[openrtm-commit:03335] r1029 - trunk/OpenRTM-aist-Python/OpenRTM_aist
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2018年 10月 5日 (金) 19:17:29 JST
Author: miyamoto
Date: 2018-10-05 19:17:29 +0900 (Fri, 05 Oct 2018)
New Revision: 1029
Modified:
trunk/OpenRTM-aist-Python/OpenRTM_aist/MultilayerCompositeEC.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py
trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py
Log:
[compat. bugfix] fixed bug.
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/MultilayerCompositeEC.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/MultilayerCompositeEC.py 2018-09-28 07:15:31 UTC (rev 1028)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/MultilayerCompositeEC.py 2018-10-05 10:17:29 UTC (rev 1029)
@@ -66,7 +66,18 @@
return
-
+ ##
+ # @if jp
+ # @brief ½ªÎ»´Ø¿ô
+ #
+ # @param self¡¡
+ # @param Task¡¡
+ #
+ # @else
+ # @brief
+ # @param self¡¡
+ # @param Task¡¡
+ # @endif
def exit(self, Task=OpenRTM_aist.Task):
OpenRTM_aist.PeriodicExecutionContext.exit(self)
for task in self._tasklist:
@@ -73,6 +84,18 @@
task.finalize()
return
+ ##
+ # @if jp
+ # @brief ½é´ü²½´Ø¿ô
+ #
+ # @param self¡¡
+ # @param props ¥×¥í¥Ñ¥Æ¥£
+ #
+ # @else
+ # @brief
+ # @param self¡¡
+ # @param props
+ # @endif
def init(self, props):
OpenRTM_aist.PeriodicExecutionContext.init(self, props)
#prop.getProperty("thread_type", "default")
@@ -79,7 +102,20 @@
-
+ ##
+ # @if jp
+ # @brief ¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ò¥Ð¥¤¥ó¥É¤¹¤ë¡£
+ #
+ # @param self
+ # @param rtc RTC
+ #
+ # @else
+ # @brief Bind the component.
+ #
+ # @param self
+ # @param rtc RTC
+ #
+ # @endif
def bindComponent(self, rtc):
ret = OpenRTM_aist.ExecutionContextBase.bindComponent(self, rtc)
@@ -107,18 +143,62 @@
continue
rtcs.append(rtobj)
- self.addTask(rtc, rtcs)
+ self.addTask(rtcs)
return ret
+ ##
+ # @if jp
+ # @class
+ # @brief worker ÍѾõÂÖÊÑ¿ô¥¯¥é¥¹
+ # @else
+ # @brief
+ #
+ # @endif
class WorkerThreadCtrl:
+ ##
+ # @if jp
+ # @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ #
+ # ¥³¥ó¥¹¥È¥é¥¯¥¿
+ #
+ # @param self
+ #
+ # @else
+ # @brief Constructor
+ # @endif
def __init__(self):
self._mutex = threading.RLock()
self._cond = threading.Condition(self._mutex)
self._running = False
-
+
+ ##
+ # @if jp
+ # @class
+ # @brief RTC¼þ´ü¼Â¹Ô¥¹¥ì¥Ã¥É
+ # @else
+ # @brief
+ #
+ # @endif
class ChildTask:
+ ##
+ # @if jp
+ # @brief ¥³¥ó¥¹¥È¥é¥¯¥¿
+ #
+ # @param self
+ # @param task ¼þ´ü¼Â¹Ô¥¹¥ì¥Ã¥É
+ # @param ec ¼Â¹Ô¥³¥ó¥Æ¥¥¹¥È
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param task
+ # @param ec
+ #
+ # @endif
def __init__(self, task, ec):
self._rtcs = []
self._task = task
@@ -125,9 +205,41 @@
self._ec = ec
self._comps = []
self._worker = MultilayerCompositeEC.WorkerThreadCtrl()
+ self._signal_worker = MultilayerCompositeEC.WorkerThreadCtrl()
+
+ ##
+ # @if jp
+ # @brief ¼Â¹Ô¤¹¤ëRTC¤òÄɲÃ
+ #
+ # @param self
+ # @param rtc RTC
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param rtc RTC
+ #
+ # @endif
def addComponent(self, rtc):
self._rtcs.append(rtc)
+ ##
+ # @if jp
+ # @brief ¥¹¥Æ¡¼¥È¥Þ¥·¥ó¤Î¥ê¥¹¥È¤ò¹¹¿·
+ #
+ # @param self
+ # @param return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param return
+ #
+ # @endif
def updateCompList(self):
for rtc in self._rtcs[:]:
comp = self._ec.findComponent(rtc)
@@ -134,9 +246,34 @@
if comp:
self._rtcs.remove(rtc)
self._comps.append(comp)
-
+
+ ##
+ # @if jp
+ # @brief ¥¹¥ì¥Ã¥É¼Â¹Ô´Ø¿ô
+ #
+ # @param self
+ # @param return
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param return
+ #
+ # @endif
def svc(self):
self._worker._running = True
+
+
+ self._signal_worker._cond.acquire()
+ while not self._signal_worker._running:
+ self._signal_worker._cond.wait()
+ self._signal_worker._cond.release()
+ self._signal_worker._running = False
+
+
+
self.updateCompList()
for comp in self._comps:
comp.workerPreDo()
@@ -146,22 +283,120 @@
self._worker._cond.acquire()
self._worker._cond.notify()
self._worker._cond.release()
+
+ self._signal_worker._cond.acquire()
+ while not self._signal_worker._running:
+ self._signal_worker._cond.wait()
+ self._signal_worker._cond.release()
+ self._signal_worker._running = False
+
+
+ return 0
+
+ ##
+ # @if jp
+ # @brief 1²ó¤Î½èÍý¤ò¼Â¹Ô
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
def signal(self):
+
while not self._worker._running:
self._task.signal()
-
+
+
+ self._signal_worker._running = True
+ self._signal_worker._cond.acquire()
+ self._signal_worker._cond.notify()
+ self._signal_worker._cond.release()
+
+
+
+ ##
+ # @if jp
+ # @brief 1²ó¤Î½èÍý½ªÎ»¤Þ¤ÇÂÔµ¡
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
def join(self):
+
self._worker._cond.acquire()
while self._worker._running:
self._worker._cond.wait()
self._worker._cond.release()
+
+ self._signal_worker._running = True
+ self._signal_worker._cond.acquire()
+ self._signal_worker._cond.notify()
+ self._signal_worker._cond.release()
+
+
+ ##
+ # @if jp
+ # @brief ¥¿¥¹¥¯¼þ´ü»þ´Ö·×¬·ë²Ì¤ò¼èÆÀ
+ #
+ # @param self
+ # @return ·×¬·ë²Ì
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
def getPeriodStat(self):
return self._task.getPeriodStat()
+
+
+ ##
+ # @if jp
+ # @brief ¥¿¥¹¥¯´Ø¿ô¼Â¹Ô»þ´Ö·×¬·ë²Ì¤ò¼èÆÀ
+ #
+ # @param self
+ # @return ·×¬·ë²Ì
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
def getExecStat(self):
return self._task.getExecStat()
+ ##
+ # @if jp
+ # @brief RTC¼Â¹Ô¥¹¥ì¥Ã¥É½ªÎ»´Ø¿ô
+ #
+ # @param self
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
def finalize(self):
self._task.resume()
self._task.finalize()
@@ -168,8 +403,23 @@
OpenRTM_aist.PeriodicTaskFactory.instance().deleteObject(self._task)
-
- def addTask(self, owner, rtcs):
+ ##
+ # @if jp
+ # @brief RTC¼Â¹Ô¥¹¥ì¥Ã¥ÉºîÀ®
+ #
+ # @param self
+ # @param rtcs ¥¹¥ì¥Ã¥É¤Ë´ØÏ¢ÉÕ¤±¤ëRTC°ìÍ÷
+ # @return ¥¹¥Æ¡¼¥È¥Þ¥·¥ó
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param rtcs
+ #
+ # @endif
+ def addTask(self, rtcs):
prop = self._profile.getProperties().getNode("ec"+str(len(self._tasklist)))
factory = OpenRTM_aist.PeriodicTaskFactory.instance()
@@ -176,6 +426,7 @@
task = factory.createObject(prop.getProperty("thread_type", "default"))
if not task:
self._rtcout.RTC_ERROR("Task creation failed: %s", prop.getProperty("thread_type", "default"))
+ return
ct = MultilayerCompositeEC.ChildTask(task, self)
@@ -204,15 +455,45 @@
task.suspend()
-
-
-
-
- return True
+ ##
+ # @if jp
+ # @brief ¥³¥ó¥Ý¡¼¥Í¥ó¥Èõº÷´Ø¿ô
+ #
+ # @param self
+ # @param rtobj RTC
+ # @return ¥¹¥Æ¡¼¥È¥Þ¥·¥ó
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param rtobj
+ # @return
+ #
+ # @endif
def findComponent(self, rtobj):
return self._worker.findComponent(rtobj)
+ ##
+ # @if jp
+ # @brief RTC¼Â¹Ô¥¹¥ì¥Ã¥É¤ËRTC¤òÄɲÃ
+ # Ê£¹ç¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î¾ì¹ç¤Ï»Ò¥³¥ó¥Ý¡¼¥Í¥ó¥È¤âÄɲÃ
+ #
+ # @param self
+ # @param task RTC¼Â¹Ô¥¹¥ì¥Ã¥É
+ # @param rtobj RTC
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @param task
+ # @param rtobj
+ #
+ # @endif
def addRTCToTask(self, task, rtobj):
#comp = self._worker.findComponent(rtobj)
orglist = rtobj.get_owned_organizations()
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py 2018-09-28 07:15:31 UTC (rev 1028)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicECSharedComposite.py 2018-10-05 10:17:29 UTC (rev 1029)
@@ -691,7 +691,20 @@
def __del__(self):
self._rtcout.RTC_TRACE("destructor of PeriodicECSharedComposite")
OpenRTM_aist.RTObject_impl.__del__(self)
-
+
+ ##
+ # @if jp
+ # @brief ½ªÎ»´Ø¿ô
+ # ¥ª¡¼¥¬¥Ê¥¤¥º¥ª¥Ö¥¸¥§¥¯¥È¤òÈó¥¢¥¯¥Æ¥£¥Ö¤Ë¤¹¤ë
+ #
+ # @param self
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ #
+ # @endif
def shutdown(self):
OpenRTM_aist.RTObject_impl.shutdown(self)
poa = OpenRTM_aist.Manager.instance().getPOA()
@@ -807,7 +820,21 @@
return RTC.RTC_OK
-
+ ##
+ # @if jp
+ # @brief RTC¤ò¥¢¥¯¥Æ¥£¥Ö²½¤¹¤ë
+ # Ê£¹ç¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î¾ì¹ç¤Ï»Ò¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ò¥¢¥¯¥Æ¥£¥Ö²½¤¹¤ë
+ #
+ # @param self
+ # @param rtobj RTC
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param rtobj RTC
+ #
+ # @endif
def activateChildComp(self, rtobj):
ecs = self.get_owned_contexts()
@@ -865,7 +892,21 @@
return RTC.RTC_OK
-
+ ##
+ # @if jp
+ # @brief RTC¤òÈó¥¢¥¯¥Æ¥£¥Ö²½¤¹¤ë
+ # Ê£¹ç¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î¾ì¹ç¤Ï»Ò¥³¥ó¥Ý¡¼¥Í¥ó¥È¤òÈó¥¢¥¯¥Æ¥£¥Ö²½¤¹¤ë
+ #
+ # @param self
+ # @param rtobj RTC
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param rtobj RTC
+ #
+ # @endif
def deactivateChildComp(self, rtobj):
ecs = self.get_owned_contexts()
@@ -926,7 +967,21 @@
return RTC.RTC_OK
-
+ ##
+ # @if jp
+ # @brief RTC¤ò¥ê¥»¥Ã¥È¤¹¤ë
+ # Ê£¹ç¥³¥ó¥Ý¡¼¥Í¥ó¥È¤Î¾ì¹ç¤Ï»Ò¥³¥ó¥Ý¡¼¥Í¥ó¥È¤ò¥ê¥»¥Ã¥È¤¹¤ë
+ #
+ # @param self
+ # @param rtobj RTC
+ #
+ # @else
+ # @brief
+ #
+ # @param self
+ # @param rtobj RTC
+ #
+ # @endif
def resetChildComp(self, rtobj):
ecs = self.get_owned_contexts()
Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py 2018-09-28 07:15:31 UTC (rev 1028)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/PeriodicExecutionContext.py 2018-10-05 10:17:29 UTC (rev 1029)
@@ -78,7 +78,18 @@
return
-
+ ##
+ # @if jp
+ # @brief ½ªÎ»´Ø¿ô
+ #
+ # @param self¡¡
+ # @param Task¡¡
+ #
+ # @else
+ # @brief
+ # @param self¡¡
+ # @param Task¡¡
+ # @endif
def exit(self, Task=OpenRTM_aist.Task):
import OpenRTM_aist.Guard
self._rtcout.RTC_TRACE("PeriodicExecutionContext.__del__()")
@@ -97,6 +108,19 @@
OpenRTM_aist.ExecutionContextBase.exit(self)
return
+
+ ##
+ # @if jp
+ # @brief ½é´ü²½´Ø¿ô
+ #
+ # @param self¡¡
+ # @param props ¥×¥í¥Ñ¥Æ¥£
+ #
+ # @else
+ # @brief
+ # @param self¡¡
+ # @param props
+ # @endif
def init(self, props):
OpenRTM_aist.ExecutionContextBase.init(self, props)
self.setCpuAffinity(props)
@@ -606,19 +630,7 @@
return RTC.RTC_OK
- def onStopped(self):
- guard = OpenRTM_aist.ScopedLock(self._svcmutex)
- self._svc = False
- del guard
- guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
- self._workerthread._cond.acquire()
- self._workerthread._running = True
- self._workerthread._cond.notify()
- self._workerthread._cond.release()
- del guard
- self.wait()
- return RTC.RTC_OK
def onAddedComponent(self, rtobj):
guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
@@ -641,13 +653,14 @@
self.getStateString(comp.getStates().next)))
# Now comp's next state must be ACTIVE state
# If worker thread is stopped, restart worker thread.
- guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
- if self._workerthread._running == False:
- self._workerthread._running = True
- self._workerthread._cond.acquire()
- self._workerthread._cond.notify()
- self._workerthread._cond.release()
- del guard
+ if self.isRunning():
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == False:
+ self._workerthread._running = True
+ self._workerthread._cond.acquire()
+ self._workerthread._cond.notify()
+ self._workerthread._cond.release()
+ del guard
return RTC.RTC_OK
@@ -665,13 +678,14 @@
# Now comp's next state must be ACTIVE state
# If worker thread is stopped, restart worker thread.
- guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
- if self._workerthread._running == False:
- self._workerthread._running = True
- self._workerthread._cond.acquire()
- self._workerthread._cond.notify()
- self._workerthread._cond.release()
- del guard
+ if self.isRunning():
+ guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
+ if self._workerthread._running == False:
+ self._workerthread._running = True
+ self._workerthread._cond.acquire()
+ self._workerthread._cond.notify()
+ self._workerthread._cond.release()
+ del guard
return RTC.RTC_OK
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