ index = self.findConnProfileIndex(connector_id)
+
+ if index < 0:
+ self._rtcout.RTC_ERROR("Invalid connector id: %s", connector_id)
+ return RTC.BAD_PARAMETER
+ prof = None
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ if index < len(self._profile.connector_profiles):
+ prof = self._profile.connector_profiles[index]
+ del guard
+
+ if not prof.ports:
+ self._rtcout.RTC_FATAL("ConnectorProfile has empty port list.")
+ return RTC.PRECONDITION_NOT_MET
+
+ for p in prof.ports:
+ try:
+ return p.notify_disconnect(connector_id)
+ except BaseException:
+ self._rtcout.RTC_WARN(OpenRTM_aist.Logger.print_exception())
+ continue
+
+ self._rtcout.RTC_ERROR("notify_disconnect() for all ports failed.")
+ return RTC.RTC_ERROR
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Port の接続解除通知を行う
+ #
+ # このオペレーションは、Port間の接続解除が行われる際に、Port間で内
+ # 部的に呼ばれるオペレーションであり、通常アプリケーションプログラ
+ # ムや、 Port 以外の RTC 関連オブジェクト等から呼び出されることは
+ # 想定されていない。
+ #
+ # notify_disconnect() 自体はテンプレートメソッドパターンとして、サ
+ # ブクラスで実装されることが前提の unsubscribeInterfaces() 関数を
+ # 内部で呼び出す。処理の手順は以下の通りである。
+ #
+ # - ConnectorProfile の検索
+ # - 次の Port の notify_disconnect() 呼び出し
+ # - unsubscribeInterfaces()
+ # - ConnectorProfile の削除
+ #
+ # notify_disconnect() は ConnectorProfile::ports に格納されている
+ # Port の順序に従って、カスケード状に呼び出しを行うことにより、接
+ # 続の解除をすべての Port に通知する。
+ #
+ # @pre Port は与えられた connector_id に対応する ConnectorProfile
+ # を保持していなければならない。
+ #
+ # @post connector_id に対応する ConnectorProfile が見つからない場
+ # 合はBAD_PARAMETER エラーを返す。
+ #
+ # @post カスケード呼び出しを行う際には ConnectorProfile::ports に
+ # 保持されている Port の参照リストのうち、自身の参照の次の参照に対
+ # して notify_disconnect() を呼び出すが、その呼び出しで例外が発生
+ # した場合には、呼び出しをスキップしリストの次の参照に対して
+ # notify_disconnect() を呼び出す。一つも呼び出しに成功しない場合、
+ # RTC_ERROR エラーコードを返す。
+ #
+ # @post なお、ConnectorProfile::ports のリストの最初 Port の
+ # notify_disconnet() が終了した時点では、すべての関連する Port の
+ # notify_disconnect() の呼び出しが完了する。
+ #
+ # @param connector_id ConnectorProfile の ID
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Notify the Ports disconnection
+ #
+ # This operation is invoked between Ports internally when the
+ # connection is destroied. Generally it is not premised on
+ # calling from application programs or RTC objects except Port
+ # object.
+ #
+ # According to the template method pattern, the
+ # notify_disconnect() calls unsubsctiveInterfaces() function,
+ # which are premised on implementing in the subclasses. The
+ # processing sequence is as follows.
+ #
+ # - Searching ConnectorProfile
+ # - Calling notify_disconnect() for the next port
+ # - Unsubscribing interfaces
+ # - Deleting ConnectorProfile
+ #
+ # notify_disconnect() notifies disconnection to all the ports by
+ # cascaded call to the stored ports in the
+ # ConnectorProfile::ports in order.
+ #
+ # @pre The port shall store the ConnectorProfile having same id
+ # with connector_id.
+ #
+ # @post If ConnectorProfile of same ID with connector_id does not
+ # exist, it returns BAD_PARAMETER error.
+ #
+ # @post For the cascaded call, this operation calls
+ # noify_disconnect() for the port that is stored in the next of
+ # this port in the ConnectorProfile::ports. If the operation
+ # call raises exception for some failure, it tries to call
+ # notify_disconnect() and skips until the operation succeeded.
+ # If none of operation call succeeded, it returns RTC_ERROR.
+ #
+ # @post At the end of notify_disconnect() operation for the first
+ # port stored in the ConnectorProfile::ports sequence, the
+ # related ports' notify_disconnect() invocations complete.
+ #
+ # @param connector_id The ID of the ConnectorProfile.
+ # @return ReturnCode_t The return code of ReturnCode_t type.
+ #
+ # @endif
+ #
+ # virtual ReturnCode_t notify_disconnect(const char* connector_id)
+
+ def notify_disconnect(self, connector_id):
+ self._rtcout.RTC_TRACE("notify_disconnect(%s)", 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 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)
+
+ index = self.findConnProfileIndex(connector_id)
+
+ if index < 0:
+ self._rtcout.RTC_ERROR("Invalid connector id: %s", connector_id)
+ return RTC.BAD_PARAMETER
+
+ prof = RTC.ConnectorProfile(self._profile.connector_profiles[index].name,
+ self._profile.connector_profiles[index].connector_id,
+ self._profile.connector_profiles[index].ports,
+ self._profile.connector_profiles[index].properties)
+ self.onNotifyDisconnect(self.getName(), prof)
+
+ retval = self.disconnectNext(prof)
+ self.onDisconnectNextport(self.getName(), prof, retval)
+
+ if self._onUnsubscribeInterfaces:
+ self._onUnsubscribeInterfaces(prof)
+ self.onUnsubscribeInterfaces(self.getName(), prof)
+ self.unsubscribeInterfaces(prof)
+
+ if self._onDisconnected:
+ self._onDisconnected(prof)
+
+ OpenRTM_aist.CORBA_SeqUtil.erase(
+ self._profile.connector_profiles, index)
+
+ self.onDisconnected(self.getName(), prof, retval)
+ return retval
+
+ ##
+ # @if jp
+ #
+ # @brief [CORBA interface] Port の全接続を解除する
+ #
+ # このオペレーションはこの Port に関連した全ての接続を解除する。
+ #
+ # @param self
+ #
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief [CORBA interface] Connect the Port
+ #
+ # This operation destroys all connection channels owned by the Port.
+ #
+ # @return ReturnCode_t The return code of this operation.
+ #
+ # @endif
+ # virtual ReturnCode_t disconnect_all()
+
+ def disconnect_all(self):
+ self._rtcout.RTC_TRACE("disconnect_all()")
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ plist = copy.deepcopy(self._profile.connector_profiles)
+ del guard
+
+ retcode = RTC.RTC_OK
+ len_ = len(plist)
+ self._rtcout.RTC_DEBUG("disconnecting %d connections.", len_)
+
+ # disconnect all connections
+ # Call disconnect() for each ConnectorProfile.
+ for p in plist:
+ tmpret = self.disconnect(p.connector_id)
+ if tmpret != RTC.RTC_OK:
+ retcode = tmpret
+
+ return retcode
+
+ # ============================================================
+ # Local operations
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief Port の名前を設定する
+ #
+ # Port の名前を設定する。この名前は Port が保持する PortProfile.name
+ # に反映される。
+ #
+ # @param self
+ # @param name Port の名前
+ #
+ # @else
+ # @brief Set the name of this Port
+ #
+ # This operation sets the name of this Port. The given Port's name is
+ # applied to Port's PortProfile.name.
+ #
+ # @param name The name of this Port.
+ #
+ # @endif
+ # void setName(const char* name);
+
+ def setName(self, name):
+ self._rtcout.RTC_TRACE("setName(%s)", name)
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ self._profile.name = name
+ return
+
+ ##
+ # @if jp
+ # @brief Port の名前を取得する
+ # @else
+ # @brief Get the name of this Port
+ # @return The name of this Port.
+ # @endif
+ #
+ # const char* PortBase::getName() const
+ def getName(self):
+ self._rtcout.RTC_TRACE("getName() = %s", self._profile.name)
+ return self._profile.name
+
+ ##
+ # @if jp
+ # @brief PortProfileを取得する
+ #
+ # Portが保持する PortProfile の const 参照を返す。
+ #
+ # @param self
+ #
+ # @return この Port の PortProfile
+ #
+ # @else
+ # @brief Get the PortProfile of the Port
+ #
+ # This operation returns const reference of the PortProfile.
+ #
+ # @return the PortProfile of the Port
+ #
+ # @endif
+ # const PortProfile& getProfile() const;
+
+ def getProfile(self):
+ self._rtcout.RTC_TRACE("getProfile()")
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ return self._profile
+
+ ##
+ # @if jp
+ #
+ # @brief Port のオブジェクト参照を設定する
+ #
+ # このオペレーションは Port の PortProfile にこの Port 自身の
+ # オブジェクト参照を設定する。
+ #
+ # @param self
+ # @param port_ref この Port のオブジェクト参照
+ #
+ # @else
+ #
+ # @brief Set the object reference of this Port
+ #
+ # This operation sets the object reference itself
+ # to the Port's PortProfile.
+ #
+ # @param The object reference of this Port.
+ #
+ # @endif
+ # void setPortRef(PortService_ptr port_ref);
+
+ def setPortRef(self, port_ref):
+ self._rtcout.RTC_TRACE("setPortRef()")
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ self._profile.port_ref = port_ref
+
+ ##
+ # @if jp
+ #
+ # @brief Port のオブジェクト参照を取得する
+ #
+ # このオペレーションは Port の PortProfile が保持している
+ # この Port 自身のオブジェクト参照を取得する。
+ #
+ # @param self
+ #
+ # @return この Port のオブジェクト参照
+ #
+ # @else
+ #
+ # @brief Get the object reference of this Port
+ #
+ # This operation returns the object reference
+ # that is stored in the Port's PortProfile.
+ #
+ # @return The object reference of this Port.
+ #
+ # @endif
+ # PortService_ptr getPortRef();
+
+ def getPortRef(self):
+ self._rtcout.RTC_TRACE("getPortRef()")
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ return self._profile.port_ref
+
+ ##
+ # @if jp
+ #
+ # @brief Port の owner の RTObject を指定する
+ #
+ # このオペレーションは Port の PortProfile.owner を設定する。
+ #
+ # @param self
+ # @param owner この Port を所有する RTObject の参照
+ #
+ # @else
+ #
+ # @brief Set the owner RTObject of the Port
+ #
+ # This operation sets the owner RTObject of this Port.
+ #
+ # @param owner The owner RTObject's reference of this Port
+ #
+ # @endif
+ # void setOwner(RTObject_ptr owner);
+
+ def setOwner(self, owner):
+ prof = owner.get_component_profile()
+ self._ownerInstanceName = prof.instance_name
+ self._rtcout.RTC_TRACE("setOwner(%s)", self._ownerInstanceName)
+
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+ plist = self._profile.name.split(".")
+ if not self._ownerInstanceName:
+ self._rtcout.RTC_ERROR("Owner is not set.")
+ self._rtcout.RTC_ERROR(
+ "addXXXPort() should be called in onInitialize().")
+ portname = self._ownerInstanceName + "." + plist[-1]
+
+ self._profile.owner = owner
+ self._profile.name = portname
+
+ # ============================================================
+ # callbacks
+ # ============================================================
+
+ ##
+ # @if jp
+ #
+ # @brief インターフェースを公開する際に呼ばれるコールバックをセットする
+ #
+ # このオペレーションは、このポートが接続時に、ポート自身が持つサー
+ # ビスインターフェース情報を公開するタイミングで呼ばれるコールバッ
+ # クファンクタをセットする。
+ #
+ # コールバックファンクタの所有権は、呼び出し側にあり、オブジェクト
+ # が必要なくなった時に解体するのは呼び出し側の責任である。
+ #
+ # このコールバックファンクタは、PortBaseクラスの仮想関数である
+ # publishInterfaces() が呼ばれたあとに、同じ引数 ConnectorProfile と
+ # ともに呼び出される。このコールバックを利用して、
+ # publishInterfaces() が公開した ConnectorProfile を変更することが可
+ # 能であるが、接続関係の不整合を招かないよう、ConnectorProfile の
+ # 変更には注意を要する。
+ #
+ # @param on_publish ConnectionCallback のサブクラスオブジェクトのポインタ
+ #
+ # @else
+ #
+ # @brief Setting callback called on publish interfaces
+ #
+ # This operation sets a functor that is called after publishing
+ # interfaces process when connecting between ports.
+ #
+ # Since the ownership of the callback functor object is owned by
+ # the caller, it has the responsibility of object destruction.
+ #
+ # The callback functor is called after calling
+ # publishInterfaces() that is virtual member function of the
+ # PortBase class with an argument of ConnectorProfile type that
+ # is same as the argument of publishInterfaces() function.
+ # Although by using this functor, you can modify the ConnectorProfile
+ # published by publishInterfaces() function, the modification
+ # should be done carefully for fear of causing connection
+ # inconsistency.
+ #
+ # @param on_publish a pointer to ConnectionCallback's subclasses
+ #
+ # @endif
+ #
+ # void setOnPublishInterfaces(ConnectionCallback* on_publish);
+
+ def setOnPublishInterfaces(self, on_publish):
+ self._onPublishInterfaces = on_publish
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief インターフェースを取得する際に呼ばれるコールバックをセットする
+ #
+ # このオペレーションは、このポートが接続時に、相手のポートが持つサー
+ # ビスインターフェース情報を取得するタイミングで呼ばれるコールバッ
+ # クファンクタをセットする。
+ #
+ # コールバックファンクタの所有権は、呼び出し側にあり、オブジェクト
+ # が必要なくなった時に解体するのは呼び出し側の責任である。
+ #
+ # このコールバックファンクタは、PortBaseクラスの仮想関数である
+ # subscribeInterfaces() が呼ばれる前に、同じ引数 ConnectorProfile と
+ # ともに呼び出される。このコールバックを利用して、
+ # subscribeInterfaces() に与える ConnectorProfile を変更することが可
+ # 能であるが、接続関係の不整合を招かないよう、ConnectorProfile の
+ # 変更には注意を要する。
+ #
+ # @param on_subscribe ConnectionCallback のサブクラスオブジェクトのポインタ
+ #
+ # @else
+ #
+ # @brief Setting callback called on publish interfaces
+ #
+ # This operation sets a functor that is called before subscribing
+ # interfaces process when connecting between ports.
+ #
+ # Since the ownership of the callback functor object is owned by
+ # the caller, it has the responsibility of object destruction.
+ #
+ # The callback functor is called before calling
+ # subscribeInterfaces() that is virtual member function of the
+ # PortBase class with an argument of ConnectorProfile type that
+ # is same as the argument of subscribeInterfaces() function.
+ # Although by using this functor, you can modify ConnectorProfile
+ # argument for subscribeInterfaces() function, the modification
+ # should be done carefully for fear of causing connection
+ # inconsistency.
+ #
+ # @param on_subscribe a pointer to ConnectionCallback's subclasses
+ #
+ # @endif
+ #
+ # void setOnSubscribeInterfaces(ConnectionCallback* on_subscribe);
+
+ def setOnSubscribeInterfaces(self, on_subscribe):
+ self._onSubscribeInterfaces = on_subscribe
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief 接続完了時に呼ばれるコールバックをセットする
+ #
+ # このオペレーションは、このポートが接続完了時に呼ばれる、コールバッ
+ # クファンクタをセットする。
+ #
+ # コールバックファンクタの所有権は、呼び出し側にあり、オブジェクト
+ # が必要なくなった時に解体するのは呼び出し側の責任である。
+ #
+ # このコールバックファンクタは、ポートの接続実行関数である
+ # notify_connect() の終了直前に、接続処理が正常終了する際に限って
+ # 呼び出されるコールバックである。接続処理の過程でエラーが発生した
+ # 場合には呼び出されない。
+ #
+ # このコールバックファンクタは notify_connect() が out パラメータ
+ # として返すのと同じ引数 ConnectorProfile とともに呼び出されるので、
+ # この接続において公開されたすべてのインターフェース情報を得ること
+ # ができる。このコールバックを利用して、notify_connect() が返す
+ # ConnectorProfile を変更することが可能であるが、接続関係の不整合
+ # を招かないよう、ConnectorProfile の変更には注意を要する。
+ #
+ # @param on_subscribe ConnectionCallback のサブクラスオブジェクトのポインタ
+ #
+ # @else
+ #
+ # @brief Setting callback called on connection established
+ #
+ # This operation sets a functor that is called when connection
+ # between ports established.
+ #
+ # Since the ownership of the callback functor object is owned by
+ # the caller, it has the responsibility of object destruction.
+ #
+ # The callback functor is called only when notify_connect()
+ # function successfully returns. In case of error, the functor
+ # will not be called.
+ #
+ # Since this functor is called with ConnectorProfile argument
+ # that is same as out-parameter of notify_connect() function, you
+ # can get all the information of published interfaces of related
+ # ports in the connection. Although by using this functor, you
+ # can modify ConnectorProfile argument for out-paramter of
+ # notify_connect(), the modification should be done carefully for
+ # fear of causing connection inconsistency.
+ #
+ # @param on_subscribe a pointer to ConnectionCallback's subclasses
+ #
+ # @endif
+ #
+ # void setOnConnected(ConnectionCallback* on_connected);
+
+ def setOnConnected(self, on_connected):
+ self._onConnected = on_connected
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief インターフェースを解放する際に呼ばれるコールバックをセットする
+ #
+ # このオペレーションは、このポートが接続時に、相手のポートが持つサー
+ # ビスインターフェース情報を解放するタイミングで呼ばれるコールバッ
+ # クファンクタをセットする。
+ #
+ # コールバックファンクタの所有権は、呼び出し側にあり、オブジェクト
+ # が必要なくなった時に解体するのは呼び出し側の責任である。
+ #
+ # このコールバックファンクタは、PortBaseクラスの仮想関数である
+ # unsubscribeInterfaces() が呼ばれる前に、同じ引数 ConnectorProfile と
+ # ともに呼び出される。このコールバックを利用して、
+ # unsubscribeInterfaces() に与える ConnectorProfile を変更することが可
+ # 能であるが、接続関係の不整合を招かないよう、ConnectorProfile の
+ # 変更には注意を要する。
+ #
+ # @param on_unsubscribe ConnectionCallback のサブクラスオブジェク
+ # トのポインタ
+ #
+ # @else
+ #
+ # @brief Setting callback called on unsubscribe interfaces
+ #
+ # This operation sets a functor that is called before unsubscribing
+ # interfaces process when disconnecting between ports.
+ #
+ # Since the ownership of the callback functor object is owned by
+ # the caller, it has the responsibility of object destruction.
+ #
+ # The callback functor is called before calling
+ # unsubscribeInterfaces() that is virtual member function of the
+ # PortBase class with an argument of ConnectorProfile type that
+ # is same as the argument of unsubscribeInterfaces() function.
+ # Although by using this functor, you can modify ConnectorProfile
+ # argument for unsubscribeInterfaces() function, the modification
+ # should be done carefully for fear of causing connection
+ # inconsistency.
+ #
+ # @param on_unsubscribe a pointer to ConnectionCallback's subclasses
+ #
+ # @endif
+ #
+ # void setOnUnsubscribeInterfaces(ConnectionCallback* on_subscribe);
+
+ def setOnUnsubscribeInterfaces(self, on_subscribe):
+ self._onUnsubscribeInterfaces = on_subscribe
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief 接続解除に呼ばれるコールバックをセットする
+ #
+ # このオペレーションは、このポートの接続解除時に呼ばれる、コールバッ
+ # クファンクタをセットする。
+ #
+ # コールバックファンクタの所有権は、呼び出し側にあり、オブジェクト
+ # が必要なくなった時に解体するのは呼び出し側の責任である。
+ #
+ # このコールバックファンクタは、ポートの接続解除実行関数である
+ # notify_disconnect() の終了直前に、呼び出されるコールバックである。
+ #
+ # このコールバックファンクタは接続に対応する ConnectorProfile とと
+ # もに呼び出される。この ConnectorProfile はこのファンクタ呼出し後
+ # に破棄されるので、変更がほかに影響を与えることはない。
+ #
+ # @param on_disconnected ConnectionCallback のサブクラスオブジェク
+ # トのポインタ
+ #
+ # @else
+ #
+ # @brief Setting callback called on disconnected
+ #
+ # This operation sets a functor that is called when connection
+ # between ports is destructed.
+ #
+ # Since the ownership of the callback functor object is owned by
+ # the caller, it has the responsibility of object destruction.
+ #
+ # The callback functor is called just before notify_disconnect()
+ # that is disconnection execution function returns.
+ #
+ # This functor is called with argument of corresponding
+ # ConnectorProfile. Since this ConnectorProfile will be
+ # destructed after calling this functor, modifications never
+ # affect others.
+ #
+ # @param on_disconnected a pointer to ConnectionCallback's subclasses
+ #
+ # @endif
+ #
+ # void setOnDisconnected(ConnectionCallback* on_disconnected);
+
+ def setOnDisconnected(self, on_disconnected):
+ self._onDisconnected = on_disconnected
+ return
+
+ # void setOnConnectionLost(ConnectionCallback* on_connection_lost);
+ def setOnConnectionLost(self, on_connection_lost):
+ self._onConnectionLost = on_connection_lost
+ return
+
+ ##
+ # @if jp
+ # @brief PortConnectListeners のホルダをセットする
+ #
+ # ポートの接続に関するリスナ群を保持するホルダクラスへのポインタを
+ # セットする。この関数は通常親のRTObjectから呼ばれ、RTObjectが持つ
+ # ホルダクラスへのポインタがセットされる。
+ #
+ # @param portconnListeners PortConnectListeners オブジェクトのポインタ
+ #
+ # @else
+ # @brief Setting PortConnectListener holder
+ #
+ # This operation sets a functor that is called when connection
+ # of this port does lost.
+ #
+ # @param on_connection_lost a pointer to ConnectionCallback's subclasses
+ #
+ # @endif
+ #
+ # void setPortConnectListenerHolder(PortConnectListeners*
+ # portconnListeners);
+
+ def setPortConnectListenerHolder(self, portconnListeners):
+ self._portconnListeners = portconnListeners
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief Interface 情報を公開する(サブクラス実装用)
+ #
+ # このオペレーションは、notify_connect() 処理シーケンスの始めにコール
+ # される関数である。
+ # notify_connect() では、
+ #
+ # - publishInterfaces()
+ # - connectNext()
+ # - subscribeInterfaces()
+ # - updateConnectorProfile()
+ #
+ # の順に protected 関数がコールされ接続処理が行われる。
+ #
- # void addProperty(const char* key, ValueType value)
- def addProperty(self, key, value):
- OpenRTM_aist.CORBA_SeqUtil.push_back(self._profile.properties,
- OpenRTM_aist.NVUtil.newNV(key, value))
-
- ##
- # @if jp
- #
- # @brief PortProfile properties NameValue ͤǤɲä
- #
- # PortProfile properties NameValue ͤǤɲä롣
- #
- # @param key properties name
- # @param value properties value
- #
- # @else
- #
- # @brief Append NameValue data to PortProfile's properties
- #
- # Append NameValue data to PortProfile's properties.
- #
- # @param key The name of properties
- # @param value The value of properties
- #
- # @endif
- # void appendProperty(const char* key, const char* value)
- def appendProperty(self, key, value):
- OpenRTM_aist.NVUtil.appendStringValue(self._profile.properties, key, value)
-
-
-
- ##
- # @if jp
- #
- # @brief ¸ߤʤݡȤdisconnect롣
- #
- # @else
- #
- # @brief Disconnect ports that doesn't exist.
- #
- # @endif
- # void updateConnectors()
- def updateConnectors(self):
- guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
-
- connector_ids = []
- clist = self._profile.connector_profiles
-
- for cprof in clist:
- if not self.checkPorts(cprof.ports):
- connector_ids.append(cprof.connector_id)
- self._rtcout.RTC_WARN("Dead connection: %s", cprof.connector_id)
-
- for cid in connector_ids:
- self.disconnect(cid)
-
- return
-
-
- ##
- # @if jp
- #
- # @brief ݡȤ¸ߤǧ롣
- #
- # @param ports ǧݡ
- # @return true:¸ߤ,false:¸ߤʤ
- #
- # @else
- #
- # @brief Existence of ports
- #
- # @param ports Checked ports
- # @return true:existent,false:non existent
- #
- # @endif
- # bool checkPorts(::RTC::PortServiceList& ports)
- def checkPorts(self, ports):
- for port in ports:
- try:
- if port._non_existent():
- self._rtcout.RTC_WARN("Dead Port reference detected.")
- return False
- except:
- self._rtcout.RTC_WARN(OpenRTM_aist.Logger.print_exception())
- return False
-
- return True
-
-
- #inline void onNotifyConnect(const char* portname,
- # RTC::ConnectorProfile& profile)
- def onNotifyConnect(self, portname, profile):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectListenerType.ON_NOTIFY_CONNECT
- self._portconnListeners.portconnect_[type].notify(portname, profile)
- return
-
-
- #inline void onNotifyDisconnect(const char* portname,
- # RTC::ConnectorProfile& profile)
- def onNotifyDisconnect(self, portname, profile):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectListenerType.ON_NOTIFY_DISCONNECT
- self._portconnListeners.portconnect_[type].notify(portname, profile)
- return
-
-
- #inline void onUnsubscribeInterfaces(const char* portname,
- # RTC::ConnectorProfile& profile)
- def onUnsubscribeInterfaces(self, portname, profile):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectListenerType.ON_UNSUBSCRIBE_INTERFACES
- self._portconnListeners.portconnect_[type].notify(portname, profile)
- return
-
-
- #inline void onPublishInterfaces(const char* portname,
- # RTC::ConnectorProfile& profile,
- # ReturnCode_t ret)
- def onPublishInterfaces(self, portname, profile, ret):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectRetListenerType.ON_PUBLISH_INTERFACES
- self._portconnListeners.portconnret_[type].notify(portname, profile, ret)
- return
-
-
- #inline void onConnectNextport(const char* portname,
- # RTC::ConnectorProfile& profile,
- # ReturnCode_t ret)
- def onConnectNextport(self, portname, profile, ret):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectRetListenerType.ON_CONNECT_NEXTPORT
- self._portconnListeners.portconnret_[type].notify(portname, profile, ret)
- return
-
-
- #inline void onSubscribeInterfaces(const char* portname,
- # RTC::ConnectorProfile& profile,
- # ReturnCode_t ret)
- def onSubscribeInterfaces(self, portname, profile, ret):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectRetListenerType.ON_SUBSCRIBE_INTERFACES
- self._portconnListeners.portconnret_[type].notify(portname, profile, ret)
- return
-
-
- #inline void onConnected(const char* portname,
- # RTC::ConnectorProfile& profile,
- # ReturnCode_t ret)
- def onConnected(self, portname, profile, ret):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectRetListenerType.ON_CONNECTED
- self._portconnListeners.portconnret_[type].notify(portname, profile, ret)
- return
-
-
- #inline void onDisconnectNextport(const char* portname,
- # RTC::ConnectorProfile& profile,
- # ReturnCode_t ret)
- def onDisconnectNextport(self, portname, profile, ret):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectRetListenerType.ON_DISCONNECT_NEXT
- self._portconnListeners.portconnret_[type].notify(portname, profile, ret)
- return
-
-
- #inline void onDisconnected(const char* portname,
- # RTC::ConnectorProfile& profile,
- # ReturnCode_t ret)
- def onDisconnected(self, portname, profile, ret):
- if self._portconnListeners != None:
- type = OpenRTM_aist.PortConnectRetListenerType.ON_DISCONNECTED
- self._portconnListeners.portconnret_[type].notify(portname, profile, ret)
- return
-
-
-
- #============================================================
- # Functor
- #============================================================
-
- ##
- # @if jp
- # @class if_name
- # @brief instance_name PortInterfaceProfile õ Functor
- # @else
- # @brief A functor to find a PortInterfaceProfile named instance_name
- # @endif
- class if_name:
- def __init__(self, name):
- self._name = name
-
- def __call__(self, prof):
- return str(self._name) == str(prof.instance_name)
-
-
- ##
- # @if jp
- # @class find_conn_id
- # @brief id ConnectorProfile õ Functor
- # @else
- # @brief A functor to find a ConnectorProfile named id
- # @endif
- class find_conn_id:
- def __init__(self, id_):
- """
- \param id_(string)
- """
- self._id = id_
-
- def __call__(self, cprof):
- """
- \param cprof(RTC.ConnectorProfile)
- """
- return str(self._id) == str(cprof.connector_id)
-
- ##
- # @if jp
- # @class find_port_ref
- # @brief ȥ饯 port_ref Ʊ֥ȻȤõ Functor
- # @else
- # @brief A functor to find the object reference that is identical port_ref
- # @endif
- class find_port_ref:
- def __init__(self, port_ref):
- """
- \param port_ref(RTC.PortService)
- """
- self._port_ref = port_ref
-
- def __call__(self, port_ref):
- """
- \param port_ref(RTC.PortService)
- """
- return self._port_ref._is_equivalent(port_ref)
-
- ##
- # @if jp
- # @class connect_func
- # @brief Port ³Ԥ Functor
- # @else
- # @brief A functor to connect Ports
- # @endif
- class connect_func:
- def __init__(self, p, prof):
- """
- \param p(RTC.PortService)
- \param prof(RTC.ConnectorProfile)
- """
- self._port_ref = p
- self._connector_profile = prof
- self.return_code = RTC.RTC_OK
-
- def __call__(self, p):
- """
- \param p(RTC.PortService)
- """
- if not self._port_ref._is_equivalent(p):
- retval = p.notify_connect(self._connector_profile)
- if retval != RTC.RTC_OK:
- self.return_code = retval
-
- ##
- # @if jp
- # @class disconnect_func
- # @brief Port ³Ԥ Functor
- # @else
- # @brief A functor to disconnect Ports
- # @endif
- class disconnect_func:
- def __init__(self, p, prof):
- """
- \param p(RTC.PortService)
- \param prof(RTC.ConnectorProfile)
- """
- self._port_ref = p
- self._connector_profile = prof
- self.return_code = RTC.RTC_OK
-
- def __call__(self, p):
- """
- \param p(RTC.PortService)
- """
- if not self._port_ref._is_equivalent(p):
- retval = p.disconnect(self._connector_profile.connector_id)
- if retval != RTC.RTC_OK:
- self.return_code = retval
-
- ##
- # @if jp
- # @class disconnect_all_func
- # @brief Port ³Ԥ Functor
- # @else
- # @brief A functor to disconnect all Ports
- # @endif
- class disconnect_all_func:
- def __init__(self, p):
- """
- \param p(OpenRTM_aist.PortBase)
- """
- self.return_code = RTC.RTC_OK
- self._port = p
-
- def __call__(self, p):
- """
- \param p(RTC.ConnectorProfile)
- """
- retval = self._port.disconnect(p.connector_id)
- if retval != RTC.RTC_OK:
- self.return_code = retval
-
- ##
- # @if jp
- # @class find_interface
- # @brief name polarity interface õ Functor
- # @else
- # @brief A functor to find interface from name and polarity
- # @endif
- class find_interface:
- def __init__(self, name, pol):
- """
- \param name(string)
- \param pol(RTC.PortInterfacePolarity)
- """
- self._name = name
- self._pol = pol
-
- def __call__(self, prof):
- """
- \param prof(RTC.PortInterfaceProfile)
- """
- name = prof.instance_name
- return (str(self._name) == str(name)) and (self._pol == prof.polarity)
+ ##
+ # @if jp
+ #
+ # @brief Interface 情報を取得する(サブクラス実装用)
+ #
+ # このオペレーションは、notify_connect() 処理シーケンスの中間にコール
+ # される関数である。
+ # notify_connect() では、
+ #
+ # - publishInterfaces()
+ # - connectNext()
+ # - subscribeInterfaces()
+ # - updateConnectorProfile()
+ #
+ # の順に protected 関数がコールされ接続処理が行われる。
+ #
+ # void addProperty(const char* key, ValueType value)
+
+ def addProperty(self, key, value):
+ OpenRTM_aist.CORBA_SeqUtil.push_back(self._profile.properties,
+ OpenRTM_aist.NVUtil.newNV(key, value))
+
+ ##
+ # @if jp
+ #
+ # @brief PortProfile の properties に NameValue 値を要素に追加する
+ #
+ # PortProfile の properties に NameValue 値を要素に追加する。
+ #
+ # @param key properties の name
+ # @param value properties の value
+ #
+ # @else
+ #
+ # @brief Append NameValue data to PortProfile's properties
+ #
+ # Append NameValue data to PortProfile's properties.
+ #
+ # @param key The name of properties
+ # @param value The value of properties
+ #
+ # @endif
+ # void appendProperty(const char* key, const char* value)
+ def appendProperty(self, key, value):
+ OpenRTM_aist.NVUtil.appendStringValue(
+ self._profile.properties, key, value)
+
+ ##
+ # @if jp
+ #
+ # @brief 存在しないポートをdisconnectする。
+ #
+ # @else
+ #
+ # @brief Disconnect ports that doesn't exist.
+ #
+ # @endif
+ # void updateConnectors()
+
+ def updateConnectors(self):
+ guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
+
+ connector_ids = []
+ clist = self._profile.connector_profiles
+
+ for cprof in clist:
+ if not self.checkPorts(cprof.ports):
+ connector_ids.append(cprof.connector_id)
+ self._rtcout.RTC_WARN(
+ "Dead connection: %s", cprof.connector_id)
+
+ for cid in connector_ids:
+ self.disconnect(cid)
+
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief ポートの存在を確認する。
+ #
+ # @param ports 確認するポート
+ # @return true:存在する,false:存在しない
+ #
+ # @else
+ #
+ # @brief Existence of ports
+ #
+ # @param ports Checked ports
+ # @return true:existent,false:non existent
+ #
+ # @endif
+ # bool checkPorts(::RTC::PortServiceList& ports)
+
+ def checkPorts(self, ports):
+ for port in ports:
+ try:
+ if port._non_existent():
+ self._rtcout.RTC_WARN("Dead Port reference detected.")
+ return False
+ except BaseException:
+ self._rtcout.RTC_WARN(OpenRTM_aist.Logger.print_exception())
+ return False
+
+ return True
+
+ # inline void onNotifyConnect(const char* portname,
+ # RTC::ConnectorProfile& profile)
+
+ def onNotifyConnect(self, portname, profile):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectListenerType.ON_NOTIFY_CONNECT
+ self._portconnListeners.notify(type, portname, profile)
+ return
+
+ # inline void onNotifyDisconnect(const char* portname,
+ # RTC::ConnectorProfile& profile)
+
+ def onNotifyDisconnect(self, portname, profile):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectListenerType.ON_NOTIFY_DISCONNECT
+ self._portconnListeners.notify(type, portname, profile)
+ return
+
+ # inline void onUnsubscribeInterfaces(const char* portname,
+ # RTC::ConnectorProfile& profile)
+
+ def onUnsubscribeInterfaces(self, portname, profile):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectListenerType.ON_UNSUBSCRIBE_INTERFACES
+ self._portconnListeners.notify(type, portname, profile)
+ return
+
+ # inline void onPublishInterfaces(const char* portname,
+ # RTC::ConnectorProfile& profile,
+ # ReturnCode_t ret)
+
+ def onPublishInterfaces(self, portname, profile, ret):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectRetListenerType.ON_PUBLISH_INTERFACES
+ self._portconnListeners.notifyRet(type, portname, profile, ret)
+ return
+
+ # inline void onConnectNextport(const char* portname,
+ # RTC::ConnectorProfile& profile,
+ # ReturnCode_t ret)
+
+ def onConnectNextport(self, portname, profile, ret):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectRetListenerType.ON_CONNECT_NEXTPORT
+ self._portconnListeners.notifyRet(type, portname, profile, ret)
+ return
+
+ # inline void onSubscribeInterfaces(const char* portname,
+ # RTC::ConnectorProfile& profile,
+ # ReturnCode_t ret)
+
+ def onSubscribeInterfaces(self, portname, profile, ret):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectRetListenerType.ON_SUBSCRIBE_INTERFACES
+ self._portconnListeners.notifyRet(type, portname, profile, ret)
+ return
+
+ # inline void onConnected(const char* portname,
+ # RTC::ConnectorProfile& profile,
+ # ReturnCode_t ret)
+
+ def onConnected(self, portname, profile, ret):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectRetListenerType.ON_CONNECTED
+ self._portconnListeners.notifyRet(type, portname, profile, ret)
+ return
+
+ # inline void onDisconnectNextport(const char* portname,
+ # RTC::ConnectorProfile& profile,
+ # ReturnCode_t ret)
+
+ def onDisconnectNextport(self, portname, profile, ret):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectRetListenerType.ON_DISCONNECT_NEXT
+ self._portconnListeners.notifyRet(type, portname, profile, ret)
+ return
+
+ # inline void onDisconnected(const char* portname,
+ # RTC::ConnectorProfile& profile,
+ # ReturnCode_t ret)
+
+ def onDisconnected(self, portname, profile, ret):
+ if self._portconnListeners is not None:
+ type = OpenRTM_aist.PortConnectRetListenerType.ON_DISCONNECTED
+ self._portconnListeners.notifyRet(type, portname, profile, ret)
+ return
+
+ ##
+ # @if jp
+ #
+ # @brief 指定のシリアライザが利用可能かを判定する
+ # @param self
+ # @param con_prop プロパティ
+ # @return True：利用可能、False：利用不可
+ #
+ # @else
+ #
+ # @brief
+ # @param self
+ # @param con_prop
+ # @return
+ #
+ # @endif
+ # void updateConnectors()
+ def isExistingMarshalingType(self, con_prop):
+ marshaling_type = con_prop.getProperty(
+ "marshaling_type", "cdr")
+ marshaling_type = marshaling_type.strip()
+ prop = OpenRTM_aist.Properties()
+ OpenRTM_aist.NVUtil.copyToProperties(prop, self._profile.properties)
+
+ serializertypes = prop.getProperty("dataport.marshaling_types")
+
+ enabledSerializerTypes = [s.strip()
+ for s in serializertypes.split(",")]
+ if marshaling_type not in enabledSerializerTypes:
+ self._rtcout.RTC_ERROR(
+ marshaling_type+" is illegal marshaling type.")
+ return False
+ return True
+
+ # ============================================================
+ # Functor
+ # ============================================================
+
+ ##
+ # @if jp
+ # @class if_name
+ # @brief instance_name を持つ PortInterfaceProfile を探す Functor
+ # @else
+ # @brief A functor to find a PortInterfaceProfile named instance_name
+ # @endif
+
+ class if_name:
+ def __init__(self, name):
+ self._name = name
+
+ def __call__(self, prof):
+ return str(self._name) == str(prof.instance_name)
+
+ ##
+ # @if jp
+ # @class find_conn_id
+ # @brief id を持つ ConnectorProfile を探す Functor
+ # @else
+ # @brief A functor to find a ConnectorProfile named id
+ # @endif
+
+ class find_conn_id:
+ def __init__(self, id_):
+ """
+ \param id_(string)
+ """
+ self._id = id_
+
+ def __call__(self, cprof):
+ """
+ \param cprof(RTC.ConnectorProfile)
+ """
+ return str(self._id) == str(cprof.connector_id)
+
+ ##
+ # @if jp
+ # @class find_port_ref
+ # @brief コンストラクタ引数 port_ref と同じオブジェクト参照を探す Functor
+ # @else
+ # @brief A functor to find the object reference that is identical port_ref
+ # @endif
+ class find_port_ref:
+ def __init__(self, port_ref):
+ """
+ \param port_ref(RTC.PortService)
+ """
+ self._port_ref = port_ref
+
+ def __call__(self, port_ref):
+ """
+ \param port_ref(RTC.PortService)
+ """
+ return self._port_ref._is_equivalent(port_ref)
+
+ ##
+ # @if jp
+ # @class connect_func
+ # @brief Port の接続を行う Functor
+ # @else
+ # @brief A functor to connect Ports
+ # @endif
+ class connect_func:
+ def __init__(self, p, prof):
+ """
+ \param p(RTC.PortService)
+ \param prof(RTC.ConnectorProfile)
+ """
+ self._port_ref = p
+ self._connector_profile = prof
+ self.return_code = RTC.RTC_OK
+
+ def __call__(self, p):
+ """
+ \param p(RTC.PortService)
+ """
+ if not self._port_ref._is_equivalent(p):
+ retval = p.notify_connect(self._connector_profile)
+ if retval != RTC.RTC_OK:
+ self.return_code = retval
+
+ ##
+ # @if jp
+ # @class disconnect_func
+ # @brief Port の接続解除を行う Functor
+ # @else
+ # @brief A functor to disconnect Ports
+ # @endif
+ class disconnect_func:
+ def __init__(self, p, prof):
+ """
+ \param p(RTC.PortService)
+ \param prof(RTC.ConnectorProfile)
+ """
+ self._port_ref = p
+ self._connector_profile = prof
+ self.return_code = RTC.RTC_OK
+
+ def __call__(self, p):
+ """
+ \param p(RTC.PortService)
+ """
+ if not self._port_ref._is_equivalent(p):
+ retval = p.disconnect(self._connector_profile.connector_id)
+ if retval != RTC.RTC_OK:
+ self.return_code = retval
+
+ ##
+ # @if jp
+ # @class disconnect_all_func
+ # @brief Port の全接続解除を行う Functor
+ # @else
+ # @brief A functor to disconnect all Ports
+ # @endif
+ class disconnect_all_func:
+ def __init__(self, p):
+ """
+ \param p(OpenRTM_aist.PortBase)
+ """
+ self.return_code = RTC.RTC_OK
+ self._port = p
+
+ def __call__(self, p):
+ """
+ \param p(RTC.ConnectorProfile)
+ """
+ retval = self._port.disconnect(p.connector_id)
+ if retval != RTC.RTC_OK:
+ self.return_code = retval
+
+ ##
+ # @if jp
+ # @class find_interface
+ # @brief name と polarity から interface を探す Functor
+ # @else
+ # @brief A functor to find interface from name and polarity
+ # @endif
+ class find_interface:
+ def __init__(self, name, pol):
+ """
+ \param name(string)
+ \param pol(RTC.PortInterfacePolarity)
+ """
+ self._name = name
+ self._pol = pol
+
+ def __call__(self, prof):
+ """
+ \param prof(RTC.PortInterfaceProfile)
+ """
+ name = prof.instance_name
+ return (str(self._name) == str(name)) and (
+ self._pol == prof.polarity)
diff --git a/OpenRTM_aist/PortCallBack.py b/OpenRTM_aist/PortCallBack.py
index 40ec7bc3..9c5fb9b9 100644
--- a/OpenRTM_aist/PortCallBack.py
+++ b/OpenRTM_aist/PortCallBack.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -7,7 +7,7 @@
# @brief PortCallBack class
# @date $Date: 2007/09/20 $
# @author Noriaki Ando and Shinji Kurihara
-#
+#
# Copyright (C) 2006-2008
# Noriaki Ando
# Task-intelligence Research Group,
@@ -15,19 +15,19 @@
# National Institute of
# Advanced Industrial Science and Technology (AIST), Japan
# All rights reserved.
-
-#============================================================
+
+# ============================================================
# callback functor base classes
#
##
# @if jp
# @class ConnectCallback
-# @brief connect/notify_connect() ΥХåݥ饹
+# @brief connect/notify_connect() 時のコールバック抽象クラス
#
-# PortФconnect/notify_connect() ƤӽФ˸ƤӽФ
-# Хåե RTC::ConnectorProfile 롣
+# Portに対してconnect/notify_connect() 等が呼び出される時に呼び出される
+# コールバックファンクタ。引数に RTC::ConnectorProfile を取る。
#
# @param profile ConnectorProfile
#
@@ -48,44 +48,44 @@
# @endif
#
class ConnectionCallback:
- """
- """
+ """
+ """
- ##
- # @if jp
- #
- # @brief Хåؿ
- #
- # connect/notify_connect() ƤӽФ˸ƤӽФ
- # Хåؿ
- #
- # @param self
- # @param profile ConnectorProfile
- #
- # @else
- #
- # @brief Callback method
- #
- # This is the callback method invoked when connect/notify_connect()
- # invocation in Port.
- #
- # @param self
- # @param profile ConnectorProfile
- #
- # @endif
- #
- # virtual void operator()(RTC::ConnectorProfile& profile) = 0;
- def __call__(self, profile):
- pass
+ ##
+ # @if jp
+ #
+ # @brief コールバック関数
+ #
+ # connect/notify_connect() 等が呼び出される時に呼び出される
+ # コールバック関数
+ #
+ # @param self
+ # @param profile ConnectorProfile
+ #
+ # @else
+ #
+ # @brief Callback method
+ #
+ # This is the callback method invoked when connect/notify_connect()
+ # invocation in Port.
+ #
+ # @param self
+ # @param profile ConnectorProfile
+ #
+ # @endif
+ #
+ # virtual void operator()(RTC::ConnectorProfile& profile) = 0;
+ def __call__(self, profile):
+ pass
##
# @if jp
# @class DisconnectCallback
-# @brief disconnect/notify_disconnect() ΥХåݥ饹
+# @brief disconnect/notify_disconnect() 時のコールバック抽象クラス
#
-# PortФdisconnect/notify_disconnect() ƤӽФ˸ƤӽФ
-# Хåե³ID롣
+# Portに対してdisconnect/notify_disconnect() 等が呼び出される時に呼び出される
+# コールバックファンクタ。引数に接続IDを取る。
#
# @since 1.0.0
#
@@ -93,7 +93,7 @@ def __call__(self, profile):
# @class DisconnectCallback
# @brief Callback functor abstract for disconnect/notify_disconnect() funcs
#
-# This is the interface for callback functor for
+# This is the interface for callback functor for
# disconnect/notify_disconnect() invocation in Port.
# Argument is connector ID is given these functions.
#
@@ -102,44 +102,44 @@ def __call__(self, profile):
# @endif
#
class DisconnectCallback:
- """
- """
+ """
+ """
- ##
- # @if jp
- #
- # @brief Хåؿ
- #
- # disconnect/notify_disconnect() ƤӽФ˸ƤӽФ
- # Хåؿ
- #
- # @param self
- # @param connector_id Connector ID
- #
- # @else
- #
- # @brief Callback method
- #
- # This is the callback method invoked when disconnect/notify_disconnect()
- # invocation in Port.
- #
- # @param self
- # @param connector_id Connector ID
- #
- # @endif
- #
- # virtual void operator()(const char* connector_id) = 0;
- def __call__(self, connector_id):
- pass
+ ##
+ # @if jp
+ #
+ # @brief コールバック関数
+ #
+ # disconnect/notify_disconnect() 等が呼び出される時に呼び出される
+ # コールバック関数
+ #
+ # @param self
+ # @param connector_id Connector ID
+ #
+ # @else
+ #
+ # @brief Callback method
+ #
+ # This is the callback method invoked when disconnect/notify_disconnect()
+ # invocation in Port.
+ #
+ # @param self
+ # @param connector_id Connector ID
+ #
+ # @endif
+ #
+ # virtual void operator()(const char* connector_id) = 0;
+ def __call__(self, connector_id):
+ pass
##
# @if jp
# @class OnWrite
-# @brief write() ΥХå饹(֥饹)
+# @brief write() 時のコールバッククラス(サブクラス実装用)
#
-# DataPortΥХåե˥ǡwrite()ľ˸ƤӽФ륳Хå
- # const char* defaults = {
- # "key1", "value1",
- # "key2", "value2",
- # "key3", "value3",
- # "key4", "value4",
- # "key5", "value5",
- # "" };
- # Properties p(defaults);
- # // ⤷
- # Properties p(defaults, 10);
- #
- #
- # @param self
- # @param key ץѥƥΥ(ǥե:None)
- # @param value ץѥƥ(ǥե:None)
- # @param defaults_map ǥեͤȤƻꤵmap(ǥե:None)
- # @param defaults_str ǥեͤꤹ(ǥե:None)
- # @param num ǥեͤꤹǿ(ǥե:None)
- # @param prop ǥեͤȤƻꤵproperty(ǥե:None)
- #
- # @else
- #
- # @brief Constructor
- #
- # All of given Properties's keys, values and default values are copied to
- # new Properties.
- #
- # Creates a root node of Property with root's key and value.
- #
- # Creates an Properties with default value of std::string map.
- #
- # Creates an empty property list with the specified defaults.
- # The default values are given by array of char*, which should be pairs
- # of "key" and "value". The end of list is specified by argument "num",
- # which specifies number of array or null character of key.
- # The following is an example.
- #
- # const char* defaults = {
- # "key1", "value1",
- # "key2", "value2",
- # "key3", "value3",
- # "key4", "value4",
- # "key5", "value5",
- # "" };
- # Properties p(defaults);
- # // or
- # Properties p(defaults, 10);
- #
- # @endif
- def __init__(self, key=None, value=None, defaults_map=None, defaults_str=None, num=None, prop=None):
- self.default_value = ""
- self.root = None
- self.empty = ""
- self.leaf = []
-
- # Properties::Properties(const Properties& prop)
- if prop:
- self.name = prop.name
- self.value = prop.value
- self.default_value = prop.default_value
-
- keys = prop.propertyNames()
- for _key in keys:
- node = prop.getNode(_key)
- if node:
- self.setDefault(_key, node.default_value)
- self.setProperty(_key, node.value)
-
- return
-
- # Properties::Properties(const char* key, const char* value)
- if key:
- self.name = key
- if value is None:
- self.value = ""
- else:
- self.value = value
- return
-
- self.name = ""
- self.value = ""
-
- # Properties::Properties(std::map& defaults)
- if defaults_map:
- #for i in range(len(defaults_map.items())):
- # self.setDefault(defaults_map.keys()[i], defaults_map.values()[i])
- for _key, _value in defaults_map.items():
- self.setDefault(_key, _value)
- return
-
- if defaults_str:
- if num is None:
- _num = maxint
- else:
- _num = num
- self.setDefaults(defaults_str, _num)
- return
-
-
- ##
- # @if jp
- # @brief 黻
- #
- # ͤ Properties Υͤӥǥեͤƺ졢
- # ͤ Properties ΥͤӥǥեͤƤΤޤ
- # ԡ롣
- #
- # @param self
- # @param prop OpenRTM_aist.Properties
- #
- # @else
- # @brief Assignment operator
- # @param self
- # @param prop OpenRTM_aist.Properties
- # @endif
- def assigmentOperator(self, prop):
- self.clear()
- self.name = prop.name
- self.value = prop.value
- self.default_value = prop.default_value
-
- keys = prop.propertyNames()
-
- for key in keys:
- node = prop.getNode(key)
- if node:
- self.setDefault(key, node.default_value)
- self.setProperty(key, node.value)
-
- return self
-
-
- ##
- # @if jp
- #
- # @brief ǥȥ饯
- #
- # @param self
- #
- # @else
- #
- # @brief Destructor
- #
- # @endif
- def __del__(self):
- self.clear()
- if self.root:
- self.root.removeNode(self.name)
- return
-
- #============================================================
- # public functions
- #============================================================
-
-
- ##
- # @if jp
- # @brief Name μ
- #
- # ץѥƥ̾Τ롣
- #
- # @param self
- #
- # @return ץѥƥ̾
- #
- # @else
- #
- # @endif
- def getName(self):
- return self.name
-
-
- ##
- # @if jp
- # @brief ͤμ
- #
- # ץѥƥͤ롣
- #
- # @param self
- #
- # @return ץѥƥ
- #
- # @else
- #
- # @endif
- def getValue(self):
- return self.value
-
-
- ##
- # @if jp
- # @brief ǥեͤμ
- #
- # ץѥƥΥǥեͤ롣
- #
- # @param self
- #
- # @return ץѥƥǥե
- #
- # @else
- #
- # @endif
- def getDefaultValue(self):
- return self.default_value
-
-
- ##
- # @if jp
- # @brief Ǥμ
- #
- # ץѥƥλǤ롣
- #
- # @param self
- #
- # @return
- #
- # @else
- #
- # @endif
- def getLeaf(self):
- return self.leaf
-
-
- ##
- # @if jp
- # @brief 롼Ǥμ
- #
- # ץѥƥΥ롼Ǥ롣
- #
- # @param self
- #
- # @return 롼
- #
- # @else
- #
- # @endif
- def getRoot(self):
- return self.root
-
-
- ##
- # @if jp
- #
- # @brief ꤵ줿ĥץѥƥץѥƥꥹȤõ
- #
- # ꤵ줿ĥץѥƥץѥƥꥹȤõ
- # ΥץѥƥꥹȤˤʤϡǥեͤΰ֤롣
- #
- # @param self
- # @param key ץѥƥ
- # @param default ǥե(ǥե:None)
- #
- # @return ꤵ줿ͤĤΥץѥƥꥹȤ
- #
- # @else
- #
- # @brief Searches for the property with the specified key in this property
- #
- # Searches for the property with the specified key in this property list.
- # The method returns the default value argument if the property is not
- # found.
- #
- # @param key the property key
- # @param defaultValue a default value.
- #
- # @return the value in this property list with the specified key value.
- #
- # @endif
- def getProperty(self, key, default=None):
- if default is None:
- keys = []
- #keys = str.split(key, ".")
- self.split(key, ".", keys)
-
- node = self._getNode(keys, 0, self)
- if node:
- if node.value:
- return node.value
+ """
+ """
+
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # 以下の順に引数をチェックし、インスタンスの生成を行う。
+ #
+ # 引数 prop に値が設定されている場合、
+ # 引数に与えられた Properties のキー、値およびデフォルト値が
+ # 全てそのままコピーされる。
+ #
+ # 引数 key に値が設定されている場合、
+ # key と value のみを与えて Property のルートノードを作成する。
+ # 値は全てデフォルト値として設定される。
+ #
+ # 引数 defaults_map に値が設定されている場合、
+ # defaults_map に設定された内容をデフォルト値にもつ Properties を作成する。
+ # 値は全てデフォルト値として設定される。
+ #
+ # 引数 defaults_str に値が設定されている場合、
+ # 指定されたデフォルト値を持つ空のプロパティリストを作成する。
+ # 値は全てデフォルト値として設定される。
+ # デフォルト値は char* の配列により与えられ、key と value の対になって
+ # おり、リストの終端は配列の数を表す引数 num か、空文字の key で与えらられ
+ # なければならない。
+ # 以下に例を示す。
+ #
+ #
+ # const char* defaults = {
+ # "key1", "value1",
+ # "key2", "value2",
+ # "key3", "value3",
+ # "key4", "value4",
+ # "key5", "value5",
+ # "" };
+ # Properties p(defaults);
+ # // もしくは
+ # Properties p(defaults, 10);
+ #
+ #
+ # @param self
+ # @param key プロパティのキー(デフォルト値:None)
+ # @param value プロパティの値(デフォルト値:None)
+ # @param defaults_map デフォルト値として指定されるmap(デフォルト値:None)
+ # @param defaults_str デフォルト値を指定する配列(デフォルト値:None)
+ # @param num デフォルト値を設定する要素数(デフォルト値:None)
+ # @param prop デフォルト値として指定されるproperty(デフォルト値:None)
+ #
+ # @else
+ #
+ # @brief Constructor
+ #
+ # All of given Properties's keys, values and default values are copied to
+ # new Properties.
+ #
+ # Creates a root node of Property with root's key and value.
+ #
+ # Creates an Properties with default value of std::string map.
+ #
+ # Creates an empty property list with the specified defaults.
+ # The default values are given by array of char*, which should be pairs
+ # of "key" and "value". The end of list is specified by argument "num",
+ # which specifies number of array or null character of key.
+ # The following is an example.
+ #
+ # const char* defaults = {
+ # "key1", "value1",
+ # "key2", "value2",
+ # "key3", "value3",
+ # "key4", "value4",
+ # "key5", "value5",
+ # "" };
+ # Properties p(defaults);
+ # // or
+ # Properties p(defaults, 10);
+ #
+ # @endif
+ def __init__(self, key=None, value=None, defaults_map=None,
+ defaults_str=None, num=None, prop=None):
+ self.default_value = ""
+ self.root = None
+ self.empty = ""
+ self.leaf = []
+
+ # Properties::Properties(const Properties& prop)
+ if prop:
+ self.name = prop.name
+ self.value = prop.value
+ self.default_value = prop.default_value
+
+ keys = prop.propertyNames()
+ for _key in keys:
+ node = prop.getNode(_key)
+ if node:
+ self.setDefault(_key, node.default_value)
+ self.setProperty(_key, node.value)
+
+ return
+
+ # Properties::Properties(const char* key, const char* value)
+ if key:
+ self.name = key
+ self.value = value
+ return
+
+ self.name = ""
+ self.value = None
+
+ # Properties::Properties(std::map& defaults)
+ if defaults_map:
+ # for i in range(len(defaults_map.items())):
+ # self.setDefault(defaults_map.keys()[i], defaults_map.values()[i])
+ for _key, _value in defaults_map.items():
+ self.setDefault(_key, _value)
+ return
+
+ if defaults_str:
+ if num is None:
+ _num = maxint
+ else:
+ _num = num
+ self.setDefaults(defaults_str, _num)
+ return
+
+ ##
+ # @if jp
+ # @brief 代入演算子
+ #
+ # 左辺値の Properties のキー、値およびデフォルト値は全て削除され、
+ # 右辺値の Properties のキー、値およびデフォルト値が全てそのまま
+ # コピーされる。
+ #
+ # @param self
+ # @param prop OpenRTM_aist.Properties
+ #
+ # @else
+ # @brief Assignment operator
+ # @param self
+ # @param prop OpenRTM_aist.Properties
+ # @endif
+
+ def assigmentOperator(self, prop):
+ self.clear()
+ self.name = prop.name
+ self.value = prop.value
+ self.default_value = prop.default_value
+
+ keys = prop.propertyNames()
+
+ for key in keys:
+ node = prop.getNode(key)
+ if node:
+ self.setDefault(key, node.default_value)
+ self.setProperty(key, node.value)
+
+ return self
+
+ ##
+ # @if jp
+ #
+ # @brief デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief Destructor
+ #
+ # @endif
+
+ def __del__(self):
+ self.clear()
+ if self.root:
+ self.root.removeNode(self.name)
+ return
+
+ # ============================================================
+ # public functions
+ # ============================================================
+
+ ##
+ # @if jp
+ # @brief Name の取得
+ #
+ # プロパティの名称を取得する。
+ #
+ # @param self
+ #
+ # @return プロパティ名
+ #
+ # @else
+ #
+ # @endif
+
+ def getName(self):
+ return self.name
+
+ ##
+ # @if jp
+ # @brief 値の取得
+ #
+ # プロパティの値を取得する。
+ #
+ # @param self
+ #
+ # @return プロパティ値
+ #
+ # @else
+ #
+ # @endif
+
+ def getValue(self):
+ return self.value
+
+ ##
+ # @if jp
+ # @brief デフォルト値の取得
+ #
+ # プロパティのデフォルト値を取得する。
+ #
+ # @param self
+ #
+ # @return プロパティデフォルト値
+ #
+ # @else
+ #
+ # @endif
+
+ def getDefaultValue(self):
+ return self.default_value
+
+ ##
+ # @if jp
+ # @brief 子要素の取得
+ #
+ # プロパティの子要素を取得する。
+ #
+ # @param self
+ #
+ # @return 子要素
+ #
+ # @else
+ #
+ # @endif
+
+ def getLeaf(self):
+ return self.leaf
+
+ ##
+ # @if jp
+ # @brief ルート要素の取得
+ #
+ # プロパティのルート要素を取得する。
+ #
+ # @param self
+ #
+ # @return ルート要素
+ #
+ # @else
+ #
+ # @endif
+
+ def getRoot(self):
+ return self.root
+
+ ##
+ # @if jp
+ #
+ # @brief 指定されたキーを持つプロパティを、プロパティリストから探す
+ #
+ # 指定されたキーを持つプロパティを、プロパティリストから探す。
+ # そのキーがプロパティリストにない場合は、デフォルト値の引数が返される。
+ #
+ # @param self
+ # @param key プロパティキー
+ # @param default デフォルト値(デフォルト値:None)
+ #
+ # @return 指定されたキー値を持つこのプロパティリストの値
+ #
+ # @else
+ #
+ # @brief Searches for the property with the specified key in this property
+ #
+ # Searches for the property with the specified key in this property list.
+ # The method returns the default value argument if the property is not
+ # found.
+ #
+ # @param key the property key
+ # @param defaultValue a default value.
+ #
+ # @return the value in this property list with the specified key value.
+ #
+ # @endif
+
+ def getProperty(self, key, default=None):
+ if default is None:
+ keys = []
+ #keys = str.split(key, ".")
+ self.split(key, ".", keys)
+
+ node = self._getNode(keys, 0, self)
+ if node:
+ if node.value is not None:
+ return node.value
+ else:
+ return node.default_value
+ return self.empty
+
else:
- return node.default_value
- return self.empty
+ value = self.getProperty(key)
+ if value:
+ return value
+ else:
+ return default
+
+ ##
+ # @if jp
+ # @brief 指定されたキーに対してデフォルト値を取得する
+ #
+ # 指定されたキーを持つプロパティのデフォルト値を返す。
+ # 指定されたキーを持つプロパティが存在しない場合には空文字を返す。
+ #
+ # @param self
+ # @param key プロパティキー
+ #
+ # @return 指定されたキー値を持つプロパティのデフォルト値
+ #
+ # @else
+ # @brief Set value as the default value to specified key's property
+ # @endif
+
+ def getDefault(self, key):
+ keys = []
+ #keys = str.split(key, ".")
+ self.split(key, ".", keys)
+
+ node = self._getNode(keys, 0, self)
+ if node:
+ return node.default_value
+
+ return self.empty
+
+ ##
+ # @if jp
+ #
+ # @brief Properties に value を key について登録する
+ #
+ # Properties に value を key について登録する。
+ # すでに key に対する値を持っている場合、戻り値に古い値を返す。
+ #
+ # @param self
+ # @param key プロパティリストに配置されるキー
+ # @param value key に対応する値(デフォルト値:None)
+ #
+ # @return プロパティリストの指定されたキーの前の値。それがない場合は null
+ #
+ # @else
+ #
+ # @brief Sets a value associated with key in the property list
+ #
+ # This method sets the "value" associated with "key" in the property list.
+ # If the property list has a value of "key", old value is returned.
+ #
+ # @param key the key to be placed into this property list.
+ # @param value the value corresponding to key.
+ #
+ # @return the previous value of the specified key in this property list,
+ # or null if it did not have one.
+ #
+ # @endif
+
+ def setProperty(self, key, value=None):
+ if value is not None:
+ keys = []
+ #keys = str.split(key, ".")
+ self.split(key, ".", keys)
+ curr = self
+ for _key in keys:
+ next = curr.hasKey(_key)
+ if next is None:
+ next = OpenRTM_aist.Properties(key=_key)
+ next.root = curr
+ curr.leaf.append(next)
+ curr = next
+ retval = curr.value
+ curr.value = value
+ return retval
- else:
- value = self.getProperty(key)
- if value:
+ else:
+ self.setProperty(key, self.getProperty(key))
+ prop = self.getNode(key)
+ return prop.value
+
+ ##
+ # @if jp
+ # @brief デフォルト値を登録する
+ #
+ # key で指定される要素にデフォルト値を登録する。
+ #
+ # @param self
+ # @param key デフォルト値を登録するプロパティのキー
+ # @param value 登録されるデフォルト値
+ #
+ # @return 指定されたデフォルト値
+ #
+ # @else
+ # @brief Sets a default value associated with key in the property list
+ # @endif
+
+ def setDefault(self, key, value):
+ keys = []
+ self.split(key, ".", keys)
+ #keys = str.split(key, ".")
+
+ curr = self
+ for _key in keys:
+ next = curr.hasKey(_key)
+ if next is None:
+ next = OpenRTM_aist.Properties(key=_key)
+ next.root = curr
+ curr.leaf.append(next)
+ curr = next
+ if value != "" and value[-1] == "\n":
+ value = value[0:len(value) - 1]
+ curr.default_value = value
return value
- else:
- return default
-
-
- ##
- # @if jp
- # @brief ꤵ줿Фƥǥեͤ
- #
- # ꤵ줿ĥץѥƥΥǥե֤ͤ
- # ꤵ줿ĥץѥƥ¸ߤʤˤ϶ʸ֤
- #
- # @param self
- # @param key ץѥƥ
- #
- # @return ꤵ줿ͤĥץѥƥΥǥե
- #
- # @else
- # @brief Set value as the default value to specified key's property
- # @endif
- def getDefault(self, key):
- keys = []
- #keys = str.split(key, ".")
- self.split(key, ".", keys)
-
- node = self._getNode(keys, 0, self)
- if node:
- return node.default_value
-
- return self.empty
-
-
- ##
- # @if jp
- #
- # @brief Properties value key ˤĤϿ
- #
- # Properties value key ˤĤϿ롣
- # Ǥ key ФͤäƤ硢ͤ˸Ť֤ͤ
- #
- # @param self
- # @param key ץѥƥꥹȤ֤륭
- # @param value key б(ǥե:None)
- #
- # @return ץѥƥꥹȤλꤵ줿͡줬ʤ null
- #
- # @else
- #
- # @brief Sets a value associated with key in the property list
- #
- # This method sets the "value" associated with "key" in the property list.
- # If the property list has a value of "key", old value is returned.
- #
- # @param key the key to be placed into this property list.
- # @param value the value corresponding to key.
- #
- # @return the previous value of the specified key in this property list,
- # or null if it did not have one.
- #
- #@endif
- def setProperty(self, key, value=None):
- if value is not None:
- keys = []
- #keys = str.split(key, ".")
- self.split(key, ".", keys)
- curr = self
- for _key in keys:
- next = curr.hasKey(_key)
- if next is None:
- next = OpenRTM_aist.Properties(key=_key)
- next.root = curr
- curr.leaf.append(next)
- curr = next
- retval = curr.value
- curr.value = value
- return retval
-
- else:
- self.setProperty(key, self.getProperty(key))
- prop = self.getNode(key)
- return prop.value
-
-
- ##
- # @if jp
- # @brief ǥեͤϿ
- #
- # key ǻꤵǤ˥ǥեͤϿ롣
- #
- # @param self
- # @param key ǥեͤϿץѥƥΥ
- # @param value Ͽǥե
- #
- # @return ꤵ줿ǥե
- #
- # @else
- # @brief Sets a default value associated with key in the property list
- # @endif
- def setDefault(self, key, value):
- keys = []
- self.split(key, ".", keys)
- #keys = str.split(key, ".")
-
- curr = self
- for _key in keys:
- next = curr.hasKey(_key)
- if next is None:
- next = OpenRTM_aist.Properties(key=_key)
- next.root = curr
- curr.leaf.append(next)
- curr = next
- if value != "" and value[-1] == "\n":
- value = value[0:len(value)-1]
- curr.default_value = value
- return value
-
-
- ##
- # @if jp
- # @brief Properties ˥ǥեͤޤȤϿ
- #
- # ǻꤵ줿Ǥ˥ǥեͤޤȤϿ롣
- # ǥեͤ char* ˤͿ졢key value Фˤʤä
- # ꡢꥹȤνüοɽ num ʸ key Ϳ
- # ʤФʤʤ
- #
- # @param self
- # @param defaults ǥեͤꤹ
- # @param num ǥեͤꤹǿ(ǥե:None)
- #
- # @else
- # @brief Sets a default value associated with key in the property list
- # @endif
- def setDefaults(self, defaults, num = None):
- if num is None:
- num = maxint
-
- i = 0
- len_ = len(defaults)
- while 1:
- if i > num or i > (len_ - 1) or defaults[i] == "":
- break
-
- key = [defaults[i]]
- value = [defaults[i+1]]
-
- OpenRTM_aist.eraseHeadBlank(key)
- OpenRTM_aist.eraseTailBlank(key)
-
- OpenRTM_aist.eraseHeadBlank(value)
- OpenRTM_aist.eraseTailBlank(value)
-
- self.setDefault(key[0], value[0])
-
- i +=2
-
-
-
- #============================================================
- # load and save functions
- #============================================================
-
- ##
- # @if jp
- #
- # @brief ꤵ줿ϥȥˡץѥƥꥹȤϤ
- #
- # ꤵ줿ϥȥˡץѥƥꥹȤϤ롣
- # Υåɤϼ˥ǥХåѤ롣
- #
- # @param self
- # @param out ϥȥ
- #
- # @else
- #
- # @brief Prints this property list out to the specified output stream
- #
- # Prints this property list out to the specified output stream.
- # This method is useful for debugging.
- #
- # @param out an output stream.
- #
- # @endif
- def list(self, out):
- self._store(out, "", self)
- return
-
-
- ##
- # @if jp
- #
- # @brief ϥȥफ饭ǤФˤʤäץѥƥꥹȤɤ߹
- #
- # ϥȥफ饭ǤФˤʤäץѥƥꥹȤɤ߹ࡣ
- # ȥϡISO 8859-1 ʸǥѤƤȤߤʤ롣
- # ƥץѥƥϡϥȥ˹ñ̤ϿƤΤȤߤʤ졢
- # ƹԤϹԶڤʸ (\\n\\rޤ \\r\\n) ǽ롣
- # ϥȥफɤ߹Ԥϡϥȥǥեν
- # ãޤǽ롣
- #
- # ʸιԡޤϺǽʸ ASCII ʸ # ޤ ! Ǥ
- # Ԥ̵뤵롣Ĥޤꡢ# ޤ ! ϥȹԤ
- #
- # ԤޤϥȹʳΤ٤ƤιԤϡơ֥ɲäץѥƥ
- # Ҥ롣Ԥν꤬ \ ξϡιԤз³ԤȤ
- # () ϡǽʸ顢ǽ ASCII ʸ
- # =:ޤ϶ʸľޤǤΡΤ٤Ƥʸ鹽롣
- #
- # νʸϡ \ դ뤳Ȥˤꥭ˴ޤ뤳Ȥ
- # Ǥ롣θζϤ٤ƥåפ롣
- # θκǽʸ = ޤ : ǤϡΥ
- # ̵뤵졢ΤȤζʸ⤹٤ƥåפ롣
- # ΤʳʸϤ٤ơϢʸΰȤʤ롣
- # ʸǤϡASCII ץ \\t\\n\\r\\\\\\"
- # \\'\\ (ߵȥڡ) \\uxxxx ǧ졢ñȤʸѴ
- # 롣
- # ޤԤκǸʸ \ ǤϡιԤϸߤιԤη³Ȥ
- # 롣ξ硢\ ȹԶڤʸ˴졢³ԤƬ˶
- # Ф⤹٤˴졢ʸΰˤϤʤʤ
- #
- # ȤС 4 ԤϤ줾쥭 Truth ȴϢ Beauty ɽ
- #
- # Truth = Beauty * buffer) = 0;
- def setBuffer(self, buffer):
- pass
-
- # virtual ReturnCode setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners) = 0;
- def setListener(self, info, listeners):
- pass
-
- # virtual ReturnCode write(const cdrMemoryStream& data,
- # unsigned long sec,
- # unsigned long usec) = 0;
- def write(self, data, sec, usec):
- pass
-
- ## virtual bool isActive() = 0;
- def isActive(self):
- pass
-
- ## virtual ReturnCode activate() = 0;
- def activate(self):
- pass
-
- ## virtual ReturnCode deactivate() = 0;
- def deactivate(self):
- pass
-
-
-
- ##
- # @if jp
- #
- # @brief Publisher ˴롣
- #
- # Publisher ˴롣
- # Publisher פˤʤä PublisherFactory ƤӽФ롣
- #
- # @else
- #
- # @brief Release the Publisher
- #
- # Release this Publisher.
- # When Publisher becomes unnecessary, this is invoked from
- # PublisherFactory.
- #
- # @endif
- # virtual void release(){}
- def release(self):
- pass
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief 設定初期化
+ #
+ # InPortConsumerの各種設定を行う。実装クラスでは、与えられた
+ # Propertiesから必要な情報を取得して各種設定を行う。この init() 関
+ # 数は、OutPortProvider生成直後および、接続時にそれぞれ呼ばれる可
+ # 能性がある。したがって、この関数は複数回呼ばれることを想定して記
+ # 述されるべきである。
+ #
+ # @param prop 設定情報
+ #
+ # @else
+ #
+ # @brief Initializing configuration
+ #
+ # This operation would be called to configure in initialization.
+ # In the concrete class, configuration should be performed
+ # getting appropriate information from the given Properties data.
+ # This function might be called right after instantiation and
+ # connection sequence respectivly. Therefore, this function
+ # should be implemented assuming multiple call.
+ #
+ # @param prop Configuration information
+ #
+ # @endif
+ # virtual ReturnCode init(coil::Properties& prop) = 0;
+ def init(self, prop):
+ pass
+
+ def exit(self):
+ pass
+
+ # virtual ReturnCode setConsumer(InPortConsumer* consumer) = 0;
+ def setConsumer(self, consumer):
+ pass
+
+ # virtual ReturnCode setBuffer(BufferBase* buffer) = 0;
+ def setBuffer(self, buffer):
+ pass
+
+ # virtual ReturnCode setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners) = 0;
+ def setListener(self, info, listeners):
+ pass
+
+ # virtual ReturnCode write(const cdrMemoryStream& data,
+ # unsigned long sec,
+ # unsigned long usec) = 0;
+ def write(self, data, sec, usec):
+ pass
+
+ # virtual bool isActive() = 0;
+ def isActive(self):
+ pass
+
+ # virtual ReturnCode activate() = 0;
+ def activate(self):
+ pass
+
+ # virtual ReturnCode deactivate() = 0;
+ def deactivate(self):
+ pass
+
+ ##
+ # @if jp
+ #
+ # @brief Publisher を破棄する。
+ #
+ # 当該 Publisher を破棄する。
+ # 当該 Publisher が不要になった場合に PublisherFactory から呼び出される。
+ #
+ # @else
+ #
+ # @brief Release the Publisher
+ #
+ # Release this Publisher.
+ # When Publisher becomes unnecessary, this is invoked from
+ # PublisherFactory.
+ #
+ # @endif
+ # virtual void release(){}
+
+ def release(self):
+ pass
publisherfactory = None
-class PublisherFactory(OpenRTM_aist.Factory,PublisherBase):
- def __init__(self):
- OpenRTM_aist.Factory.__init__(self)
- pass
-
- def __del__(self):
- pass
+class PublisherFactory(OpenRTM_aist.Factory, PublisherBase):
+ def __init__(self):
+ OpenRTM_aist.Factory.__init__(self)
+ pass
+ def __del__(self):
+ pass
- def instance():
- global publisherfactory
+ def instance():
+ global publisherfactory
- if publisherfactory is None:
- publisherfactory = PublisherFactory()
+ if publisherfactory is None:
+ publisherfactory = PublisherFactory()
- return publisherfactory
+ return publisherfactory
- instance = staticmethod(instance)
+ instance = staticmethod(instance)
diff --git a/OpenRTM_aist/PublisherFlush.py b/OpenRTM_aist/PublisherFlush.py
index f2ee5d13..1d5b166f 100644
--- a/OpenRTM_aist/PublisherFlush.py
+++ b/OpenRTM_aist/PublisherFlush.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file PublisherFlush.py
@@ -22,476 +22,477 @@
##
# @if jp
# @class PublisherFlush
-# @brief PublisherFlush 饹
+# @brief PublisherFlush クラス
#
-# Flush Publisher 饹
-# Хåե˳ǼƤ̤ǡ롣
-# ǡФԤĥ塼ޤФ¦Ʊåɤư롣
+# Flush 型 Publisher クラス
+# バッファ内に格納されている未送信データを送信する。
+# データ送出を待つコンシューマを、送出する側と同じスレッドで動作させる。
#
# @else
# @class PublisherFlush
# @brief PublisherFlush class
# @endif
class PublisherFlush(OpenRTM_aist.PublisherBase):
- """
- """
-
-
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- #
- # @param self
- # @param consumer ǡФԤĥ塼
- # @param property PublisherζưꤷProperty֥
- #
- # @else
- # @brief Constructor
- # @endif
- def __init__(self):
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("PublisherFlush")
- self._consumer = None
- self._active = False
- self._profile = None # ConnectorInfo
- self._listeners = None # ConnectorListeners
- self._retcode = self.PORT_OK
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- # Publisher˴ݤˡPublisherFactoryˤƤӽФ롣
- #
- # @param self
- #
- # @else
- # @brief Destructor
- # @endif
- def __del__(self):
- # "consumer" should be deleted in the Connector
- self._rtcout.RTC_TRACE("~PublisherFlush()")
- self._consumer = None
- return
-
- ##
- # @if jp
- # @brief
- #
- # Υ饹Υ֥ȤѤΤΩɬδؿƤ
- # Фɬפ롣 PublisherFlush ϸǽ
- # ʤ
- #
- # @param property PublisherζưꤷProperty֥
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS Properties ͤޤ
- #
- # @else
- # @brief initialization
- #
- # This function have to be called before using this class object.
- # However, this PublisherFlush class has no parameters to be initialized.
- #
- # @param property Property objects that includes the control information
- # of this Publisher
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS Properties with invalid values.
- # @endif
- #
- # virtual ReturnCode init(coil::Properties& prop);
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- return self.PORT_OK;
-
- ##
- # @if jp
- # @brief InPort塼ޤΥå
- #
- # δؿǤϡ Publisher ˴Ϣդ륳塼ޤåȤ롣
- # 塼ޥ֥Ȥ̥ݥξ硢INVALID_ARGS֤롣
- # ʳξϡPORT_OK ֤롣
- #
- # @param consumer Consumer ؤΥݥ
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS ͤޤޤƤ
- #
- # @else
- # @brief Store InPort consumer
- #
- # This operation sets a consumer that is associated with this
- # object. If the consumer object is NULL, INVALID_ARGS will be
- # returned.
- #
- # @param consumer A pointer to a consumer object.
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS given argument has invalid value
- #
- # PublisherFlush::setConsumer(InPortConsumer* consumer)
- def setConsumer(self, consumer):
- self._rtcout.RTC_TRACE("setConsumer()")
- if not consumer:
- return self.INVALID_ARGS
-
- self._consumer = consumer
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ХåեΥå
- #
- # PublisherFlushǤϡХåեѤʤᡢʤ
- # PORT_OK ֤
- #
- # @param buffer CDRХåե
- # @return PORT_OK ｪλ
- #
- # @else
- # @brief Setting buffer pointer
- #
- # Since PublisherFlush does not use any buffers, This function
- # always returns PORT_OK.
- #
- # @param buffer CDR buffer
- # @return PORT_OK
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherFlush::setBuffer(CdrBufferBase* buffer)
- def setBuffer(self, buffer):
- self._rtcout.RTC_TRACE("setBuffer()")
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ꥹʤꤹ롣
- #
- # Publisher Фƥꥹʥ֥ ConnectorListeners ꤹ롣
- # Ƽꥹʥ֥Ȥޤ ConnectorListeners åȤ뤳Ȥǡ
- # Хåեɤ߽ǡˤΥꥹʤ뤹롣
- # ConnectorListeners ֥ȤνͭϥݡȤޤ RTObject
- # Publisher ConnectorListeners Ϻ뤳ȤϤʤ
- # ConnectorListeners ̥ݥξ INVALID_ARGS ֤
- #
- # @param info ConnectorProfile 벽֥ ConnectorInfo
- # @param listeners ꥹʤ¿ݻ ConnectorListeners ֥
- # @return PORT_OK ｪλ
- # INVALID_ARGS ʰ
- # @else
- # @brief Set the listener.
- #
- # This function sets ConnectorListeners listener object to the
- # Publisher. By setting ConnectorListeners containing various
- # listeners objects, these listeners are called at the time of
- # reading and writing of a buffer, and transmission of data
- # etc. Since the ownership of the ConnectorListeners object is
- # owned by Port or RTObject, the Publisher never deletes the
- # ConnectorListeners object. If the given ConnectorListeners'
- # pointer is NULL, this function returns INVALID_ARGS.
- #
- # @param info ConnectorInfo that is localized object of ConnectorProfile
- # @param listeners ConnectorListeners that holds various listeners
- # @return PORT_OK Normal return
- # INVALID_ARGS Invalid arguments
- # @endif
- #
- # virtual ::RTC::DataPortStatus::Enum
- # setListener(ConnectorInfo& info,
- # RTC::ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._rtcout.RTC_TRACE("setListeners()")
-
- if not listeners:
- self._rtcout.RTC_ERROR("setListeners(listeners == 0): invalid argument")
- return self.INVALID_ARGS
-
- self._profile = info
- self._listeners = listeners
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ǡ
- #
- # Publisher ݻ륳塼ޤФƥǡࡣ
- # 塼ޡꥹŬڤꤵƤʤPublisher ֥
- # ȤƤʤ硢δؿƤӽФȥ顼
- # PRECONDITION_NOT_MET ֤졢塼ޤؤν
- # ϰڹԤʤ
- #
- # 塼ޤؤνߤФơ塼ޤե֡
- # 塼ޤΥ顼塼ޤؤνߤॢȤ
- # ˤϤ줾졢顼 SEND_FULL, SEND_ERROR, SEND_TIMEOUT
- # ֤롣
- #
- # ʳΥ顼ξ硢PORT_ERROR ֤롣
- #
- #
- # @param data ǡ
- # @param sec ॢȻ
- # @param nsec ॢȻ
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NO_MET consumer, buffer, listenerŬڤ
- # ƤʤΥ֥Ȥλ
- # ʤ硣
- # SEND_FULL 褬ե
- # SEND_TIMEOUT 褬ॢȤ
- # CONNECTION_LOST ³Ǥ줿ȤΤ
- #
- # @else
- # @brief Write data
- #
- # This function writes data into the consumer associated with
- # this Publisher. If this function is called without initializing
- # correctly such as a consumer, listeners, etc., error code
- # PRECONDITION_NOT_MET will be returned and no operation of the
- # writing to the consumer etc. will be performed.
- #
- # When publisher writes data to the buffer, if the consumer
- # returns full-status, returns error, is returned with timeout,
- # error codes BUFFER_FULL, BUFFER_ERROR and BUFFER_TIMEOUT will
- # be returned respectively.
- #
- # In other cases, PROT_ERROR will be returned.
- #
- # @param data Data to be wrote to the buffer
- # @param sec Timeout time in unit seconds
- # @param nsec Timeout time in unit nano-seconds
- # @return PORT_OK Normal return
- # PRECONDITION_NO_MET Precondition does not met. A consumer,
- # a buffer, listenes are not set properly.
- # SEND_FULL Data was sent but full-status returned
- # SEND_TIMEOUT Data was sent but timeout occurred
- # CONNECTION_LOST detected that the connection has been lost
- #
- # @endif
- #
- ## PublisherBase::ReturnCode PublisherFlush::write(const cdrMemoryStream& data,
- ## unsigned long sec,
- ## unsigned long usec)
- def write(self, data, sec, usec):
- self._rtcout.RTC_PARANOID("write()")
- if not self._consumer or not self._listeners:
- return self.PRECONDITION_NOT_MET
-
- if self._retcode == self.CONNECTION_LOST:
- self._rtcout.RTC_DEBUG("write(): connection lost.")
- return self._retcode
-
- self.onSend(data)
-
- self._retcode = self._consumer.put(data)
-
- if self._retcode == self.PORT_OK:
- self.onReceived(data)
- return self._retcode
- elif self._retcode == self.PORT_ERROR:
- self.onReceiverError(data)
- return self._retcode
- elif self._retcode == self.SEND_FULL:
- self.onReceiverFull(data)
- return self._retcode
- elif self._retcode == self.SEND_TIMEOUT:
- self.onReceiverTimeout(data)
- return self._retcode
- elif self._retcode == self.CONNECTION_LOST:
- self.onReceiverTimeout(data)
- return self._retcode
- elif self._retcode == self.UNKNOWN_ERROR:
- self.onReceiverError(data)
- return self._retcode
- else:
- self.onReceiverError(data)
- return self._retcode
-
-
-
-
- ##
- # @if jp
- #
- # @brief ƥֲǧ
- #
- # Publisher ϥǡݡȤƱ activate/deactivate 롣
- # activate() / deactivate() ؿˤäơƥ־֤ƥ
- # ־֤ڤؤ롣δؿˤꡢߥƥ־֤
- # ƥ־֤ǧ뤳ȤǤ롣
- #
- # @return ֳǧ(ƥ־:trueƥ־:false)
- #
- # @else
- #
- # @brief If publisher is active state
- #
- # A Publisher can be activated/deactivated synchronized with the
- # data port. The active state and the non-active state are made
- # transition by the "activate()" and the "deactivate()" functions
- # respectively. This function confirms if the publisher is in
- # active state.
- #
- # @return Result of state confirmation
- # (Active state:true, Inactive state:false)
- #
- # @endif
- #
- ## bool PublisherFlush::isActive()
- def isActive(self):
- return self._active
-
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Publisher ƥֲ롣δؿƤӽФȤˤꡢ
- # Publisherġǡ륹åɤưϤ롣
- # ԤƤʤʤɤˤꡢʤ硢顼
- # PRECONDITION_NOT_MET ֤
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NOT_MET ʤ
- #
- # @else
- # @brief activation
- #
- # This function activates the publisher. By calling this
- # function, this publisher starts the thread that pushes data to
- # InPort. If precondition such as initialization process and so
- # on is not met, the error code PRECONDITION_NOT_MET is returned.
- #
- # @return PORT_OK normal return
- # PRECONDITION_NOT_MET precondition is not met
- #
- # @endif
- #
- ## PublisherBase::ReturnCode PublisherFlush::activate()
- def activate(self):
- if self._active:
- return self.PRECONDITION_NOT_MET
-
- self._active = True
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Publisher ƥֲ롣δؿƤӽФȤˤꡢ
- # Publisherġǡ륹åɤưߤ롣
- # ԤƤʤʤɤˤꡢʤ硢顼
- # PRECONDITION_NOT_MET ֤
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NOT_MET ʤ
- #
- # @else
- # @brief deactivation
- #
- # This function deactivates the publisher. By calling this
- # function, this publisher stops the thread that pushes data to
- # InPort. If precondition such as initialization process and so
- # on is not met, the error code PRECONDITION_NOT_MET is returned.
- #
- # @return PORT_OK normal return
- # PRECONDITION_NOT_MET precondition is not met
- #
- # @endif
- #
- ## PublisherBase::ReturnCode PublisherFlush::deactivate()
- def deactivate(self):
- if not self._active:
- return self.PRECONDITION_NOT_MET
-
- self._active = False
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ON_SENDΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_SEND event to listners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onSend(const cdrMemoryStream& data)
- def onSend(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVEDΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVED event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_FULLΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_FULL event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_TIMEOUTΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_TIMEOUT event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverTimeout(const cdrMemoryStream& data)
- def onReceiverTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_ERRORΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_ERROR event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverError(const cdrMemoryStream& data)
- def onReceiverError(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR].notify(self._profile, data)
- return
-
+ """
+ """
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ #
+ # @param self
+ # @param consumer データ送出を待つコンシューマ
+ # @param property 本Publisherの駆動制御情報を設定したPropertyオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ # @endif
+ def __init__(self):
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("PublisherFlush")
+ self._consumer = None
+ self._active = False
+ self._profile = None # ConnectorInfo
+ self._listeners = None # ConnectorListeners
+ self._retcode = self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ # 当該Publisherを破棄する際に、PublisherFactoryにより呼び出される。
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ # @endif
+ def __del__(self):
+ # "consumer" should be deleted in the Connector
+ self._rtcout.RTC_TRACE("~PublisherFlush()")
+ self._consumer = None
+ return
+
+ ##
+ # @if jp
+ # @brief 初期化
+ #
+ # このクラスのオブジェクトを使用するのに先立ち、必ずこの関数を呼び
+ # 出す必要がある。ただし、この PublisherFlush は現状で初期化するパ
+ # ラメータを持たない。
+ #
+ # @param property 本Publisherの駆動制御情報を設定したPropertyオブジェクト
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS Properties が不正な値を含む
+ #
+ # @else
+ # @brief initialization
+ #
+ # This function have to be called before using this class object.
+ # However, this PublisherFlush class has no parameters to be initialized.
+ #
+ # @param property Property objects that includes the control information
+ # of this Publisher
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS Properties with invalid values.
+ # @endif
+ #
+ # virtual ReturnCode init(coil::Properties& prop);
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief InPortコンシューマのセット
+ #
+ # この関数では、この Publisher に関連付けられるコンシューマをセットする。
+ # コンシューマオブジェクトがヌルポインタの場合、INVALID_ARGSが返される。
+ # それ以外の場合は、PORT_OK が返される。
+ #
+ # @param consumer Consumer へのポインタ
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS 引数に不正な値が含まれている
+ #
+ # @else
+ # @brief Store InPort consumer
+ #
+ # This operation sets a consumer that is associated with this
+ # object. If the consumer object is NULL, INVALID_ARGS will be
+ # returned.
+ #
+ # @param consumer A pointer to a consumer object.
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS given argument has invalid value
+ #
+ # PublisherFlush::setConsumer(InPortConsumer* consumer)
+ def setConsumer(self, consumer):
+ self._rtcout.RTC_TRACE("setConsumer()")
+ if not consumer:
+ return self.INVALID_ARGS
+
+ self._consumer = consumer
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief バッファのセット
+ #
+ # PublisherFlushでは、バッファを使用しないため、いかなる場合も
+ # PORT_OK を返す。
+ #
+ # @param buffer CDRバッファ
+ # @return PORT_OK 正常終了
+ #
+ # @else
+ # @brief Setting buffer pointer
+ #
+ # Since PublisherFlush does not use any buffers, This function
+ # always returns PORT_OK.
+ #
+ # @param buffer CDR buffer
+ # @return PORT_OK
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherFlush::setBuffer(CdrBufferBase*
+ # buffer)
+ def setBuffer(self, buffer):
+ self._rtcout.RTC_TRACE("setBuffer()")
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief リスナを設定する。
+ #
+ # Publisher に対してリスナオブジェクト ConnectorListeners を設定する。
+ # 各種リスナオブジェクトを含む ConnectorListeners をセットすることで、
+ # バッファの読み書き、データの送信時等にこれらのリスナをコールする。
+ # ConnectorListeners オブジェクトの所有権はポートまたは RTObject が持ち
+ # Publisher 削除時に ConnectorListeners は削除されることはない。
+ # ConnectorListeners がヌルポインタの場合 INVALID_ARGS を返す。
+ #
+ # @param info ConnectorProfile をローカル化したオブジェクト ConnectorInfo
+ # @param listeners リスナを多数保持する ConnectorListeners オブジェクト
+ # @return PORT_OK 正常終了
+ # INVALID_ARGS 不正な引数
+ # @else
+ # @brief Set the listener.
+ #
+ # This function sets ConnectorListeners listener object to the
+ # Publisher. By setting ConnectorListeners containing various
+ # listeners objects, these listeners are called at the time of
+ # reading and writing of a buffer, and transmission of data
+ # etc. Since the ownership of the ConnectorListeners object is
+ # owned by Port or RTObject, the Publisher never deletes the
+ # ConnectorListeners object. If the given ConnectorListeners'
+ # pointer is NULL, this function returns INVALID_ARGS.
+ #
+ # @param info ConnectorInfo that is localized object of ConnectorProfile
+ # @param listeners ConnectorListeners that holds various listeners
+ # @return PORT_OK Normal return
+ # INVALID_ARGS Invalid arguments
+ # @endif
+ #
+ # virtual ::RTC::DataPortStatus::Enum
+ # setListener(ConnectorInfo& info,
+ # RTC::ConnectorListeners* listeners);
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListeners()")
+
+ if not listeners:
+ self._rtcout.RTC_ERROR(
+ "setListeners(listeners == 0): invalid argument")
+ return self.INVALID_ARGS
+
+ self._profile = info
+ self._listeners = listeners
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief データを書き込む
+ #
+ # Publisher が保持するコンシューマに対してデータを書き込む。コン
+ # シューマ、リスナ等が適切に設定されていない等、Publisher オブジェ
+ # クトが正しく初期化されていない場合、この関数を呼び出すとエラーコー
+ # ド PRECONDITION_NOT_MET が返され、コンシューマへの書き込み等の操
+ # 作は一切行われない。
+ #
+ # コンシューマへの書き込みに対して、コンシューマがフル状態、コン
+ # シューマのエラー、コンシューマへの書き込みがタイムアウトした場合
+ # にはそれぞれ、エラーコード SEND_FULL, SEND_ERROR, SEND_TIMEOUT
+ # が返される。
+ #
+ # これら以外のエラーの場合、PORT_ERROR が返される。
+ #
+ #
+ # @param data 書き込むデータ
+ # @param sec タイムアウト時間
+ # @param nsec タイムアウト時間
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NO_MET consumer, buffer, listener等が適切に設定
+ # されていない等、このオブジェクトの事前条件
+ # を満たさない場合。
+ # SEND_FULL 送信先がフル状態
+ # SEND_TIMEOUT 送信先がタイムアウトした
+ # CONNECTION_LOST 接続が切断されたことを検知した。
+ #
+ # @else
+ # @brief Write data
+ #
+ # This function writes data into the consumer associated with
+ # this Publisher. If this function is called without initializing
+ # correctly such as a consumer, listeners, etc., error code
+ # PRECONDITION_NOT_MET will be returned and no operation of the
+ # writing to the consumer etc. will be performed.
+ #
+ # When publisher writes data to the buffer, if the consumer
+ # returns full-status, returns error, is returned with timeout,
+ # error codes BUFFER_FULL, BUFFER_ERROR and BUFFER_TIMEOUT will
+ # be returned respectively.
+ #
+ # In other cases, PROT_ERROR will be returned.
+ #
+ # @param data Data to be wrote to the buffer
+ # @param sec Timeout time in unit seconds
+ # @param nsec Timeout time in unit nano-seconds
+ # @return PORT_OK Normal return
+ # PRECONDITION_NO_MET Precondition does not met. A consumer,
+ # a buffer, listenes are not set properly.
+ # SEND_FULL Data was sent but full-status returned
+ # SEND_TIMEOUT Data was sent but timeout occurred
+ # CONNECTION_LOST detected that the connection has been lost
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherFlush::write(const cdrMemoryStream& data,
+ # unsigned long sec,
+ # unsigned long usec)
+ def write(self, data, sec, usec):
+ self._rtcout.RTC_PARANOID("write()")
+ if not self._consumer or not self._listeners:
+ return self.PRECONDITION_NOT_MET
+
+ if self._retcode == self.CONNECTION_LOST:
+ self._rtcout.RTC_DEBUG("write(): connection lost.")
+ return self._retcode
+
+ data = self.onSend(data)
+
+ self._retcode = self._consumer.put(data)
+
+ if self._retcode == self.PORT_OK:
+ data = self.onReceived(data)
+ return self._retcode
+ elif self._retcode == self.PORT_ERROR:
+ data = self.onReceiverError(data)
+ return self._retcode
+ elif self._retcode == self.SEND_FULL:
+ data = self.onReceiverFull(data)
+ return self._retcode
+ elif self._retcode == self.SEND_TIMEOUT:
+ data = self.onReceiverTimeout(data)
+ return self._retcode
+ elif self._retcode == self.CONNECTION_LOST:
+ data = self.onReceiverTimeout(data)
+ return self._retcode
+ elif self._retcode == self.UNKNOWN_ERROR:
+ data = self.onReceiverError(data)
+ return self._retcode
+ else:
+ data = self.onReceiverError(data)
+ return self._retcode
+
+ ##
+ # @if jp
+ #
+ # @brief アクティブ化確認
+ #
+ # Publisher はデータポートと同期して activate/deactivate される。
+ # activate() / deactivate() 関数によって、アクティブ状態と非アクティ
+ # ブ状態が切り替わる。この関数により、現在アクティブ状態か、非アク
+ # ティブ状態かを確認することができる。
+ #
+ # @return 状態確認結果(アクティブ状態:true、非アクティブ状態:false)
+ #
+ # @else
+ #
+ # @brief If publisher is active state
+ #
+ # A Publisher can be activated/deactivated synchronized with the
+ # data port. The active state and the non-active state are made
+ # transition by the "activate()" and the "deactivate()" functions
+ # respectively. This function confirms if the publisher is in
+ # active state.
+ #
+ # @return Result of state confirmation
+ # (Active state:true, Inactive state:false)
+ #
+ # @endif
+ #
+ # bool PublisherFlush::isActive()
+
+ def isActive(self):
+ return self._active
+
+ ##
+ # @if jp
+ # @brief アクティブ化する
+ #
+ # Publisher をアクティブ化する。この関数を呼び出すことにより、
+ # Publisherが持つ、データを送信するスレッドが動作を開始する。初期
+ # 化が行われていないなどにより、事前条件を満たさない場合、エラーコー
+ # ド PRECONDITION_NOT_MET を返す。
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ #
+ # @else
+ # @brief activation
+ #
+ # This function activates the publisher. By calling this
+ # function, this publisher starts the thread that pushes data to
+ # InPort. If precondition such as initialization process and so
+ # on is not met, the error code PRECONDITION_NOT_MET is returned.
+ #
+ # @return PORT_OK normal return
+ # PRECONDITION_NOT_MET precondition is not met
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherFlush::activate()
+
+ def activate(self):
+ if self._active:
+ return self.PRECONDITION_NOT_MET
+
+ self._active = True
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化する
+ #
+ # Publisher を非アクティブ化する。この関数を呼び出すことにより、
+ # Publisherが持つ、データを送信するスレッドが動作を停止する。初期
+ # 化が行われていないなどにより、事前条件を満たさない場合、エラーコー
+ # ド PRECONDITION_NOT_MET を返す。
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ #
+ # @else
+ # @brief deactivation
+ #
+ # This function deactivates the publisher. By calling this
+ # function, this publisher stops the thread that pushes data to
+ # InPort. If precondition such as initialization process and so
+ # on is not met, the error code PRECONDITION_NOT_MET is returned.
+ #
+ # @return PORT_OK normal return
+ # PRECONDITION_NOT_MET precondition is not met
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherFlush::deactivate()
+ def deactivate(self):
+ if not self._active:
+ return self.PRECONDITION_NOT_MET
+
+ self._active = False
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief ON_SENDのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_SEND event to listners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onSend(const cdrMemoryStream& data)
+ def onSend(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVEDのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVED event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceived(const cdrMemoryStream& data)
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_FULLのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_FULL event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverFull(const cdrMemoryStream& data)
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_TIMEOUTのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_TIMEOUT event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverTimeout(const cdrMemoryStream& data)
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_ERRORのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_ERROR event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverError(const cdrMemoryStream& data)
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
+
def PublisherFlushInit():
- OpenRTM_aist.PublisherFactory.instance().addFactory("flush",
- OpenRTM_aist.PublisherFlush,
- OpenRTM_aist.Delete)
- OpenRTM_aist.PublisherFactory.instance().addFactory("block",
- OpenRTM_aist.PublisherFlush,
- OpenRTM_aist.Delete)
+ OpenRTM_aist.PublisherFactory.instance().addFactory("flush",
+ OpenRTM_aist.PublisherFlush)
+ OpenRTM_aist.PublisherFactory.instance().addFactory("block",
+ OpenRTM_aist.PublisherFlush)
diff --git a/OpenRTM_aist/PublisherNew.py b/OpenRTM_aist/PublisherNew.py
index 06825a89..41274659 100644
--- a/OpenRTM_aist/PublisherNew.py
+++ b/OpenRTM_aist/PublisherNew.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file PublisherNew.py
@@ -14,7 +14,7 @@
# National Institute of
# Advanced Industrial Science and Technology (AIST), Japan
# All rights reserved.
-
+
import threading
import OpenRTM_aist
@@ -23,13 +23,13 @@
##
# @if jp
# @class PublisherNew
-# @brief PublisherNew 饹
+# @brief PublisherNew クラス
#
-# Хåե˿ǡǼ줿ߥǡοǡ롣
-# ǡХߥԤĥ塼ޤФ¦Ȥϰۤʤ륹åɤ
-# ư˻ѡ
-# PublisherζưϡǡФΥߥˤʤޤǥ֥å졢
-# ХߥΤȡ¨¤˥塼ޤнƤӽФ
+# バッファ内に新規データが格納されたタイミングで、その新規データを送信する。
+# データ送出タイミングを待つコンシューマを、送出する側とは異なるスレッドで
+# 動作させる場合に使用。
+# Publisherの駆動は、データ送出のタイミングになるまでブロックされ、
+# 送出タイミングの通知を受けると、即座にコンシューマの送出処理を呼び出す。
#
# @else
# @class PublisherNew
@@ -44,1017 +44,1053 @@
#
# @endif
class PublisherNew(OpenRTM_aist.PublisherBase):
- """
- """
-
- # Policy
- PUBLISHER_POLICY_ALL = 0
- PUBLISHER_POLICY_FIFO = 1
- PUBLISHER_POLICY_SKIP = 2
- PUBLISHER_POLICY_NEW = 3
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- # Publisher ѿåɤ롣
- #
- # @param self
- # @param consumer ǡФԤĥ塼
- # @param property PublisherζưꤷProperty֥
- # (PublisherǤ̤)
- # @else
- # @brief Constructor
- # @endif
- def __init__(self):
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("PublisherNew")
- self._consumer = None
- self._buffer = None
- self._task = None
- self._retcode = self.PORT_OK
- self._retmutex = threading.RLock()
- self._pushPolicy = self.PUBLISHER_POLICY_NEW
- self._skipn = 0
- self._active = False
- self._leftskip = 0
- self._profile = None
- self._listeners = None
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- # @brief Destructor
- #
- # @endif
- def __del__(self):
- self._rtcout.RTC_TRACE("~PublisherNew()")
- if self._task:
- self._task.resume()
- self._task.finalize()
-
- OpenRTM_aist.PeriodicTaskFactory.instance().deleteObject(self._task)
- #del self._task
- self._rtcout.RTC_PARANOID("task deleted.")
-
- # "consumer" should be deleted in the Connector
- self._consumer = 0
- # "buffer" should be deleted in the Connector
- self._buffer = 0
- return
-
- ##
- # @if jp
- # @brief PushPolicy
- # @else
- # @brief Setting PushPolicy
- # @endif
- #
- #void PublisherNew::setPushPolicy(const coil::Properties& prop)
- def setPushPolicy(self, prop):
- push_policy = prop.getProperty("publisher.push_policy","new")
- self._rtcout.RTC_DEBUG("push_policy: %s", push_policy)
-
- push_policy = OpenRTM_aist.normalize([push_policy])
-
- if push_policy == "all":
- self._pushPolicy = self.PUBLISHER_POLICY_ALL
-
- elif push_policy == "fifo":
- self._pushPolicy = self.PUBLISHER_POLICY_FIFO
-
- elif push_policy == "skip":
- self._pushPolicy = self.PUBLISHER_POLICY_SKIP
-
- elif push_policy == "new":
- self._pushPolicy = self.PUBLISHER_POLICY_NEW
-
- else:
- self._rtcout.RTC_ERROR("invalid push_policy value: %s", push_policy)
- self._pushPolicy = self.PUBLISHER_POLICY_NEW
-
- skip_count = prop.getProperty("publisher.skip_count","0")
- self._rtcout.RTC_DEBUG("skip_count: %s", skip_count)
-
- skipn = [self._skipn]
- ret = OpenRTM_aist.stringTo(skipn, skip_count)
- if ret:
- self._skipn = skipn[0]
- else:
- self._rtcout.RTC_ERROR("invalid skip_count value: %s", skip_count)
- self._skipn = 0
-
- if self._skipn < 0:
- self._rtcout.RTC_ERROR("invalid skip_count value: %d", self._skipn)
- self._skipn = 0
-
- return
-
- ##
- # @if jp
- # @brief Task
- # @else
- # @brief Setting Task
- # @endif
- #
- #bool PublisherNew::createTask(const coil::Properties& prop)
- def createTask(self, prop):
- factory = OpenRTM_aist.PeriodicTaskFactory.instance()
-
- th = factory.getIdentifiers()
- self._rtcout.RTC_DEBUG("available task types: %s", OpenRTM_aist.flatten(th))
-
- self._task = factory.createObject(prop.getProperty("thread_type", "default"))
-
- if not self._task:
- self._rtcout.RTC_ERROR("Task creation failed: %s",
- prop.getProperty("thread_type", "default"))
- return self.INVALID_ARGS
-
- self._rtcout.RTC_PARANOID("Task creation succeeded.")
-
- mprop = prop.getNode("measurement")
-
- # setting task function
- self._task.setTask(self.svc)
- self._task.setPeriod(0.0)
- self._task.executionMeasure(OpenRTM_aist.toBool(mprop.getProperty("exec_time"),
- "enable", "disable", True))
- ecount = [0]
- if OpenRTM_aist.stringTo(ecount, mprop.getProperty("exec_count")):
- self._task.executionMeasureCount(ecount[0])
-
- self._task.periodicMeasure(OpenRTM_aist.toBool(mprop.getProperty("period_time"),
- "enable", "disable", True))
- pcount = [0]
- if OpenRTM_aist.stringTo(pcount, mprop.getProperty("period_count")):
- self._task.periodicMeasureCount(pcount[0])
-
- self._task.suspend()
- self._task.activate()
- self._task.suspend()
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief
- #
- # Υ饹Υ֥ȤѤΤΩɬδؿƤ
- # Фɬפ롣ˤϡΥ֥ȤγƼޤ
- # Properties Ϳ롣ǡץå夹ݤΥݥꥷȤ
- # publisher.push_policy Ȥͤˡall, fifo, skip, new
- # 줫Ϳ뤳ȤǤ롣
- #
- # ʲΥץͿ뤳ȤǤ롣
- #
- # - thread_type: åɤΥ (ʸǥե: default)
- # - publisher.push_policy: Pushݥꥷ (all, fifo, skip, new)
- # - publisher.skip_count: 嵭ݥꥷ skip ΤȤΥå
- # - measurement.exec_time: ¹Իַ¬ (enable/disable)
- # - measurement.exec_count: ؿ¹Իַ¬ (, )
- # - measurement.period_time: ַ¬ (enable/disable)
- # - measurement.period_count: ַ¬ (, )
- #
- # @param property PublisherζưꤷProperty֥
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS Properties ͤޤ
- #
- # @else
- # @brief Initialization
- #
- # This function have to be called before using this class object.
- # Properties object that includes certain configuration
- # information should be given as an argument. all, fifo, skip,
- # new can be given as a data push policy in a value of the key
- # "publisher.push_policy."
- #
- # The following options are available.
- #
- # - thread_type: Thread type (string, default: default)
- # - publisher.push_policy: Push policy (all, fifo, skip, new)
- # - publisher.skip_count: The number of skip count in the "skip" policy
- # - measurement.exec_time: Task execution time measurement (enable/disable)
- # - measurement.exec_count: Task execution time measurement count
- # (numerical, number of times)
- # - measurement.period_time: Task period time measurement (enable/disable)
- # - measurement.period_count: Task period time measurement count
- # (number, count)
- #
- # @param property Property objects that includes the control information
- # of this Publisher
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS Properties with invalid values.
- # @endif
- #
- # PublisherBase::ReturnCode PublisherNew::init(coil::Properties& prop)
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- self.setPushPolicy(prop)
- return self.createTask(prop)
-
- ##
- # @if jp
- # @brief InPort塼ޤΥå
- #
- # δؿǤϡ Publisher ˴Ϣդ륳塼ޤåȤ롣
- # 塼ޥ֥Ȥ̥ݥξ硢INVALID_ARGS֤롣
- # ʳξϡPORT_OK ֤롣
- #
- # @param consumer Consumer ؤΥݥ
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS ͤޤޤƤ
- #
- # @else
- # @brief Store InPort consumer
- #
- # This operation sets a consumer that is associated with this
- # object. If the consumer object is NULL, INVALID_ARGS will be
- # returned.
- #
- # @param consumer A pointer to a consumer object.
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS given argument has invalid value
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherNew::setConsumer(InPortConsumer* consumer)
- def setConsumer(self, consumer):
- self._rtcout.RTC_TRACE("setConsumer()")
-
- if not consumer:
- self._rtcout.RTC_ERROR("setConsumer(consumer = 0): invalid argument.")
- return self.INVALID_ARGS
-
- self._consumer = consumer
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ХåեΥå
- #
- # δؿǤϡ Publisher ˴ϢդХåեåȤ롣
- # Хåե֥Ȥ̥ݥξ硢INVALID_ARGS֤롣
- # ʳξϡPORT_OK ֤롣
- #
- # @param buffer CDR buffer ؤΥݥ
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS ͤޤޤƤ
- #
- # @else
- # @brief Setting buffer pointer
- #
- # This operation sets a buffer that is associated with this
- # object. If the buffer object is NULL, INVALID_ARGS will be
- # returned.
- #
- # @param buffer A pointer to a CDR buffer object.
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS given argument has invalid value
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherNew::setBuffer(CdrBufferBase* buffer)
- def setBuffer(self, buffer):
- self._rtcout.RTC_TRACE("setBuffer()")
-
- if not buffer:
- self._rtcout.RTC_ERROR("setBuffer(buffer == 0): invalid argument")
- return self.INVALID_ARGS
-
- self._buffer = buffer
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ꥹʤꤹ롣
- #
- # Publisher Фƥꥹʥ֥ ConnectorListeners ꤹ롣
- # Ƽꥹʥ֥Ȥޤ ConnectorListeners åȤ뤳Ȥǡ
- # Хåեɤ߽ǡˤΥꥹʤ뤹롣
- # ConnectorListeners ֥ȤνͭϥݡȤޤ RTObject
- # Publisher ConnectorListeners Ϻ뤳ȤϤʤ
- # ConnectorListeners ̥ݥξ INVALID_ARGS ֤
- #
- # @param info ConnectorProfile 벽֥ ConnectorInfo
- # @param listeners ꥹʤ¿ݻ ConnectorListeners ֥
- # @return PORT_OK ｪλ
- # INVALID_ARGS ʰ
- # @else
- # @brief Set the listener.
- #
- # This function sets ConnectorListeners listener object to the
- # Publisher. By setting ConnectorListeners containing various
- # listeners objects, these listeners are called at the time of
- # reading and writing of a buffer, and transmission of data
- # etc. Since the ownership of the ConnectorListeners object is
- # owned by Port or RTObject, the Publisher never deletes the
- # ConnectorListeners object. If the given ConnectorListeners'
- # pointer is NULL, this function returns INVALID_ARGS.
- #
- # @param info ConnectorInfo that is localized object of ConnectorProfile
- # @param listeners ConnectorListeners that holds various listeners
- # @return PORT_OK Normal return
- # INVALID_ARGS Invalid arguments
- # @endif
- #
- # virtual ReturnCode setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners);
- def setListener(self, info, listeners):
- self._rtcout.RTC_TRACE("setListener()")
-
- if not listeners:
- self._rtcout.RTC_ERROR("setListeners(listeners == 0): invalid argument")
- return self.INVALID_ARGS
-
- self._profile = info
- self._listeners = listeners
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ǡ
- #
- # Publisher ݻХåեФƥǡࡣ塼
- # ޡХåեꥹŬڤꤵƤʤPublisher
- # ȤƤʤ硢δؿƤӽФȥ顼
- # PRECONDITION_NOT_MET ֤졢Хåեؤν
- # ϰڹԤʤ
- #
- # ХåեؤνߤȡInPortؤΥǡƱŪ˹Ԥ
- # 뤿ᡢδؿϡInPortؤΥǡη̤
- # CONNECTION_LOST, BUFFER_FULL ʤɤΥɤ֤Ȥ
- # 롣ξ硢ǡΥХåեؤνߤϹԤʤ
- #
- # ХåեؤνߤФơХåեե֡ХåեΥ
- # 顼ХåեؤνߤॢȤ硢Хåեλ
- # 郎ʤˤϤ줾졢顼 BUFFER_FULL,
- # BUFFER_ERROR, BUFFER_TIMEOUT, PRECONDITION_NOT_MET ֤롣
- #
- # ʳΥ顼ξ硢PORT_ERROR ֤롣
- #
- #
- # @param data ǡ
- # @param sec ॢȻ
- # @param nsec ॢȻ
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NO_MET consumer, buffer, listenerŬڤ
- # ƤʤΥ֥Ȥλ
- # ʤ硣
- # CONNECTION_LOST ³Ǥ줿ȤΤ
- # BUFFER_FULL Хåեե֤Ǥ롣
- # BUFFER_ERROR Хåե˲餫Υ顼硣
- # NOT_SUPPORTED ݡȤʤԤ줿
- # TIMEOUT ॢȤ
- #
- # @else
- # @brief Write data
- #
- # This function writes data into the buffer associated with this
- # Publisher. If a Publisher object calls this function, without
- # initializing correctly such as a consumer, a buffer, listeners,
- # etc., error code PRECONDITION_NOT_MET will be returned and no
- # operation of the writing to a buffer etc. will be performed.
- #
- # Since writing into the buffer and sending data to InPort are
- # performed asynchronously, occasionally this function returns
- # return-codes such as CONNECTION_LOST and BUFFER_FULL that
- # indicate the result of sending data to InPort. In this case,
- # writing data into buffer will not be performed.
- #
- # When publisher writes data to the buffer, if the buffer is
- # filled, returns error, is returned with timeout and returns
- # precondition error, error codes BUFFER_FULL, BUFFER_ERROR,
- # BUFFER_TIMEOUT and PRECONDITION_NOT_MET will be returned
- # respectively.
- #
- # In other cases, PROT_ERROR will be returned.
- #
- # @param data Data to be wrote to the buffer
- # @param sec Timeout time in unit seconds
- # @param nsec Timeout time in unit nano-seconds
- # @return PORT_OK Normal return
- # PRECONDITION_NO_MET Precondition does not met. A consumer,
- # a buffer, listenes are not set properly.
- # CONNECTION_LOST detected that the connection has been lost
- # BUFFER_FULL The buffer is full status.
- # BUFFER_ERROR Some kind of error occurred in the buffer.
- # NOT_SUPPORTED Some kind of operation that is not supported
- # has been performed.
- # TIMEOUT Timeout occurred when writing to the buffer.
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherNew::write(const cdrMemoryStream& data,
- # unsigned long sec,
- # unsigned long usec)
- def write(self, data, sec, usec):
- self._rtcout.RTC_PARANOID("write()")
-
- if not self._consumer or not self._buffer or not self._listeners:
- return self.PRECONDITION_NOT_MET
-
- if self._retcode == self.CONNECTION_LOST:
- self._rtcout.RTC_DEBUG("write(): connection lost.")
- return self._retcode
-
- if self._retcode == self.SEND_FULL:
- self._rtcout.RTC_DEBUG("write(): InPort buffer is full.")
- ret = self._buffer.write(data, sec, usec)
- self._task.signal()
- return self.BUFFER_FULL
-
- # why?
- #assert(self._buffer != 0)
-
- self.onBufferWrite(data)
- ret = self._buffer.write(data, sec, usec)
-
- self._task.signal()
- self._rtcout.RTC_DEBUG("%s = write()", OpenRTM_aist.DataPortStatus.toString(ret))
-
- return self.convertReturn(ret, data)
-
- ##
- # @if jp
- #
- # @brief ƥֲǧ
- #
- # Publisher ϥǡݡȤƱ activate/deactivate 롣
- # activate() / deactivate() ؿˤäơƥ־֤ƥ
- # ־֤ڤؤ롣δؿˤꡢߥƥ־֤
- # ƥ־֤ǧ뤳ȤǤ롣
- #
- # @return ֳǧ(ƥ־:trueƥ־:false)
- #
- # @else
- #
- # @brief If publisher is active state
- #
- # A Publisher can be activated/deactivated synchronized with the
- # data port. The active state and the non-active state are made
- # transition by the "activate()" and the "deactivate()" functions
- # respectively. This function confirms if the publisher is in
- # active state.
- #
- # @return Result of state confirmation
- # (Active state:true, Inactive state:false)
- #
- # @endif
- #
- # bool PublisherNew::isActive()
- def isActive(self):
- return self._active
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Publisher ƥֲ롣δؿƤӽФȤˤꡢ
- # Publisherġǡ륹åɤưϤ롣
- # ԤƤʤʤɤˤꡢʤ硢顼
- # PRECONDITION_NOT_MET ֤
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NOT_MET ʤ
- #
- # @else
- # @brief activation
- #
- # This function activates the publisher. By calling this
- # function, this publisher starts the thread that pushes data to
- # InPort. If precondition such as initialization process and so
- # on is not met, the error code PRECONDITION_NOT_MET is returned.
- #
- # @return PORT_OK normal return
- # PRECONDITION_NOT_MET precondition is not met
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherNew::activate()
- def activate(self):
- self._active = True
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Publisher ƥֲ롣δؿƤӽФȤˤꡢ
- # Publisherġǡ륹åɤưߤ롣
- # ԤƤʤʤɤˤꡢʤ硢顼
- # PRECONDITION_NOT_MET ֤
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NOT_MET ʤ
- #
- # @else
- # @brief deactivation
- #
- # This function deactivates the publisher. By calling this
- # function, this publisher stops the thread that pushes data to
- # InPort. If precondition such as initialization process and so
- # on is not met, the error code PRECONDITION_NOT_MET is returned.
- #
- # @return PORT_OK normal return
- # PRECONDITION_NOT_MET precondition is not met
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherNew::deactivate()
- def deactivate(self):
- self._active = False;
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief åɼ¹Դؿ
- #
- # coil::PeriodicTask ˤ¹Ԥ륿¹Դؿ
- #
- # @else
- # @brief Thread execution function
- #
- # A task execution function to be executed by coil::PeriodicTask.
- #
- # @endif
- #
- # int PublisherNew::svc(void)
- def svc(self):
- guard = OpenRTM_aist.ScopedLock(self._retmutex)
-
- if self._pushPolicy == self.PUBLISHER_POLICY_ALL:
- self._retcode = self.pushAll()
- return 0
- elif self._pushPolicy == self.PUBLISHER_POLICY_FIFO:
- self._retcode = self.pushFifo()
- return 0
- elif self._pushPolicy == self.PUBLISHER_POLICY_SKIP:
- self._retcode = self.pushSkip()
- return 0
- elif self._pushPolicy == self.PUBLISHER_POLICY_NEW:
- self._retcode = self.pushNew()
- return 0
- else:
- self._retcode = self.pushNew()
-
- return 0
-
- ##
- # @brief push all policy
- #
- # PublisherNew::ReturnCode PublisherNew::pushAll()
- def pushAll(self):
- self._rtcout.RTC_TRACE("pushAll()")
- try:
-
- while self._buffer.readable() > 0:
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
-
- if ret != self.PORT_OK:
- self._rtcout.RTC_DEBUG("%s = consumer.put()", OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
- self.onReceived(cdr)
-
- self._buffer.advanceRptr()
-
- return self.PORT_OK
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
- ##
- # @brief push "fifo" policy
- #
- # PublisherNew::ReturnCode PublisherNew::pushFifo()
- def pushFifo(self):
- self._rtcout.RTC_TRACE("pushFifo()")
-
- try:
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
-
- if ret != self.PORT_OK:
- self._rtcout.RTC_DEBUG("%s = consumer.put()", OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
- self.onReceived(cdr)
-
- self._buffer.advanceRptr()
-
- return self.PORT_OK
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
- ##
- # @brief push "skip" policy
- #
- # PublisherNew::ReturnCode PublisherNew::pushSkip()
- def pushSkip(self):
- self._rtcout.RTC_TRACE("pushSkip()")
- try:
- ret = self.PORT_OK
-
- preskip = self._buffer.readable() + self._leftskip
- loopcnt = preskip/(self._skipn+1)
- postskip = self._skipn - self._leftskip
-
- for i in range(int(loopcnt)):
- self._buffer.advanceRptr(postskip)
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
- if ret != self.PORT_OK:
- self._buffer.advanceRptr(-postskip)
- self._rtcout.RTC_DEBUG("%s = consumer.put()", OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
-
- self.onReceived(cdr)
- postskip = self._skipn + 1
-
- self._buffer.advanceRptr(self._buffer.readable())
-
- if loopcnt == 0:
- # Not put
- self._leftskip = preskip % (self._skipn + 1)
- else:
- if self._retcode != self.PORT_OK:
- # put Error after
- self._leftskip = 0
+ """
+ """
+
+ # Policy
+ PUBLISHER_POLICY_ALL = 0
+ PUBLISHER_POLICY_FIFO = 1
+ PUBLISHER_POLICY_SKIP = 2
+ PUBLISHER_POLICY_NEW = 3
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # 本 Publisher 用新規スレッドを生成する。
+ #
+ # @param self
+ # @param consumer データ送出を待つコンシューマ
+ # @param property 本Publisherの駆動制御情報を設定したPropertyオブジェクト
+ # (本Publisherでは未使用)
+ # @else
+ # @brief Constructor
+ # @endif
+ def __init__(self):
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("PublisherNew")
+ self._consumer = None
+ self._buffer = None
+ self._task = None
+ self._retcode = self.PORT_OK
+ self._retmutex = threading.RLock()
+ self._pushPolicy = self.PUBLISHER_POLICY_NEW
+ self._skipn = 0
+ self._active = False
+ self._leftskip = 0
+ self._profile = None
+ self._listeners = None
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ #
+ # @endif
+ def __del__(self):
+ self._rtcout.RTC_TRACE("~PublisherNew()")
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @param self
+ #
+ # @else
+ # @brief
+ # @endif
+ def exit(self):
+ self._rtcout.RTC_TRACE("exit()")
+ if self._task:
+ self._task.resume()
+ self._task.finalize()
+
+ #del self._task
+ self._rtcout.RTC_PARANOID("task deleted.")
+
+ # "consumer" should be deleted in the Connector
+ self._consumer = None
+ # "buffer" should be deleted in the Connector
+ self._buffer = None
+ return
+
+
+ ##
+ # @if jp
+ # @brief PushPolicy の設定
+ # @else
+ # @brief Setting PushPolicy
+ # @endif
+ #
+ # void PublisherNew::setPushPolicy(const coil::Properties& prop)
+ def setPushPolicy(self, prop):
+ push_policy = prop.getProperty("publisher.push_policy", "new")
+ self._rtcout.RTC_DEBUG("push_policy: %s", push_policy)
+
+ push_policy = OpenRTM_aist.normalize(push_policy)
+
+ if push_policy == "all":
+ self._pushPolicy = self.PUBLISHER_POLICY_ALL
+
+ elif push_policy == "fifo":
+ self._pushPolicy = self.PUBLISHER_POLICY_FIFO
+
+ elif push_policy == "skip":
+ self._pushPolicy = self.PUBLISHER_POLICY_SKIP
+
+ elif push_policy == "new":
+ self._pushPolicy = self.PUBLISHER_POLICY_NEW
+
+ else:
+ self._rtcout.RTC_ERROR(
+ "invalid push_policy value: %s", push_policy)
+ self._pushPolicy = self.PUBLISHER_POLICY_NEW
+
+ skip_count = prop.getProperty("publisher.skip_count", "0")
+ self._rtcout.RTC_DEBUG("skip_count: %s", skip_count)
+
+ skipn = self._skipn
+ ret, skipn = OpenRTM_aist.stringTo(skipn, skip_count)
+ if ret:
+ self._skipn = skipn
+ else:
+ self._rtcout.RTC_ERROR("invalid skip_count value: %s", skip_count)
+ self._skipn = 0
+
+ if self._skipn < 0:
+ self._rtcout.RTC_ERROR("invalid skip_count value: %d", self._skipn)
+ self._skipn = 0
+
+ return
+
+ ##
+ # @if jp
+ # @brief Task の設定
+ # @else
+ # @brief Setting Task
+ # @endif
+ #
+ # bool PublisherNew::createTask(const coil::Properties& prop)
+ def createTask(self, prop):
+ factory = OpenRTM_aist.PeriodicTaskFactory.instance()
+
+ th = factory.getIdentifiers()
+ self._rtcout.RTC_DEBUG(
+ "available task types: %s",
+ OpenRTM_aist.flatten(th))
+
+ self._task = factory.createObject(
+ prop.getProperty("thread_type", "default"))
+
+ if not self._task:
+ self._rtcout.RTC_ERROR("Task creation failed: %s",
+ prop.getProperty("thread_type", "default"))
+ return self.INVALID_ARGS
+
+ self._rtcout.RTC_PARANOID("Task creation succeeded.")
+
+ mprop = prop.getNode("measurement")
+
+ # setting task function
+ self._task.setTask(self.svc)
+ self._task.setPeriod(0.0)
+ self._task.executionMeasure(OpenRTM_aist.toBool(mprop.getProperty("exec_time"),
+ "enable", "disable", True))
+ ecount = 0
+ ret, ecount = OpenRTM_aist.stringTo(
+ ecount, mprop.getProperty("exec_count"))
+ if ret:
+ self._task.executionMeasureCount(ecount)
+
+ self._task.periodicMeasure(OpenRTM_aist.toBool(mprop.getProperty("period_time"),
+ "enable", "disable", True))
+ pcount = 0
+ ret, pcount = OpenRTM_aist.stringTo(
+ pcount, mprop.getProperty("period_count"))
+ if ret:
+ self._task.periodicMeasureCount(pcount)
+
+ self._task.suspend()
+ self._task.activate()
+ self._task.suspend()
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief 初期化
+ #
+ # このクラスのオブジェクトを使用するのに先立ち、必ずこの関数を呼び
+ # 出す必要がある。引数には、このオブジェクトの各種設定情報を含む
+ # Properties を与える。データをプッシュする際のポリシーとして
+ # publisher.push_policy をキーとする値に、all, fifo, skip, new の
+ # いずれかを与えることができる。
+ #
+ # 以下のオプションを与えることができる。
+ #
+ # - thread_type: スレッドのタイプ (文字列、デフォルト: default)
+ # - publisher.push_policy: Pushポリシー (all, fifo, skip, new)
+ # - publisher.skip_count: 上記ポリシが skip のときのスキップ数
+ # - measurement.exec_time: タスク実行時間計測 (enable/disable)
+ # - measurement.exec_count: タスク関数実行時間計測周期 (数値, 回数)
+ # - measurement.period_time: タスク周期時間計測 (enable/disable)
+ # - measurement.period_count: タスク周期時間計測周期 (数値, 回数)
+ #
+ # @param property 本Publisherの駆動制御情報を設定したPropertyオブジェクト
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS Properties が不正な値を含む
+ #
+ # @else
+ # @brief Initialization
+ #
+ # This function have to be called before using this class object.
+ # Properties object that includes certain configuration
+ # information should be given as an argument. all, fifo, skip,
+ # new can be given as a data push policy in a value of the key
+ # "publisher.push_policy."
+ #
+ # The following options are available.
+ #
+ # - thread_type: Thread type (string, default: default)
+ # - publisher.push_policy: Push policy (all, fifo, skip, new)
+ # - publisher.skip_count: The number of skip count in the "skip" policy
+ # - measurement.exec_time: Task execution time measurement (enable/disable)
+ # - measurement.exec_count: Task execution time measurement count
+ # (numerical, number of times)
+ # - measurement.period_time: Task period time measurement (enable/disable)
+ # - measurement.period_count: Task period time measurement count
+ # (number, count)
+ #
+ # @param property Property objects that includes the control information
+ # of this Publisher
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS Properties with invalid values.
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherNew::init(coil::Properties& prop)
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self.setPushPolicy(prop)
+ return self.createTask(prop)
+
+ ##
+ # @if jp
+ # @brief InPortコンシューマのセット
+ #
+ # この関数では、この Publisher に関連付けられるコンシューマをセットする。
+ # コンシューマオブジェクトがヌルポインタの場合、INVALID_ARGSが返される。
+ # それ以外の場合は、PORT_OK が返される。
+ #
+ # @param consumer Consumer へのポインタ
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS 引数に不正な値が含まれている
+ #
+ # @else
+ # @brief Store InPort consumer
+ #
+ # This operation sets a consumer that is associated with this
+ # object. If the consumer object is NULL, INVALID_ARGS will be
+ # returned.
+ #
+ # @param consumer A pointer to a consumer object.
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS given argument has invalid value
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherNew::setConsumer(InPortConsumer*
+ # consumer)
+ def setConsumer(self, consumer):
+ self._rtcout.RTC_TRACE("setConsumer()")
+
+ if not consumer:
+ self._rtcout.RTC_ERROR(
+ "setConsumer(consumer = None): invalid argument.")
+ return self.INVALID_ARGS
+
+ self._consumer = consumer
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief バッファのセット
+ #
+ # この関数では、この Publisher に関連付けられるバッファをセットする。
+ # バッファオブジェクトがヌルポインタの場合、INVALID_ARGSが返される。
+ # それ以外の場合は、PORT_OK が返される。
+ #
+ # @param buffer CDR buffer へのポインタ
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS 引数に不正な値が含まれている
+ #
+ # @else
+ # @brief Setting buffer pointer
+ #
+ # This operation sets a buffer that is associated with this
+ # object. If the buffer object is NULL, INVALID_ARGS will be
+ # returned.
+ #
+ # @param buffer A pointer to a CDR buffer object.
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS given argument has invalid value
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherNew::setBuffer(CdrBufferBase* buffer)
+ def setBuffer(self, buffer):
+ self._rtcout.RTC_TRACE("setBuffer()")
+
+ if not buffer:
+ self._rtcout.RTC_ERROR("setBuffer(buffer == None): invalid argument")
+ return self.INVALID_ARGS
+
+ self._buffer = buffer
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief リスナを設定する。
+ #
+ # Publisher に対してリスナオブジェクト ConnectorListeners を設定する。
+ # 各種リスナオブジェクトを含む ConnectorListeners をセットすることで、
+ # バッファの読み書き、データの送信時等にこれらのリスナをコールする。
+ # ConnectorListeners オブジェクトの所有権はポートまたは RTObject が持ち
+ # Publisher 削除時に ConnectorListeners は削除されることはない。
+ # ConnectorListeners がヌルポインタの場合 INVALID_ARGS を返す。
+ #
+ # @param info ConnectorProfile をローカル化したオブジェクト ConnectorInfo
+ # @param listeners リスナを多数保持する ConnectorListeners オブジェクト
+ # @return PORT_OK 正常終了
+ # INVALID_ARGS 不正な引数
+ # @else
+ # @brief Set the listener.
+ #
+ # This function sets ConnectorListeners listener object to the
+ # Publisher. By setting ConnectorListeners containing various
+ # listeners objects, these listeners are called at the time of
+ # reading and writing of a buffer, and transmission of data
+ # etc. Since the ownership of the ConnectorListeners object is
+ # owned by Port or RTObject, the Publisher never deletes the
+ # ConnectorListeners object. If the given ConnectorListeners'
+ # pointer is NULL, this function returns INVALID_ARGS.
+ #
+ # @param info ConnectorInfo that is localized object of ConnectorProfile
+ # @param listeners ConnectorListeners that holds various listeners
+ # @return PORT_OK Normal return
+ # INVALID_ARGS Invalid arguments
+ # @endif
+ #
+ # virtual ReturnCode setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners);
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListener()")
+
+ if not listeners:
+ self._rtcout.RTC_ERROR(
+ "setListeners(listeners == None): invalid argument")
+ return self.INVALID_ARGS
+
+ self._profile = info
+ self._listeners = listeners
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief データを書き込む
+ #
+ # Publisher が保持するバッファに対してデータを書き込む。コンシュー
+ # マ、バッファ、リスナ等が適切に設定されていない等、Publisher オブ
+ # ジェクトが正しく初期化されていない場合、この関数を呼び出すとエラー
+ # コード PRECONDITION_NOT_MET が返され、バッファへの書き込み等の操
+ # 作は一切行われない。
+ #
+ # バッファへの書き込みと、InPortへのデータの送信は非同期的に行われ
+ # るため、この関数は、InPortへのデータ送信の結果を示す、
+ # CONNECTION_LOST, BUFFER_FULL などのリターンコードを返すことがあ
+ # る。この場合、データのバッファへの書き込みは行われない。
+ #
+ # バッファへの書き込みに対して、バッファがフル状態、バッファのエ
+ # ラー、バッファへの書き込みがタイムアウトした場合、バッファの事前
+ # 条件が満たされない場合にはそれぞれ、エラーコード BUFFER_FULL,
+ # BUFFER_ERROR, BUFFER_TIMEOUT, PRECONDITION_NOT_MET が返される。
+ #
+ # これら以外のエラーの場合、PORT_ERROR が返される。
+ #
+ #
+ # @param data 書き込むデータ
+ # @param sec タイムアウト時間
+ # @param nsec タイムアウト時間
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NO_MET consumer, buffer, listener等が適切に設定
+ # されていない等、このオブジェクトの事前条件
+ # を満たさない場合。
+ # CONNECTION_LOST 接続が切断されたことを検知した。
+ # BUFFER_FULL バッファがフル状態である。
+ # BUFFER_ERROR バッファに何らかのエラーが生じた場合。
+ # NOT_SUPPORTED サポートされない操作が行われた。
+ # TIMEOUT タイムアウトした。
+ #
+ # @else
+ # @brief Write data
+ #
+ # This function writes data into the buffer associated with this
+ # Publisher. If a Publisher object calls this function, without
+ # initializing correctly such as a consumer, a buffer, listeners,
+ # etc., error code PRECONDITION_NOT_MET will be returned and no
+ # operation of the writing to a buffer etc. will be performed.
+ #
+ # Since writing into the buffer and sending data to InPort are
+ # performed asynchronously, occasionally this function returns
+ # return-codes such as CONNECTION_LOST and BUFFER_FULL that
+ # indicate the result of sending data to InPort. In this case,
+ # writing data into buffer will not be performed.
+ #
+ # When publisher writes data to the buffer, if the buffer is
+ # filled, returns error, is returned with timeout and returns
+ # precondition error, error codes BUFFER_FULL, BUFFER_ERROR,
+ # BUFFER_TIMEOUT and PRECONDITION_NOT_MET will be returned
+ # respectively.
+ #
+ # In other cases, PROT_ERROR will be returned.
+ #
+ # @param data Data to be wrote to the buffer
+ # @param sec Timeout time in unit seconds
+ # @param nsec Timeout time in unit nano-seconds
+ # @return PORT_OK Normal return
+ # PRECONDITION_NO_MET Precondition does not met. A consumer,
+ # a buffer, listenes are not set properly.
+ # CONNECTION_LOST detected that the connection has been lost
+ # BUFFER_FULL The buffer is full status.
+ # BUFFER_ERROR Some kind of error occurred in the buffer.
+ # NOT_SUPPORTED Some kind of operation that is not supported
+ # has been performed.
+ # TIMEOUT Timeout occurred when writing to the buffer.
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherNew::write(const cdrMemoryStream& data,
+ # unsigned long sec,
+ # unsigned long usec)
+ def write(self, data, sec, usec):
+ self._rtcout.RTC_PARANOID("write()")
+
+ if not self._consumer or not self._buffer or not self._listeners:
+ return self.PRECONDITION_NOT_MET
+
+ if self._retcode == self.CONNECTION_LOST:
+ self._rtcout.RTC_DEBUG("write(): connection lost.")
+ return self._retcode
+
+ if self._retcode == self.SEND_FULL:
+ self._rtcout.RTC_DEBUG("write(): InPort buffer is full.")
+ ret = self._buffer.write(data, sec, usec)
+ self._task.signal()
+ return self.BUFFER_FULL
+
+ # why?
+ #assert(self._buffer != 0)
+
+ self.onBufferWrite(data)
+ ret = self._buffer.write(data, sec, usec)
+
+ self._task.signal()
+ self._rtcout.RTC_DEBUG("%s = write()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+
+ return self.convertReturn(ret, data)
+
+ ##
+ # @if jp
+ #
+ # @brief アクティブ化確認
+ #
+ # Publisher はデータポートと同期して activate/deactivate される。
+ # activate() / deactivate() 関数によって、アクティブ状態と非アクティ
+ # ブ状態が切り替わる。この関数により、現在アクティブ状態か、非アク
+ # ティブ状態かを確認することができる。
+ #
+ # @return 状態確認結果(アクティブ状態:true、非アクティブ状態:false)
+ #
+ # @else
+ #
+ # @brief If publisher is active state
+ #
+ # A Publisher can be activated/deactivated synchronized with the
+ # data port. The active state and the non-active state are made
+ # transition by the "activate()" and the "deactivate()" functions
+ # respectively. This function confirms if the publisher is in
+ # active state.
+ #
+ # @return Result of state confirmation
+ # (Active state:true, Inactive state:false)
+ #
+ # @endif
+ #
+ # bool PublisherNew::isActive()
+ def isActive(self):
+ return self._active
+
+ ##
+ # @if jp
+ # @brief アクティブ化する
+ #
+ # Publisher をアクティブ化する。この関数を呼び出すことにより、
+ # Publisherが持つ、データを送信するスレッドが動作を開始する。初期
+ # 化が行われていないなどにより、事前条件を満たさない場合、エラーコー
+ # ド PRECONDITION_NOT_MET を返す。
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ #
+ # @else
+ # @brief activation
+ #
+ # This function activates the publisher. By calling this
+ # function, this publisher starts the thread that pushes data to
+ # InPort. If precondition such as initialization process and so
+ # on is not met, the error code PRECONDITION_NOT_MET is returned.
+ #
+ # @return PORT_OK normal return
+ # PRECONDITION_NOT_MET precondition is not met
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherNew::activate()
+ def activate(self):
+ self._active = True
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化する
+ #
+ # Publisher を非アクティブ化する。この関数を呼び出すことにより、
+ # Publisherが持つ、データを送信するスレッドが動作を停止する。初期
+ # 化が行われていないなどにより、事前条件を満たさない場合、エラーコー
+ # ド PRECONDITION_NOT_MET を返す。
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ #
+ # @else
+ # @brief deactivation
+ #
+ # This function deactivates the publisher. By calling this
+ # function, this publisher stops the thread that pushes data to
+ # InPort. If precondition such as initialization process and so
+ # on is not met, the error code PRECONDITION_NOT_MET is returned.
+ #
+ # @return PORT_OK normal return
+ # PRECONDITION_NOT_MET precondition is not met
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherNew::deactivate()
+ def deactivate(self):
+ self._active = False
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief スレッド実行関数
+ #
+ # coil::PeriodicTask により周期実行されるタスク実行関数。
+ #
+ # @else
+ # @brief Thread execution function
+ #
+ # A task execution function to be executed by coil::PeriodicTask.
+ #
+ # @endif
+ #
+ # int PublisherNew::svc(void)
+ def svc(self):
+ guard = OpenRTM_aist.ScopedLock(self._retmutex)
+
+ if self._pushPolicy == self.PUBLISHER_POLICY_ALL:
+ self._retcode = self.pushAll()
+ return 0
+ elif self._pushPolicy == self.PUBLISHER_POLICY_FIFO:
+ self._retcode = self.pushFifo()
+ return 0
+ elif self._pushPolicy == self.PUBLISHER_POLICY_SKIP:
+ self._retcode = self.pushSkip()
+ return 0
+ elif self._pushPolicy == self.PUBLISHER_POLICY_NEW:
+ self._retcode = self.pushNew()
+ return 0
+ else:
+ self._retcode = self.pushNew()
+
+ return 0
+
+ ##
+ # @brief push all policy
+ #
+ # PublisherNew::ReturnCode PublisherNew::pushAll()
+ def pushAll(self):
+ self._rtcout.RTC_TRACE("pushAll()")
+ try:
+
+ while self._buffer.readable() > 0:
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+
+ if ret != self.PORT_OK:
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+ cdr = self.onReceived(cdr)
+
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
+ ##
+ # @brief push "fifo" policy
+ #
+ # PublisherNew::ReturnCode PublisherNew::pushFifo()
+
+ def pushFifo(self):
+ self._rtcout.RTC_TRACE("pushFifo()")
+
+ try:
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+
+ if ret != self.PORT_OK:
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+ cdr = self.onReceived(cdr)
+
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
+ ##
+ # @brief push "skip" policy
+ #
+ # PublisherNew::ReturnCode PublisherNew::pushSkip()
+
+ def pushSkip(self):
+ self._rtcout.RTC_TRACE("pushSkip()")
+ try:
+ ret = self.PORT_OK
+
+ preskip = self._buffer.readable() + self._leftskip
+ loopcnt = preskip / (self._skipn + 1)
+ postskip = self._skipn - self._leftskip
+
+ for i in range(int(loopcnt)):
+ self._buffer.advanceRptr(postskip)
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+ if ret != self.PORT_OK:
+ self._buffer.advanceRptr(-postskip)
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+
+ cdr = self.onReceived(cdr)
+ postskip = self._skipn + 1
+
+ self._buffer.advanceRptr(self._buffer.readable())
+
+ if loopcnt == 0:
+ # Not put
+ self._leftskip = preskip % (self._skipn + 1)
+ else:
+ if self._retcode != self.PORT_OK:
+ # put Error after
+ self._leftskip = 0
+ else:
+ # put OK after
+ self._leftskip = preskip % (self._skipn + 1)
+
+ return ret
+
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
+ ##
+ # @brief push "new" policy
+ #
+ # PublisherNew::ReturnCode PublisherNew::pushNew()
+
+ def pushNew(self):
+ self._rtcout.RTC_TRACE("pushNew()")
+ try:
+ self._buffer.advanceRptr(self._buffer.readable() - 1)
+
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+
+ if ret != self.PORT_OK:
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+
+ cdr = self.onReceived(cdr)
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK
+
+ except BaseException:
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ return self.CONNECTION_LOST
+
+ ##
+ # @if jp
+ # @brief BufferStatus から DataPortStatus への変換
+ #
+ # バッファからの戻り値を DataPortStatus::Enum 型へ変換する関数。そ
+ # れぞれ、以下のように変換される。変換時にコールバックを呼ぶ場合、
+ # コールバク関数も付記する。
+ #
+ # - BUFFER_OK: PORT_OK
+ # - None
+ # - BUFFER_ERROR: BUFFER_ERROR
+ # - None
+ # - BUFFER_FULL: BUFFER_FULL
+ # - onBufferFull()
+ # - NOT_SUPPORTED: PORT_ERROR
+ # - None
+ # - TIMEOUT: BUFFER_TIMEOUT
+ # - onBufferWriteTimeout()
+ # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
+ # - None
+ # - other: PORT_ERROR
+ # - None
+ #
+ # @param status BufferStatus
+ # @param data cdrMemoryStream
+ # @return DataPortStatu 型のリターンコード
+ #
+ # @else
+ # @brief Convertion from BufferStatus to DataPortStatus
+ #
+ # This function converts return value from the buffer to
+ # DataPortStatus::Enum typed return value. The conversion rule is
+ # as follows. Callback functions are also shown, if it exists.
+ #
+ # - BUFFER_OK: PORT_OK
+ # - None
+ # - BUFFER_ERROR: BUFFER_ERROR
+ # - None
+ # - BUFFER_FULL: BUFFER_FULL
+ # - onBufferFull()
+ # - NOT_SUPPORTED: PORT_ERROR
+ # - None
+ # - TIMEOUT: BUFFER_TIMEOUT
+ # - onBufferWriteTimeout()
+ # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
+ # - None
+ # - other: PORT_ERROR
+ # - None
+ #
+ # @param status BufferStatus
+ # @param data cdrMemoryStream
+ # @return DataPortStatus typed return code
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode
+ # PublisherNew::convertReturn(BufferStatus::Enum status,
+ # const cdrMemoryStream& data)
+
+ def convertReturn(self, status, data):
+ ##
+ # BufferStatus -> DataPortStatus
+ #
+ # BUFFER_OK -> PORT_OK
+ # BUFFER_ERROR -> BUFFER_ERROR
+ # BUFFER_FULL -> BUFFER_FULL
+ # NOT_SUPPORTED -> PORT_ERROR
+ # TIMEOUT -> BUFFER_TIMEOUT
+ # PRECONDITION_NOT_MET -> PRECONDITION_NOT_MET
+ ##
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ return self.PORT_OK
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ return self.BUFFER_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ self.onBufferFull(data)
+ return self.BUFFER_FULL
+
+ elif status == OpenRTM_aist.BufferStatus.NOT_SUPPORTED:
+ return self.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ self.onBufferWriteTimeout(data)
+ return self.BUFFER_TIMEOUT
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ return self.PRECONDITION_NOT_MET
+
+ else:
+ return self.PORT_ERROR
+
+ ##
+ # @if jp
+ # @brief DataPortStatusに従ってリスナへ通知する関数を呼び出す。
+ #
+ # @param status DataPortStatus
+ # @param data cdrMemoryStream
+ # @return リターンコード
+ #
+ # @else
+ # @brief Call listeners according to the DataPortStatus
+ #
+ # @param status DataPortStatus
+ # @param data cdrMemoryStream
+ # @return Return code
+ #
+ # @endif
+ #
+ # PublisherNew::ReturnCode
+ # PublisherNew::invokeListener(DataPortStatus::Enum status,
+ # const cdrMemoryStream& data)
+ def invokeListener(self, status, data):
+ # ret:
+ # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
+ # UNKNOWN_ERROR
+ if status == self.PORT_ERROR:
+ self.onReceiverError(data)
+ return self.PORT_ERROR
+
+ elif status == self.SEND_FULL:
+ self.onReceiverFull(data)
+ return self.SEND_FULL
+
+ elif status == self.SEND_TIMEOUT:
+ self.onReceiverTimeout(data)
+ return self.SEND_TIMEOUT
+
+ elif status == self.CONNECTION_LOST:
+ self.onReceiverError(data)
+ return self.CONNECTION_LOST
+
+ elif status == self.UNKNOWN_ERROR:
+ self.onReceiverError(data)
+ return self.UNKNOWN_ERROR
+
else:
- # put OK after
- self._leftskip = preskip % (self._skipn + 1)
-
- return ret
-
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
- ##
- # @brief push "new" policy
- #
- # PublisherNew::ReturnCode PublisherNew::pushNew()
- def pushNew(self):
- self._rtcout.RTC_TRACE("pushNew()")
- try:
- self._buffer.advanceRptr(self._buffer.readable() - 1)
-
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
-
- if ret != self.PORT_OK:
- self._rtcout.RTC_DEBUG("%s = consumer.put()", OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
-
- self.onReceived(cdr)
- self._buffer.advanceRptr()
-
- return self.PORT_OK
-
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return self.CONNECTION_LOST
-
-
-
- ##
- # @if jp
- # @brief BufferStatus DataPortStatus ؤѴ
- #
- # Хåեͤ DataPortStatus::Enum Ѵؿ
- # 줾졢ʲΤ褦Ѵ롣Ѵ˥ХåƤ־硢
- # Хؿյ롣
- #
- # - BUFFER_OK: PORT_OK
- # - None
- # - BUFFER_ERROR: BUFFER_ERROR
- # - None
- # - BUFFER_FULL: BUFFER_FULL
- # - onBufferFull()
- # - NOT_SUPPORTED: PORT_ERROR
- # - None
- # - TIMEOUT: BUFFER_TIMEOUT
- # - onBufferWriteTimeout()
- # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
- # - None
- # - other: PORT_ERROR
- # - None
- #
- # @param status BufferStatus
- # @param data cdrMemoryStream
- # @return DataPortStatu Υ
- #
- # @else
- # @brief Convertion from BufferStatus to DataPortStatus
- #
- # This function converts return value from the buffer to
- # DataPortStatus::Enum typed return value. The conversion rule is
- # as follows. Callback functions are also shown, if it exists.
- #
- # - BUFFER_OK: PORT_OK
- # - None
- # - BUFFER_ERROR: BUFFER_ERROR
- # - None
- # - BUFFER_FULL: BUFFER_FULL
- # - onBufferFull()
- # - NOT_SUPPORTED: PORT_ERROR
- # - None
- # - TIMEOUT: BUFFER_TIMEOUT
- # - onBufferWriteTimeout()
- # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
- # - None
- # - other: PORT_ERROR
- # - None
- #
- # @param status BufferStatus
- # @param data cdrMemoryStream
- # @return DataPortStatus typed return code
- #
- # @endif
- #
- # PublisherBase::ReturnCode
- # PublisherNew::convertReturn(BufferStatus::Enum status,
- # const cdrMemoryStream& data)
- def convertReturn(self, status, data):
+ self.onReceiverError(data)
+ return self.PORT_ERROR
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_WRITEのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_WRITE event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferWrite(const cdrMemoryStream& data)
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_FULLリスナへイベントを通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_FULL event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferFull(const cdrMemoryStream& data)
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_WRITE_TIMEOUTのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferWriteTimeout(const cdrMemoryStream& data)
+ def onBufferWriteTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_OVERWRITEのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_OVERWRITE event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
+ def onBufferWriteOverwrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_READのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_READ event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferRead(const cdrMemoryStream& data)
+ def onBufferRead(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
##
- # BufferStatus -> DataPortStatus
- #
- # BUFFER_OK -> PORT_OK
- # BUFFER_ERROR -> BUFFER_ERROR
- # BUFFER_FULL -> BUFFER_FULL
- # NOT_SUPPORTED -> PORT_ERROR
- # TIMEOUT -> BUFFER_TIMEOUT
- # PRECONDITION_NOT_MET -> PRECONDITION_NOT_MET
+ # @if jp
+ # @brief ON_SENDのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_SEND event to listners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onSend(const cdrMemoryStream& data)
+ def onSend(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVEDのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVED event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceived(const cdrMemoryStream& data)
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_FULLのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_FULL event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverFull(const cdrMemoryStream& data)
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
+
##
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- return self.PORT_OK
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- return self.BUFFER_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- self.onBufferFull(data)
- return self.BUFFER_FULL
-
- elif status == OpenRTM_aist.BufferStatus.NOT_SUPPORTED:
- return self.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferWriteTimeout(data)
- return self.BUFFER_TIMEOUT
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- return self.PRECONDITION_NOT_MET
-
- else:
- return self.PORT_ERROR
-
- ##
- # @if jp
- # @brief DataPortStatus˽äƥꥹʤΤؿƤӽФ
- #
- # @param status DataPortStatus
- # @param data cdrMemoryStream
- # @return
- #
- # @else
- # @brief Call listeners according to the DataPortStatus
- #
- # @param status DataPortStatus
- # @param data cdrMemoryStream
- # @return Return code
- #
- # @endif
- #
- # PublisherNew::ReturnCode
- # PublisherNew::invokeListener(DataPortStatus::Enum status,
- # const cdrMemoryStream& data)
- def invokeListener(self, status, data):
- # ret:
- # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
- # UNKNOWN_ERROR
- if status == self.PORT_ERROR:
- self.onReceiverError(data)
- return self.PORT_ERROR
-
- elif status == self.SEND_FULL:
- self.onReceiverFull(data)
- return self.SEND_FULL
-
- elif status == self.SEND_TIMEOUT:
- self.onReceiverTimeout(data)
- return self.SEND_TIMEOUT
-
- elif status == self.CONNECTION_LOST:
- self.onReceiverError(data)
- return self.CONNECTION_LOST
-
- elif status == self.UNKNOWN_ERROR:
- self.onReceiverError(data)
- return self.UNKNOWN_ERROR
-
- else:
- self.onReceiverError(data)
- return self.PORT_ERROR
-
- ##
- # @if jp
- # @brief ON_BUFFER_WRITEΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_WRITE event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_FULLꥹʤإ٥ȤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_FULL event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_WRITE_TIMEOUTΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferWriteTimeout(const cdrMemoryStream& data)
- def onBufferWriteTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_OVERWRITEΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_OVERWRITE event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferWriteOverwrite(const cdrMemoryStream& data)
- def onBufferWriteOverwrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_READΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_READ event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferRead(const cdrMemoryStream& data)
- def onBufferRead(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_SENDΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_SEND event to listners
- # @param data cdrMemoryStream
- # @endif
- #
- #inline void onSend(const cdrMemoryStream& data)
- def onSend(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVEDΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVED event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_FULLΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_FULL event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_TIMEOUTΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_TIMEOUT event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverTimeout(const cdrMemoryStream& data)
- def onReceiverTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_ERRORΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_ERROR event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverError(const cdrMemoryStream& data)
- def onReceiverError(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_ERRORΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_SENDER_ERROR event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
- return
+ # @if jp
+ # @brief ON_RECEIVER_TIMEOUTのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_TIMEOUT event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverTimeout(const cdrMemoryStream& data)
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_ERRORのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_ERROR event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverError(const cdrMemoryStream& data)
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_ERRORのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_SENDER_ERROR event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onSenderError()
+ def onSenderError(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
+ return
def PublisherNewInit():
- OpenRTM_aist.PublisherFactory.instance().addFactory("new",
- OpenRTM_aist.PublisherNew,
- OpenRTM_aist.Delete)
- OpenRTM_aist.PublisherFactory.instance().addFactory("nonblock",
- OpenRTM_aist.PublisherNew,
- OpenRTM_aist.Delete)
+ OpenRTM_aist.PublisherFactory.instance().addFactory("new",
+ OpenRTM_aist.PublisherNew)
+ OpenRTM_aist.PublisherFactory.instance().addFactory("nonblock",
+ OpenRTM_aist.PublisherNew)
diff --git a/OpenRTM_aist/PublisherPeriodic.py b/OpenRTM_aist/PublisherPeriodic.py
index 8e6f6c4f..4b68bba6 100644
--- a/OpenRTM_aist/PublisherPeriodic.py
+++ b/OpenRTM_aist/PublisherPeriodic.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
# @file PublisherPeriodic.py
@@ -24,12 +24,12 @@
##
# @if jp
# @class PublisherPeriodic
-# @brief PublisherPeriodic 饹
+# @brief PublisherPeriodic クラス
#
-# Ū˥ǡ뤿 Publisher 饹Υ饹ϡ
-# Connector ˤäơХåեӥ塼ޤ˴Ϣդ
-# 롣Ȥ˥ХåեǡФ塼ޤФ
-# ǡФ롣
+# 周期的にデータを送信するための Publisher クラス。このクラスは、通
+# 常 Connector 内にあって、バッファおよびコンシューマに関連付けられ
+# る。一定周期ごとにバッファからデータを取り出しコンシューマに対して
+# データを送出する。
#
# @else
# @class PublisherPeriodic
@@ -43,1059 +43,1098 @@
# @endif
#
class PublisherPeriodic(OpenRTM_aist.PublisherBase):
- """
- """
-
- # Policy
- PUBLISHER_POLICY_ALL = 0
- PUBLISHER_POLICY_FIFO = 1
- PUBLISHER_POLICY_SKIP = 2
- PUBLISHER_POLICY_NEW = 3
-
- ##
- # @if jp
- # @brief ȥ饯
- #
- # ȥ饯
- # нθƤӽФֳ֤Property֥Ȥdataport.push_rate
- # ꤷƤɬפ롣дֳ֤ϡHzñ̤ưʸǻꡣ
- # ȤС1000.0Hzξϡ1000.0פꡣ
- # 嵭ץѥƥ̤ξϡ1000Hzפꡣ
- #
- # @param self
- # @param consumer ǡФԤĥ塼
- # @param property PublisherζưꤷProperty֥
- #
- # @else
- # @brief Constructor
- # @endif
- def __init__(self):
- self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("PublisherPeriodic")
- self._consumer = None
- self._buffer = None
- self._task = None
- self._retcode = self.PORT_OK
- self._retmutex = threading.RLock()
- self._pushPolicy = self.PUBLISHER_POLICY_NEW
- self._skipn = 0
- self._active = False
- self._readback = False
- self._leftskip = 0
- self._profile = None
- self._listeners = None
-
- return
-
- ##
- # @if jp
- # @brief ǥȥ饯
- #
- # ǥȥ饯
- #
- # @param self
- #
- # @else
- # @brief Destructor
- # @endif
- def __del__(self):
- self._rtcout.RTC_TRACE("~PublisherPeriodic()")
- if self._task:
- self._task.resume()
- self._task.finalize()
- self._rtcout.RTC_PARANOID("task finalized.")
-
- OpenRTM_aist.PeriodicTaskFactory.instance().deleteObject(self._task)
- del self._task
- self._rtcout.RTC_PARANOID("task deleted.")
-
- # "consumer" should be deleted in the Connector
- self._consumer = None
- # "buffer" should be deleted in the Connector
- self._buffer = None
- return
-
- ##
- # @if jp
- # @brief PushPolicy
- # @else
- # @brief Setting PushPolicy
- # @endif
- #
- #void PublisherNew::setPushPolicy(const coil::Properties& prop)
- def setPushPolicy(self, prop):
- push_policy = prop.getProperty("publisher.push_policy","new")
- self._rtcout.RTC_DEBUG("push_policy: %s", push_policy)
-
- push_policy = OpenRTM_aist.normalize([push_policy])
-
- if push_policy == "all":
- self._pushPolicy = self.PUBLISHER_POLICY_ALL
-
- elif push_policy == "fifo":
- self._pushPolicy = self.PUBLISHER_POLICY_FIFO
-
- elif push_policy == "skip":
- self._pushPolicy = self.PUBLISHER_POLICY_SKIP
-
- elif push_policy == "new":
- self._pushPolicy = self.PUBLISHER_POLICY_NEW
-
- else:
- self._rtcout.RTC_ERROR("invalid push_policy value: %s", push_policy)
- self._pushPolicy = self.PUBLISHER_POLICY_NEW
-
- skip_count = prop.getProperty("publisher.skip_count","0")
- self._rtcout.RTC_DEBUG("skip_count: %s", skip_count)
-
- skipn = [self._skipn]
- ret = OpenRTM_aist.stringTo(skipn, skip_count)
- if ret:
- self._skipn = skipn[0]
- else:
- self._rtcout.RTC_ERROR("invalid skip_count value: %s", skip_count)
- self._skipn = 0
-
- if self._skipn < 0:
- self._rtcout.RTC_ERROR("invalid skip_count value: %d", self._skipn)
- self._skipn = 0
-
- return
-
- ##
- # @if jp
- # @brief Task
- # @else
- # @brief Setting Task
- # @endif
- #
- #bool PublisherNew::createTask(const coil::Properties& prop)
- def createTask(self, prop):
- factory = OpenRTM_aist.PeriodicTaskFactory.instance()
-
- th = factory.getIdentifiers()
- self._rtcout.RTC_DEBUG("available task types: %s", OpenRTM_aist.flatten(th))
-
- self._task = factory.createObject(prop.getProperty("thread_type", "default"))
- if not self._task:
- self._rtcout.RTC_ERROR("Task creation failed: %s",
- prop.getProperty("thread_type", "default"))
- return self.INVALID_ARGS
-
- self._rtcout.RTC_PARANOID("Task creation succeeded.")
-
- # setting task function
- self._task.setTask(self.svc)
-
- # Task execution rate
- rate = prop.getProperty("publisher.push_rate")
-
- if rate != "":
- hz = float(rate)
- if hz == 0:
- hz = 1000.0
- self._rtcout.RTC_DEBUG("Task period %f [Hz]", hz)
- else:
- hz = 1000.0
-
- self._task.setPeriod(1.0/hz)
-
- # Measurement setting
- mprop = prop.getNode("measurement")
-
- self._task.executionMeasure(OpenRTM_aist.toBool(mprop.getProperty("exec_time"),
- "enable", "disable", True))
-
- ecount = [0]
- if OpenRTM_aist.stringTo(ecount, mprop.getProperty("exec_count")):
- self._task.executionMeasureCount(ecount[0])
-
- self._task.periodicMeasure(OpenRTM_aist.toBool(mprop.getProperty("period_time"),
- "enable", "disable", True))
-
- pcount = [0]
- if OpenRTM_aist.stringTo(pcount, mprop.getProperty("period_count")):
- self._task.periodicMeasureCount(pcount[0])
-
- # Start task in suspended mode
- self._task.suspend()
- self._task.activate()
- self._task.suspend()
-
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief
- #
- # Υ饹Υ֥ȤѤΤΩɬδؿƤ
- # Фɬפ롣ˤϡΥ֥ȤγƼޤ
- # Properties Ϳ롣ʤȤ⡢нθƤӽФñ
- # Hz οͤȤ Property֥Ȥ publisher.push_rate
- # ȤǤꤹɬפ롣 5ms ʤ200Hzξ硢
- # 200.0 ꤹ롣 dataport.publisher.push_rate ̤ξ硢
- # false ֤롣ǡץå夹ݤΥݥꥷȤ
- # publisher.push_policy Ȥͤˡall, fifo, skip, new
- # 줫Ϳ뤳ȤǤ롣
- #
- # ʲΥץͿ뤳ȤǤ롣
- #
- # - publisher.thread_type: åɤΥ (ʸǥե: default)
- # - publisher.push_rate: Publisher ()
- # - publisher.push_policy: Pushݥꥷ (all, fifo, skip, new)
- # - publisher.skip_count: 嵭ݥꥷ skip ΤȤΥå
- # - measurement.exec_time: ¹Իַ¬ (enable/disable)
- # - measurement.exec_count: ؿ¹Իַ¬ (, )
- # - measurement.period_time: ַ¬ (enable/disable)
- # - measurement.period_count: ַ¬ (, )
- #
- # @param property PublisherζưꤷProperty֥
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS Properties ͤޤ
- #
- # @else
- # @brief Initialization
- #
- # This function have to be called before using this class object.
- # Properties object that includes certain configuration
- # information should be given as an argument. At least, a
- # numerical value of unit of Hz with the key of
- # "dataport.publisher.push_rate" has to be set to the Properties
- # object of argument. The value is the invocation cycle of data
- # sending process. In case of 5 ms period or 200 Hz, the value
- # should be set as 200.0. False will be returned, if there is no
- # value with the key of "dataport.publisher.push_rate".
- #
- # The following options are available.
- #
- # - publisher.thread_type: Thread type (string, default: default)
- # - publisher.push_rate: Publisher sending period (numberical)
- # - publisher.push_policy: Push policy (all, fifo, skip, new)
- # - publisher.skip_count: The number of skip count in the "skip" policy
- # - measurement.exec_time: Task execution time measurement (enable/disable)
- # - measurement.exec_count: Task execution time measurement count
- # (numerical, number of times)
- # - measurement.period_time: Task period time measurement (enable/disable)
- # - measurement.period_count: Task period time measurement count
- # (number, count)
- #
- # @param property Property objects that includes the control information
- # of this Publisher
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS Properties with invalid values.
- # @endif
- #
- # PublisherBase::ReturnCode PublisherPeriodic::init(coil::Properties& prop)
- def init(self, prop):
- self._rtcout.RTC_TRACE("init()")
- self.setPushPolicy(prop)
- return self.createTask(prop)
-
- ##
- # @if jp
- # @brief InPort塼ޤΥå
- #
- # δؿǤϡ Publisher ˴Ϣդ륳塼ޤåȤ롣
- # 塼ޥ֥Ȥ̥ݥξ硢INVALID_ARGS֤롣
- # ʳξϡPORT_OK ֤롣
- #
- # @param consumer Consumer ؤΥݥ
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS ͤޤޤƤ
- #
- # @else
- # @brief Store InPort consumer
- #
- # This operation sets a consumer that is associated with this
- # object. If the consumer object is NULL, INVALID_ARGS will be
- # returned.
- #
- # @param consumer A pointer to a consumer object.
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS given argument has invalid value
- #
- # @endif
- #
- # PublisherBase::ReturnCode
- # PublisherPeriodic::setConsumer(InPortConsumer* consumer)
- def setConsumer(self, consumer):
- self._rtcout.RTC_TRACE("setConsumer()")
-
- if not consumer:
- self._rtcout.RTC_ERROR("setConsumer(consumer = 0): invalid argument.")
- return self.INVALID_ARGS
-
- self._consumer = consumer
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ХåեΥå
- #
- # δؿǤϡ Publisher ˴ϢդХåեåȤ롣
- # Хåե֥Ȥ̥ݥξ硢INVALID_ARGS֤롣
- # ʳξϡPORT_OK ֤롣
- #
- # @param buffer CDR buffer ؤΥݥ
- # @return ReturnCode PORT_OK ｪλ
- # INVALID_ARGS ͤޤޤƤ
- #
- # @else
- # @brief Setting buffer pointer
- #
- # This operation sets a buffer that is associated with this
- # object. If the buffer object is NULL, INVALID_ARGS will be
- # returned.
- #
- # @param buffer A pointer to a CDR buffer object.
- # @return ReturnCode PORT_OK normal return
- # INVALID_ARGS given argument has invalid value
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherPeriodic::setBuffer(CdrBufferBase* buffer)
- def setBuffer(self, buffer):
- self._rtcout.RTC_TRACE("setBuffer()")
-
- if not buffer:
- self._rtcout.RTC_ERROR("setBuffer(buffer == 0): invalid argument")
- return self.INVALID_ARGS
-
- self._buffer = buffer
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ꥹʤꤹ롣
- #
- # Publisher Фƥꥹʥ֥ ConnectorListeners ꤹ롣
- # Ƽꥹʥ֥Ȥޤ ConnectorListeners åȤ뤳Ȥǡ
- # Хåեɤ߽ǡˤΥꥹʤ뤹롣
- # ConnectorListeners ֥ȤνͭϥݡȤޤ RTObject
- # Publisher ConnectorListeners Ϻ뤳ȤϤʤ
- # ConnectorListeners ̥ݥξ INVALID_ARGS ֤
- #
- # @param info ConnectorProfile 벽֥ ConnectorInfo
- # @param listeners ꥹʤ¿ݻ ConnectorListeners ֥
- # @return PORT_OK ｪλ
- # INVALID_ARGS ʰ
- # @else
- # @brief Set the listener.
- #
- # This function sets ConnectorListeners listener object to the
- # Publisher. By setting ConnectorListeners containing various
- # listeners objects, these listeners are called at the time of
- # reading and writing of a buffer, and transmission of data
- # etc. Since the ownership of the ConnectorListeners object is
- # owned by Port or RTObject, the Publisher never deletes the
- # ConnectorListeners object. If the given ConnectorListeners'
- # pointer is NULL, this function returns INVALID_ARGS.
- #
- # @param info ConnectorInfo that is localized object of ConnectorProfile
- # @param listeners ConnectorListeners that holds various listeners
- # @return PORT_OK Normal return
- # INVALID_ARGS Invalid arguments
- # @endif
- #
- #PublisherBase::ReturnCode
- #PublisherPeriodic::setListener(ConnectorInfo& info,
- # ConnectorListeners* listeners)
- def setListener(self, info, listeners):
- self._rtcout.RTC_TRACE("setListeners()")
-
- if not listeners:
- self._rtcout.RTC_ERROR("setListeners(listeners == 0): invalid argument")
- return self.INVALID_ARGS
-
- self._profile = info
- self._listeners = listeners
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ǡ
- #
- # Publisher ݻХåեФƥǡࡣ塼
- # ޡХåեꥹŬڤꤵƤʤPublisher
- # ȤƤʤ硢δؿƤӽФȥ顼
- # PRECONDITION_NOT_MET ֤졢Хåեؤν
- # ϰڹԤʤ
- #
- # ХåեؤνߤȡInPortؤΥǡƱŪ˹Ԥ
- # 뤿ᡢδؿϡInPortؤΥǡη̤
- # CONNECTION_LOST, BUFFER_FULL ʤɤΥɤ֤Ȥ
- # 롣ξ硢ǡΥХåեؤνߤϹԤʤ
- #
- # ХåեؤνߤФơХåեե֡ХåեΥ
- # 顼ХåեؤνߤॢȤ硢Хåեλ
- # 郎ʤˤϤ줾졢顼 BUFFER_FULL,
- # BUFFER_ERROR, BUFFER_TIMEOUT, PRECONDITION_NOT_MET ֤롣
- #
- # ʳΥ顼ξ硢PORT_ERROR ֤롣
- #
- #
- # @param data ǡ
- # @param sec ॢȻ
- # @param nsec ॢȻ
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NO_MET consumer, buffer, listenerŬڤ
- # ƤʤΥ֥Ȥλ
- # ʤ硣
- # CONNECTION_LOST ³Ǥ줿ȤΤ
- # BUFFER_FULL Хåեե֤Ǥ롣
- # BUFFER_ERROR Хåե˲餫Υ顼硣
- # NOT_SUPPORTED ݡȤʤԤ줿
- # TIMEOUT ॢȤ
- #
- # @else
- # @brief Write data
- #
- # This function writes data into the buffer associated with this
- # Publisher. If a Publisher object calls this function, without
- # initializing correctly such as a consumer, a buffer, listeners,
- # etc., error code PRECONDITION_NOT_MET will be returned and no
- # operation of the writing to a buffer etc. will be performed.
- #
- # Since writing into the buffer and sending data to InPort are
- # performed asynchronously, occasionally this function returns
- # return-codes such as CONNECTION_LOST and BUFFER_FULL that
- # indicate the result of sending data to InPort. In this case,
- # writing data into buffer will not be performed.
- #
- # When publisher writes data to the buffer, if the buffer is
- # filled, returns error, is returned with timeout and returns
- # precondition error, error codes BUFFER_FULL, BUFFER_ERROR,
- # BUFFER_TIMEOUT and PRECONDITION_NOT_MET will be returned
- # respectively.
- #
- # In other cases, PROT_ERROR will be returned.
- #
- # @param data Data to be wrote to the buffer
- # @param sec Timeout time in unit seconds
- # @param nsec Timeout time in unit nano-seconds
- # @return PORT_OK Normal return
- # PRECONDITION_NO_MET Precondition does not met. A consumer,
- # a buffer, listenes are not set properly.
- # CONNECTION_LOST detected that the connection has been lost
- # BUFFER_FULL The buffer is full status.
- # BUFFER_ERROR Some kind of error occurred in the buffer.
- # NOT_SUPPORTED Some kind of operation that is not supported
- # has been performed.
- # TIMEOUT Timeout occurred when writing to the buffer.
- #
- # @endif
- #
- # PublisherBase::ReturnCode
- # PublisherPeriodic::write(const cdrMemoryStream& data,
- # unsigned long sec,
- # unsigned long usec)
- def write(self, data, sec, usec):
- self._rtcout.RTC_PARANOID("write()")
-
- if not self._consumer or not self._buffer or not self._listeners:
- return self.PRECONDITION_NOT_MET
-
- if self._retcode == self.CONNECTION_LOST:
- self._rtcout.RTC_DEBUG("write(): connection lost.")
- return self._retcode
-
- if self._retcode == self.SEND_FULL:
- self._rtcout.RTC_DEBUG("write(): InPort buffer is full.")
- self._buffer.write(data,sec,usec)
- return self.BUFFER_FULL
-
- self.onBufferWrite(data)
- ret = self._buffer.write(data, sec, usec)
- self._rtcout.RTC_DEBUG("%s = write()", OpenRTM_aist.DataPortStatus.toString(ret))
- self._task.resume()
- return self.convertReturn(ret, data)
-
- ##
- # @if jp
- #
- # @brief ƥֲǧ
- #
- # Publisher ϥǡݡȤƱ activate/deactivate 롣
- # activate() / deactivate() ؿˤäơƥ־֤ƥ
- # ־֤ڤؤ롣δؿˤꡢߥƥ־֤
- # ƥ־֤ǧ뤳ȤǤ롣
- #
- # @return ֳǧ(ƥ־:trueƥ־:false)
- #
- # @else
- #
- # @brief If publisher is active state
- #
- # A Publisher can be activated/deactivated synchronized with the
- # data port. The active state and the non-active state are made
- # transition by the "activate()" and the "deactivate()" functions
- # respectively. This function confirms if the publisher is in
- # active state.
- #
- # @return Result of state confirmation
- # (Active state:true, Inactive state:false)
- #
- # @endif
- #
- # bool PublisherPeriodic::isActive()
- def isActive(self):
- return self._active
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Publisher ƥֲ롣δؿƤӽФȤˤꡢ
- # Publisherġǡ륹åɤưϤ롣
- # ԤƤʤʤɤˤꡢʤ硢顼
- # PRECONDITION_NOT_MET ֤
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NOT_MET ʤ
- #
- # @else
- # @brief activation
- #
- # This function activates the publisher. By calling this
- # function, this publisher starts the thread that pushes data to
- # InPort. If precondition such as initialization process and so
- # on is not met, the error code PRECONDITION_NOT_MET is returned.
- #
- # @return PORT_OK normal return
- # PRECONDITION_NOT_MET precondition is not met
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherPeriodic::activate()
- def activate(self):
- if not self._task or not self._buffer:
- return self.PRECONDITION_NOT_MET
- self._active = True
- self._task.resume()
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief ƥֲ
- #
- # Publisher ƥֲ롣δؿƤӽФȤˤꡢ
- # Publisherġǡ륹åɤưߤ롣
- # ԤƤʤʤɤˤꡢʤ硢顼
- # PRECONDITION_NOT_MET ֤
- #
- # @return PORT_OK ｪλ
- # PRECONDITION_NOT_MET ʤ
- #
- # @else
- # @brief deactivation
- #
- # This function deactivates the publisher. By calling this
- # function, this publisher stops the thread that pushes data to
- # InPort. If precondition such as initialization process and so
- # on is not met, the error code PRECONDITION_NOT_MET is returned.
- #
- # @return PORT_OK normal return
- # PRECONDITION_NOT_MET precondition is not met
- #
- # @endif
- #
- # PublisherBase::ReturnCode PublisherPeriodic::deactivate()
- def deactivate(self):
- if not self._task:
- return self.PRECONDITION_NOT_MET
- self._active = False
- self._task.suspend()
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief åɼ¹Դؿ
- # @else
- # @brief Thread execution function
- # A task execution function to be executed by coil::PeriodicTask.
- # @endif
- #
- # int PublisherPeriodic::svc(void)
- def svc(self):
- guard = OpenRTM_aist.ScopedLock(self._retmutex)
-
- if self._pushPolicy == self.PUBLISHER_POLICY_ALL:
- self._retcode = self.pushAll()
- return 0
-
- elif self._pushPolicy == self.PUBLISHER_POLICY_FIFO:
- self._retcode = self.pushFifo()
- return 0
-
- elif self._pushPolicy == self.PUBLISHER_POLICY_SKIP:
- self._retcode = self.pushSkip()
- return 0
-
- elif self._pushPolicy == self.PUBLISHER_POLICY_NEW:
- self._retcode = self.pushNew()
- return 0
-
- else:
- self._retcode = self.pushNew()
-
- return 0
-
- ##
- # @brief push all policy
- #
- # PublisherBase::ReturnCode PublisherPeriodic::pushAll()
- def pushAll(self):
- self._rtcout.RTC_TRACE("pushAll()")
-
- if not self._buffer:
- return self.PRECONDITION_NOT_MET
-
- if self.bufferIsEmpty():
- return self.BUFFER_EMPTY
-
- while self._buffer.readable() > 0:
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
-
- if ret != self.PORT_OK:
- self._rtcout.RTC_DEBUG("%s = consumer.put()", OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
-
- self.onReceived(cdr)
- self._buffer.advanceRptr()
-
- return self.PORT_OK
-
-
- ##
- # @brief push "fifo" policy
- #
- # PublisherBase::ReturnCode PublisherPeriodic::pushFifo()
- def pushFifo(self):
- self._rtcout.RTC_TRACE("pushFifo()")
- if not self._buffer:
- return self.PRECONDITION_NOT_MET
-
- if self.bufferIsEmpty():
- return self.BUFFER_EMPTY
-
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
-
- if ret != self.PORT_OK:
- self._rtcout.RTC_DEBUG("%s = consumer.put()",OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
-
- self.onReceived(cdr)
- self._buffer.advanceRptr()
-
- return self.PORT_OK
-
-
- ##
- # @brief push "skip" policy
- #
- # PublisherBase::ReturnCode PublisherPeriodic::pushSkip()
- def pushSkip(self):
- self._rtcout.RTC_TRACE("pushSkip()")
- if not self._buffer:
- return self.PRECONDITION_NOT_MET
-
- if self.bufferIsEmpty():
- return self.BUFFER_EMPTY
-
- ret = self.PORT_OK
- preskip = self._buffer.readable() + self._leftskip
- loopcnt = preskip / (self._skipn + 1)
- postskip = self._skipn - self._leftskip
- for i in range(int(loopcnt)):
- self._buffer.advanceRptr(postskip)
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
- if ret != self.PORT_OK:
- self._buffer.advanceRptr(-postskip)
- self._rtcout.RTC_DEBUG("%s = consumer.put()",OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
- self.onReceived(cdr)
- postskip = self._skipn + 1
-
- self._buffer.advanceRptr(self._buffer.readable())
- self._leftskip = preskip % (self._skipn + 1)
-
- return ret
-
-
- ##
- # @brief push "new" policy
- #
- # PublisherBase::ReturnCode PublisherPeriodic::pushNew()
- def pushNew(self):
- self._rtcout.RTC_TRACE("pushNew()")
- if not self._buffer:
- return self.PRECONDITION_NOT_MET
-
- if self.bufferIsEmpty():
- return self.BUFFER_EMPTY
-
- # In case of the periodic/push_new policy, the buffer should
- # allow readback. But, readback flag should be set as "true"
- # after written at least one datum into the buffer.
- self._readback = True
-
- self._buffer.advanceRptr(self._buffer.readable() - 1)
-
- cdr = self._buffer.get()
- self.onBufferRead(cdr)
-
- self.onSend(cdr)
- ret = self._consumer.put(cdr)
-
- if ret != self.PORT_OK:
- self._rtcout.RTC_DEBUG("%s = consumer.put()", OpenRTM_aist.DataPortStatus.toString(ret))
- return self.invokeListener(ret, cdr)
-
- self.onReceived(cdr)
-
- self._buffer.advanceRptr()
- return self.PORT_OK
-
- ##
- # @if jp
- # @brief BufferStatus DataPortStatus ؤѴ
- #
- # Хåեͤ DataPortStatus::Enum Ѵؿ
- # 줾졢ʲΤ褦Ѵ롣Ѵ˥ХåƤ־硢
- # Хؿյ롣
- #
- # - BUFFER_OK: PORT_OK
- # - None
- # - BUFFER_ERROR: BUFFER_ERROR
- # - None
- # - BUFFER_FULL: BUFFER_FULL
- # - onBufferFull()
- # - NOT_SUPPORTED: PORT_ERROR
- # - None
- # - TIMEOUT: BUFFER_TIMEOUT
- # - onBufferWriteTimeout()
- # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
- # - None
- # - other: PORT_ERROR
- # - None
- #
- # @param status BufferStatus
- # @param data cdrMemoryStream
- # @return DataPortStatu Υ
- #
- # @else
- # @brief Convertion from BufferStatus to DataPortStatus
- #
- # This function converts return value from the buffer to
- # DataPortStatus::Enum typed return value. The conversion rule is
- # as follows. Callback functions are also shown, if it exists.
- #
- # - BUFFER_OK: PORT_OK
- # - None
- # - BUFFER_ERROR: BUFFER_ERROR
- # - None
- # - BUFFER_FULL: BUFFER_FULL
- # - onBufferFull()
- # - NOT_SUPPORTED: PORT_ERROR
- # - None
- # - TIMEOUT: BUFFER_TIMEOUT
- # - onBufferWriteTimeout()
- # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
- # - None
- # - other: PORT_ERROR
- # - None
- #
- # @param status BufferStatus
- # @param data cdrMemoryStream
- # @return DataPortStatus typed return code
- #
- # @endif
- #
- # PublisherBase::ReturnCodea
- # PublisherPeriodic::convertReturn(BufferStatus::Enum status,
- # const cdrMemoryStream& data)
- def convertReturn(self, status, data):
- if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
- return self.PORT_OK
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
- return self.BUFFER_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
- self.onBufferFull(data)
- return self.BUFFER_FULL
-
- elif status == OpenRTM_aist.BufferStatus.NOT_SUPPORTED:
- return self.PORT_ERROR
-
- elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
- self.onBufferWriteTimeout(data)
- return self.BUFFER_TIMEOUT
-
- elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
- return self.PRECONDITION_NOT_MET
-
- else:
- return self.PORT_ERROR
-
-
-
- ##
- # @if jp
- # @brief DataPortStatus˽äƥꥹʤΤؿƤӽФ
- #
- # @param status DataPortStatus
- # @param data cdrMemoryStream
- # @return
- #
- # @else
- # @brief Call listeners according to the DataPortStatus
- #
- # @param status DataPortStatus
- # @param data cdrMemoryStream
- # @return Return code
- #
- # @endif
- #
- # PublisherPeriodic::ReturnCode
- # PublisherPeriodic::invokeListener(DataPortStatus::Enum status,
- # const cdrMemoryStream& data)
- def invokeListener(self, status, data):
- # ret:
- # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
- # UNKNOWN_ERROR
- if status == self.PORT_ERROR:
- self.onReceiverError(data)
- return self.PORT_ERROR
-
- elif status == self.SEND_FULL:
- self.onReceiverFull(data)
- return self.SEND_FULL
-
- elif status == self.SEND_TIMEOUT:
- self.onReceiverTimeout(data)
- return self.SEND_TIMEOUT
-
- elif status == self.CONNECTION_LOST:
- self.onReceiverError(data)
- return self.CONNECTION_LOST
-
- elif status == self.UNKNOWN_ERROR:
- self.onReceiverError(data)
- return self.UNKNOWN_ERROR
-
- else:
- self.onReceiverError(data)
- return self.PORT_ERROR
-
- ##
- # @if jp
- # @brief ON_BUFFER_WRITEΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_WRITE event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferWrite(const cdrMemoryStream& data)
- def onBufferWrite(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_FULLꥹʤإ٥ȤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_FULL event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferFull(const cdrMemoryStream& data)
- def onBufferFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_WRITE_TIMEOUTΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferWriteTimeout(const cdrMemoryStream& data)
- def onBufferWriteTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_BUFFER_READΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_BUFFER_READ event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onBufferRead(const cdrMemoryStream& data)
- def onBufferRead(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_SENDΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_SEND event to listners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onSend(const cdrMemoryStream& data)
- def onSend(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_SEND].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVEDΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVED event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceived(const cdrMemoryStream& data)
- def onReceived(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_FULLΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_FULL event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverFull(const cdrMemoryStream& data)
- def onReceiverFull(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_TIMEOUTΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_TIMEOUT event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverTimeout(const cdrMemoryStream& data)
- def onReceiverTimeout(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT].notify(self._profile, data)
- return
-
- ##
- # @if jp
- # @brief ON_RECEIVER_ERRORΥꥹʤΤ롣
- # @param data cdrMemoryStream
- # @else
- # @brief Notify an ON_RECEIVER_ERROR event to listeners
- # @param data cdrMemoryStream
- # @endif
- #
- # inline void onReceiverError(const cdrMemoryStream& data)
- def onReceiverError(self, data):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR].notify(self._profile, data)
- return
-
-
- ##
- # @if jp
- # @brief ON_BUFFER_EMPTYΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_BUFFER_EMPTY event to listeners
- # @endif
- #
- #inline void onBufferEmpty()
- def onBufferEmpty(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_EMPTYΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_EMPTY event to listeners
- # @endif
- #
- # inline void onSenderEmpty()
- def onSenderEmpty(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY].notify(self._profile)
- return
-
- ##
- # @if jp
- # @brief ON_SENDER_ERRORΥꥹʤΤ롣
- # @else
- # @brief Notify an ON_SENDER_ERROR event to listeners
- # @endif
- #
- # inline void onSenderError()
- def onSenderError(self):
- if self._listeners is not None and self._profile is not None:
- self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR].notify(self._profile)
- return
-
-
- ##
- # @if jp
- # @brief Хåեɤå롣x
- # @else
- # @brief Whether a buffer is empty.
- # @endif
- #
- # bool bufferIsEmpty()
- def bufferIsEmpty(self):
- if self._buffer and self._buffer.empty() and not self._readback:
- self._rtcout.RTC_DEBUG("buffer empty")
- self.onBufferEmpty()
- self.onSenderEmpty()
- return True
-
- return False
-
+ """
+ """
+
+ # Policy
+ PUBLISHER_POLICY_ALL = 0
+ PUBLISHER_POLICY_FIFO = 1
+ PUBLISHER_POLICY_SKIP = 2
+ PUBLISHER_POLICY_NEW = 3
+
+ ##
+ # @if jp
+ # @brief コンストラクタ
+ #
+ # コンストラクタ
+ # 送出処理の呼び出し間隔を、Propertyオブジェクトのdataport.push_rateメンバ
+ # に設定しておく必要がある。送出間隔は、Hz単位の浮動小数文字列で指定。
+ # たとえば、1000.0Hzの場合は、「1000.0」を設定。
+ # 上記プロパティが未設定の場合は、「1000Hz」を設定。
+ #
+ # @param self
+ # @param consumer データ送出を待つコンシューマ
+ # @param property 本Publisherの駆動制御情報を設定したPropertyオブジェクト
+ #
+ # @else
+ # @brief Constructor
+ # @endif
+ def __init__(self):
+ self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("PublisherPeriodic")
+ self._consumer = None
+ self._buffer = None
+ self._task = None
+ self._retcode = self.PORT_OK
+ self._retmutex = threading.RLock()
+ self._pushPolicy = self.PUBLISHER_POLICY_NEW
+ self._skipn = 0
+ self._active = False
+ self._readback = False
+ self._leftskip = 0
+ self._profile = None
+ self._listeners = None
+
+ return
+
+ ##
+ # @if jp
+ # @brief デストラクタ
+ #
+ # デストラクタ
+ #
+ # @param self
+ #
+ # @else
+ # @brief Destructor
+ # @endif
+ def __del__(self):
+ self._rtcout.RTC_TRACE("~PublisherPeriodic()")
+
+ ##
+ # @if jp
+ # @brief 終了処理
+ #
+ # @param self
+ #
+ # @else
+ # @brief
+ # @endif
+ def exit(self):
+ self._rtcout.RTC_TRACE("exit()")
+ if self._task:
+ self._task.resume()
+ self._task.finalize()
+ self._rtcout.RTC_PARANOID("task finalized.")
+
+ self._rtcout.RTC_PARANOID("task deleted.")
+
+ # "consumer" should be deleted in the Connector
+ self._consumer = None
+ # "buffer" should be deleted in the Connector
+ self._buffer = None
+ return
+
+ ##
+ # @if jp
+ # @brief PushPolicy の設定
+ # @else
+ # @brief Setting PushPolicy
+ # @endif
+ #
+ # void PublisherNew::setPushPolicy(const coil::Properties& prop)
+ def setPushPolicy(self, prop):
+ push_policy = prop.getProperty("publisher.push_policy", "new")
+ self._rtcout.RTC_DEBUG("push_policy: %s", push_policy)
+
+ push_policy = OpenRTM_aist.normalize(push_policy)
+
+ if push_policy == "all":
+ self._pushPolicy = self.PUBLISHER_POLICY_ALL
+
+ elif push_policy == "fifo":
+ self._pushPolicy = self.PUBLISHER_POLICY_FIFO
+
+ elif push_policy == "skip":
+ self._pushPolicy = self.PUBLISHER_POLICY_SKIP
+
+ elif push_policy == "new":
+ self._pushPolicy = self.PUBLISHER_POLICY_NEW
+
+ else:
+ self._rtcout.RTC_ERROR(
+ "invalid push_policy value: %s", push_policy)
+ self._pushPolicy = self.PUBLISHER_POLICY_NEW
+
+ skip_count = prop.getProperty("publisher.skip_count", "0")
+ self._rtcout.RTC_DEBUG("skip_count: %s", skip_count)
+
+ skipn = self._skipn
+ ret, skipn = OpenRTM_aist.stringTo(skipn, skip_count)
+ if ret:
+ self._skipn = skipn
+ else:
+ self._rtcout.RTC_ERROR("invalid skip_count value: %s", skip_count)
+ self._skipn = 0
+
+ if self._skipn < 0:
+ self._rtcout.RTC_ERROR("invalid skip_count value: %d", self._skipn)
+ self._skipn = 0
+
+ return
+
+ ##
+ # @if jp
+ # @brief Task の設定
+ # @else
+ # @brief Setting Task
+ # @endif
+ #
+ # bool PublisherNew::createTask(const coil::Properties& prop)
+ def createTask(self, prop):
+ factory = OpenRTM_aist.PeriodicTaskFactory.instance()
+
+ th = factory.getIdentifiers()
+ self._rtcout.RTC_DEBUG(
+ "available task types: %s",
+ OpenRTM_aist.flatten(th))
+
+ self._task = factory.createObject(
+ prop.getProperty("thread_type", "default"))
+ if not self._task:
+ self._rtcout.RTC_ERROR("Task creation failed: %s",
+ prop.getProperty("thread_type", "default"))
+ return self.INVALID_ARGS
+
+ self._rtcout.RTC_PARANOID("Task creation succeeded.")
+
+ # setting task function
+ self._task.setTask(self.svc)
+
+ # Task execution rate
+ rate = prop.getProperty("publisher.push_rate")
+
+ if rate != "":
+ hz = float(rate)
+ if hz == 0:
+ hz = 1000.0
+ self._rtcout.RTC_DEBUG("Task period %f [Hz]", hz)
+ else:
+ hz = 1000.0
+
+ self._task.setPeriod(1.0 / hz)
+
+ # Measurement setting
+ mprop = prop.getNode("measurement")
+
+ self._task.executionMeasure(OpenRTM_aist.toBool(mprop.getProperty("exec_time"),
+ "enable", "disable", True))
+
+ ecount = 0
+ ret, ecount = OpenRTM_aist.stringTo(
+ ecount, mprop.getProperty("exec_count"))
+ if ret:
+ self._task.executionMeasureCount(ecount)
+
+ self._task.periodicMeasure(OpenRTM_aist.toBool(mprop.getProperty("period_time"),
+ "enable", "disable", True))
+
+ pcount = 0
+ ret, ecount = OpenRTM_aist.stringTo(
+ pcount, mprop.getProperty("period_count"))
+ if ret:
+ self._task.periodicMeasureCount(pcount)
+
+ # Start task in suspended mode
+ self._task.suspend()
+ self._task.activate()
+ self._task.suspend()
+
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief 初期化
+ #
+ # このクラスのオブジェクトを使用するのに先立ち、必ずこの関数を呼び
+ # 出す必要がある。引数には、このオブジェクトの各種設定情報を含む
+ # Properties を与える。少なくとも、送出処理の呼び出し周期を単位
+ # Hz の数値として Propertyオブジェクトの publisher.push_rate をキー
+ # とする要素に設定する必要がある。周期 5ms すなわち、200Hzの場合、
+ # 200.0 を設定する。 dataport.publisher.push_rate が未設定の場合、
+ # false が返される。データをプッシュする際のポリシーとして
+ # publisher.push_policy をキーとする値に、all, fifo, skip, new の
+ # いずれかを与えることができる。
+ #
+ # 以下のオプションを与えることができる。
+ #
+ # - publisher.thread_type: スレッドのタイプ (文字列、デフォルト: default)
+ # - publisher.push_rate: Publisherの送信周期 (数値)
+ # - publisher.push_policy: Pushポリシー (all, fifo, skip, new)
+ # - publisher.skip_count: 上記ポリシが skip のときのスキップ数
+ # - measurement.exec_time: タスク実行時間計測 (enable/disable)
+ # - measurement.exec_count: タスク関数実行時間計測周期 (数値, 回数)
+ # - measurement.period_time: タスク周期時間計測 (enable/disable)
+ # - measurement.period_count: タスク周期時間計測周期 (数値, 回数)
+ #
+ # @param property 本Publisherの駆動制御情報を設定したPropertyオブジェクト
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS Properties が不正な値を含む
+ #
+ # @else
+ # @brief Initialization
+ #
+ # This function have to be called before using this class object.
+ # Properties object that includes certain configuration
+ # information should be given as an argument. At least, a
+ # numerical value of unit of Hz with the key of
+ # "dataport.publisher.push_rate" has to be set to the Properties
+ # object of argument. The value is the invocation cycle of data
+ # sending process. In case of 5 ms period or 200 Hz, the value
+ # should be set as 200.0. False will be returned, if there is no
+ # value with the key of "dataport.publisher.push_rate".
+ #
+ # The following options are available.
+ #
+ # - publisher.thread_type: Thread type (string, default: default)
+ # - publisher.push_rate: Publisher sending period (numberical)
+ # - publisher.push_policy: Push policy (all, fifo, skip, new)
+ # - publisher.skip_count: The number of skip count in the "skip" policy
+ # - measurement.exec_time: Task execution time measurement (enable/disable)
+ # - measurement.exec_count: Task execution time measurement count
+ # (numerical, number of times)
+ # - measurement.period_time: Task period time measurement (enable/disable)
+ # - measurement.period_count: Task period time measurement count
+ # (number, count)
+ #
+ # @param property Property objects that includes the control information
+ # of this Publisher
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS Properties with invalid values.
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::init(coil::Properties& prop)
+ def init(self, prop):
+ self._rtcout.RTC_TRACE("init()")
+ self.setPushPolicy(prop)
+ return self.createTask(prop)
+
+ ##
+ # @if jp
+ # @brief InPortコンシューマのセット
+ #
+ # この関数では、この Publisher に関連付けられるコンシューマをセットする。
+ # コンシューマオブジェクトがヌルポインタの場合、INVALID_ARGSが返される。
+ # それ以外の場合は、PORT_OK が返される。
+ #
+ # @param consumer Consumer へのポインタ
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS 引数に不正な値が含まれている
+ #
+ # @else
+ # @brief Store InPort consumer
+ #
+ # This operation sets a consumer that is associated with this
+ # object. If the consumer object is NULL, INVALID_ARGS will be
+ # returned.
+ #
+ # @param consumer A pointer to a consumer object.
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS given argument has invalid value
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode
+ # PublisherPeriodic::setConsumer(InPortConsumer* consumer)
+ def setConsumer(self, consumer):
+ self._rtcout.RTC_TRACE("setConsumer()")
+
+ if not consumer:
+ self._rtcout.RTC_ERROR(
+ "setConsumer(consumer = None): invalid argument.")
+ return self.INVALID_ARGS
+
+ self._consumer = consumer
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief バッファのセット
+ #
+ # この関数では、この Publisher に関連付けられるバッファをセットする。
+ # バッファオブジェクトがヌルポインタの場合、INVALID_ARGSが返される。
+ # それ以外の場合は、PORT_OK が返される。
+ #
+ # @param buffer CDR buffer へのポインタ
+ # @return ReturnCode PORT_OK 正常終了
+ # INVALID_ARGS 引数に不正な値が含まれている
+ #
+ # @else
+ # @brief Setting buffer pointer
+ #
+ # This operation sets a buffer that is associated with this
+ # object. If the buffer object is NULL, INVALID_ARGS will be
+ # returned.
+ #
+ # @param buffer A pointer to a CDR buffer object.
+ # @return ReturnCode PORT_OK normal return
+ # INVALID_ARGS given argument has invalid value
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::setBuffer(CdrBufferBase*
+ # buffer)
+ def setBuffer(self, buffer):
+ self._rtcout.RTC_TRACE("setBuffer()")
+
+ if not buffer:
+ self._rtcout.RTC_ERROR("setBuffer(buffer == None): invalid argument")
+ return self.INVALID_ARGS
+
+ self._buffer = buffer
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief リスナを設定する。
+ #
+ # Publisher に対してリスナオブジェクト ConnectorListeners を設定する。
+ # 各種リスナオブジェクトを含む ConnectorListeners をセットすることで、
+ # バッファの読み書き、データの送信時等にこれらのリスナをコールする。
+ # ConnectorListeners オブジェクトの所有権はポートまたは RTObject が持ち
+ # Publisher 削除時に ConnectorListeners は削除されることはない。
+ # ConnectorListeners がヌルポインタの場合 INVALID_ARGS を返す。
+ #
+ # @param info ConnectorProfile をローカル化したオブジェクト ConnectorInfo
+ # @param listeners リスナを多数保持する ConnectorListeners オブジェクト
+ # @return PORT_OK 正常終了
+ # INVALID_ARGS 不正な引数
+ # @else
+ # @brief Set the listener.
+ #
+ # This function sets ConnectorListeners listener object to the
+ # Publisher. By setting ConnectorListeners containing various
+ # listeners objects, these listeners are called at the time of
+ # reading and writing of a buffer, and transmission of data
+ # etc. Since the ownership of the ConnectorListeners object is
+ # owned by Port or RTObject, the Publisher never deletes the
+ # ConnectorListeners object. If the given ConnectorListeners'
+ # pointer is NULL, this function returns INVALID_ARGS.
+ #
+ # @param info ConnectorInfo that is localized object of ConnectorProfile
+ # @param listeners ConnectorListeners that holds various listeners
+ # @return PORT_OK Normal return
+ # INVALID_ARGS Invalid arguments
+ # @endif
+ #
+ # PublisherBase::ReturnCode
+ # PublisherPeriodic::setListener(ConnectorInfo& info,
+ # ConnectorListeners* listeners)
+ def setListener(self, info, listeners):
+ self._rtcout.RTC_TRACE("setListeners()")
+
+ if not listeners:
+ self._rtcout.RTC_ERROR(
+ "setListeners(listeners == None): invalid argument")
+ return self.INVALID_ARGS
+
+ self._profile = info
+ self._listeners = listeners
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief データを書き込む
+ #
+ # Publisher が保持するバッファに対してデータを書き込む。コンシュー
+ # マ、バッファ、リスナ等が適切に設定されていない等、Publisher オブ
+ # ジェクトが正しく初期化されていない場合、この関数を呼び出すとエラー
+ # コード PRECONDITION_NOT_MET が返され、バッファへの書き込み等の操
+ # 作は一切行われない。
+ #
+ # バッファへの書き込みと、InPortへのデータの送信は非同期的に行われ
+ # るため、この関数は、InPortへのデータ送信の結果を示す、
+ # CONNECTION_LOST, BUFFER_FULL などのリターンコードを返すことがあ
+ # る。この場合、データのバッファへの書き込みは行われない。
+ #
+ # バッファへの書き込みに対して、バッファがフル状態、バッファのエ
+ # ラー、バッファへの書き込みがタイムアウトした場合、バッファの事前
+ # 条件が満たされない場合にはそれぞれ、エラーコード BUFFER_FULL,
+ # BUFFER_ERROR, BUFFER_TIMEOUT, PRECONDITION_NOT_MET が返される。
+ #
+ # これら以外のエラーの場合、PORT_ERROR が返される。
+ #
+ #
+ # @param data 書き込むデータ
+ # @param sec タイムアウト時間
+ # @param nsec タイムアウト時間
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NO_MET consumer, buffer, listener等が適切に設定
+ # されていない等、このオブジェクトの事前条件
+ # を満たさない場合。
+ # CONNECTION_LOST 接続が切断されたことを検知した。
+ # BUFFER_FULL バッファがフル状態である。
+ # BUFFER_ERROR バッファに何らかのエラーが生じた場合。
+ # NOT_SUPPORTED サポートされない操作が行われた。
+ # TIMEOUT タイムアウトした。
+ #
+ # @else
+ # @brief Write data
+ #
+ # This function writes data into the buffer associated with this
+ # Publisher. If a Publisher object calls this function, without
+ # initializing correctly such as a consumer, a buffer, listeners,
+ # etc., error code PRECONDITION_NOT_MET will be returned and no
+ # operation of the writing to a buffer etc. will be performed.
+ #
+ # Since writing into the buffer and sending data to InPort are
+ # performed asynchronously, occasionally this function returns
+ # return-codes such as CONNECTION_LOST and BUFFER_FULL that
+ # indicate the result of sending data to InPort. In this case,
+ # writing data into buffer will not be performed.
+ #
+ # When publisher writes data to the buffer, if the buffer is
+ # filled, returns error, is returned with timeout and returns
+ # precondition error, error codes BUFFER_FULL, BUFFER_ERROR,
+ # BUFFER_TIMEOUT and PRECONDITION_NOT_MET will be returned
+ # respectively.
+ #
+ # In other cases, PROT_ERROR will be returned.
+ #
+ # @param data Data to be wrote to the buffer
+ # @param sec Timeout time in unit seconds
+ # @param nsec Timeout time in unit nano-seconds
+ # @return PORT_OK Normal return
+ # PRECONDITION_NO_MET Precondition does not met. A consumer,
+ # a buffer, listenes are not set properly.
+ # CONNECTION_LOST detected that the connection has been lost
+ # BUFFER_FULL The buffer is full status.
+ # BUFFER_ERROR Some kind of error occurred in the buffer.
+ # NOT_SUPPORTED Some kind of operation that is not supported
+ # has been performed.
+ # TIMEOUT Timeout occurred when writing to the buffer.
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode
+ # PublisherPeriodic::write(const cdrMemoryStream& data,
+ # unsigned long sec,
+ # unsigned long usec)
+ def write(self, data, sec, usec):
+ self._rtcout.RTC_PARANOID("write()")
+
+ if not self._consumer or not self._buffer or not self._listeners:
+ return self.PRECONDITION_NOT_MET
+
+ if self._retcode == self.CONNECTION_LOST:
+ self._rtcout.RTC_DEBUG("write(): connection lost.")
+ return self._retcode
+
+ if self._retcode == self.SEND_FULL:
+ self._rtcout.RTC_DEBUG("write(): InPort buffer is full.")
+ self._buffer.write(data, sec, usec)
+ return self.BUFFER_FULL
+
+ self.onBufferWrite(data)
+ ret = self._buffer.write(data, sec, usec)
+ self._rtcout.RTC_DEBUG("%s = write()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ self._task.resume()
+ return self.convertReturn(ret, data)
+
+ ##
+ # @if jp
+ #
+ # @brief アクティブ化確認
+ #
+ # Publisher はデータポートと同期して activate/deactivate される。
+ # activate() / deactivate() 関数によって、アクティブ状態と非アクティ
+ # ブ状態が切り替わる。この関数により、現在アクティブ状態か、非アク
+ # ティブ状態かを確認することができる。
+ #
+ # @return 状態確認結果(アクティブ状態:true、非アクティブ状態:false)
+ #
+ # @else
+ #
+ # @brief If publisher is active state
+ #
+ # A Publisher can be activated/deactivated synchronized with the
+ # data port. The active state and the non-active state are made
+ # transition by the "activate()" and the "deactivate()" functions
+ # respectively. This function confirms if the publisher is in
+ # active state.
+ #
+ # @return Result of state confirmation
+ # (Active state:true, Inactive state:false)
+ #
+ # @endif
+ #
+ # bool PublisherPeriodic::isActive()
+ def isActive(self):
+ return self._active
+
+ ##
+ # @if jp
+ # @brief アクティブ化する
+ #
+ # Publisher をアクティブ化する。この関数を呼び出すことにより、
+ # Publisherが持つ、データを送信するスレッドが動作を開始する。初期
+ # 化が行われていないなどにより、事前条件を満たさない場合、エラーコー
+ # ド PRECONDITION_NOT_MET を返す。
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ #
+ # @else
+ # @brief activation
+ #
+ # This function activates the publisher. By calling this
+ # function, this publisher starts the thread that pushes data to
+ # InPort. If precondition such as initialization process and so
+ # on is not met, the error code PRECONDITION_NOT_MET is returned.
+ #
+ # @return PORT_OK normal return
+ # PRECONDITION_NOT_MET precondition is not met
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::activate()
+ def activate(self):
+ if not self._task or not self._buffer:
+ return self.PRECONDITION_NOT_MET
+ self._active = True
+ self._task.resume()
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief 非アクティブ化する
+ #
+ # Publisher を非アクティブ化する。この関数を呼び出すことにより、
+ # Publisherが持つ、データを送信するスレッドが動作を停止する。初期
+ # 化が行われていないなどにより、事前条件を満たさない場合、エラーコー
+ # ド PRECONDITION_NOT_MET を返す。
+ #
+ # @return PORT_OK 正常終了
+ # PRECONDITION_NOT_MET 事前条件を満たさない
+ #
+ # @else
+ # @brief deactivation
+ #
+ # This function deactivates the publisher. By calling this
+ # function, this publisher stops the thread that pushes data to
+ # InPort. If precondition such as initialization process and so
+ # on is not met, the error code PRECONDITION_NOT_MET is returned.
+ #
+ # @return PORT_OK normal return
+ # PRECONDITION_NOT_MET precondition is not met
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::deactivate()
+ def deactivate(self):
+ if not self._task:
+ return self.PRECONDITION_NOT_MET
+ self._active = False
+ self._task.suspend()
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief スレッド実行関数
+ # @else
+ # @brief Thread execution function
+ # A task execution function to be executed by coil::PeriodicTask.
+ # @endif
+ #
+ # int PublisherPeriodic::svc(void)
+ def svc(self):
+ guard = OpenRTM_aist.ScopedLock(self._retmutex)
+
+ if self._pushPolicy == self.PUBLISHER_POLICY_ALL:
+ self._retcode = self.pushAll()
+ return 0
+
+ elif self._pushPolicy == self.PUBLISHER_POLICY_FIFO:
+ self._retcode = self.pushFifo()
+ return 0
+
+ elif self._pushPolicy == self.PUBLISHER_POLICY_SKIP:
+ self._retcode = self.pushSkip()
+ return 0
+
+ elif self._pushPolicy == self.PUBLISHER_POLICY_NEW:
+ self._retcode = self.pushNew()
+ return 0
+
+ else:
+ self._retcode = self.pushNew()
+
+ return 0
+
+ ##
+ # @brief push all policy
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::pushAll()
+ def pushAll(self):
+ self._rtcout.RTC_TRACE("pushAll()")
+
+ if not self._buffer:
+ return self.PRECONDITION_NOT_MET
+
+ if self.bufferIsEmpty():
+ return self.BUFFER_EMPTY
+
+ while self._buffer.readable() > 0:
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+
+ if ret != self.PORT_OK:
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+
+ cdr = self.onReceived(cdr)
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK
+
+ ##
+ # @brief push "fifo" policy
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::pushFifo()
+
+ def pushFifo(self):
+ self._rtcout.RTC_TRACE("pushFifo()")
+ if not self._buffer:
+ return self.PRECONDITION_NOT_MET
+
+ if self.bufferIsEmpty():
+ return self.BUFFER_EMPTY
+
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+
+ if ret != self.PORT_OK:
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+
+ cdr = self.onReceived(cdr)
+ self._buffer.advanceRptr()
+
+ return self.PORT_OK
+
+ ##
+ # @brief push "skip" policy
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::pushSkip()
+
+ def pushSkip(self):
+ self._rtcout.RTC_TRACE("pushSkip()")
+ if not self._buffer:
+ return self.PRECONDITION_NOT_MET
+
+ if self.bufferIsEmpty():
+ return self.BUFFER_EMPTY
+
+ ret = self.PORT_OK
+ preskip = self._buffer.readable() + self._leftskip
+ loopcnt = preskip / (self._skipn + 1)
+ postskip = self._skipn - self._leftskip
+ for i in range(int(loopcnt)):
+ self._buffer.advanceRptr(postskip)
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+ if ret != self.PORT_OK:
+ self._buffer.advanceRptr(-postskip)
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+ cdr = self.onReceived(cdr)
+ postskip = self._skipn + 1
+
+ self._buffer.advanceRptr(self._buffer.readable())
+ self._leftskip = preskip % (self._skipn + 1)
+
+ return ret
+
+ ##
+ # @brief push "new" policy
+ #
+ # PublisherBase::ReturnCode PublisherPeriodic::pushNew()
+
+ def pushNew(self):
+ self._rtcout.RTC_TRACE("pushNew()")
+ if not self._buffer:
+ return self.PRECONDITION_NOT_MET
+
+ if self.bufferIsEmpty():
+ return self.BUFFER_EMPTY
+
+ # In case of the periodic/push_new policy, the buffer should
+ # allow readback. But, readback flag should be set as "true"
+ # after written at least one datum into the buffer.
+ self._readback = True
+
+ self._buffer.advanceRptr(self._buffer.readable() - 1)
+
+ _, cdr = self._buffer.get()
+ self.onBufferRead(cdr)
+
+ cdr = self.onSend(cdr)
+ ret = self._consumer.put(cdr)
+
+ if ret != self.PORT_OK:
+ self._rtcout.RTC_DEBUG(
+ "%s = consumer.put()",
+ OpenRTM_aist.DataPortStatus.toString(ret))
+ return self.invokeListener(ret, cdr)
+
+ cdr = self.onReceived(cdr)
+
+ self._buffer.advanceRptr()
+ return self.PORT_OK
+
+ ##
+ # @if jp
+ # @brief BufferStatus から DataPortStatus への変換
+ #
+ # バッファからの戻り値を DataPortStatus::Enum 型へ変換する関数。そ
+ # れぞれ、以下のように変換される。変換時にコールバックを呼ぶ場合、
+ # コールバク関数も付記する。
+ #
+ # - BUFFER_OK: PORT_OK
+ # - None
+ # - BUFFER_ERROR: BUFFER_ERROR
+ # - None
+ # - BUFFER_FULL: BUFFER_FULL
+ # - onBufferFull()
+ # - NOT_SUPPORTED: PORT_ERROR
+ # - None
+ # - TIMEOUT: BUFFER_TIMEOUT
+ # - onBufferWriteTimeout()
+ # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
+ # - None
+ # - other: PORT_ERROR
+ # - None
+ #
+ # @param status BufferStatus
+ # @param data cdrMemoryStream
+ # @return DataPortStatu 型のリターンコード
+ #
+ # @else
+ # @brief Convertion from BufferStatus to DataPortStatus
+ #
+ # This function converts return value from the buffer to
+ # DataPortStatus::Enum typed return value. The conversion rule is
+ # as follows. Callback functions are also shown, if it exists.
+ #
+ # - BUFFER_OK: PORT_OK
+ # - None
+ # - BUFFER_ERROR: BUFFER_ERROR
+ # - None
+ # - BUFFER_FULL: BUFFER_FULL
+ # - onBufferFull()
+ # - NOT_SUPPORTED: PORT_ERROR
+ # - None
+ # - TIMEOUT: BUFFER_TIMEOUT
+ # - onBufferWriteTimeout()
+ # - PRECONDITION_NOT_MET: PRECONDITION_NOT_MET
+ # - None
+ # - other: PORT_ERROR
+ # - None
+ #
+ # @param status BufferStatus
+ # @param data cdrMemoryStream
+ # @return DataPortStatus typed return code
+ #
+ # @endif
+ #
+ # PublisherBase::ReturnCodea
+ # PublisherPeriodic::convertReturn(BufferStatus::Enum status,
+ # const cdrMemoryStream& data)
+ def convertReturn(self, status, data):
+ if status == OpenRTM_aist.BufferStatus.BUFFER_OK:
+ return self.PORT_OK
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_ERROR:
+ return self.BUFFER_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.BUFFER_FULL:
+ self.onBufferFull(data)
+ return self.BUFFER_FULL
+
+ elif status == OpenRTM_aist.BufferStatus.NOT_SUPPORTED:
+ return self.PORT_ERROR
+
+ elif status == OpenRTM_aist.BufferStatus.TIMEOUT:
+ self.onBufferWriteTimeout(data)
+ return self.BUFFER_TIMEOUT
+
+ elif status == OpenRTM_aist.BufferStatus.PRECONDITION_NOT_MET:
+ return self.PRECONDITION_NOT_MET
+
+ else:
+ return self.PORT_ERROR
+
+ ##
+ # @if jp
+ # @brief DataPortStatusに従ってリスナへ通知する関数を呼び出す。
+ #
+ # @param status DataPortStatus
+ # @param data cdrMemoryStream
+ # @return リターンコード
+ #
+ # @else
+ # @brief Call listeners according to the DataPortStatus
+ #
+ # @param status DataPortStatus
+ # @param data cdrMemoryStream
+ # @return Return code
+ #
+ # @endif
+ #
+ # PublisherPeriodic::ReturnCode
+ # PublisherPeriodic::invokeListener(DataPortStatus::Enum status,
+ # const cdrMemoryStream& data)
+
+ def invokeListener(self, status, data):
+ # ret:
+ # PORT_OK, PORT_ERROR, SEND_FULL, SEND_TIMEOUT, CONNECTION_LOST,
+ # UNKNOWN_ERROR
+ if status == self.PORT_ERROR:
+ self.onReceiverError(data)
+ return self.PORT_ERROR
+
+ elif status == self.SEND_FULL:
+ self.onReceiverFull(data)
+ return self.SEND_FULL
+
+ elif status == self.SEND_TIMEOUT:
+ self.onReceiverTimeout(data)
+ return self.SEND_TIMEOUT
+
+ elif status == self.CONNECTION_LOST:
+ self.onReceiverError(data)
+ return self.CONNECTION_LOST
+
+ elif status == self.UNKNOWN_ERROR:
+ self.onReceiverError(data)
+ return self.UNKNOWN_ERROR
+
+ else:
+ self.onReceiverError(data)
+ return self.PORT_ERROR
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_WRITEのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_WRITE event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferWrite(const cdrMemoryStream& data)
+ def onBufferWrite(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_FULLリスナへイベントを通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_FULL event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferFull(const cdrMemoryStream& data)
+ def onBufferFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_WRITE_TIMEOUTのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_WRITE_TIMEOUT event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferWriteTimeout(const cdrMemoryStream& data)
+ def onBufferWriteTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_READのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_BUFFER_READ event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onBufferRead(const cdrMemoryStream& data)
+ def onBufferRead(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_SENDのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_SEND event to listners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onSend(const cdrMemoryStream& data)
+ def onSend(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_SEND, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVEDのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVED event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceived(const cdrMemoryStream& data)
+ def onReceived(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_FULLのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_FULL event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverFull(const cdrMemoryStream& data)
+ def onReceiverFull(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_TIMEOUTのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_TIMEOUT event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverTimeout(const cdrMemoryStream& data)
+ def onReceiverTimeout(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_RECEIVER_ERRORのリスナへ通知する。
+ # @param data cdrMemoryStream
+ # @else
+ # @brief Notify an ON_RECEIVER_ERROR event to listeners
+ # @param data cdrMemoryStream
+ # @endif
+ #
+ # inline void onReceiverError(const cdrMemoryStream& data)
+ def onReceiverError(self, data):
+ if self._listeners is not None and self._profile is not None:
+ _, data = self._listeners.notifyData(
+ OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR, self._profile, data)
+ return data
+
+ ##
+ # @if jp
+ # @brief ON_BUFFER_EMPTYのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_BUFFER_EMPTY event to listeners
+ # @endif
+ #
+ # inline void onBufferEmpty()
+
+ def onBufferEmpty(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_BUFFER_EMPTY, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_EMPTYのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_EMPTY event to listeners
+ # @endif
+ #
+ # inline void onSenderEmpty()
+ def onSenderEmpty(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_EMPTY, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief ON_SENDER_ERRORのリスナへ通知する。
+ # @else
+ # @brief Notify an ON_SENDER_ERROR event to listeners
+ # @endif
+ #
+ # inline void onSenderError()
+ def onSenderError(self):
+ if self._listeners is not None and self._profile is not None:
+ self._listeners.notify(
+ OpenRTM_aist.ConnectorListenerType.ON_SENDER_ERROR, self._profile)
+ return
+
+ ##
+ # @if jp
+ # @brief バッファが空かどうかをチェックする。x
+ # @else
+ # @brief Whether a buffer is empty.
+ # @endif
+ #
+ # bool bufferIsEmpty()
+
+ def bufferIsEmpty(self):
+ if self._buffer and self._buffer.empty() and not self._readback:
+ self._rtcout.RTC_DEBUG("buffer empty")
+ self.onBufferEmpty()
+ self.onSenderEmpty()
+ return True
+
+ return False
def PublisherPeriodicInit():
- OpenRTM_aist.PublisherFactory.instance().addFactory("periodic",
- OpenRTM_aist.PublisherPeriodic,
- OpenRTM_aist.Delete)
+ OpenRTM_aist.PublisherFactory.instance().addFactory("periodic",
+ OpenRTM_aist.PublisherPeriodic)
diff --git a/OpenRTM_aist/RTCUtil.py b/OpenRTM_aist/RTCUtil.py
index 0c917cb9..32e5df82 100644
--- a/OpenRTM_aist/RTCUtil.py
+++ b/OpenRTM_aist/RTCUtil.py
@@ -1,5 +1,5 @@
#!/usr/bin/env python
-# -*- coding: euc-jp -*-
+# -*- coding: utf-8 -*-
##
@@ -23,40 +23,42 @@
##
# @if jp
#
-# @brief DataFlowComponent Ǥ뤫Ƚꤹ
+# @brief DataFlowComponent であるか判定する
#
-# ꤵ줿RTݡͥȤ DataFlowComponent Ǥ뤫Ƚꤹ롣
-# DataFlowComponent ExecutionContext Semantics
-# Periodic Sampled Data Processing ξѤRTݡͥȤη
-# Ǥ롣
+# 指定されたRTコンポーネントが DataFlowComponent であるか判定する。
+# DataFlowComponent、 ExecutionContext の Semantics が
+# Periodic Sampled Data Processing の場合に利用されるRTコンポーネントの型
+# である。
#
-# @param obj Ƚоݤ CORBA ֥
+# @param obj 判定対象の CORBA オブジェクト
#
-# @return DataFlowComponent Ƚ
+# @return DataFlowComponent 判定結果
#
# @since 0.4.0
#
# @else
#
# @endif
+
+
def isDataFlowComponent(obj):
- dfp = obj._narrow(OpenRTM.DataFlowComponent)
- return not CORBA.is_nil(dfp)
+ dfp = obj._narrow(OpenRTM.DataFlowComponent)
+ return not CORBA.is_nil(dfp)
##
# @if jp
#
-# @brief FsmParticipant Ǥ뤫Ƚꤹ
+# @brief FsmParticipant であるか判定する
#
-# ꤵ줿RTݡͥȤ FsmParticipant Ǥ뤫Ƚꤹ롣
-# FsmParticipant ϡ ExecutionContext Semantics
-# Stimulus Response Processing ξˡΥ뤿
-# ѤRTݡͥȤηǤ롣
+# 指定されたRTコンポーネントが FsmParticipant であるか判定する。
+# FsmParticipant は、 ExecutionContext の Semantics が
+# Stimulus Response Processing の場合に、状態内のアクションを定義するために
+# 利用されるRTコンポーネントの型である。
#
-# @param obj Ƚоݤ CORBA ֥
+# @param obj 判定対象の CORBA オブジェクト
#
-# @return FsmParticipant Ƚ
+# @return FsmParticipant 判定結果
#
# @since 0.4.0
#
@@ -64,22 +66,22 @@ def isDataFlowComponent(obj):
#
# @endif
def isFsmParticipant(obj):
- fsmp = obj._narrow(RTC.FsmParticipant)
- return not CORBA.is_nil(fsmp)
+ fsmp = obj._narrow(RTC.FsmParticipant)
+ return not CORBA.is_nil(fsmp)
##
# @if jp
#
-# @brief Fsm Ǥ뤫Ƚꤹ
+# @brief Fsm であるか判定する
#
-# ꤵ줿RTݡͥȤ Fsm Ǥ뤫Ƚꤹ롣
-# Fsm ϡ ExecutionContext Semantics Stimulus Response Processing
-# ˡܤ뤿ѤRTݡͥȤηǤ롣
+# 指定されたRTコンポーネントが Fsm であるか判定する。
+# Fsm は、 ExecutionContext の Semantics が Stimulus Response Processing の
+# 場合に、状態遷移を定義するために利用されるRTコンポーネントの型である。
#
-# @param obj Ƚоݤ CORBA ֥
+# @param obj 判定対象の CORBA オブジェクト
#
-# @return Fsm Ƚ
+# @return Fsm 判定結果
#
# @since 0.4.0
#
@@ -87,22 +89,22 @@ def isFsmParticipant(obj):
#
# @endif
def isFsmObject(obj):
- fsm = obj._narrow(RTC.FsmObject)
- return not CORBA.is_nil(fsm)
+ fsm = obj._narrow(RTC.FsmObject)
+ return not CORBA.is_nil(fsm)
##
# @if jp
#
-# @brief multiModeComponent Ǥ뤫Ƚꤹ
+# @brief multiModeComponent であるか判定する
#
-# ꤵ줿RTݡͥȤ multiModeComponent Ǥ뤫Ƚꤹ롣
-# multiModeComponent ϡ ExecutionContext Semantics Modes of Operatin
-# ξˡ Mode 뤿ѤRTݡͥȤηǤ롣
+# 指定されたRTコンポーネントが multiModeComponent であるか判定する。
+# multiModeComponent は、 ExecutionContext の Semantics が Modes of Operatin
+# の場合に、 Mode を定義するために利用されるRTコンポーネントの型である。
#
-# @param obj Ƚоݤ CORBA ֥
+# @param obj 判定対象の CORBA オブジェクト
#
-# @return multiModeComponent Ƚ
+# @return multiModeComponent 判定結果
#
# @since 0.4.0
#
@@ -110,10 +112,8 @@ def isFsmObject(obj):
#
# @endif
def isMultiModeObject(obj):
- mmc = obj._narrow(RTC.MultiModeObject)
- return not CORBA.is_nil(mmc)
-
-
+ mmc = obj._narrow(RTC.MultiModeObject)
+ return not CORBA.is_nil(mmc)
#########################################################################
@@ -122,44 +122,51 @@ def isMultiModeObject(obj):
# DataType for CORBA
#
def instantiateDataType(dtype):
- if isinstance(dtype, int) : desc = [dtype]
- elif isinstance(dtype, tuple) : desc = dtype
- else :
- desc=omniORB.findType(dtype._NP_RepositoryId)
-
- if desc[0] in [omniORB.tcInternal.tv_alias ]: return instantiateDataType(desc[3])
-
- if desc[0] in [omniORB.tcInternal.tv_short,
- omniORB.tcInternal.tv_long,
- omniORB.tcInternal.tv_ushort,
+ if isinstance(dtype, int):
+ desc = [dtype]
+ elif isinstance(dtype, tuple):
+ desc = dtype
+ else:
+ desc = omniORB.findType(dtype._NP_RepositoryId)
+
+ if desc[0] in [omniORB.tcInternal.tv_alias]:
+ return instantiateDataType(desc[3])
+
+ if desc[0] in [omniORB.tcInternal.tv_short,
+ omniORB.tcInternal.tv_long,
+ omniORB.tcInternal.tv_ushort,
omniORB.tcInternal.tv_ulong,
omniORB.tcInternal.tv_boolean,
omniORB.tcInternal.tv_char,
omniORB.tcInternal.tv_octet,
omniORB.tcInternal.tv_longlong,
omniORB.tcInternal.tv_enum
- ]: return 0
+ ]:
+ return 0
- if desc[0] in [omniORB.tcInternal.tv_float,
+ if desc[0] in [omniORB.tcInternal.tv_float,
omniORB.tcInternal.tv_double,
omniORB.tcInternal.tv_longdouble
- ]: return 0.0
+ ]:
+ return 0.0
- if desc[0] in [omniORB.tcInternal.tv_sequence,
+ if desc[0] in [omniORB.tcInternal.tv_sequence,
omniORB.tcInternal.tv_array,
- ]: return []
-
+ ]:
+ return []
- if desc[0] in [omniORB.tcInternal.tv_string ]: return ""
+ if desc[0] in [omniORB.tcInternal.tv_string]:
+ return ""
if desc[0] in [omniORB.tcInternal.tv_wstring,
omniORB.tcInternal.tv_wchar
- ]: return u""
+ ]:
+ return u""
if desc[0] == omniORB.tcInternal.tv_struct:
arg = []
- for i in range(4, len(desc), 2):
+ for i in range(4, len(desc), 2):
attr = desc[i]
- attr_type = desc[i+1]
+ attr_type = desc[i + 1]
arg.append(instantiateDataType(attr_type))
return desc[1](*arg)
- return None
\ No newline at end of file
+ return None
diff --git a/OpenRTM_aist/RTM_IDL/BasicDataType.idl b/OpenRTM_aist/RTM_IDL/BasicDataType.idl
index d089563d..2ce6125f 100644
--- a/OpenRTM_aist/RTM_IDL/BasicDataType.idl
+++ b/OpenRTM_aist/RTM_IDL/BasicDataType.idl
@@ -183,7 +183,28 @@ module RTC {
Time tm;
sequence data;
};
-
+
+ #pragma keylist TimedState
+ #pragma keylist TimedShort
+ #pragma keylist TimedLong
+ #pragma keylist TimedUShort
+ #pragma keylist TimedULong
+ #pragma keylist TimedFloat
+ #pragma keylist TimedDouble
+ #pragma keylist TimedChar
+ #pragma keylist TimedBoolean
+ #pragma keylist TimedOctet
+ #pragma keylist TimedString
+ #pragma keylist TimedShortSeq
+ #pragma keylist TimedLongSeq
+ #pragma keylist TimedUShortSeq
+ #pragma keylist TimedULongSeq
+ #pragma keylist TimedFloatSeq
+ #pragma keylist TimedDoubleSeq
+ #pragma keylist TimedCharSeq
+ #pragma keylist TimedBooleanSeq
+ #pragma keylist TimedOctetSeq
+ #pragma keylist TimedStringSeq
};
#endif // end of BasicDataType_idl
diff --git a/OpenRTM_aist/RTM_IDL/CSPPort.idl b/OpenRTM_aist/RTM_IDL/CSPPort.idl
new file mode 100644
index 00000000..a86bf325
--- /dev/null
+++ b/OpenRTM_aist/RTM_IDL/CSPPort.idl
@@ -0,0 +1,52 @@
+#ifndef CSPPORT_IDL
+#define CSPPORT_IDL
+
+#include "DataPort.idl"
+
+#pragma prefix "openrtm.aist.go.jp"
+/*!
+ * @brief CSP (Communicating Sequential Processes) channel port
+ *
+ * Communicating Sequential Processes (CSP) is a formal language for
+ * describing patterns of interaction in concurrent systems. CSP uses
+ * explicit channels for message passing, whereas actor systems
+ * transmit messages to named destination actors. These approaches may
+ * be considered duals of each other, in the sense that processes
+ * receiving through a single channel effectively have an identity
+ * corresponding to that channel, while the name-based coupling
+ * between actors may be broken by constructing actors that behave as
+ * channels.
+ * (from https://en.wikipedia.org/wiki/Communicating_sequential_processes)
+ *
+ * http://arild.github.io/csp-presentation
+ * https://qiita.com/ymgyt/items/420eaf2bcf7bee4ae152
+ *
+
+ * This interface definition realizes CSP channel as an RTC port.
+ *
+ * CSP`l
+ * - ^bZ[WpbVO
+ * - mɓ`BiMMł܂ő҂j
+ * - ʐM\ȑIɑIĒʐM\
+ * - M\ȃvZXIđMiSĂMŝƂ́AЂ
+ * M\ɂȂ܂őMj
+ * - ʐM\ȃ`lIɑIiOIjĒʐM\
+ * - M\ȃvZXڑĂ`lIđM
+ *
+ */
+module CSP
+{
+ interface InPortCsp
+ {
+ RTC::PortStatus put(in RTC::OctetSeq data);
+ boolean is_writable(in boolean retry);
+ };
+
+ interface OutPortCsp
+ {
+ RTC::PortStatus get(out RTC::OctetSeq data);
+ boolean is_readable(in boolean retry);
+ };
+};
+
+#endif // CSPPORT_IDL
\ No newline at end of file
diff --git a/OpenRTM_aist/RTM_IDL/ExtendedDataTypes.idl b/OpenRTM_aist/RTM_IDL/ExtendedDataTypes.idl
index 50454e9d..a13c998a 100644
--- a/OpenRTM_aist/RTM_IDL/ExtendedDataTypes.idl
+++ b/OpenRTM_aist/RTM_IDL/ExtendedDataTypes.idl
@@ -694,6 +694,57 @@ module RTC {
Time tm;
OAP data;
};
+
+ /*!
+ * @struct Quaternion
+ * @brief Data type for Quaternion
+ */
+ struct Quaternion
+ {
+ double x;
+ double y;
+ double z;
+ double w;
+ };
+
+ /*!
+ * @struct TimedQuaternion
+ * @brief Timed version data type for Quaternion
+ */
+ struct TimedQuaternion
+ {
+ Time tm;
+ Quaternion data;
+ };
+
+ #pragma keylist TimedRGBColour
+ #pragma keylist TimedPoint2D
+ #pragma keylist TimedVector2D
+ #pragma keylist TimedPose2D
+ #pragma keylist TimedVelocity2D
+ #pragma keylist TimedAcceleration2D
+ #pragma keylist TimedPoseVel2D
+ #pragma keylist TimedSize2D
+ #pragma keylist TimedGeometry2D
+ #pragma keylist TimedCovariance2D
+ #pragma keylist TimedPointCovariance2D
+ #pragma keylist TimedCarlike
+ #pragma keylist TimedSpeedHeading2D
+ #pragma keylist TimedPoint3D
+ #pragma keylist TimedVector3D
+ #pragma keylist TimedOrientation3D
+ #pragma keylist TimedPose3D
+ #pragma keylist TimedVelocity3D
+ #pragma keylist TimedAngularVelocity3D
+ #pragma keylist TimedAcceleration3D
+ #pragma keylist TimedAngularAcceleration3D
+ #pragma keylist TimedPoseVel3D
+ #pragma keylist TimedSize3D
+ #pragma keylist TimedGeometry3D
+ #pragma keylist TimedCovariance3D
+ #pragma keylist TimedSpeedHeading3D
+ #pragma keylist TimedOAP
+ #pragma keylist TimedQuaternion
};
#endif // ExtendedDataTypes_idl
diff --git a/OpenRTM_aist/RTM_IDL/InterfaceDataTypes.idl b/OpenRTM_aist/RTM_IDL/InterfaceDataTypes.idl
index 7bec9bf9..de5df773 100644
--- a/OpenRTM_aist/RTM_IDL/InterfaceDataTypes.idl
+++ b/OpenRTM_aist/RTM_IDL/InterfaceDataTypes.idl
@@ -918,6 +918,28 @@ module RTC {
* @typedef RFIDTagData
*/
typedef sequence RFIDTagData;
+
+ #pragma keylist ActArrayActuatorPos
+ #pragma keylist ActArrayActuatorSpeed
+ #pragma keylist ActArrayActuatorCurrent
+ #pragma keylist ActArrayState
+ #pragma keylist CameraImage
+ #pragma keylist Fiducials
+ #pragma keylist GPSData
+ #pragma keylist GripperState
+ #pragma keylist INSData
+ #pragma keylist LimbState
+ #pragma keylist Hypotheses2D
+ #pragma keylist Hypotheses3D
+ #pragma keylist Features
+ #pragma keylist MultiCameraImages
+ #pragma keylist Path2D
+ #pragma keylist Path3D
+ #pragma keylist PointCloud
+ #pragma keylist PanTiltAngles
+ #pragma keylist PanTiltState
+ #pragma keylist RangeData
+ #pragma keylist IntensityData
};
#endif // InterfaceDataTypes_idl
diff --git a/OpenRTM_aist/RTM_IDL/__init__.py b/OpenRTM_aist/RTM_IDL/__init__.py
index 932b7982..270be2a2 100644
--- a/OpenRTM_aist/RTM_IDL/__init__.py
+++ b/OpenRTM_aist/RTM_IDL/__init__.py
@@ -1 +1 @@
-# Empty file
+# Empty file
diff --git a/OpenRTM_aist/RTM_IDL/device_interfaces/__init__.py b/OpenRTM_aist/RTM_IDL/device_interfaces/__init__.py
index 932b7982..270be2a2 100644
--- a/OpenRTM_aist/RTM_IDL/device_interfaces/__init__.py
+++ b/OpenRTM_aist/RTM_IDL/device_interfaces/__init__.py
@@ -1 +1 @@
-# Empty file
+# Empty file
diff --git a/OpenRTM_aist/RTM_IDL/ext/rtmCamera/CameraCommonInterface.idl b/OpenRTM_aist/RTM_IDL/ext/rtmCamera/CameraCommonInterface.idl
new file mode 100644
index 00000000..6b69871c
--- /dev/null
+++ b/OpenRTM_aist/RTM_IDL/ext/rtmCamera/CameraCommonInterface.idl
@@ -0,0 +1,190 @@
+/* version 2.0 */
+
+#ifndef CAMERACOMMONINTERFACE_IDL
+#define CAMERACOMMONINTERFACE_IDL
+
+#include "BasicDataType.idl"
+
+module Img {
+ //============================================================
+ // Definition of basic matrix for image.
+ //============================================================
+ typedef double Vec3[3];
+ typedef double Mat44[4][4];
+
+ //============================================================
+ //Image Data Structure
+ //============================================================
+
+ //------------------------------------------------------------
+ // Color Formats Definition
+ // The parameters of CF_XXX are defined by this idl.
+ // The other parameters are cited from FourCC definition.
+ // To obtain the detail information about FourCC formats, please visit
+ // following website:
+ // http://www.fourcc.org/
+ //------------------------------------------------------------
+ enum ColorFormat
+ {
+ CF_UNKNOWN, //Unknown Color Format
+ CF_RGB, //RGB raw data format
+ CF_GRAY, //8bit gray image data format
+ CF_JPEG, //JPEG image format
+ CF_PNG, //PNG image format
+
+ //Paramter definitions based on FourCC
+ RGB, //Basic Windows bitmap format
+ RLE8, //Run length encoded 8bpp RGB image
+ RLE, //Run length encoded 4bpp RGB image
+ RAW, //Uncompressed RGB bitmaps
+ RGBA, //Raw RGB with alpha
+ RGBT, //Raw RGB with a transparency field
+ AYUV, //Combined YUV and alpha
+ CLJR, //Cirrus Logic format with 4 pixels packed into a u_int32
+ CYUV, //Essentially a copy of UYUV except that the sense of the height is reserved
+ GREY, //Apparently a duplicate of Y800 and Y8
+ IRAW, //Intel uncompressed YUV
+ IUYV, //Interlaced version of UYUV
+ IY41, //Interlaced version of Y41P
+ IYU1, //12bit format used in mode 2 of the IEEE 1394 Digital Camera 1.04 spec.
+ IYU2, //24 bit format used in mode 0 of the IEEE 1394 Digital Camera 1.04 spec.
+ HDYC, //YUV 4:2:2 (Y sample at every pixel, U and V sampled at every second
+ //pixel horizontally on each line)
+ UYNV, //A direct copy of UYVY registered by NVidia to work around problems in
+ //some old codecs which did not like hardware which offered more than 2
+ //UYVY surfaces.
+ UYVP, //YCbCr 4:2:2 extended precision 10-bits per component in U0Y0V0Y1 order
+ V210, //10-bit 4:2:2 YCrCb equivalent to the Quicktime format of the same name
+ V422, //This is an upside down version of UYVY
+ V655, //16 bit YUV 4:2:2 format registered by Vitec Multimedia
+ VYUV, //Duplicate of YUV2
+ YUNV, //A direct copy of YUY2 registered by NVidia to work around problems in
+ //some old codecs which did not like hardware which offered more than 2
+ //YUY2 surfaces
+ YVYU, //YUV 4:2:2 as for UYVY but with different component ordering within the
+ //u_int32 macropixel
+ Y41P, //YUV 4:1:1 with a packed, 6 byte/4 pixel macroblock structure
+ Y211, //Packed YUV format with Y sampled at every second pixel across each line
+ //and U and V sampled at every fourth pixel
+ Y41T, //Format as for Y41P but the lsb of each Y component is used to signal pixel
+ //transparency
+ Y42T, //Format as for UYVY but the lsb of each Y component is used to signal
+ //pixel transparency
+ YUVP, //YCbCr 4:2:2 extended precision 10-bits per component in Y0U0Y1V0
+ //order
+ Y800, //Simple, single Y plane for monochrome images
+ Y8, //Duplicate of Y800
+ Y16 //16-bit uncompressed grayscale image
+ };
+
+ //============================================================
+ // Camera Image Data Structure
+ //============================================================
+
+ //------------------------------------------------------------
+ // Image Data Structure for still image
+ //------------------------------------------------------------
+ struct ImageData
+ {
+ long width;
+ long height;
+ ColorFormat format;
+ sequence raw_data;
+ };
+
+ //------------------------------------------------------------
+ // Camera Intrinsic Parameter Structure
+ //------------------------------------------------------------
+ struct CameraIntrinsicParameter
+ {
+ double matrix_element[5];
+ sequence