OpenRTM-aist » OpenRTM-aist (Python)

#!/usr/bin/env python

# -*- coding: utf-8 -*-

# -*- Python -*-

import sys

import RTC

import OpenRTM_aist

consolein_spec = ["implementation_id", "ConsoleIn",

                  "type_name",         "ConsoleIn",

                  "description",       "Console input component",

                  "version",           "1.0",

                  "vendor",            "Shinji Kurihara",

                  "category",          "example",

                  "activity_type",     "DataFlowComponent",

                  "max_instance",      "10",

                  "language",          "Python",

                  "lang_type",         "script",

                  ""]

class DataListener(OpenRTM_aist.ConnectorDataListenerT):

  def __init__(self, name):

    self._name = name

  def __del__(self):

    print "dtor of ", self._name

  def __call__(self, info, cdrdata):

    data = OpenRTM_aist.ConnectorDataListenerT.__call__(self, info, cdrdata, RTC.TimedLong(RTC.Time(0,0),0))

    print "------------------------------"

    print "Listener:       ", self._name

    print "Profile::name:  ", info.name

    print "Profile::id:    ", info.id

    print "Data:           ", data.data

    print "------------------------------"

class ConnListener(OpenRTM_aist.ConnectorListener):

  def __init__(self, name):

    self._name = name

  def __del__(self):

    print "dtor of ", self._name

  def __call__(self, info):

    print "------------------------------"

    print "Listener:       ", self._name

    print "Profile::name:  ", info.name

    print "Profile::id:    ", info.id

    print "------------------------------"

class ConsoleIn(OpenRTM_aist.DataFlowComponentBase):

  def __init__(self, manager):

    OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)

    return

  def onInitialize(self):

    self._data = RTC.TimedLong(RTC.Time(0,0),0)

    self._outport = OpenRTM_aist.OutPort("out", self._data)

    # Set OutPort buffer

    self.addOutPort("out", self._outport)

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE,

                                           DataListener("ON_BUFFER_WRITE"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_FULL, 

                                           DataListener("ON_BUFFER_FULL"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE_TIMEOUT, 

                                           DataListener("ON_BUFFER_WRITE_TIMEOUT"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_OVERWRITE, 

                                           DataListener("ON_BUFFER_OVERWRITE"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_READ, 

                                           DataListener("ON_BUFFER_READ"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_SEND, 

                                           DataListener("ON_SEND"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVED,

                                           DataListener("ON_RECEIVED"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_FULL, 

                                           DataListener("ON_RECEIVER_FULL"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_TIMEOUT, 

                                           DataListener("ON_RECEIVER_TIMEOUT"))

    self._outport.addConnectorDataListener(OpenRTM_aist.ConnectorDataListenerType.ON_RECEIVER_ERROR,

                                           DataListener("ON_RECEIVER_ERROR"))

    self._outport.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_CONNECT,

                                       ConnListener("ON_CONNECT"))

    self._outport.addConnectorListener(OpenRTM_aist.ConnectorListenerType.ON_DISCONNECT,

                                       ConnListener("ON_DISCONNECT"))

    return RTC.RTC_OK

  def onExecute(self, ec_id):

    print "Please input number: ",

    self._data.data = long(sys.stdin.readline())

    OpenRTM_aist.setTimestamp(self._data)

    print "Sending to subscriber: ", self._data.data

    self._outport.write()

    return RTC.RTC_OK

def ConsoleInInit(manager):

  profile = OpenRTM_aist.Properties(defaults_str=consolein_spec)

  manager.registerFactory(profile,

                          ConsoleIn,

                          OpenRTM_aist.Delete)

def MyModuleInit(manager):

  ConsoleInInit(manager)

  # Create a component

  comp = manager.createComponent("ConsoleIn")

def main():

  # Initialize manager

  mgr = OpenRTM_aist.Manager.init(sys.argv)

  # Set module initialization proceduer

  # This procedure will be invoked in activateManager() function.

  mgr.setModuleInitProc(MyModuleInit)

  # Activate manager and register to naming service

  mgr.activateManager()

  # run the manager in blocking mode

  # runManager(False) is the default

  mgr.runManager()

  # If you want to run the manager in non-blocking mode, do like this

  # mgr.runManager(True)

if __name__ == "__main__":

  main()