[openrtm-commit:02220] r777 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2017年 1月 13日 (金) 18:50:05 JST
Author: miyamoto
Date: 2017-01-13 18:50:05 +0900 (Fri, 13 Jan 2017)
New Revision: 777
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/CorbaConsumer.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/GlobalFactory.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortCorbaCdrConsumer.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/Properties.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherNew.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/StateMachine.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py
Log:
[compat,bugfix,->RELENG_1_2] fixed bug.
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/CORBA_RTCUtil.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -117,6 +117,7 @@
eclist = rtc.get_owned_contexts()
if ec_id >= len(eclist):
return RTC.ExecutionContext._nil
+
if CORBA.is_nil(eclist[ec_id]):
return RTC.ExecutionContext._nil
return eclist[ec_id]
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/CorbaConsumer.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/CorbaConsumer.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/CorbaConsumer.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -278,9 +278,14 @@
if not CorbaConsumerBase.setObject(self, obj):
self.releaseObject()
return False
-
+
if self._interfaceType:
+
self._var = obj._narrow(self._interfaceType)
+ if self._var is None:
+ self.releaseObject()
+ return False
+
else:
self._var = self._objref
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ExecutionContextProfile.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -362,11 +362,12 @@
# RTC::ReturnCode_t setOwner(RTC::LightweightRTObject_ptr comp);
def setOwner(self, comp):
self._rtcout.RTC_TRACE("setOwner()")
- assert(not CORBA.is_nil(comp))
+ if CORBA.is_nil(comp):
+ return RTC.BAD_PARAMETER
rtobj_ = comp._narrow(RTC.RTObject)
if CORBA.is_nil(rtobj_):
self._rtcout.RTC_ERROR("Narrowing failed.")
- return RTC.BAD_PARAMETER
+ return RTC.RTC_ERROR
guard = OpenRTM_aist.ScopedLock(self._profileMutex)
self._profile.owner = rtobj_
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/GlobalFactory.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/GlobalFactory.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/GlobalFactory.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -126,7 +126,7 @@
print "Factory.createObject return None id: ", id
return None
obj_ = self._creators[id].creator_()
- assert(not self._objects.has_key(obj_))
+ #assert(not self._objects.has_key(obj_))
self._objects[obj_] = self._creators[id]
return obj_
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -1110,7 +1110,8 @@
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
provider = OpenRTM_aist.InPortProviderFactory.instance().createObject(prop.getProperty("interface_type"))
- if provider != 0:
+
+ if provider is not None:
self._rtcout.RTC_DEBUG("provider created")
provider.init(prop.getNode("provider"))
@@ -1149,7 +1150,7 @@
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
consumer = OpenRTM_aist.OutPortConsumerFactory.instance().createObject(prop.getProperty("interface_type"))
- if consumer != 0:
+ if consumer is not None:
self._rtcout.RTC_DEBUG("consumer created")
consumer.init(prop.getNode("consumer"))
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/InPortPushConnector.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -129,10 +129,12 @@
else:
self._deleteBuffer = False
+
if self._buffer == 0:
self._buffer = self.createBuffer(info)
- if self._buffer == 0 or not self._provider:
+
+ if self._buffer is None or not self._provider:
raise
self._buffer.init(info.properties.getNode("buffer"))
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -2473,11 +2473,11 @@
mo = __import__(import_name)
sys.path = save_path
_spec = getattr(mo,import_name.lower()+"_spec",None)
- _klass = getattr(mo,import_name,None)
- if _spec and _klass:
+ _class = getattr(mo,import_name,None)
+ if _spec and _class:
prof = OpenRTM_aist.Properties(defaults_str=_spec)
self.registerFactory(prof,
- _klass,
+ _class,
OpenRTM_aist.Delete)
except:
self._rtcout.RTC_ERROR("Module load error: %s", file_name)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerConfig.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -189,9 +189,9 @@
prop.setDefaults(OpenRTM_aist.default_config)
if self.findConfigFile():
try:
- fd = file(self._configFile,"r")
- prop.load(fd)
- fd.close()
+ with file(self._configFile,"r") as fd:
+ prop.load(fd)
+ fd.close()
except:
print OpenRTM_aist.Logger.print_exception()
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -492,8 +492,8 @@
if len(profs) == 0:
return OpenRTM_aist.Properties()
- if len(profs) > 1:
- return None
+ #if len(profs) > 1:
+ # return None
return profs[0]
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -1142,7 +1142,7 @@
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
provider = OpenRTM_aist.OutPortProviderFactory.instance().createObject(prop.getProperty("interface_type"))
- if provider != 0:
+ if provider is not None:
self._rtcout.RTC_DEBUG("provider created")
provider.init(prop.getNode("provider"))
@@ -1178,7 +1178,7 @@
self._rtcout.RTC_DEBUG("interface_type: %s", prop.getProperty("interface_type"))
consumer = OpenRTM_aist.InPortConsumerFactory.instance().createObject(prop.getProperty("interface_type"))
- if consumer != 0:
+ if consumer is not None:
self._rtcout.RTC_DEBUG("consumer created")
consumer.init(prop.getNode("consumer"))
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortCorbaCdrConsumer.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortCorbaCdrConsumer.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/OutPortCorbaCdrConsumer.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -259,10 +259,10 @@
if OpenRTM_aist.NVUtil.isString(properties,"dataport.corba_cdr.outport_ior"):
self._rtcout.RTC_DEBUG("dataport.corba_cdr.outport_ior found.")
ior = ""
- try:
- ior = any.from_any(properties[index].value, keep_structs=True)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ #try:
+ ior = any.from_any(properties[index].value, keep_structs=True)
+ #except:
+ # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
orb = OpenRTM_aist.Manager.instance().getORB()
obj = orb.string_to_object(ior)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -190,9 +190,9 @@
def __del__(self):
self._rtcout.RTC_TRACE("PortBase.__del__()")
try:
- mgr = OpenRTM_aist.Manager.instance().getPOA()
- oid = mgr.servant_to_id(self)
- mgr.deactivate_object(oid)
+ poa = OpenRTM_aist.Manager.instance().getPOA()
+ oid = poa.servant_to_id(self)
+ poa.deactivate_object(oid)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
@@ -1607,6 +1607,7 @@
# @endif
# virtual ReturnCode_t disconnectNext(ConnectorProfile& connector_profile);
def disconnectNext(self, connector_profile):
+
index = OpenRTM_aist.CORBA_SeqUtil.find(connector_profile.ports,
self.find_port_ref(self._profile.port_ref))
if index < 0:
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Properties.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Properties.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Properties.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -773,8 +773,8 @@
pline += tmp[0]
continue
pline += _str
- if pline == "":
- continue
+ #if pline == "":
+ # continue
key = []
value = []
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherNew.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherNew.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherNew.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -673,6 +673,7 @@
self._rtcout.RTC_TRACE("pushSkip()")
try:
ret = self.PORT_OK
+
preskip = self._buffer.readable() + self._leftskip
loopcnt = preskip/(self._skipn+1)
postskip = self._skipn - self._leftskip
@@ -693,7 +694,7 @@
postskip = self._skipn + 1
self._buffer.advanceRptr(self._buffer.readable())
-
+
if loopcnt == 0:
# Not put
self._leftskip = preskip % (self._skipn + 1)
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -897,8 +897,7 @@
# virtual ComponentProfile* get_component_profile()
def get_component_profile(self):
self._rtcout.RTC_TRACE("get_component_profile()")
- try:
- prop_ = RTC.ComponentProfile(self._properties.getProperty("instance_name"),
+ prop_ = RTC.ComponentProfile(self._properties.getProperty("instance_name"),
self._properties.getProperty("type_name"),
self._properties.getProperty("description"),
self._properties.getProperty("version"),
@@ -907,8 +906,8 @@
self._portAdmin.getPortProfileList(),
self._profile.parent,
self._profile.properties)
- OpenRTM_aist.NVUtil.copyFromProperties(self._profile.properties, self._properties)
- return prop_
+ OpenRTM_aist.NVUtil.copyFromProperties(self._profile.properties, self._properties)
+ return prop_
# return RTC.ComponentProfile(self._profile.instance_name,
# self._profile.type_name,
# self._profile.description,
@@ -919,11 +918,11 @@
# self._profile.parent,
# self._profile.properties)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ #except:
+ # self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
- return None
+ #return None
##
@@ -2274,9 +2273,9 @@
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
raise SDOPackage.InternalError("get_status()")
- return any.to_any("")
+
#============================================================
# Local interfaces
#============================================================
@@ -2866,11 +2865,9 @@
if ret:
for inport in self._inports:
if port == inport:
- try:
- self._inports.remove(port)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
+
+ self._inports.remove(port)
+
return True
return False
@@ -2905,11 +2902,9 @@
if ret:
for outport in self._outports:
if port == outport:
- try:
- self._outports.remove(port)
- except:
- self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
-
+
+ self._outports.remove(port)
+
return True
return False
@@ -3567,8 +3562,7 @@
self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
del self._eclist[idx]
- if self._eclist:
- self._eclist = []
+
return
@@ -4912,11 +4906,11 @@
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
+ #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])
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -380,9 +380,9 @@
factory = OpenRTM_aist.SdoServiceConsumerFactory.instance()
ctype = str(profile.interface_type)
consumer = factory.createObject(ctype)
- if consumer == None:
- self._rtcout.RTC_ERROR("Hmm... consumer must be created.")
- return False
+ #if consumer is None:
+ # self._rtcout.RTC_ERROR("Hmm... consumer must be created.")
+ # return False
# initialize
if not consumer.init(self._rtobj, sProfile):
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/StateMachine.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/StateMachine.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/StateMachine.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -462,13 +462,13 @@
def worker(self):
states = StateHolder()
self.sync(states)
-
# If no state transition required, execute set of do-actions
if states.curr == states.next:
# pre-do
if self._predo[states.curr]:
self._predo[states.curr](states)
+
if self.need_trans():
return
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py 2017-01-12 10:26:46 UTC (rev 776)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/StringUtil.py 2017-01-13 09:50:05 UTC (rev 777)
@@ -571,8 +571,8 @@
elif type(_type[0]) == str:
_type[0] = str(_str)
return True
- except ValueError:
- return False
+ #except ValueError:
+ # return False
except:
return False
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