[openrtm-commit:01706] r650 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 2月 1日 (月) 20:11:54 JST
Author: miyamoto
Date: 2016-02-01 20:11:54 +0900 (Mon, 01 Feb 2016)
New Revision: 650
Added:
trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectConsumer.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectProvider.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectConsumer.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectProvider.py
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py
Log:
[incompat,new_func,new_file,->RELENG_1_2] Direct data put functionality between data ports has been implemented. refs #3407
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py 2016-02-01 10:53:09 UTC (rev 649)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/FactoryInit.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -34,4 +34,9 @@
OpenRTM_aist.InPortCorbaCdrConsumerInit()
OpenRTM_aist.OutPortCorbaCdrConsumerInit()
OpenRTM_aist.OutPortCorbaCdrProviderInit()
+ OpenRTM_aist.InPortDirectProviderInit()
+ OpenRTM_aist.InPortDirectConsumerInit()
+ OpenRTM_aist.OutPortDirectProviderInit()
+ OpenRTM_aist.OutPortDirectConsumerInit()
+
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py 2016-02-01 10:53:09 UTC (rev 649)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPort.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -107,7 +107,11 @@
self._OnRead = None
self._OnReadConvert = None
+ self._directNewData = False
+ self._valueMutex = threading.RLock()
+ self._outPortConnectorList = []
+
def __del__(self, InPortBase=OpenRTM_aist.InPortBase):
InPortBase.__del__(self)
return
@@ -151,6 +155,13 @@
def isNew(self):
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
@@ -190,7 +201,8 @@
# bool isEmpty()
def isEmpty(self):
self._rtcout.RTC_TRACE("isEmpty()")
-
+ if self._directNewData == True:
+ return False
if len(self._connectors) == 0:
self._rtcout.RTC_DEBUG("no connectors")
return True
@@ -283,6 +295,31 @@
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._outPortConnectorList) > 0:
+ data = self._outPortConnectorList[0].read()
+ self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
+ #self._outPortListeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ].notify(self._profile, data)
+ self._rtcout.RTC_TRACE("ON_BUFFER_READ(InPort,OutPort), ")
+ self._rtcout.RTC_TRACE("callback called in direct mode.")
+ self._listeners.connectorData_[OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED].notify(self._profile, data)
+ #self._outPortListeners.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.")
+ self._value = data
+ return self._value
+
if len(self._connectors) == 0:
self._rtcout.RTC_DEBUG("no connectors")
return self._value
@@ -370,3 +407,62 @@
# @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
+
+ ##
+ # @if jp
+ # @brief ダイレクト通信用のOutPortPullConnectorを追加
+ # @param self
+ # @param outPortConnector outPortPullConnector
+ # @return OutPort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
+ #
+ # OutPortBase*
+ # setOutPortConnector(const OutPortPullConnector_impl outPortConnector)
+ def addOutPortConnector(self, outPortConnector):
+ self._outPortConnectorList.append(outPortConnector)
+
+
+
+ ##
+ # @if jp
+ # @brief ダイレクト通信用のOutPortPullConnectorを削除
+ # @param self
+ # @param outPortConnector outPortPullConnector
+ # @else
+ # @brief Getting local peer InPort if available
+ # @param self
+ # @param profile
+ # @return
+ # @endif
+ #
+ # OutPortBase*
+ # setOutPortConnector(const OutPortPullConnector_impl outPortConnector)
+ def removeOutPortConnector(self, outPortConnector):
+ self._outPortConnectorList.remove(outPortConnector)
+
\ No newline at end of file
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectConsumer.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectConsumer.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectConsumer.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -0,0 +1,206 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file InPortDirectConsumer.py
+# @brief InPortDirectConsumer class
+# @date $Date: 2016/01/08 $
+# @author Nobuhiko Miyamoto
+#
+
+
+import sys
+from omniORB import any
+from omniORB import CORBA
+import OpenRTM_aist
+import OpenRTM
+
+##
+# @if jp
+#
+# @class InPortDirectConsumer
+#
+# @brief InPortDirectConsumer クラス
+#
+# 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
+#
+# @brief InPortDirectConsumer class
+#
+#
+#
+# @endif
+#
+class InPortDirectConsumer(OpenRTM_aist.InPortConsumer):
+ """
+ """
+
+ ##
+ # @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)
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectProvider.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectProvider.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortDirectProvider.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -0,0 +1,174 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file InPortDirectProvider.py
+# @brief InPortDirectProvider class
+# @date $Date: 2016/01/08 $
+# @author Nobuhiko Miyamoto
+#
+
+import sys
+from omniORB import *
+from omniORB import any
+
+import OpenRTM_aist
+import OpenRTM__POA,OpenRTM
+
+##
+# @if jp
+# @class InPortDirectProvider
+# @brief InPortDirectProvider クラス
+#
+# 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
+#
+# @else
+# @class InPortDirectProvider
+# @brief InPortDirectProvider class
+#
+#
+# @param self
+#
+# @endif
+#
+class InPortDirectProvider(OpenRTM_aist.InPortProvider):
+
+ """
+ """
+
+ ##
+ # @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
+
+ ## void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+ ## void setBuffer(BufferBase<cdrMemoryStream>* 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
+
+
+
+
+
+def InPortDirectProviderInit():
+ factory = OpenRTM_aist.InPortProviderFactory.instance()
+ factory.addFactory("direct",
+ OpenRTM_aist.InPortDirectProvider,
+ OpenRTM_aist.Delete)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py 2016-02-01 10:53:09 UTC (rev 649)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPullConnector.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -128,6 +128,8 @@
OpenRTM_aist.InPortConnector.__init__(self, info, buffer)
self._consumer = consumer
self._listeners = listeners
+
+
if buffer == 0:
self._buffer = self.createBuffer(self._profile)
@@ -135,6 +137,7 @@
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()
@@ -197,6 +200,8 @@
if not self._consumer:
return self.PORT_ERROR
+
+
cdr_data = [None]
ret = self._consumer.get(cdr_data)
@@ -319,3 +324,7 @@
if self._listeners and self._profile:
self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(self._profile)
return
+
+
+
+
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2016-02-01 10:53:09 UTC (rev 649)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -1180,6 +1180,7 @@
if consumer != 0:
self._rtcout.RTC_DEBUG("consumer created")
+
consumer.init(prop.getNode("consumer"))
if not consumer.subscribeInterface(cprof.properties):
@@ -1231,6 +1232,20 @@
elif provider_ is not None:
self._rtcout.RTC_TRACE("OutPortPullConnector created")
+
+ if OpenRTM_aist.StringUtil.normalize([prop.getProperty("interface_type")]) == "direct":
+
+ 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 0
+
+ connector.setInPort(inport)
+
+
self._connectors.append(connector)
self._rtcout.RTC_PARANOID("connector push backed: %d", len(self._connectors))
return connector
@@ -1243,3 +1258,37 @@
self._rtcout.RTC_FATAL("never comes here: createConnector()")
return 0
+
+
+ ##
+ # @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:
+ self._rtcout.RTC_DEBUG("Peer port might be a remote port")
+ return None
\ No newline at end of file
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectConsumer.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectConsumer.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectConsumer.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -0,0 +1,267 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file OutPortDirectConsumer.py
+# @brief OutPortDirectConsumer class
+# @date $Date: 2016/01/08 $
+# @author Nobuhiko Miyamoto
+#
+
+
+import sys
+from omniORB import any
+import OpenRTM_aist
+import OpenRTM
+
+##
+# @if jp
+#
+# @class InPortDirectConsumer
+#
+# @brief InPortDirectConsumer クラス
+#
+# 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
+#
+# @brief InPortDirectConsumer class
+#
+#
+#
+# @endif
+#
+class OutPortDirectConsumer(OpenRTM_aist.OutPortConsumer):
+ """
+ """
+
+ ##
+ # @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:
+ 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
+
+
+ # 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
+
+
+def OutPortDirectConsumerInit():
+ factory = OpenRTM_aist.OutPortConsumerFactory.instance()
+ factory.addFactory("direct",
+ OpenRTM_aist.OutPortDirectConsumer,
+ OpenRTM_aist.Delete)
+ return
Added: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectProvider.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectProvider.py (rev 0)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortDirectProvider.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -0,0 +1,175 @@
+#!/usr/bin/env python
+# -*- coding: euc-jp -*-
+
+##
+# @file OutPortDirectProvider.py
+# @brief OutPortDirectProvider class
+# @date $Date: 2016/01/08 $
+# @author Nobuhiko Miyamoto
+#
+
+import sys
+from omniORB import *
+from omniORB import any
+
+import OpenRTM_aist
+import OpenRTM__POA,OpenRTM
+
+##
+# @if jp
+# @class OutPortDirectProvider
+# @brief OutPortDirectProvider クラス
+#
+# 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
+#
+# @else
+# @class InPortDirectProvider
+# @brief InPortDirectProvider class
+#
+#
+# @param self
+#
+# @endif
+#
+class OutPortDirectProvider(OpenRTM_aist.OutPortProvider):
+ ##
+ # @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
+
+
+
+ # void init(coil::Properties& prop);
+ def init(self, prop):
+ pass
+
+
+
+ # virtual void setBuffer(BufferBase<cdrMemoryStream>* 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
+
+
+
+
+
+def OutPortDirectProviderInit():
+ factory = OpenRTM_aist.OutPortProviderFactory.instance()
+ factory.addFactory("direct",
+ OpenRTM_aist.OutPortDirectProvider,
+ OpenRTM_aist.Delete)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py 2016-02-01 10:53:09 UTC (rev 649)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPullConnector.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -128,6 +128,13 @@
self._listeners = listeners
self._buffer = buffer
+ self._directInPort = None
+ self._inPortListeners = None
+
+ self._directNewData = False
+ self._valueMutex = threading.RLock()
+ self._value = None
+
if not self._buffer:
self._buffer = self.createBuffer(info)
@@ -136,6 +143,7 @@
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)
@@ -180,6 +188,28 @@
#
# virtual ReturnCode write(const cdrMemoryStream& data);
def write(self, data):
+ if self._directInPort is not None:
+ if self.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.")
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ self._value = data
+ self._directNewData = True
+ del guard
+ #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:
@@ -221,6 +251,10 @@
OpenRTM_aist.CdrBufferFactory.instance().deleteObject(self._buffer)
self._buffer = 0
+ if self._directInPort:
+ self._directInPort.removeOutPortConnector(self)
+ self._directInPort = None
+
return self.PORT_OK
@@ -317,3 +351,53 @@
if self._listeners and self._profile:
self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(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
+ self._directInPort.addOutPortConnector(self)
+ return True
+
+ ##
+ # @if jp
+ #
+ # @brief データをダイレクトに読み込む
+ #
+ # @param self
+ # @return 読み込むデータ
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param data
+ # @endif
+ # void write(const DataType& data)
+ def read(self):
+ guard = OpenRTM_aist.ScopedLock(self._valueMutex)
+ data = self._value
+ self._directNewData = False
+ del guard
+ return data
+
+ def isNew(self):
+ return self._directNewData
\ No newline at end of file
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py 2016-02-01 10:53:09 UTC (rev 649)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortPushConnector.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -132,6 +132,9 @@
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:
@@ -234,6 +237,25 @@
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:
@@ -426,3 +448,26 @@
if self._listeners and self._profile:
self._listeners.connector_[OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT].notify(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
\ No newline at end of file
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py 2016-02-01 10:53:09 UTC (rev 649)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/__init__.py 2016-02-01 11:11:54 UTC (rev 650)
@@ -100,4 +100,8 @@
from PublisherNew import *
from PublisherPeriodic import *
from FactoryInit import *
+from InPortDirectConsumer import *
+from InPortDirectProvider import *
+from OutPortDirectConsumer import *
+from OutPortDirectProvider import *
from CORBA_RTCUtil import *
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