[openrtm-commit:02700] r860 - branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist

[openrtm ＠ openrtm.org]

Author: kawauchi
Date: 2017-07-24 13:28:53 +0900 (Mon, 24 Jul 2017)
New Revision: 860

Modified:
   branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
   branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
   branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py
Log:
[merge] r859 has been merged from trunk.

Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py	2017-07-13 01:30:16 UTC (rev 859)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/InPortBase.py	2017-07-24 04:28:53 UTC (rev 860)
@@ -488,7 +488,12 @@
   #
   def connect(self, connector_profile):
     self._rtcout.RTC_TRACE("InPortBase.connect()")
-        
+
+
+
+
+
+
     if OpenRTM_aist.NVUtil.find_index(connector_profile.properties,
                                       "dataport.serializer.cdr.endian") is -1:
       self._rtcout.RTC_TRACE("ConnectorProfile dataport.serializer.cdr.endian set.")
@@ -496,9 +501,6 @@
 
     return OpenRTM_aist.PortBase.connect(self, connector_profile)
 
-
-
-
   ##
   # @if jp
   #
@@ -523,7 +525,15 @@
     prop = OpenRTM_aist.Properties()
     OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
 
-    _str = self._properties.getProperty("dataport.fan_in")
+    node = prop.getNode("dataport.inport")
+    portprop = copy.deepcopy(self._properties)
+    portprop.mergeProperties(node)
+    node.mergeProperties(portprop)
+    OpenRTM_aist.NVUtil.copyFromProperties(connector_profile.properties, prop)
+    
+
+    #_str = self._properties.getProperty("fan_in")
+    _str = node.getProperty("fan_in")
     _type = [int(100)]
     
     OpenRTM_aist.stringTo(_type, _str)
@@ -539,8 +549,8 @@
       return (RTC.PRECONDITION_NOT_MET, connector_profile)
     
     return OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
+  
 
-
   ##
   # @if jp
   #

Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py	2017-07-13 01:30:16 UTC (rev 859)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/OutPortBase.py	2017-07-24 04:28:53 UTC (rev 860)
@@ -273,6 +273,7 @@
 
     self._rtcout.RTC_DEBUG("available subscription_type: %s",  pubs)
     self.addProperty("dataport.subscription_type", pubs)
+    self.addProperty("dataport.io_mode", pubs)
 
     self._properties    = OpenRTM_aist.Properties()
     self._name          = name
@@ -397,6 +398,10 @@
   #
   def connect(self, connector_profile):
     self._rtcout.RTC_TRACE("OutPortBase.connect()")
+
+
+    
+      
         
     if OpenRTM_aist.NVUtil.find_index(connector_profile.properties,
                                       "dataport.serializer.cdr.endian") is -1:
@@ -404,8 +409,9 @@
       connector_profile.properties.append(OpenRTM_aist.NVUtil.newNV("dataport.serializer.cdr.endian","little,big"))
 
     return OpenRTM_aist.PortBase.connect(self, connector_profile)
-        
 
+
+
   ##
   # @if jp
   #
@@ -429,7 +435,15 @@
     prop = OpenRTM_aist.Properties()
     OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
 
-    _str = self._properties.getProperty("dataport.fan_out")
+
+    node = prop.getNode("dataport.outport")
+    portprop = copy.deepcopy(self._properties)
+    portprop.mergeProperties(node)
+    node.mergeProperties(portprop)
+    OpenRTM_aist.NVUtil.copyFromProperties(connector_profile.properties, prop)
+    
+
+    _str = node.getProperty("fan_out")
     _type = [int(100)]
     
     OpenRTM_aist.stringTo(_type, _str)
@@ -447,7 +461,6 @@
 
     return OpenRTM_aist.PortBase.notify_connect(self, connector_profile)
 
-
   ##
   # @if jp
   # @brief ¥×¥í¥Ñ¥Æ¥£¤ò¼èÆÀ¤¹¤ë

Modified: branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py
===================================================================
--- branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py	2017-07-13 01:30:16 UTC (rev 859)
+++ branches/RELENG_1_2/OpenRTM-aist-Python/OpenRTM_aist/PortBase.py	2017-07-24 04:28:53 UTC (rev 860)
@@ -19,6 +19,7 @@
 import copy
 
 import OpenRTM_aist
+import OpenRTM_aist.CORBA_RTCUtil
 import RTC, RTC__POA
 
 
@@ -545,7 +546,7 @@
     if self.isEmptyId(connector_profile):
       guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
       self.setUUID(connector_profile)
-      assert(not self.isExistingConnId(connector_profile.connector_id))
+      #assert(not self.isExistingConnId(connector_profile.connector_id))
       del guard
     else:
       guard = OpenRTM_aist.ScopedLock(self._profile_mutex)
@@ -554,6 +555,7 @@
         return (RTC.PRECONDITION_NOT_MET,connector_profile)
       del guard
 
+
     try:
       retval,connector_profile = connector_profile.ports[0].notify_connect(connector_profile)
       if retval != RTC.RTC_OK:
@@ -688,11 +690,10 @@
   def notify_connect(self, connector_profile):
     self._rtcout.RTC_TRACE("notify_connect()")
 
-
     prop = OpenRTM_aist.Properties()
     OpenRTM_aist.NVUtil.copyToProperties(prop, connector_profile.properties)
     
-    default_value = OpenRTM_aist.toBool(self._properties.getProperty("dataport.allow_dup_connection"), "YES","NO",False)
+    default_value = OpenRTM_aist.toBool(self._properties.getProperty("allow_dup_connection"), "YES","NO",False)
     
     if not OpenRTM_aist.toBool(prop.getProperty("dataport.allow_dup_connection"), "YES","NO",default_value):
       for port in connector_profile.ports:
@@ -700,9 +701,8 @@
           ret = OpenRTM_aist.CORBA_RTCUtil.already_connected(port, self._objref)
           if ret:
             return (RTC.PRECONDITION_NOT_MET, connector_profile)
+          
 
-
-
     guard_connection = OpenRTM_aist.ScopedLock(self._connection_mutex)
 
     # publish owned interface information to the ConnectorProfile