[openrtm-commit:01455] r163 - branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2014年 5月 30日 (金) 14:24:03 JST
Author: kawauchi
Date: 2014-05-30 14:24:03 +0900 (Fri, 30 May 2014)
New Revision: 163
Added:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtutil.py
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/setup.py
Modified:
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py
branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py
Log:
Added execution environment check and modified to use rtutil instead of rtshell.
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt 2014-05-16 06:49:37 UTC (rev 162)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/CMakeLists.txt 2014-05-30 05:24:03 UTC (rev 163)
@@ -28,7 +28,7 @@
)
set(EXEC_FILES ""
- TkCalibGUIComp.py tkcalibgui.py
+ TkCalibGUIComp.py tkcalibgui.py rtutil.py
)
set(OTHER_SRCS CMakeLists.txt
@@ -206,6 +206,7 @@
SET (calib_python_file
${PROJECT_SOURCE_DIR}/TkCalibGUIComp.py
${PROJECT_SOURCE_DIR}/tkcalibgui.py
+ ${PROJECT_SOURCE_DIR}/rtutil.py
${PROJECT_BINARY_DIR}/CalibrationService_idl.py)
foreach(target ${calib_python_file})
@@ -217,7 +218,6 @@
endforeach()
SET (calib_python_dir
- idl
ImageCalibService
ImageCalibService__POA)
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py 2014-05-16 06:49:37 UTC (rev 162)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/TkCalibGUIComp.py 2014-05-30 05:24:03 UTC (rev 163)
@@ -7,8 +7,85 @@
@brief Image Calibration GUI
@date $Date$
+"""
+def check_openrtmpy():
+ try:
+ import OpenRTM_aist
+ print "OpenRTM python is installed."
+ except:
+ import tkMessageBox
+ import Tkinter
+ msg = u'OpenRTM-aist Python is not installed. '
+ msg += u'Please download it from \n'
+ msg += u'http://openrtm.org/openrtm/ja/content/tkcalibgui'
+ Tkinter.Tk().withdraw()
+ tkMessageBox.showerror(title = "OpenRTM not found",
+ message = msg)
-"""
+def check_ttk():
+ try:
+ import ttk
+ print "Ttk is installed."
+ except:
+ import tkMessageBox
+ import Tkinter
+ msg = u'Ttk is not installed. '
+ msg += u'Please download it from \n'
+ msg += u'http://openrtm.org/openrtm/ja/content/tkcalibgui'
+ Tkinter.Tk().withdraw()
+ tkMessageBox.showerror(title = "Ttk not found",
+ message = msg)
+
+def check_pil():
+ try:
+ from PIL import Image, ImageTk
+ print "Python Imaging Library (PIL) is installed."
+ except:
+ import tkMessageBox
+ import Tkinter
+ msg = u'Python Imaging Library (PIL) is not installed. '
+ msg += u'Please download it from \n'
+ msg += u'http://openrtm.org/openrtm/ja/content/tkcalibgui'
+ Tkinter.Tk().withdraw()
+ tkMessageBox.showerror(title = "PIL not found",
+ message = msg)
+
+def check_numpy():
+ try:
+ import numpy
+ print "Numpy is installed."
+ except:
+ import tkMessageBox
+ import Tkinter
+ msg = u'Numpy is not installed. '
+ msg += u'Please download it from \n'
+ msg += u'http://openrtm.org/openrtm/ja/content/tkcalibgui'
+ Tkinter.Tk().withdraw()
+ tkMessageBox.showerror(title = "Numpy not found",
+ message = msg)
+
+def check_rtctree():
+ try:
+ import rtctree
+ print "rtctree is installed."
+ except:
+ import tkMessageBox
+ import Tkinter
+ msg = u'rtctree is not installed. '
+ msg += u'Please download it from \n'
+ msg += u'http://openrtm.org/openrtm/ja/content/tkcalibgui'
+ Tkinter.Tk().withdraw()
+ tkMessageBox.showerror(title = "rtctree not found",
+ message = msg)
+ return
+
+# check execution condition
+check_openrtmpy()
+check_pil()
+check_ttk()
+check_numpy()
+check_rtctree()
+
import os
import sys
import socket
@@ -24,8 +101,10 @@
import tkcalibgui
import CalibrationService_idl
-from rtshell import rtdel
+#from rtshell import rtdel
+import rtutil
+
# Import Service implementation class
# <rtc-template block="service_impl">
@@ -52,6 +131,7 @@
""]
# </rtc-template>
+
##
# @class TkCalibGUI
# @brief Image Calibration GUI
@@ -83,8 +163,8 @@
# <rtc-template block="init_conf_param">
# </rtc-template>
+ self.tree=None
-
##
#
@@ -358,7 +438,11 @@
calibgui.set_options(orb, rt_dir, comp_option)
calibgui.mainloop()
-
+
+ # GUIの×ボタンを押されるとmainloopを抜けてここへ来る
+ # コンポーネントの終了処理を確認する
+ calibgui.exit_comp()
+
while True:
comp_list = mgr.getComponents()
# is finished?
@@ -368,7 +452,9 @@
# Delete context
tree = comp.get_tree()
- rtdel.main([str(rt_dir)], tree)
+# rtdel.main([str(rt_dir)], tree)
+ rtutil.delComponentRef(str(rt_dir), tree)
+
mgr.shutdown()
if __name__ == "__main__":
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtutil.py
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtutil.py (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/rtutil.py 2014-05-30 05:24:03 UTC (rev 163)
@@ -0,0 +1,1074 @@
+#! python.exe
+
+import cgi
+import subprocess
+import sys
+import os
+import rtctree
+import rtctree.tree
+import json
+import time
+
+"""
+ Global variables
+"""
+__ORB__ = None
+demo_mode = False
+
+
+"""
+ Formart a component node for NSView
+"""
+def format_node(node, flag):
+ if flag==1 :
+ return """ "*%s" """ % node.name
+ elif flag==2 :
+ return """ "#%s" """ % node.name
+ else :
+ return """ "%s" """ % node.name
+
+"""
+ Fomat a context node forn NSView
+"""
+def format_context(node):
+ return """ "folder": "%s" """ % node.name
+
+"""
+ Format NSView
+"""
+def format_nsview_json(tree, node):
+ result = ""
+ res = []
+ try:
+ chnode = node.children
+ count = 0
+ for x in chnode :
+ if count > 0:
+ result += ","
+ path, port = rtctree.path.parse_path(x.full_path_str)
+ res.append(x)
+ if tree.is_directory(path) :
+ val = format_context(x)
+ val2 = format_nsview_json(tree,x)
+ result += """{ %s, "components" : [ %s]}""" % (val, val2)
+ else:
+ flag = 0
+ if tree.is_zombie(path) : flag = 1
+ if tree.is_unknown(path) : flag = 2
+ val = format_node(x, flag)
+ result += val
+ count += 1
+ except:
+ pass
+
+ return result
+
+"""
+ Format NSView for demo.
+"""
+def format_dir_json(dirname):
+ res = []
+ filelist = os.listdir(dirname)
+ for f in filelist :
+ p = "%s\%s" % (dirname, f)
+ if os.path.isdir(p) :
+ val = format_dir_json(p)
+ res.append( """{ "folder" : "%s", "components": [%s] }""" % (f, val) )
+ else:
+ res.append( """ "%s" """ % f )
+ return ",".join(res)
+
+"""
+ Parse a data_type of a dataport
+"""
+def getDataType(tt):
+ val = tt.split(":")
+ if val[0] != 'IDL' or val[2] != '1.0':
+ return tt
+ return val[1].replace('/', '::')
+
+"""
+ Format port data of a component
+"""
+def format_port_info(port):
+ result = port.name
+
+ props = port.properties
+ porttype = props['port.port_type']
+
+ if porttype == 'DataOutPort' or porttype == 'DataInPort':
+ #datatype= getDataType(props['dataport.data_type'])
+ datatype= props['dataport.data_type']
+ result += """(%s;%s)""" % (porttype, datatype)
+ else:
+ info=[]
+ for x in port.interfaces :
+ info.append( "%s|%s|%d" % (x.instance_name , x.type_name, x.polarity) )
+
+ info_str = "#".join(info)
+ result += """(%s;%s)""" % (porttype, info_str)
+
+ return result
+
+"""
+"""
+def find_composite_comp(tree, member, inst_name):
+ def get_fp(mgr, args):
+ for c in mgr.components:
+ if c.instance_name == inst_name:
+ return c.full_path_str
+ return None
+ def is_correct_mgr(node):
+ has_member = False
+ has_inst_name = False
+ for c in node.components:
+ if c.instance_name == inst_name:
+ has_inst_name = True
+ elif c.instance_name == member.instance_name:
+ has_member = True
+ return has_member and has_inst_name
+ return tree.iterate(get_fp, filter=['is_manager', is_correct_mgr])
+
+"""
+"""
+def get_composite_properties(tree, comp):
+ result=[]
+ for o in comp.organizations:
+ res={}
+ if not o.sdo_id:
+ sdo_id = "Unknown"
+ else:
+ sdo_id = o.sdo_id
+
+ res['Composition_ID'] = sdo_id
+ res['ID'] = o.org_id
+ for m in o.members:
+ c_path = find_composite_comp(tree, comp, m)
+ if c_path:
+ res['Member'] = c_path[0]
+ else:
+ res['Member'] = 'Unknown'
+ result.append(res)
+ return result
+
+"""
+"""
+def get_composite_member_properties(tree, comp):
+ result=[]
+ for po in comp.parent_orgs:
+ res={}
+ if not po.sdo_id:
+ sdo_id = "Unknown"
+ else:
+ sdo_id = po.sdo_id
+ res['Parent_ID'] = sdo_id
+ res['ID'] = po.org_id
+ composition_path = find_composite_comp(tree, comp, po.sdo_id)
+ if composition_path:
+ res['Path'] = composition_path[0]
+ else:
+ res['Path'] = 'Unknown'
+
+ result.append(res)
+ return result
+
+"""
+"""
+def get_ecs_properties(ecs):
+ result=[]
+ for ec in ecs:
+ res={}
+ res['Handle'] = ec.handle
+ res['State'] = ec.running_as_string(add_colour=False)
+ res['Kind'] = ec.kind_as_string(add_colour=False)
+ res['Rate'] = ec.rate
+ if ec.owner_name:
+ res['Owner'] = ec.owner_name
+
+ if ec.participant_names:
+ res['Participants'] = ec.participant_names
+
+ if ec.properties:
+ res['ExtraProperties'] = ec.properties
+ result.append(res)
+ return result
+
+"""
+"""
+def get_ports_properties(comp, ports):
+ result=[]
+ for p in ports:
+ res = get_port_properties(comp, p)
+ result.append(res)
+
+ return result
+
+"""
+"""
+def get_port_properties(comp, p):
+ res = {}
+ res['Name'] = p.name
+ res['Type'] = p.porttype
+ res['Properties'] = p.properties
+
+ if p.porttype == 'CorbaPort' and p.interfaces:
+ res['Interfaces'] = []
+ for intf in p.interfaces:
+ res_intf = {}
+ res_intf['InstanceName'] = intf.instance_name
+ res_intf['TypeName'] = intf.type_name
+ res_intf['Polarity'] = intf.polarity_as_string(add_colour=False)
+ res['Interfaces'].append(res_intf)
+
+ res['Connections'] = []
+ for conn in p.connections:
+ res_conn = {}
+ dest_ports = []
+
+ for name,dp in conn.ports:
+ if not dp:
+ dest_ports.append(name)
+ elif not comp.get_port_by_ref(dp.object) :
+ dest_ports.append(name)
+
+ if dest_ports :
+ res_conn['DestPorts'] = dest_ports
+ res_conn['Name'] = conn.name
+ res_conn['ID'] = conn.id
+ keys = [k for k in conn.properties.keys() \
+ if not k.endswith('inport_ref') \
+ if not k.endswith('inport_ior')]
+ for key in keys:
+ if isinstance(conn.properties[key], str) :
+ res_conn[key] = conn.properties[key]
+
+ res['Connections'].append(res_conn)
+
+ return res
+
+"""
+"""
+def get_component_profile(tree, comp):
+ res = ""
+ profiles={}
+ profiles['Name'] = comp.name
+ profiles['State'] = comp.get_state_string(add_colour=False)
+ profiles['Category'] = comp.category
+ profiles['Description'] = comp.description
+ profiles['InstanceName'] = comp.instance_name
+ profiles['TypeName'] = comp.type_name
+ profiles['Vendor'] = comp.vendor
+
+
+ if comp.parent:
+ profiles['Parent'] = comp.parent_object
+
+ if comp.is_composite:
+ if comp.is_composite_member:
+ profiles['Type'] = 'Composite composite member'
+ else:
+ profiles['Type'] = 'Composite'
+ profiles['Composite'] = get_composite_properties(tree, comp)
+
+ elif comp.is_composite_member:
+ profiles['Type'] = 'Monolithic composit member'
+ profiles['CompositeMember'] = get_composite_member_properties(tree, comp)
+ else:
+ profiles['Type'] = 'Monolithic'
+
+ profiles['ExtraProperties'] = comp.properties
+ profiles['ExecutionContext'] = get_ecs_properties(comp.owned_ecs)
+ profiles['Ports'] = get_ports_properties(comp, comp.ports)
+
+
+ conf_sets = comp.conf_sets
+ if conf_sets :
+ profiles['ConfigSet'] = [k for k in conf_sets.keys() if not is_hidden(k) ]
+ try:
+ profiles['ConfigParams'] = conf_sets[comp.active_conf_set_name].data.keys()
+ except:
+ profiles['ConfigParams'] = []
+
+ profiles['ActiveConfig'] = comp.active_conf_set_name
+
+ #print >> sys.stderr, profiles
+ return profiles
+
+"""
+"""
+def get_manager_profile(tree, comp):
+ res = {}
+ res['Name'] = comp.profile['name']
+ res['InstanceName'] = comp.profile['instance_name']
+ res['ProcessID'] = comp.profile['pid']
+ res['NamingFormat'] = comp.profile['naming_formats']
+ res['RefstringPath'] = comp.profile['refstring_path']
+ res['ComponentPrecreate'] = comp.profile['components.precreate']
+
+ res['LoadPath'] = comp.profile['modules.load_path']
+ res['ConfigPath'] = comp.profile['modules.config_path']
+ res['Preload'] = comp.profile['modules.preload']
+ res['InitFunctionPrefix'] = comp.profile['modules.init_func_prefix']
+ res['DownloadAllowed'] = comp.profile['modules.download_allowed']
+ res['AbsolutePathAllowed'] = comp.profile['modules.abs_path_allowed']
+
+ res['OsVersion'] = comp.profile['os.version']
+ res['OsArchitecture'] = comp.profile['os.arch']
+ res['OsRelease'] = comp.profile['os.release']
+ res['OsHostname'] = comp.profile['os.hostname']
+ res['OsName'] = comp.profile['os.name']
+
+ res['LoadedModules'] = []
+ for lm in comp.loaded_modules:
+ res_lm = {}
+ res_lm['Filepath'] = lm['file_path']
+ res['LoadedModules'].append(res_lm)
+
+ res['LoadableModules'] = []
+ for lm in comp.loadable_modules:
+ res_lm = {}
+ res_lm['Filepath'] = lm['module_file_path']
+ res['LoadableModules'].append(res_lm)
+
+ return res
+
+"""
+"""
+def get_or(tree,comp):
+ res = ""
+ res = get_component_profile(tree, comp)
+
+ return res
+
+"""
+"""
+def getFileContent(fname):
+ global demo_mode
+ res = ""
+ if demo_mode and os.path.exists(fname) and os.path.isfile(fname):
+ f = open(fname, 'r')
+ contents = ""
+ for line in f:
+ contents += line
+ f.close()
+ res = "".join(contents.split("\n"))
+
+ return res
+
+"""
+"""
+def getFileContents(fname):
+ res = ""
+ if os.path.exists(fname) and os.path.isfile(fname):
+ f = open(fname, 'r')
+ contents = ""
+ for line in f:
+ contents += line
+ f.close()
+ return contents
+
+"""
+"""
+def getPortInfoFromFile(filename):
+ global demo_mode
+ if demo_mode :
+ info = getFileContent(filename)
+ comp = eval(info)
+
+ res = []
+ for port in comp['Ports'] :
+ if port['Type'] == 'CorbaPort' :
+ interfaces = port['Interfaces']
+ info =[]
+ for prop in interfaces:
+ info.append( """%s|%s|%s""" % (prop['InstanceName'],prop['TypeName'],prop['Polarity']))
+ propsinfo = "#".join(info)
+ else :
+ prop = port['Properties']
+ propsinfo = prop['dataport.data_type']
+
+ res.append("%s(%s;%s)" % (port['Name'] , port['Type'], propsinfo))
+
+ result = ",".join(res)
+ else:
+ result = "unknown"
+ return """ "ports": "%s" """ % result
+
+"""
+"""
+def getRtcInfoFromFile(cwd, name):
+ global demo_mode
+ if demo_mode :
+ ndir = cwd.split('/')
+ dirname = "\\".join(ndir[2:])
+ demoroot = os.getenv('DEMO_ROOT')
+ if not demoroot:
+ demoroot = """.\demo"""
+ filename = """%s\%s\%s""" % (demoroot, dirname, name)
+
+ result = getFileContent(filename)
+ return eval(result)
+ else:
+ return ""
+
+"""
+"""
+def getRtcPortFromFile(cwd, name):
+ global demo_mode
+ if demo_mode :
+ ndir = cwd.split('/')
+ dirname = "\\".join(ndir[2:])
+ demoroot = os.getenv('DEMO_ROOT')
+ if not demoroot:
+ demoroot = """.\demo"""
+ filename = """%s\%s\%s""" % (demoroot, dirname, name)
+
+ if os.path.exists(filename) and os.path.isfile(filename):
+ portinfo = getPortInfoFromFile(filename)
+ result = """{"name": "%s", %s, "context" : "%s/"}""" % (name, portinfo, cwd)
+ else:
+ result = """{"name": "error", "ports": "", "msg" : "Invalid Component name!!", "context" : "%s/"}""" % cwd
+ else:
+ result = """{"name": "error", "ports": "", "msg" : "No such a component", "context" : "%s/"}""" % cwd
+
+ return result
+
+
+def getRtcTree(servers=None, paths=None, orb='global'):
+ global __ORB__
+
+ if paths : f= [paths]
+ else: f=[]
+
+ if orb=='global': orb=__ORB__
+ tree = rtctree.tree.RTCTree(servers=servers, paths=paths, filter=f, orb=orb)
+
+ if tree :
+ if not __ORB__ : __ORB__ = tree.orb
+
+ return tree
+
+"""
+"""
+def getComponent(cwd, name=None, tree=None, orb='global'):
+ try:
+ path = cwd.split("/")
+ if not path[-1] :
+ path.pop()
+ cwd = '/'.join(path)
+
+ rootpath, port = rtctree.path.parse_path(cwd)
+
+ if not tree:
+ tree = getRtcTree(paths=rootpath, orb=orb)
+
+ if name :
+ rootpath.append(name)
+
+ comp = tree.get_node(rootpath)
+ except:
+ tree = None
+ comp = None
+ port = None
+
+ return tree, comp, port
+
+"""
+"""
+def findConnectionId(port1, port2):
+ port1_all_conns = port1.connections
+ port2_all_conns = port2.connections
+
+ for c2 in port2_all_conns:
+ for c1 in port1_all_conns:
+ if c1.id == c2.id :
+ return c1.id
+
+ return None
+
+"""
+"""
+def getConnectedPorts(name, tree=None):
+ try:
+ tree, comp, port = getComponent(name, None, tree=tree)
+ port_objs = comp.connected_ports
+
+ except:
+ port_objs = None
+ pass
+
+ return tree,comp, port_objs
+
+
+"""
+"""
+def getComponentPort(name, tree=None):
+ try:
+ tree, comp, port = getComponent(name, None, tree=tree)
+ port_obj = comp.get_port_by_name(port)
+ except:
+ port_obj = None
+ pass
+
+ return tree,comp, port_obj
+
+"""
+"""
+def activateComponent(name, ec_index=0, tree=None):
+ code = 0
+ tree1, comp, port = getComponent(name, tree=tree)
+
+ if tree1 and comp :
+ comp.activate_in_ec(ec_index)
+ time.sleep(0.5)
+ state = comp.get_state_string(add_colour=False)
+ result ="""{"name" : "%s", "result" : "%s" }""" % (name, state)
+ code = 1
+ else:
+ result ="""{"name" : "%s", "result" : "Fail" }""" % name
+
+ return code, result
+
+"""
+"""
+def deactivateComponent(name, ec_index=0, tree=None):
+ code = 0
+ tree1, comp, port = getComponent(name, tree=tree)
+
+ if tree1 and comp :
+ comp.deactivate_in_ec(ec_index)
+ result ="""{"name" : "%s", "result" : "Success" }""" % name
+ code = 1
+ else:
+ result ="""{"name" : "%s", "result" : "Fail" }""" % name
+
+ return code, result
+
+"""
+"""
+def resetComponent(name, ec_index=0, tree=None):
+ code = 0
+ tree, comp, port = getComponent(name, tree=tree)
+
+ if tree and comp :
+ comp.reset_in_ec(ec_index)
+ result ="""{"name" : "%s", "result" : "Success" }""" % name
+ code = 1
+ else:
+ result ="""{"name" : "%s", "result" : "Fail" }""" % name
+
+ return code, result
+
+"""
+"""
+def getComponentState(name, ec_index=0, tree=None):
+ code = 0
+ tree, comp, port = getComponent(name, tree=tree)
+
+ if tree and comp :
+ state = comp.get_state_string(add_colour=False)
+ result ="""{"name" : "%s", "result" : "%s" }""" % (name, state)
+ code = 1
+ else:
+ result ="""{"name" : "%s", "result" : "Fail" }""" % name
+
+ return code, result
+
+"""
+"""
+def delComponentRef(fullpath, tree=None):
+ path, port = rtctree.path.parse_path(fullpath)
+ if port: return False
+ if not path[-1]: path = path[:-1]
+ if len(path) <= 2: return False
+
+ if not tree: tree = getRtcTree(paths=path)
+ parent=tree.get_node(path[:-1])
+
+ if parent.is_manager: return False
+ if not parent.is_directory: return False
+
+ name = path[-1]
+ if name.find('.') == -1 : name=name+'.'
+
+ parent.unbind(name)
+ return True
+
+
+"""
+"""
+def exitComponent(name, tree=None):
+ code = 0
+ tree, comp, port = getComponent(name, tree=tree)
+
+ if tree and comp :
+ try:
+ comp.exit()
+ result ="""{"name" : "%s", "result" : "Success" }""" % name
+ except:
+ result ="""{"name" : "%s", "result" : "Fail" }""" % name
+ code = -2
+ pass
+ else:
+ result ="""{"name" : "%s", "result" : "No such a component" }""" % name
+ code = -1
+
+ return code, result
+
+"""
+"""
+def deleteZombieComponents(hosts):
+ res = delete_all_zombies(hosts)
+
+ result = ""
+
+ if res == False:
+ result = "Fail"
+ else:
+ for x in res:
+ result += "Delete %s\n" % x
+ result += "OK"
+
+ return result
+
+"""
+"""
+def getComponentList(host):
+ if not host : host = ""
+ roothost = "/"+host
+ tree, root, port = getComponent(roothost)
+
+ if tree and root :
+ val = format_nsview_json(tree, root)
+# result = """{ "hostname": "%s", "components": [ %s ]} """ % (host, val)
+ else:
+ dirname = os.getenv('DEMO_ROOT')
+ if not dirname : dirname = "demo"
+ try:
+ val = format_dir_json(dirname)
+ except:
+ val = """ "No such component" """
+
+ result = """{ "hostname":"%s", "components": [ %s] }""" % (host, val)
+ return result
+
+"""
+"""
+def getConnectionInfo(name1, name2):
+ result = {}
+
+ try:
+ p1 = catComponentInfo(name1)
+ p2 = catComponentInfo(name2)
+
+ connections1 = p1['PortInfo']['Connections']
+ connections2 = p2['PortInfo']['Connections']
+
+ except:
+ print >>sys.stderr, "ERROR in getConnectionInfo"
+ return result
+
+ for con1 in connections1 :
+ for con2 in connections2 :
+ if con1['ID'] == con2['ID'] :
+ result = con1
+ if p1['PortInfo']['Type'] == 'CorbaPort':
+ result['ConnectionType']='ServicePort'
+ else:
+ result['ConnectionType']='DataPort'
+ break
+ return result;
+"""
+"""
+def catComponentInfo(name):
+ tree, comp, port = getComponent(name,orb=None)
+ result = {}
+
+ if tree and comp :
+ rootpath, port = rtctree.path.parse_path(name)
+
+ if port :
+ if comp.is_component :
+ p = comp.get_port_by_name(port)
+ if p :
+ result['PortInfo'] = get_port_properties(comp, p)
+ else:
+ if comp.is_component :
+ result = get_component_profile(tree,comp)
+ result['PathUrl'] = name
+ elif comp.is_manager :
+ result = get_manager_profile(tree,comp)
+ result['PathUrl'] = name
+ elif comp.is_zombie:
+ result = {'Name': comp.name, 'State': 'Zombie', 'Type': 'Zombie' }
+ result['PathUrl'] = name
+ else:
+ result = ""
+ else:
+ result = """{"name": "%s", "ports": "", "msg" : "No name!!"}""" % name
+
+ return result
+
+
+"""
+"""
+def catComponent(name):
+ path = name.split("/")
+ try:
+ pos = path[-1].index(".rtc")
+ except:
+ return """{"name": "%s", "ports": "", "msg" : "No name!!"}""" % name
+
+ rtcname = path.pop()
+ cwd = "/".join(path)
+
+ return catComponent2(cwd, rtcname)
+
+"""
+"""
+def catComponent2(cwd, name):
+ if not name :
+ result= """{"name": "error", "ports": "", "msg" : "No name!!"}"""
+
+ else:
+ tree, comp, port = getComponent(cwd, name)
+
+ if tree and comp :
+ rootpath, port = rtctree.path.parse_path(cwd)
+ if port :
+ if comp.is_component :
+ p = comp.get_port_by_name(port)
+ if p :
+ result['PortInfo'] = get_port_properties(comp, p)
+ else:
+ if comp.is_component :
+ result = get_component_profile(tree,comp)
+ result['PathUrl'] = cwd
+ elif comp.is_manager :
+ result = get_manager_profile(tree,comp)
+ result['PathUrl'] = cwd
+ elif comp.is_zombie:
+ result = {'Name': comp.name, 'State': 'Zombie', 'Type': 'Zombie' }
+ result['PathUrl'] = cwd
+ else:
+ result = ""
+ else:
+ result= """{"name": "error", "ports": "", "msg" : "No name!!"}"""
+ #result = getRtcInfoFromFile(cwd, name)
+ #result['PathUrl'] = cwd
+
+ return result
+
+
+"""
+"""
+def checkComponent(name):
+ path = name.split("/")
+ try:
+ pos = path[-1].index(".rtc")
+ except:
+ return ""
+
+ rtcname = path.pop()
+ cwd = "/".join(path)
+
+ return checkComponent2(cwd, rtcname)
+
+"""
+"""
+def checkComponent2(cwd, name):
+ if not name :
+ result= ""
+
+ else:
+ tree, comp, port = getComponent(cwd, name)
+
+ if tree and comp :
+ rootpath, port = rtctree.path.parse_path(cwd)
+ if port :
+ if comp.is_component :
+ result = "Component"
+ else:
+ if comp.is_component :
+ result = "Component"
+ elif comp.is_manager :
+ result = "Manager"
+ elif comp.is_zombie:
+ result = "Zombie"
+ else:
+ result = ""
+ else:
+ result= ""
+
+ return result
+
+"""
+"""
+def getComponentInfo(cwd, name):
+ if not name :
+ result= """{"name": "error", "ports": "", "msg" : "No name....!!"}"""
+
+ else:
+ tree, comp, port = getComponent(cwd, name)
+
+ if tree and comp :
+ ports = comp.ports
+
+ portInfo =""
+ for x in ports:
+ if portInfo != "" : portInfo +=","
+ portInfo += format_port_info(x)
+
+ ecs = get_ecs_properties(comp.owned_ecs)
+ status = ecs[0]['State']
+ PortsInfo = get_ports_properties(comp, comp.ports)
+
+ result = """{"name": "%s", "ports" : "%s", "context" : "%s/"}""" % (name, portInfo, cwd)
+ else:
+ result = getRtcPortFromFile(cwd, name)
+
+ return result
+
+"""
+"""
+def connectPorts(name1, name2, tree=None):
+ if not name1 or not name2:
+ result = '{"name": "error", "ports": "", "msg" : "Invalid Component name!!"}'
+ code = -2
+
+ else:
+ try:
+ tree1, comp1, port_obj1 = getComponentPort(name1, tree)
+ tree2, comp2, port_obj2 = getComponentPort(name2, tree)
+
+ conn_id = findConnectionId(port_obj1, port_obj2)
+
+ if conn_id :
+ result = "Connection %s:%s and %s:%s already exists. " % (comp1.name, port1, comp2.name, port2)
+ code = 0
+ else:
+ profile =""
+ name = "%s.%s_%s.%s" % (comp1.name[0:-4], port_obj1.name, comp2.name[0:-4], port_obj2.name)
+ port_obj1.connect([port_obj2] , name)
+ #result = "Connected: %s %s" % (name1, name2)
+ result = "Connected: "
+ code = 1
+ except Exception, e:
+ result = "Error in connectPorts"
+ code=-1
+
+ return code,result
+
+
+"""
+"""
+def disconnectPorts(name1, name2):
+# global __ORB__
+ if not name1 or not name2:
+ result = '{"name": "error", "ports": "", "msg" : "Invalid Component name!!"}'
+ code = -2
+
+ else:
+ try:
+ tree1, comp1, port_obj1 = getComponentPort(name1)
+ tree2, comp2, port_obj2 = getComponentPort(name2)
+ conn_id = findConnectionId(port_obj1, port_obj2)
+
+ if conn_id :
+ pobj = port_obj1.get_connection_by_id(conn_id)
+ pobj.disconnec()
+ result = "Disonnected: %s and %s" % (port_obj1.name, port_obj2.name)
+ code = 1
+ else:
+ result = "No such a connection."
+ code = 0
+
+ except Exception, e:
+ result = "Error in disconnectPorts"
+ code = -1
+
+ return code,result
+
+"""
+"""
+def disconnectAll(name1, tree=None):
+ if not name1 :
+ result = '{"name": "error", "ports": "", "msg" : "Invalid Component name!!"}'
+ code = -2
+
+ else:
+ try:
+ tree1, comp1, port_obj1 = getComponentPort(name1, tree)
+ if not comp1 : return False
+ if not comp1.is_component : return False
+
+ if port_obj1 :
+ port_obj1.disconnect_all()
+ result = "Disonnected: %s" % (port_obj1.name)
+ code = 0
+
+ else:
+ comp1.disconnect_all()
+ result = "Disonnected: %s" % (comp1.name)
+ code = 0
+
+ except Exception, e:
+ result = "Error in disconnectPorts"
+ code = -1
+
+ return code,result
+
+"""
+"""
+def delete_all_zombies(hosts='localhost'):
+ hostnames = hosts.split(',')
+
+ tree = getRtcTree(servers=hostnames)
+
+ if not tree:
+ return False
+
+ def del_zombie(node, args):
+ try:
+ name = node.name
+ node.parent.unbind(node.name)
+ return name
+ except Exception, e:
+ traceback.print_exc()
+ print >>sys.stderr, '{0}: {1}'.format(sys.argv[0], e)
+
+ return tree.iterate(del_zombie, filter=['is_zombie'])
+
+
+"""
+"""
+def is_hidden(name):
+ hidden_prefix = '__'
+ hidden_suffix = '__'
+ return name.startswith(hidden_prefix) and name.endswith(hidden_suffix)
+
+def getRtcConfigurationList(name):
+ tree, comp, port = getComponent(name)
+
+# result = '{"name": "error", "config": "", "msg" : "Invalid Component name!!"}'
+
+ conf_sets = comp.conf_sets
+ print conf_sets.keys()
+
+ active_conf = comp.active_conf_set_name
+
+ result = []
+ set_keys = [k for k in conf_sets.keys() if not is_hidden(k) or all]
+
+ set_keys.sort()
+ for set_name in set_keys:
+ if set_name == active_conf :
+ result = conf_sets[set_name].data
+ params = conf_sets[set_name].data.keys()
+ for param in params:
+ print """ %s %s """ % (param, conf_sets[set_name].data[param])
+
+ return result
+
+
+"""
+"""
+def getRtcConfiguration(name, conf_name):
+ tree, comp, port = getComponent(name)
+# result = '{"name": "error", "config": "", "msg" : "Invalid Component name!!"}'
+ conf_sets = comp.conf_sets
+ active_conf = comp.active_conf_set_name
+ result = conf_sets[active_conf].data[conf_name]
+
+ return result
+
+
+"""
+"""
+def setRtcConfiguration(name, conf_name, val, setname=None):
+ tree, comp, port = getComponent(name)
+# result = '{"name": "error", "config": "", "msg" : "Invalid Component name!!"}'
+ if setname :
+ comp.activate_conf_set(setname)
+ active_conf = setname
+ else:
+ active_conf = comp.active_conf_set_name
+
+ comp.set_conf_set_value(active_conf, conf_name, val)
+ comp.activate_conf_set(active_conf)
+
+ print >> sys.stderr, "Config: %s: %s = %s" % (active_conf, conf_name, val)
+ result = """ {"ConfigName" : "%s", "Value": "%s" }""" % (conf_name, val)
+ return result
+
+
+"""
+"""
+def activateRtcConfigurationSet(name, conf_name):
+ tree, comp, port = getComponent(name)
+ set_keys = [k for k in conf_sets.keys() if not is_hidden(k) ]
+
+ for set_name in set_keys:
+ if set_name == conf_name :
+ comp.activate_conf_set(conf_name)
+
+ result = """ { "Activate" : "%s" } """ % (conf_name)
+ return result
+
+"""
+"""
+def getRtcConfigurationSet(name):
+ tree, comp, port = getComponent(name)
+ conf_sets = comp.conf_sets
+ result = [k for k in conf_sets.keys() if not is_hidden(k) ]
+ return result
+
+"""
+"""
+def getActiveRtcConfigurationSet(name):
+ tree, comp, port = getComponent(name)
+ result = comp.active_conf_set_name
+ return result
+
+"""
+"""
+def getRtcProfileList(dirname):
+ try:
+ val = format_dir_json(dirname)
+ except:
+ val = """ "No such component" """
+
+ result = """{ "folder":"%s", "components": [ %s] }""" % (dirname, val)
+ return result
+
+
+"""
+"""
+def getValue(form, val, n_arg):
+ try:
+ res = form[val].value
+ except:
+ if len(sys.argv) > n_arg+1:
+ res = sys.argv[n_arg+1]
+ else:
+ res = None
+ return res
+
+"""
+"""
+def printResult(result, isCGI=1):
+ if isCGI == 1 :
+ print "Content-type: text/html;charset=utf-8"
+ print ""
+ print result
+ else:
+ printJSON(result)
+
+"""
+"""
+def printJSON(result):
+ try:
+ res = json.loads(result)
+ print json.dumps(res, indent=2)
+ except:
+ print result
Added: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/setup.py
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/setup.py (rev 0)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/setup.py 2014-05-30 05:24:03 UTC (rev 163)
@@ -0,0 +1,18 @@
+
+from distutils.core import setup
+import py2exe
+
+option = {
+ "packages" : ['PIL'],
+ "compressed" : 1,
+ "optimize" : 2,
+ }
+
+setup(
+ options = { "py2exe" : option },
+ console = [
+ {"script" : "TkCalibGUIComp.py" }
+ ],
+ zipfile = 'lib\libs.zip'
+)
+
Modified: branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py
===================================================================
--- branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py 2014-05-16 06:49:37 UTC (rev 162)
+++ branches/newCMakeForVC2010/ImageProcessing/opencv/components/TkCalibGUI/tkcalibgui.py 2014-05-30 05:24:03 UTC (rev 163)
@@ -15,16 +15,19 @@
import time
import sys
import os.path
-from cv2.cv import *
+#from cv2.cv import *
+import numpy
from io import BytesIO
from StringIO import StringIO
-from rtshell import rtcat, rtcon
from threading import Thread
+import rtutil
+
WIN_DEFAULT_CAMERA = {
"DirectShowCamComp" : ":m_FIN_OUTPORT",
"OpenCVCameraComp" : ":out",
- "PGRCameraComp" : ":outputImage"
+ "PGRCameraComp" : ":outputImage",
+ "MFCameraComp" : ":out"
}
LINUX_DEFAULT_CAMERA = {
"OpenCVCameraComp" : ":out",
@@ -49,6 +52,9 @@
self.save_btn_state = [] # 保存ボタンの状態保存用
self.view_flg = True # カメラ画像を表示する
self.comp_all_found = False
+
+ self.camera_select_flg = False
+ self.exit_btn_click = False
self.result_mes = StringVar()
self.result_mes.set("")
@@ -198,12 +204,15 @@
# automatically connect the components
ret = self.connect_components_auto()
if not ret:
- self.connect_components_manually()
+ self.register_me()
self.comp_all_found = False
else:
# manually connect the components
- self.connect_components_manually()
+ self.register_me()
+ # camera selected
+ self.camera_select_flg = True
+
# right pane (2)
fr = Frame(self.frameR_base, width=self.frame_w)
fr.pack(ipadx=3, ipady=3, fill=X)
@@ -363,7 +372,11 @@
else:
# camera not found
self.set_warning_msg()
- self.comp_btn.config(state = NORMAL)
+
+ if self.camera_select_flg:
+ self.comp_btn.config(state = DISABLED)
+ else:
+ self.comp_btn.config(state = NORMAL)
def set_warning_msg(self):
Label(self.fix1, text=self.msg11, fg="red").grid(column = 0, row = 1, columnspan = 3)
@@ -436,10 +449,11 @@
self.comp_startup_check(camera_rtc)
tree = self.comp_startup_check(calib_rtc)
- ret1 = rtcon.main([str(camera_rtc)+str(camera_outport), str(calib_rtc)+":original_image"], tree)
- ret2 = rtcon.main([str(calib_rtc)+":checker_image", str(tk_rtc)+":checker_image"], tree)
- ret3 = rtcon.main([str(calib_rtc)+":CameraCalibrationService", str(tk_rtc)+":CameraCalibrationService"], tree)
- if ret1==1 or ret2==1 or ret3==1:
+ ret1, res = rtutil.connectPorts(str(camera_rtc)+str(camera_outport), str(calib_rtc)+":original_image", tree)
+ ret2, res = rtutil.connectPorts(str(calib_rtc)+":checker_image", str(tk_rtc)+":checker_image", tree)
+ ret3, res = rtutil.connectPorts(str(calib_rtc)+":CameraCalibrationService", str(tk_rtc)+":CameraCalibrationService", tree)
+
+ if ret1 < 0 or ret2 < 0 or ret3 < 0:
Label(self.fix1, text=self.err_msg3, fg="red").grid(column = 0, row = 1, columnspan = 3)
Label(self.fix1, text=self.msg11, fg="red").grid(column = 0, row = 2, columnspan = 3)
return False
@@ -447,7 +461,7 @@
self.set_comp_name(camera_rtc, calib_rtc, tk_rtc, tree)
return True
- def connect_components_manually(self):
+ def register_me(self):
tk_rtc = self.rt_dir + GUI_COMP + "0.rtc"
self.tree = self.comp_startup_check(tk_rtc)
self.rtc_list = [tk_rtc]
@@ -462,8 +476,8 @@
filter = [path]
for cnt in range(0, 10):
tree = rtctree.tree.RTCTree(paths=path, orb=self.orb, filter=filter)
- ret, result = rtcat.main([str(name)], tree)
- if ret == 0:
+ tree1,comp1, port1 = rtutil.getComponent(str(name), tree=tree)
+ if tree1 and comp1:
judge = " found."
break
time.sleep(1)
@@ -514,15 +528,17 @@
# [callback] exit button
def exit_comp(self):
- self.comp_button['activate'].config(state = DISABLED)
- self.comp_button['deactivate'].config(state = DISABLED)
- self.comp_button['exit'].config(state = DISABLED)
-
+ if self.exit_btn_click:
+ # exit_comp already completed.
+ return
+
# Start a thread to observe the transition state of the component.
self.comp_transition_thread = CompTransitionThread('Exit', self.rtc_list, self.tree)
self.comp_transition_thread.start()
self.exit_state = True
self.check_exit()
+
+ self.exit_btn_click = True
def check_exit(self):
if not self.comp_transition_thread.running:
@@ -628,8 +644,8 @@
self.flip_button['tb'].config(state = DISABLED)
self.flip_button['lr'].config(state = DISABLED)
return
- import ImageOps
- import ImageDraw
+
+ from PIL import ImageOps,ImageDraw
# Getting PIL image from buffer, converting RGB->BGR
self.pilImage = Image.frombuffer("RGB", (width, height), image, "raw", "BGR")
# Resize if size is different
@@ -670,13 +686,13 @@
self.orb = orb
self.rt_dir = rt_dir
self.comp_option = comp_option
+ self.register_me()
def set_on_update(self, func):
self.on_update = func
#============================================================
# Thread class
-from rtshell import rtact, rtdeact, rtdis, rtexit, state_control_base
class CompTransitionThread(Thread):
def __init__(self, msg, rtc_list, tree):
@@ -688,38 +704,47 @@
if self.msg.find("Activate") != -1:
# Activate
- self.action = rtact.activate_action
self.cmd = "rtact"
else:
# Deactivate or Exit
- self.action = rtdeact.deactivate_action
self.cmd = "rtdeact"
def run(self):
comp_cnt = len(self.rtc_list)
self.running = True
for i in range(comp_cnt):
- self.check_comp(self.cmd, self.rtc_list[i], self.msg, self.action)
+ self.check_comp(self.cmd, self.rtc_list[i])
if self.msg == "Exit":
for i in range(comp_cnt):
# rtdis
- self.check_comp('rtdis', self.rtc_list[i], None, None)
+ self.check_comp('rtdis', self.rtc_list[i])
for i in range(comp_cnt):
# rtexit
- self.check_comp('rtexit', self.rtc_list[i], None, None)
+ self.check_comp('rtexit', self.rtc_list[i])
self.running = False
- def check_comp(self, cmd, rtc, msg, action):
+ def check_comp(self, cmd, rtc):
for cnt in range(0, 10):
if cmd == "rtdis":
- ret = rtdis.main([str(rtc)], self.tree)
+ ret,res = rtutil.disconnectAll(str(rtc), self.tree)
+
elif cmd == "rtexit":
- ret = rtexit.main([str(rtc)], self.tree)
+ ret,res = rtutil.exitComponent(str(rtc), self.tree)
+
+ elif cmd == "rtact":
+ ret,res = rtutil.activateComponent(str(rtc), tree=self.tree)
+ if ret == 1: ret=0
+ else: ret=0
+
+ elif cmd == "rtdeact":
+ ret,res = rtutil.deactivateComponent(str(rtc), tree=self.tree)
+ if ret == 1: ret=0
+ else: ret=0
else:
- # activate, deactivate
- ret = state_control_base.base_main(msg, action, [str(rtc)], self.tree)
+ pass
+
if ret == 0:
print "{0}:{1} OK!".format(cmd, str(rtc))
break
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