[openrtm-users 02847] Re: コンポーネントの中からコンポーネントを終了する

[Kei Okada]

岡田です．

ありがとうございます．
ご教示いただいた内容を
追加して，こちらで試すと，１０秒ぐらいプログラムが停止したあと，以下のようにエラーになります．私は1.1.0を使っています．

prev data =  356 , current data =  357
2 12712
Exception in thread Thread-2:
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 551, in __bootstrap_inner
    self.run()
  File "/usr/lib/python2.7/threading.py", line 504, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/src/openrtm/OpenRTM_aist/Task.py",
line 80, in svc_run
    self.svc()
  File "/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/src/openrtm/OpenRTM_aist/PeriodicExecutionContext.py",
line 450, in svc
    comp._sm.worker()
  File "/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/src/openrtm/OpenRTM_aist/PeriodicExecutionContext.py",
line 317, in worker
    return self._sm.worker()
  File "/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/src/openrtm/OpenRTM_aist/StateMachine.py",
line 469, in worker
    self._do[states.curr](states)
  File "/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/src/openrtm/OpenRTM_aist/PeriodicExecutionContext.py",
line 256, in on_execute
    if self._obj.on_execute(self.ec_id) != RTC.RTC_OK:
  File "/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/src/openrtm/OpenRTM_aist/RTM_IDL/RTC_idl.py",
line 401, in on_execute
    return _omnipy.invoke(self, "on_execute",
_0_RTC.DataFlowComponentAction._d_on_execute, args)
BAD_INV_ORDER: CORBA.BAD_INV_ORDER(omniORB.BAD_INV_ORDER_WouldDeadLock,
CORBA.COMPLETED_NO)

Traceback (most recent call last):
  File "/home/k-okada/ros/fuerte/rtm-ros-robotics/rtmros_common/openrtm/src/openrtm/OpenRTM_aist/CorbaNaming.py",
line 616, in unbind
    self._rootContext.unbind(name_)
  File "/usr/lib/python2.7/dist-packages/CosNaming_idl.py", line 234, in unbind
    return _omnipy.invoke(self, "unbind",
_0_CosNaming.NamingContext._d_unbind, args)
NotFound: CosNaming.NamingContext.NotFound(why=missing_node,
rest_of_name=[CosNaming.NameComponent(id='test_seqio0', kind='rtc')])


2013/7/23 Ando Noriaki <n-ando ＠ aist.go.jp>:
> 岡田先生
>
> 安藤です
>
> 添付のコードを実行するとどうなりますか？
>
>             if ( self.data_received > 10 ) :
>                 mgr.shutdown()
>
> だと、プロセスごと終了になります。
> コンポーネントだけを終了させたかったら
>     self.exit()
> でいけそうな気もするのですが、onExecute() の中で呼べたかどうかは
> 確信がありません。
>
>
>
>
> 2013/7/22 Kei Okada <k-okada ＠ jsk.t.u-tokyo.ac.jp>:
>> 岡田です．
>>
>> コンポーネントの中からコンポーネントを終了させる，というようなことはできるのでしょうか？
>> 具体的には，例えばonExecuteで１０回データをもらったら，exitしたい，と思っています．
>>
>> # rtm modules
>> import sys, time, signal
>> import RTC
>> import OpenRTM_aist
>>
>> global mgr
>>
>> class TestComp(OpenRTM_aist.DataFlowComponentBase):
>>     def __init__ (self, manager):
>>         OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
>>         return
>>
>>     def onInitialize(self):
>>         port = "Short"
>>         self.inport = OpenRTM_aist.InPort(port, RTC.TimedShort)
>>         self.registerInPort(port, self.inport)
>>         self.data_received = 0
>>
>>         return RTC.RTC_OK
>>
>>     def onExecute(self, ec_id):
>>         if self.inport.isNew():
>>             data = self.inport.read()
>>             print data
>>             self.data_received += 1
>>             if ( self.data_received > 10 ) :
>>                 mgr.shutdown()
>>
>>         return RTC.RTC_OK
>>
>> module_spec = ["implementation_id", "test_seqio",
>>                "type_name",         "test_seqio",
>>                "description",       "Dataport ROS bridge component",
>>                "version",           "1.0",
>>                "vendor",            "Kei Okada",
>>                "category",          "example",
>>                "activity_type",     "DataFlowComponent",
>>                "max_instance",      "10",
>>                "language",          "Python",
>>                "lang_type",         "script",
>>                ""]
>>
>> def TestInit(manager):
>>     profile = OpenRTM_aist.Properties(defaults_str=module_spec)
>>     print  profile
>>     manager.registerFactory(profile,
>>                             TestComp,
>>                             OpenRTM_aist.Delete)
>>     comp = manager.createComponent("test_seqio")
>>
>> def test_seqio():
>>     mgr = OpenRTM_aist.Manager.init(sys.argv)
>>     mgr.setModuleInitProc(TestInit)
>>     mgr.activateManager()
>>     mgr.runManager()
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