[openrtm-commit:02721] r862 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 8月 2日 (水) 16:59:55 JST
Author: miyamoto
Date: 2017-08-02 16:59:55 +0900 (Wed, 02 Aug 2017)
New Revision: 862
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
Log:
[incompat,->RELENG_1_2] refs #4149 , refs #4150
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-07-26 07:04:25 UTC (rev 861)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-08-02 07:59:55 UTC (rev 862)
@@ -875,12 +875,18 @@
#
def createComponent(self, comp_args):
self._rtcout.RTC_TRACE("Manager.createComponent(%s)", comp_args)
- self._listeners.rtclifecycle_.preCreate(comp_args)
+
comp_prop = OpenRTM_aist.Properties()
comp_id = OpenRTM_aist.Properties()
if not self.procComponentArgs(comp_args, comp_id, comp_prop):
return None
+
+ comp = self.getComponent(comp_prop)
+ 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"),
@@ -2469,29 +2475,36 @@
# 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] = "RTC:::" + id_and_conf[0] + ":"
+ id_and_conf[0] = prof[0] + ":::" + id_and_conf[0] + ":"
id = [s.strip() for s in id_and_conf[0].split(":")]
+
- if len(id) != 5:
+ if len(id) != param_num:
self._rtcout.RTC_ERROR("Invalid RTC id format.")
return False
- prof = ["RTC", "vendor", "category", "implementation_id", "version"]
+ #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 [1,2,3,4]:
+ 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)):
@@ -2604,7 +2617,7 @@
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)))
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-07-26 07:04:25 UTC (rev 861)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-08-02 07:59:55 UTC (rev 862)
@@ -25,9 +25,152 @@
import re
+##
+# @if jp
+# @class CompParam
+# @brief CompParam ¥¯¥é¥¹
+#
+# RTC¤Î¥Ù¥ó¥À̾¡¢¥«¥Æ¥´¥ê̾¡¢ID¡¢¸À¸ì¡¢¥Ð¡¼¥¸¥ç¥ó¤ò³ÊǼ¤¹¤ë¹½Â¤ÂÎ
+#
+# @since 1.2.0
+#
+# @else
+# @class CompParam
+# @brief CompParam class
+# @endif
+class CompParam:
+ prof_list = ["RTC", "vendor", "category", "implementation_id", "language", "version"]
+ ##
+ # @if jp
+ # @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ #
+ # ¥³¥ó¥¹¥È¥é¥¯¥¿
+ #
+ # @param self
+ # @param module_name ¥â¥¸¥å¡¼¥ë̾
+ #
+ # @else
+ # @brief Constructor
+ #
+ # @param self
+ # @param module_name
+ #
+ # @endif
+ def __init__(self, module_name):
+ module_name = module_name.split("?")[0]
+ param_list = module_name.split(":")
+ if len(param_list) < len(CompParam.prof_list):
+ self._type = "RTC"
+ self._vendor = ""
+ self._category = ""
+ self._impl_id = module_name
+ self._language = "Python"
+ self._version = ""
+ else:
+ self._type = param_list[0]
+ self._vendor = param_list[1]
+ self._category = param_list[2]
+ self._impl_id = param_list[3]
+ if param_list[4]:
+ self._language = param_list[4]
+ else:
+ self._language = "Python"
+ self._version = param_list[5]
+
+
+ ##
+ # @if jp
+ # @brief ¥Ù¥ó¥À̾¼èÆÀ
+ #
+ #
+ #
+ # @param self
+ # @return ¥Ù¥ó¥À̾
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def vendor(self):
+ return self._vendor
+ ##
+ # @if jp
+ # @brief ¥«¥Æ¥´¥ê̾¼èÆÀ
+ #
+ #
+ #
+ # @param self
+ # @return ¥«¥Æ¥´¥ê̾
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def category(self):
+ return self._category
+ ##
+ # @if jp
+ # @brief ID¼èÆÀ
+ #
+ #
+ #
+ # @param self
+ # @return ID
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def impl_id(self):
+ return self._impl_id
+ ##
+ # @if jp
+ # @brief ¸À¸ì¼èÆÀ
+ #
+ #
+ #
+ # @param self
+ # @return ¸À¸ì
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def language(self):
+ return self._language
+ ##
+ # @if jp
+ # @brief ¥Ð¡¼¥¸¥ç¥ó¼èÆÀ
+ #
+ #
+ #
+ # @param self
+ # @return ¥Ð¡¼¥¸¥ç¥ó
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def version(self):
+ return self._version
+
+
-
-
class ManagerServant(RTM__POA.Manager):
"""
"""
@@ -354,10 +497,11 @@
self.get_parameter_by_modulename("manager_address",module_name)
manager_name = self.get_parameter_by_modulename("manager_name",module_name)
module_name = module_name[0]
- tmp = [module_name]
- language = self.get_parameter_by_modulename("language",tmp)
+
+ comp_param = CompParam(module_name)
+
if self._isMaster:
guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
for slave in self._slaves[:]:
@@ -366,7 +510,7 @@
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
slave_lang = prop.getProperty("manager.language")
- if slave_lang == language:
+ if slave_lang == comp_param.language():
rtc = slave.create_component(module_name)
if not CORBA.is_nil(rtc):
return rtc
@@ -1090,9 +1234,6 @@
return RTM.Manager._nil
-
-
-
##
# @if jp
# @brief ¥â¥¸¥å¡¼¥ë̾¤«¤é¥Ñ¥é¥á¡¼¥¿¤ò¼è¤ê½Ð¤¹
@@ -1111,7 +1252,7 @@
# @param module_name
# @return
# @endif
- # RTC::RTObject_ptr get_parameter_by_modulename(string param_name, string &module_name)
+ # std::string get_parameter_by_modulename(string param_name, string &module_name)
def get_parameter_by_modulename(self, param_name, module_name):
arg = module_name[0]
pos0 = arg.find("&"+param_name+"=")
@@ -1195,11 +1336,8 @@
mgrobj = self.findManager_by_name(mgrstr)
- tmp = [arg]
- language = self.get_parameter_by_modulename("language",tmp)
- arg = tmp[0]
- if not language:
- language = "Python"
+
+ comp_param = CompParam(arg)
@@ -1208,7 +1346,7 @@
if CORBA.is_nil(mgrobj):
self._rtcout.RTC_WARN("%s cannot be found.", mgrstr)
config = copy.deepcopy(self._mgr.getConfig())
- rtcd_cmd = config.getProperty("manager.modules."+language+".manager_cmd")
+ rtcd_cmd = config.getProperty("manager.modules."+comp_param.language()+".manager_cmd")
if not rtcd_cmd:
rtcd_cmd = "rtcd_python"
@@ -1215,7 +1353,7 @@
#rtcd_cmd = "rtcd_python.bat"
load_path = config.getProperty("manager.modules.load_path")
- load_path_language = config.getProperty("manager.modules."+language+".load_paths")
+ load_path_language = config.getProperty("manager.modules."+comp_param.language()+".load_paths")
load_path = load_path + "," + load_path_language
if platform.system() == "Windows":
@@ -1228,7 +1366,7 @@
cmd += " -o " + "manager.name:" + config.getProperty("manager.name")
cmd += " -o " + "manager.instance_name:" + mgrstr
cmd += " -o " + "\"manager.modules.load_path:" + load_path + "\""
- cmd += " -o " + "manager.supported_languages:" + language
+ cmd += " -o " + "manager.supported_languages:" + comp_param.language()
cmd += " -o " + "manager.shutdown_auto:NO"
@@ -1364,21 +1502,19 @@
# find manager
mgrobj = self.findManager(mgrstr)
- tmp = [arg]
- language = self.get_parameter_by_modulename("language",tmp)
- arg = tmp[0]
- if not language:
- language = "Python"
+ comp_param = CompParam(arg)
+
+
if CORBA.is_nil(mgrobj):
config = copy.deepcopy(self._mgr.getConfig())
- rtcd_cmd = config.getProperty("manager.modules."+language+".manager_cmd")
+ rtcd_cmd = config.getProperty("manager.modules."+comp_param.language()+".manager_cmd")
if not rtcd_cmd:
rtcd_cmd = "rtcd_python"
load_path = config.getProperty("manager.modules.load_path")
- load_path_language = config.getProperty("manager.modules."+language+".load_path")
+ load_path_language = config.getProperty("manager.modules."+comp_param.language()+".load_path")
load_path = load_path + "," + load_path_language
if platform.system() == "Windows":
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