[openrtm-commit:02118] r743 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 11月 17日 (木) 19:56:31 JST
Author: miyamoto
Date: 2016-11-17 19:56:31 +0900 (Thu, 17 Nov 2016)
New Revision: 743
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/ConfigurationListener.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
Log:
[compat,bugfix,->RELENG_1_2] fixed bug.
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ConfigurationListener.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ConfigurationListener.py 2016-11-17 04:30:42 UTC (rev 742)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ConfigurationListener.py 2016-11-17 10:56:31 UTC (rev 743)
@@ -797,41 +797,38 @@
"""
def __init__(self):
- pass
+ ##
+ # @if jp
+ # @brief ConfigurationParamListenerTypeリスナ配列
+ # ConfigurationParamTypeリスナを格納
+ # @else
+ # @brief ConfigurationParamListenerType listener array
+ # The ConfigurationParamListenerType listener is stored.
+ # @endif
+ self.configparam_num = ConfigurationParamListenerType.CONFIG_PARAM_LISTENER_NUM
+ self.configparam_ = [ConfigurationParamListenerHolder()
+ for i in range(self.configparam_num)]
+ ##
+ # @if jp
+ # @brief ConfigurationSetListenerTypeリスナ配列
+ # ConfigurationSetListenerTypeリスナを格納
+ # @else
+ # @brief ConfigurationSetListenerType listener array
+ # The ConfigurationSetListenerType listener is stored.
+ # @endif
+ self.configset_num = ConfigurationSetListenerType.CONFIG_SET_LISTENER_NUM
+ self.configset_ = [ConfigurationSetListenerHolder()
+ for i in range(self.configset_num)]
- ##
- # @if jp
- # @brief ConfigurationParamListenerTypeリスナ配列
- # ConfigurationParamTypeリスナを格納
- # @else
- # @brief ConfigurationParamListenerType listener array
- # The ConfigurationParamListenerType listener is stored.
- # @endif
- configparam_num = ConfigurationParamListenerType.CONFIG_PARAM_LISTENER_NUM
- configparam_ = [ConfigurationParamListenerHolder()
- for i in range(configparam_num)]
-
- ##
- # @if jp
- # @brief ConfigurationSetListenerTypeリスナ配列
- # ConfigurationSetListenerTypeリスナを格納
- # @else
- # @brief ConfigurationSetListenerType listener array
- # The ConfigurationSetListenerType listener is stored.
- # @endif
- configset_num = ConfigurationSetListenerType.CONFIG_SET_LISTENER_NUM
- configset_ = [ConfigurationSetListenerHolder()
- for i in range(configset_num)]
-
- ##
- # @if jp
- # @brief ConfigurationSetNameListenerTypeリスナ配列
- # ConfigurationSetNameListenerTypeリスナを格納
- # @else
- # @brief ConfigurationSetNameListenerType listener array
- # The ConfigurationSetNameListenerType listener is stored.
- # @endif
- configsetname_num = ConfigurationSetNameListenerType.CONFIG_SET_NAME_LISTENER_NUM
- configsetname_ = [ConfigurationSetNameListenerHolder()
- for i in range(configsetname_num)]
+ ##
+ # @if jp
+ # @brief ConfigurationSetNameListenerTypeリスナ配列
+ # ConfigurationSetNameListenerTypeリスナを格納
+ # @else
+ # @brief ConfigurationSetNameListenerType listener array
+ # The ConfigurationSetNameListenerType listener is stored.
+ # @endif
+ self.configsetname_num = ConfigurationSetNameListenerType.CONFIG_SET_NAME_LISTENER_NUM
+ self.configsetname_ = [ConfigurationSetNameListenerHolder()
+ for i in range(self.configsetname_num)]
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2016-11-17 04:30:42 UTC (rev 742)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2016-11-17 10:56:31 UTC (rev 743)
@@ -1072,6 +1072,7 @@
ec = OpenRTM_aist.ExecutionContextFactory.instance().createObject(ec_id[0])
ec.init(ec_prop)
+ self._ecs.append(ec)
return ec
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py 2016-11-17 04:30:42 UTC (rev 742)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py 2016-11-17 10:56:31 UTC (rev 743)
@@ -697,7 +697,7 @@
#
def onInitialize(self):
self._rtcout.RTC_TRACE("onInitialize()")
- return RTC.RTC_OK
+
active_set = self._properties.getProperty("configuration.active_config",
"default")
if self._configsets.haveConfig(active_set):
@@ -769,7 +769,9 @@
for sdo in sdos:
rtc = sdo._narrow(RTC.RTObject)
- ecs[0].activate_component(rtc)
+ #ecs[0].activate_component(rtc)
+ therad = MemberComponentThread(rtc, ecs[0].activate_component)
+ therad.activate()
len_ = len(self._members[0])
@@ -781,7 +783,7 @@
str_ = "was"
self._rtcout.RTC_DEBUG("%d member RTC%s activated.", (len_, str_))
-
+
return RTC.RTC_OK
@@ -823,7 +825,9 @@
for sdo in sdos:
rtc = sdo._narrow(RTC.RTObject)
- ecs[0].deactivate_component(rtc)
+ #ecs[0].deactivate_component(rtc)
+ therad = MemberComponentThread(rtc, ecs[0].deactivate_component)
+ therad.activate()
return RTC.RTC_OK
@@ -865,7 +869,9 @@
for sdo in sdos:
rtc = sdo._narrow(RTC.RTObject)
- ecs[0].reset_component(rtc)
+ #ecs[0].reset_component(rtc)
+ therad = MemberComponentThread(rtc, ecs[0].reset_component)
+ therad.activate()
return RTC.RTC_OK
@@ -901,7 +907,18 @@
return RTC.RTC_OK
+
+class MemberComponentThread(OpenRTM_aist.Task):
+ def __init__(self, rto, func):
+ OpenRTM_aist.Task.__init__(self)
+ self.rto = rto
+ self.func = func
+ def svc(self):
+ self.func(self.rto)
+
+
+
def PeriodicECSharedCompositeInit(manager):
profile = OpenRTM_aist.Properties(defaults_str=periodicecsharedcomposite_spec)
manager.registerFactory(profile,
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py 2016-11-17 04:30:42 UTC (rev 742)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py 2016-11-17 10:56:31 UTC (rev 743)
@@ -508,6 +508,7 @@
#
# @endif
def add_component(self, comp):
+ print "add"
return OpenRTM_aist.ExecutionContextBase.addComponent(self, comp)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py 2016-11-17 04:30:42 UTC (rev 742)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py 2016-11-17 10:56:31 UTC (rev 743)
@@ -864,7 +864,7 @@
num = OpenRTM_aist.CORBA_SeqUtil.find(self._ecOther, self.ec_find(cxt))
if num != -1:
- return long(num)
+ return long(num) + 1000
return long(-1)
@@ -3907,6 +3907,7 @@
return
listener = Noname(memfunc)
+
self._actionListeners.portaction_[listener_type].addListener(listener, autoclean)
return listener
@@ -4898,13 +4899,8 @@
OpenRTM_aist.flatten(avail_ec_))
return RTC.RTC_ERROR
- ec_[0] = OpenRTM_aist.ExecutionContextFactory.instance().createObject(ec_type_)
- if not ec_[0]:
- self._rtcout.RTC_ERROR("EC (%s) creation failed.", ec_type_)
- self._rtcout.RTC_DEBUG("Available EC list: %s",
- OpenRTM_aist.flatten(avail_ec_))
- return RTC.RTC_ERROR
+
default_opts = OpenRTM_aist.Properties()
prop_ = default_prop.findNode("exec_cxt.periodic")
if not prop_:
@@ -4934,6 +4930,13 @@
self._rtcout.RTC_PARANOID("Option %s exists.", opt_)
default_opts.setProperty(opt_, p_.getProperty(opt_))
+
+ ec_[0] = OpenRTM_aist.ExecutionContextFactory.instance().createObject(ec_type_)
+ if not ec_[0]:
+ self._rtcout.RTC_ERROR("EC (%s) creation failed.", ec_type_)
+ self._rtcout.RTC_DEBUG("Available EC list: %s",
+ OpenRTM_aist.flatten(avail_ec_))
+ return RTC.RTC_ERROR
ec_[0].init(default_opts)
self._eclist.append(ec_[0])
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