[openrtm-commit:02125] r747 - trunk/OpenRTM-aist-Python/OpenRTM_aist

[openrtm ＠ openrtm.org]

Author: miyamoto
Date: 2016-11-21 14:57:54 +0900 (Mon, 21 Nov 2016)
New Revision: 747

Modified:
   trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherPeriodic.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py
   trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceProviderBase.py
Log:
[compat,bugfix,->RELENG_1_2] fixed bug.

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherPeriodic.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherPeriodic.py	2016-11-18 10:29:49 UTC (rev 746)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/PublisherPeriodic.py	2016-11-21 05:57:54 UTC (rev 747)
@@ -850,8 +850,8 @@
     else:
       return self.PORT_ERROR
     
-    return self.PORT_ERROR
 
+
   ##
   # @if jp
   # @brief DataPortStatusに従ってリスナへ通知する関数を呼び出す。

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py	2016-11-18 10:29:49 UTC (rev 746)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/RTObject.py	2016-11-21 05:57:54 UTC (rev 747)
@@ -4522,6 +4522,7 @@
       self.finalizeContexts()
       self._poa.deactivate_object(self._poa.servant_to_id(self._SdoConfigImpl))
       self._poa.deactivate_object(self._poa.servant_to_id(self))
+      self._sdoservice.exit()
     except:
       self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
 

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py	2016-11-18 10:29:49 UTC (rev 746)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceAdmin.py	2016-11-21 05:57:54 UTC (rev 747)
@@ -16,6 +16,7 @@
 import copy
 import threading
 import OpenRTM_aist
+import SDOPackage
 
 
 ##
@@ -182,6 +183,7 @@
 
       svc.init(rtobj, prof)
       self._providers.append(svc)
+    
 
     # ------------------------------------------------------------
     # SDO service consumer
@@ -217,6 +219,9 @@
   # Virtual destractor.
   # @endif
   def __del__(self):
+    pass
+
+  def exit(self):
     len_ = len(self._providers)
     for i in range(len_):
       idx = (len_ - 1) - i

Modified: trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceProviderBase.py
===================================================================
--- trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceProviderBase.py	2016-11-18 10:29:49 UTC (rev 746)
+++ trunk/OpenRTM-aist-Python/OpenRTM_aist/SdoServiceProviderBase.py	2016-11-21 05:57:54 UTC (rev 747)
@@ -212,7 +212,9 @@
   # @endif
   # virtual void finalize() = 0;
   def finalize(self):
-    pass
+    poa  = OpenRTM_aist.Manager.instance().getPOA()
+    poa.deactivate_object(poa.servant_to_id(self))
+    
 
 
 sdoserviceproviderfactory = None