[openrtm-commit:02615] r831 - trunk/OpenRTM-aist-Python/OpenRTM_aist
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openrtm ＠ openrtm.org
2017年 5月 30日 (火) 11:13:27 JST
Author: miyamoto
Date: 2017-05-30 11:13:27 +0900 (Tue, 30 May 2017)
New Revision: 831
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
Log:
[incompat,new func,->RELENG_1_2] refs #4107
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py 2017-05-30 00:30:05 UTC (rev 830)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/DefaultConfiguration.py 2017-05-30 02:13:27 UTC (rev 831)
@@ -71,6 +71,8 @@
"corba.nameservers", "localhost",
"corba.master_manager", "localhost:2810",
"corba.nameservice.replace_endpoint", "NO",
+ "corba.update_master_manager.enable", "YES",
+ "corba.update_master_manager.interval", "10.0",
"exec_cxt.periodic.type", "PeriodicExecutionContext",
"exec_cxt.periodic.rate", "1000",
"exec_cxt.sync_transition", "YES",
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-05-30 00:30:05 UTC (rev 830)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/Manager.py 2017-05-30 02:13:27 UTC (rev 831)
@@ -2278,6 +2278,7 @@
if not OpenRTM_aist.toBool(
self._config.getProperty("manager.corba_servant"), "YES","NO",True):
return True
+
self._mgrservant = OpenRTM_aist.ManagerServant()
if self._config.getProperty("corba.endpoints_ipv4") == "":
@@ -2291,6 +2292,22 @@
mgr_name = self.formatString(name, prop)
self._namingManager.bindManagerObject(mgr_name, self._mgrservant)
+
+
+ if OpenRTM_aist.toBool(self._config.getProperty("corba.update_master_manager.enable"),
+ "YES", "NO", True) and \
+ not OpenRTM_aist.toBool(self._config.getProperty("manager.is_master"),
+ "YES", "NO", False):
+ tm = OpenRTM_aist.TimeValue(10, 0)
+ if self._config.findNode("corba.update_master_manager.interval"):
+ duration = float(self._config.getProperty("corba.update_master_manager.interval"))
+ if duration:
+ tm.set_time(duration)
+ if self._timer:
+ self._timer.registerListenerObj(self._mgrservant,
+ OpenRTM_aist.ManagerServant.update_master_manager,
+ tm)
+
otherref = None
try:
@@ -2306,6 +2323,8 @@
else:
reffile.write(self._orb.object_to_string(self._mgrservant.getObjRef()))
reffile.close()
+
+
return True
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-05-30 00:30:05 UTC (rev 830)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ManagerServant.py 2017-05-30 02:13:27 UTC (rev 831)
@@ -86,6 +86,11 @@
return
+
+
+
+
+
##
# @if jp
#
@@ -261,7 +266,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
return cprof
@@ -304,7 +309,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
return cprof
@@ -361,7 +366,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
del guard
module_name = module_name + "&manager_name=manager_%p"
@@ -457,7 +462,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
#self._rtcout.RTC_INFO("slave (%d) has disappeared.", i)
#self._slaves[i] = RTM.Manager._nil
@@ -503,7 +508,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
#self._rtcout.RTC_INFO("slave (%d) has disappeared.", i)
#self._slaves[i] = RTM.Manager._nil
@@ -1043,7 +1048,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
del guard
else:
guard = OpenRTM_aist.ScopedLock(self._masterMutex)
@@ -1245,7 +1250,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
del guard_slave
@@ -1268,7 +1273,7 @@
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
- self.remove_slave_manager(slave)
+ self._slaves.remove(slave)
del guard_slave
else:
@@ -1418,8 +1423,48 @@
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
return RTC.RTObject._nil
+ ##
+ # @if jp
+ # @brief ¥Þ¥¹¥¿¡¼¥Þ¥Í¡¼¥¸¥ã¤ÎÍ̵¤ò³Îǧ¤·¤Æ¥ê¥¹¥È¤ò¹¹¿·¤¹¤ë
+ #
+ # @param self
+ # @else
+ #
+ # @brief
+ # @param self
+ # @endif
+ # void update_master_manager()
+ def update_master_manager(self):
+ if not self._isMaster and self._objref:
+ guard = OpenRTM_aist.ScopedLock(self._masterMutex)
+ if len(self._masters) > 0:
+ for master in self._masters[:]:
+ try:
+ if master._non_existent():
+ self._masters.remove(master)
+ except:
+ self._rtcout.RTC_ERROR("Unknown exception cought.")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+ self._masters.remove(master)
+ del guard
+
+ if len(self._masters) == 0:
+ try:
+ config = self._mgr.getConfig()
+ owner = self.findManager(config.getProperty("corba.master_manager"))
+ if not owner:
+ self._rtcout.RTC_INFO("Master manager not found")
+ return
+ self.add_master_manager(owner)
+ owner.add_slave_manager(self._objref)
+
+ return
+ except:
+ self._rtcout.RTC_ERROR("Unknown exception cought.")
+ self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+
class is_equiv:
def __init__(self, mgr):
self._mgr = mgr
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-05-30 00:30:05 UTC (rev 830)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/ModuleManager.py 2017-05-30 02:13:27 UTC (rev 831)
@@ -529,6 +529,7 @@
paths.extend(self._loadPath)
paths = self.deleteSamePath(paths)
+
suffixes = lprop.getProperty("suffixes").split(",")
@@ -559,6 +560,8 @@
f = f.replace("\\","/")
self.addNewFile(f, modules)
+
+
##
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