[openrtm-commit:02053] r721 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2016年 10月 13日 (木) 15:17:11 JST
Author: miyamoto
Date: 2016-10-13 15:17:11 +0900 (Thu, 13 Oct 2016)
New Revision: 721
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextBase.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextWorker.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObjectStateMachine.py
Log:
[compat,bugfix] refs #3649
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextBase.py 2016-10-06 09:52:57 UTC (rev 720)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextBase.py 2016-10-13 06:17:11 UTC (rev 721)
@@ -595,11 +595,19 @@
self._rtcout.RTC_ERROR("Setting execution rate failed. %f", rate)
return ret_
+ ret_ = self._worker.rateChanged()
+ if ret_ != RTC.RTC_OK:
+ self._rtcout.RTC_ERROR("Invoking on_rate_changed() for each RTC failed.")
+ return ret_
+
ret_ = self.onSetRate(rate)
if ret_ != RTC.RTC_OK:
self._rtcout.RTC_ERROR("onSetRate(%f) failed.", rate)
return ret_
+
+
+
self._rtcout.RTC_INFO("setRate(%f) done", rate)
return ret_
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextWorker.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextWorker.py 2016-10-06 09:52:57 UTC (rev 720)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextWorker.py 2016-10-13 06:17:11 UTC (rev 721)
@@ -231,8 +231,30 @@
del guard
return RTC.RTC_OK
+ #
+ # @if jp
+ # @brief ExecutionContext の周期が変化した
+ # @return ReturnCode_t 型のリターンコード
+ #
+ # @else
+ #
+ # @brief Changing execution rate of the ExecutionContext
+ #
+ # @return The return code of ReturnCode_t type
+ #
+ # @endif
+ # RTC::ReturnCode_t rateChanged(void);
+ def rateChanged(self):
+ self._rtcout.RTC_TRACE("rateChanged()")
+ guard = OpenRTM_aist.ScopedLock(self._mutex)
+ ret = RTC.RTC_OK
+ for comp in self._comps:
+ tmp = comp.onRateChanged()
+ if tmp != RTC.RTC_OK:
+ ret = tmp
+ del guard
+ return ret
-
##
# @if jp
# @brief RTコンポーネントをアクティブ化する
@@ -743,3 +765,4 @@
self._removedComps = []
return
+
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObjectStateMachine.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObjectStateMachine.py 2016-10-06 09:52:57 UTC (rev 720)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObjectStateMachine.py 2016-10-13 06:17:11 UTC (rev 721)
@@ -43,6 +43,7 @@
self._dfcVar = None
self._fsmVar = None
self._modeVar = None
+ self._rtObjPtr = None
# Setting Action callback objects
self.setComponentAction(comp)
@@ -111,6 +112,9 @@
# RTC::ComponentAction operations
# void onStartup(void);
def onStartup(self):
+ if self._rtObjPtr:
+ self._rtObjPtr.on_startup(self._id)
+ return
if not self._ca:
return
self._caVar.on_startup(self._id)
@@ -118,6 +122,10 @@
# void onShutdown(void);
def onShutdown(self):
+ if self._rtObjPtr:
+ self._rtObjPtr.on_shutdown(self._id)
+ return
+
if not self._ca:
return
self._caVar.on_shutdown(self._id)
@@ -125,6 +133,11 @@
# void onActivated(const ExecContextStates& st);
def onActivated(self, st):
+ if self._rtObjPtr:
+ if self._rtObjPtr.on_activated(self._id) != RTC.RTC_OK:
+ self._sm.goTo(RTC.ERROR_STATE)
+ return
+
if not self._ca:
return
if self._caVar.on_activated(self._id) != RTC.RTC_OK:
@@ -133,6 +146,10 @@
# void onDeactivated(const ExecContextStates& st);
def onDeactivated(self, st):
+ if self._rtObjPtr:
+ self._rtObjPtr.on_deactivated(self._id)
+ return
+
if not self._ca:
return
self._caVar.on_deactivated(self._id)
@@ -140,13 +157,21 @@
# void onAborting(const ExecContextStates& st);
def onAborting(self, st):
+ if self._rtObjPtr:
+ self._rtObjPtr.on_aborting(self._id)
+ return
+
if not self._ca:
return
- self._caVar.on_error(self._id)
+ self._caVar.on_aborting(self._id)
return
# void onError(const ExecContextStates& st);
def onError(self, st):
+ if self._rtObjPtr:
+ self._rtObjPtr.on_error(self._id)
+ return
+
if not self._ca:
return
self._caVar.on_error(self._id)
@@ -154,6 +179,11 @@
# void onReset(const ExecContextStates& st);
def onReset(self, st):
+ if self._rtObjPtr:
+ if self._rtObjPtr.on_reset(self._id) != RTC.RTC_OK:
+ self._sm.goTo(RTC.ERROR_STATE)
+ return
+
if not self._ca:
return
if self._caVar.on_reset(self._id) != RTC.RTC_OK:
@@ -163,6 +193,11 @@
# RTC::DataflowComponentAction
# void onExecute(const ExecContextStates& st);
def onExecute(self, st):
+ if self._rtObjPtr:
+ if self._rtObjPtr.on_execute(self._id) != RTC.RTC_OK:
+ self._sm.goTo(RTC.ERROR_STATE)
+ return
+
if not self._dfc:
return
@@ -172,6 +207,11 @@
# void onStateUpdate(const ExecContextStates& st);
def onStateUpdate(self, st):
+ if self._rtObjPtr:
+ if self._rtObjPtr.on_state_update(self._id) != RTC.RTC_OK:
+ self._sm.goTo(RTC.ERROR_STATE)
+ return
+
if not self._dfc:
return
@@ -179,14 +219,21 @@
self._sm.goTo(RTC.ERROR_STATE)
return
- # void onRateChanged(void);
+ # RTC::ReturnCode_t onRateChanged(void);
def onRateChanged(self):
+ if self._rtObjPtr:
+ ret = self._rtObjPtr.on_rate_changed(self._id)
+ if ret != RTC.RTC_OK:
+ self._sm.goTo(RTC.ERROR_STATE)
+ return ret
+
if not self._dfc:
- return
+ return RTC.RTC_ERROR
- if self._dfcVar.on_rate_changed(self._id) != RTC.RTC_OK:
+ ret = self._dfcVar.on_rate_changed(self._id)
+ if ret != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
- return
+ return ret
# FsmParticipantAction
# void onAction(const ExecContextStates& st);
@@ -246,8 +293,18 @@
# void setComponentAction(const RTC::LightweightRTObject_ptr comp);
def setComponentAction(self, comp):
self._caVar = comp._narrow(RTC.ComponentAction)
- if not CORBA.is_nil(self._caVar):
- self._ca = True
+ if CORBA.is_nil(self._caVar):
+ return
+ self._ca = True
+
+ poa = OpenRTM_aist.Manager.instance().getPOA()
+ try:
+ self._rtObjPtr = poa.reference_to_servant(comp)
+ except CORBA.SystemException, ex:
+ self._rtObjPtr = None
+ except:
+ self._rtObjPtr = None
+
return
# void setDataFlowComponentAction(const RTC::LightweightRTObject_ptr comp);
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