ComponentObserverConsumer.py

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#!/usr/bin/env python
# -*- coding: euc-jp -*-

##
# @file ComponentObserverConsumer.py
# @brief Component observer SDO service consumer implementation
# @date $Date$
# @author Noriaki Ando <n-ando@aist.go.jp> and Shinji Kurihara
#
# Copyright (C) 2011
#     Noriaki Ando
#     Intelligent Systems Research Institute,
#     National Institute of
#         Advanced Industrial Science and Technology (AIST), Japan
#     All rights reserved.
#

import sys
sys.path.insert(1,".")

import RTC
import OpenRTM
import OpenRTM_aist

##
# @if jp
# @else
# @endif
#
class ComponentObserverConsumer(OpenRTM_aist.SdoServiceConsumerBase):
  """
  """

  ##
  # @if jp
  # @brief ctor of ComponentObserverConsumer
  # @else
  # @brief ctor of ComponentObserverConsumer
  # @endif
  #
  def __init__(self):
    self._rtobj = None
    self._profile = None
    self._observer = OpenRTM_aist.CorbaConsumer(interfaceType=OpenRTM.ComponentObserver)
    self._observed = [ False for i in range(OpenRTM.STATUS_KIND_NUM._v)]

    self._compstat = self.CompStatMsg(self)
    self._portaction = self.PortAction(self)
    self._ecaction = self.ECAction(self)
    self._configMsg = self.ConfigAction(self)

    self._interval = OpenRTM_aist.TimeValue(1, 0)
    self._heartbeat = False
    self._hblistenerid = None

    # ¤³¤Î¥¿¥¤¥Þ¡¼¤Ï¤¤¤º¤ì¥°¥í¡¼¥Ð¥ë¤Ê¥¿¥¤¥Þ¤Ë¤ª¤­¤«¤¨¤ë
    self._timer = OpenRTM_aist.Timer(self._interval)
    return


  ##
  # @if jp
  # @brief dtor
  # @else
  # @brief dtor
  # @endif
  #
  def __del__(self):
    self.unsetComponentProfileListeners()
    self.unsetComponentStatusListeners()
    self.unsetPortProfileListeners()
    self.unsetExecutionContextListeners()
    self.unsetConfigurationListeners()
    self.unsetHeartbeat()
    del self._timer
    return


  ##
  # @if jp
  # @brief ½é´ü²½
  # @else
  # @brief Initialization
  # @endif
  #
  # virtual bool init(RTObject_impl& rtobj,
  #                   const SDOPackage::ServiceProfile& profile);
  def init(self, rtobj, profile):
    if not self._observer.setObject(profile.service):
      # narrowing failed
      return False

    self._rtobj = rtobj
    self._profile = profile
    prop = OpenRTM_aist.Properties()
    OpenRTM_aist.NVUtil.copyToProperties(prop, profile.properties)
    self.setHeartbeat(prop)
    self.setListeners(prop)
    return True


  ##
  # @if jp
  # @brief ºÆ½é´ü²½
  # @else
  # @brief Re-initialization
  # @endif
  #
  # virtual bool reinit(const SDOPackage::ServiceProfile& profile);
  def reinit(self, profile):
    if not self._observer._ptr()._is_equivalent(profile.service):
      tmp = OpenRTM_aist.CorbaConsumer(interfaceType=OpenRTM.ComponentObserver)
      if not tmp.setObject(profile.service):
        return False
      self._observer.releaseObject()
      self._observer.setObject(profile.service)

    self._profile= profile
    prop = OpenRTM_aist.Properties()
    OpenRTM_aist.NVUtil.copyToProperties(prop, profile.properties)
    self.setHeartbeat(prop)
    self.setListeners(prop)
    return True


  ##
  # @if jp
  # @brief ServiceProfile ¤ò¼èÆÀ¤¹¤ë
  # @else
  # @brief getting ServiceProfile
  # @endif
  #
  # virtual const SDOPackage::ServiceProfile& getProfile() const;
  def getProfile(self):
    return self._profile

    
  ##
  # @if jp
  # @brief ½ªÎ»½èÍý
  # @else
  # @brief Finalization
  # @endif
  #
  # virtual void finalize();
  def finalize(self):
    self.unsetComponentProfileListeners()
    self.unsetComponentStatusListeners()
    self.unsetPortProfileListeners()
    self.unsetExecutionContextListeners()
    self.unsetConfigurationListeners()
    self.unsetHeartbeat()
    return


  ##
  # @if jp
  # @brief ¥ê¥â¡¼¥È¥ª¥Ö¥¸¥§¥¯¥È¥³¡¼¥ë
  # @else
  # @brief Calling remote object
  # @endif
  #
  # inline void updateStatus(OpenRTM::StatusKind statuskind, const char* msg)
  def updateStatus(self, statuskind, msg):
    try:
      self._observer._ptr().update_status(statuskind, msg)
    except:
      self._rtobj.removeSdoServiceConsumer(self._profile.id)
    return

  ##
  # @if jp
  # @brief Kind¤òʸ»úÎó¤ØÊÑ´¹¤¹¤ë
  # @else
  # @brief Converting kind to string
  # @endif
  #
  # inline const char* toString(OpenRTM::StatusKind kind)
  def toString(self, kind):
    kinds = ["COMPONENT_PROFILE",
             "RTC_STATUS",
             "EC_STATUS",
             "PORT_PROFILE",
             "CONFIGURATION",
             "HEARTBEAT"]
    if kind._v < OpenRTM.STATUS_KIND_NUM._v:
      return kinds[kind._v]
    return ""


  ##
  # @if jp
  # @brief RTObject¤Ø¤Î¥ê¥¹¥ÊÀܳ½èÍý
  # @else
  # @brief Connectiong listeners to RTObject
  # @endif
  #
  # void setListeners(coil::Properties& prop);
  def setListeners(self, prop):
    if not prop.getProperty("observed_status"):
      prop.setProperty("observed_status", "ALL")

    observed_ = [s.strip() for s in prop.getProperty("observed_status").split(",")]
    flags_ = [ False for i in range(OpenRTM.STATUS_KIND_NUM._v) ]

    for i in range(len(observed_)):
      observed_[i] = observed_[i].upper()
      if observed_[i] == "COMPONENT_PROFILE":
        flags_[OpenRTM.COMPONENT_PROFILE._v] = True
      elif observed_[i] == "RTC_STATUS":
        flags_[OpenRTM.RTC_STATUS._v] = True
      elif observed_[i] == "EC_STATUS":
        flags_[OpenRTM.EC_STATUS._v] = True
      elif observed_[i] == "PORT_PROFILE":
        flags_[OpenRTM.PORT_PROFILE._v] = True
      elif observed_[i] == "CONFIGURATION":
        flags_[OpenRTM.CONFIGURATION._v] = True
      elif observed_[i] == "ALL":
        for j in range(OpenRTM.STATUS_KIND_NUM._v):
          flags_[j] = True
        break
  
    self.switchListeners(flags_[OpenRTM.COMPONENT_PROFILE._v],
                         self._observed,
                         OpenRTM.COMPONENT_PROFILE._v,
                         self.setComponentProfileListeners,
                         self.unsetComponentProfileListeners)

    self.switchListeners(flags_[OpenRTM.RTC_STATUS._v],
                         self._observed,
                         OpenRTM.RTC_STATUS._v,
                         self.setComponentStatusListeners,
                         self.unsetComponentStatusListeners)

    self.switchListeners(flags_[OpenRTM.EC_STATUS._v],
                         self._observed,
                         OpenRTM.EC_STATUS._v,
                         self.setExecutionContextListeners,
                         self.unsetExecutionContextListeners)

    self.switchListeners(flags_[OpenRTM.PORT_PROFILE._v],
                         self._observed,
                         OpenRTM.PORT_PROFILE._v,
                         self.setPortProfileListeners,
                         self.unsetPortProfileListeners)

    self.switchListeners(flags_[OpenRTM.CONFIGURATION._v],
                         self._observed,
                         OpenRTM.CONFIGURATION._v,
                         self.setConfigurationListeners,
                         self.unsetConfigurationListeners)

    return


  ##
  # @if jp
  # @brief ¥ê¥¹¥ÊÀܳ¡¦ÀÚÃÇ¥¹¥¤¥Ã¥Á¥ó¥°½èÍý
  # @else
  # @brief Switching listeners connecting/disconnecting
  # @endif
  #
  # void switchListeners(bool& next, bool& pre,
  #                      void (ComponentObserverConsumer::*setfunc)(), 
  #                      void (ComponentObserverConsumer::*unsetfunc)());
  def switchListeners(self, next, pre, pre_idx, setfunc, unsetfunc):
    if (not pre[pre_idx]) and next:
      setfunc()
      pre[pre_idx] = True
    elif pre[pre_idx] and (not next):
      unsetfunc()
      pre[pre_idx] = False

    return


  #============================================================
  # Heartbeat related functions

  ##
  # @if jp
  # @brief ¥Ï¡¼¥È¥Ó¡¼¥È¤ò¥ª¥Ö¥¶¡¼¥Ð¤ËÅÁ¤¨¤ë
  # @else
  # @brief Sending a heartbeart signal to observer
  # @endif
  #
  # void heartbeat();
  def heartbeat(self):
    self.updateStatus(OpenRTM.HEARTBEAT, "")
    return


  ##
  # @if jp
  # @brief ¥Ï¡¼¥È¥Ó¡¼¥È¤òÀßÄꤹ¤ë
  # @else
  # @brief Setting heartbeat
  # @endif
  #
  # void setHeartbeat(coil::Properties& prop);
  def setHeartbeat(self, prop):
    if OpenRTM_aist.toBool(prop.getProperty("heartbeat.enable"), "YES", "NO", False):
      interval_ = prop.getProperty("heartbeat.interval")
      if not interval_:
        self._interval.set_time(1.0)
      else:
        tmp_ = float(interval_)
        self._interval.set_time(tmp_)

      tm_ = self._interval
      self._hblistenerid = self._timer.registerListenerObj(self,
                                                           ComponentObserverConsumer.heartbeat,
                                                           tm_)
      if not self._heartbeat:
        self._timer.start()
        self._heartbeat = True

    else:
      if self._heartbeat and self._hblistenerid:
        self.unsetHeartbeat()

    return


  ##
  # @if jp
  # @brief ¥Ï¡¼¥È¥Ó¡¼¥È¤ò²ò½ü¤¹¤ë
  # @else
  # @brief Unsetting heartbeat
  # @endif
  #
  # void unsetHeartbeat();
  def unsetHeartbeat(self):
    self._timer.unregisterListener(self._hblistenerid)
    self._hblistenerid = 0
    self._timer.stop()
    self._heartbeat = False
    return


  #============================================================
  # Component status related functions
  
  ##
  # @if jp
  # @brief RTC¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê½èÍý
  # @else
  # @brief Setting RTC status listeners
  # @endif
  #
  # void setComponentStatusListeners();
  def setComponentStatusListeners(self):
    postclistener_ = OpenRTM_aist.PostComponentActionListenerType
    if not self._compstat.activatedListener:
      self._compstat.activatedListener = \
          self._rtobj.addPostComponentActionListener(postclistener_.POST_ON_ACTIVATED,
                                                     self._compstat.onActivated)
    if not self._compstat.deactivatedListener:
      self._compstat.deactivatedListener = \
          self._rtobj.addPostComponentActionListener(postclistener_.POST_ON_DEACTIVATED,
                                                     self._compstat.onDeactivated)

    if not self._compstat.resetListener:
      self._compstat.resetListener = \
          self._rtobj.addPostComponentActionListener(postclistener_.POST_ON_RESET,
                                                     self._compstat.onReset)

    if not self._compstat.abortingListener:
      self._compstat.abortingListener = \
          self._rtobj.addPostComponentActionListener(postclistener_.POST_ON_ABORTING,
                                                     self._compstat.onAborting)

    if not self._compstat.finalizeListener:
      self._compstat.finalizeListener = \
          self._rtobj.addPostComponentActionListener(postclistener_.POST_ON_FINALIZE,
                                                     self._compstat.onFinalize)

    return

  
  ##
  # @if jp
  # @brief RTC¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü½èÍý
  # @else
  # @brief Unsetting RTC status listeners
  # @endif
  #
  # void unsetComponentStatusListeners();
  def unsetComponentStatusListeners(self):
    postclistener_ = OpenRTM_aist.PostComponentActionListenerType
    if self._compstat.activatedListener:
      self._rtobj.removePostComponentActionListener(postclistener_.POST_ON_ACTIVATED,
                                                    self._compstat.activatedListener)
      self._compstat.activatedListener = None

    if self._compstat.deactivatedListener:
      self._rtobj.removePostComponentActionListener(postclistener_.POST_ON_DEACTIVATED,
                                                    self._compstat.deactivatedListener)
      self._compstat.deactivatedListener = None

    if self._compstat.resetListener:
      self._rtobj.removePostComponentActionListener(postclistener_.POST_ON_RESET,
                                                    self._compstat.resetListener)
      self._compstat.resetListener = None

    if self._compstat.abortingListener:
      self._rtobj.removePostComponentActionListener(postclistener_.POST_ON_ABORTING,
                                                    self._compstat.abortingListener)
      self._compstat.abortingListener = None

    if self._compstat.finalizeListener:
      self._rtobj.removePostComponentActionListener(postclistener_.POST_ON_FINALIZE,
                                                    self._compstat.finalizeListener)
      self._compstat.finalizeListener = None

    return


  #============================================================
  # Port profile related functions

  ##
  # @if jp
  # @brief Port¥×¥í¥Õ¥¡¥¤¥ëÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê½èÍý
  # @else
  # @brief Setting port profile listener
  # @endif
  #
  # void setPortProfileListeners();
  def setPortProfileListeners(self):
    plistener_ = OpenRTM_aist.PortActionListenerType
    if not self._portaction.portAddListener:
      self._portaction.portAddListener = \
          self._rtobj.addPortActionListener(plistener_.ADD_PORT,
                                            self._portaction.onAddPort)

    if not self._portaction.portRemoveListener:
      self._portaction.portRemoveListener = \
          self._rtobj.addPortActionListener(plistener_.REMOVE_PORT,
                                            self._portaction.onRemovePort)

    pclistener_ = OpenRTM_aist.PortConnectRetListenerType
    if not self._portaction.portConnectListener:
      self._portaction.portConnectListener = \
          self._rtobj.addPortConnectRetListener(pclistener_.ON_CONNECTED,
                                                self._portaction.onConnect)

    if not self._portaction.portDisconnectListener:
      self._portaction.portDisconnectListener = \
          self._rtobj.addPortConnectRetListener(pclistener_.ON_DISCONNECTED,
                                                self._portaction.onDisconnect)

    return

  ##
  # @if jp
  # @brief Port¥×¥í¥Õ¥¡¥¤¥ëÊѲ½¥ê¥¹¥Ê¤Î²ò½ü½èÍý
  # @else
  # @brief Unsetting port profile listener
  # @endif
  #
  # void unsetPortProfileListeners();
  def unsetPortProfileListeners(self):
    plistener_ = OpenRTM_aist.PortActionListenerType
    if self._portaction.portAddListener:
      self._rtobj.removePortActionListener(plistener_.ADD_PORT,
                                           self._portaction.portAddListener)
      self._portaction.portAddListener = None

    if self._portaction.portRemoveListener:
      self._rtobj.removePortActionListener(plistener_.REMOVE_PORT,
                                           self._portaction.portRemoveListener)
      self._portaction.portRemoveListener = None

    pclistener_ = OpenRTM_aist.PortConnectRetListenerType
    if self._portaction.portConnectListener:
      self._rtobj.removePortConnectRetListener(pclistener_.ON_CONNECTED,
                                               self._portaction.portConnectListener)
      self._portaction.portConnectListener = None

    if self._portaction.portDisconnectListener:
      self._rtobj.removePortConnectRetListener(pclistener_.ON_DISCONNECTED,
                                               self._portaction.portDisconnectListener)
      self._portaction.portDisconnectListener = None

    return


  #============================================================
  # EC profile related functions
   
  ##
  # @if jp
  # @brief EC¤Î¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê
  # @else
  # @brief Setting EC status listener
  # @endif
  #
  # void setExecutionContextListeners();
  def setExecutionContextListeners(self):
    ectype_ = OpenRTM_aist.ExecutionContextActionListenerType
    if not self._ecaction.ecAttached:
      self._ecaction.ecAttached = \
          self._rtobj.addExecutionContextActionListener(ectype_.EC_ATTACHED,
                                                        self._ecaction.onAttached)

    if not self._ecaction.ecDetached:
      self._ecaction.ecDetached = \
          self._rtobj.addExecutionContextActionListener(ectype_.EC_DETACHED,
                                                        self._ecaction.onDetached)

    pcaltype_ = OpenRTM_aist.PostComponentActionListenerType
    if not self._ecaction.ecRatechanged:
      self._ecaction.ecRatechanged = \
          self._rtobj.addPostComponentActionListener(pcaltype_.POST_ON_RATE_CHANGED,
                                                     self._ecaction.onRateChanged)

    if not self._ecaction.ecStartup:
      self._ecaction.ecStartup = \
          self._rtobj.addPostComponentActionListener(pcaltype_.POST_ON_STARTUP,
                                                     self._ecaction.onStartup)

    if not self._ecaction.ecShutdown:
      self._ecaction.ecShutdown = \
          self._rtobj.addPostComponentActionListener(pcaltype_.POST_ON_SHUTDOWN,
                                                     self._ecaction.onShutdown)

    return


  ##
  # @if jp
  # @brief EC¤Î¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü
  # @else
  # @brief Unsetting EC status listener
  # @endif
  #
  # void unsetExecutionContextListeners();
  def unsetExecutionContextListeners(self):
    ectype_ = OpenRTM_aist.ExecutionContextActionListenerType
    if self._ecaction.ecAttached:
      self._rtobj.removeExecutionContextActionListener(ectype_.EC_ATTACHED,
                                                       self._ecaction.ecAttached)

    if self._ecaction.ecDetached:
      self._rtobj.removeExecutionContextActionListener(ectype_.EC_ATTACHED,
                                                       self._ecaction.ecDetached)

    pcaltype_ = OpenRTM_aist.PostComponentActionListenerType
    if self._ecaction.ecRatechanged:
      self._rtobj.removePostComponentActionListener(pcaltype_.POST_ON_RATE_CHANGED,
                                                    self._ecaction.ecRatechanged)

    if self._ecaction.ecStartup:
      self._rtobj.removePostComponentActionListener(pcaltype_.POST_ON_STARTUP,
                                                    self._ecaction.ecStartup)

    if self._ecaction.ecShutdown:
      self._rtobj.removePostComponentActionListener(pcaltype_.POST_ON_SHUTDOWN,
                                                    self._ecaction.ecShutdown)

    return


  #============================================================
  # ComponentProfile related functions

  ##
  # @if jp
  # @brief ComponentProfile¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê
  # @else
  # @brief Setting ComponentProfile listener
  # @endif
  #
  # void setComponentProfileListeners();
  def setComponentProfileListeners(self):
    pass


  ##
  # @if jp
  # @brief ComponentProfile¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü
  # @else
  # @brief Unsetting ComponentProfile listener
  # @endif
  #
  # void unsetComponentProfileListeners();
  def unsetComponentProfileListeners(self):
    pass


  #============================================================
  # Configuration related functions

  ##
  # @if jp
  # @brief Configuration¾õÂÖÊѲ½¥ê¥¹¥Ê¤ÎÀßÄê
  # @else
  # @brief Setting Configuration listener
  # @endif
  #
  # void setConfigurationListeners();
  def setConfigurationListeners(self):
    confprmlistenertype_ = OpenRTM_aist.ConfigurationParamListenerType
    self._configMsg.updateConfigParamListener = \
        self._rtobj.addConfigurationParamListener(confprmlistenertype_.ON_UPDATE_CONFIG_PARAM,
                                                  self._configMsg.updateConfigParam)

    confsetlistenertype_ = OpenRTM_aist.ConfigurationSetListenerType
    self._configMsg.setConfigSetListener = \
        self._rtobj.addConfigurationSetListener(confsetlistenertype_.ON_SET_CONFIG_SET,
                                                self._configMsg.setConfigSet)

    self._configMsg.addConfigSetListener = \
        self._rtobj.addConfigurationSetListener(confsetlistenertype_.ON_ADD_CONFIG_SET,
                                                self._configMsg.addConfigSet)

    confsetnamelistenertype_ = OpenRTM_aist.ConfigurationSetNameListenerType
    self._configMsg.updateConfigSetListener = \
        self._rtobj.addConfigurationSetNameListener(confsetnamelistenertype_.ON_UPDATE_CONFIG_SET,
                                                    self._configMsg.updateConfigSet)

    self._configMsg.removeConfigSetListener = \
        self._rtobj.addConfigurationSetNameListener(confsetnamelistenertype_.ON_REMOVE_CONFIG_SET,
                                                    self._configMsg.removeConfigSet)
    self._configMsg.activateConfigSetListener = \
        self._rtobj.addConfigurationSetNameListener(confsetnamelistenertype_.ON_ACTIVATE_CONFIG_SET,
                                                    self._configMsg.activateConfigSet)
    return


  ##
  # @if jp
  # @brief Configuration¾õÂÖÊѲ½¥ê¥¹¥Ê¤Î²ò½ü
  # @else
  # @brief Unsetting Configurationlistener
  # @endif
  #
  # void unsetConfigurationListeners();
  def unsetConfigurationListeners(self):
    confprmlistenertype_ = OpenRTM_aist.ConfigurationParamListenerType
    if self._configMsg.updateConfigParamListener:
      self._rtobj.removeConfigurationParamListener(confprmlistenertype_.ON_UPDATE_CONFIG_PARAM,
                                                   self._configMsg.updateConfigParamListener)
      self._configMsg.updateConfigParamListener = None

    confsetlistenertype_ = OpenRTM_aist.ConfigurationSetListenerType
    if self._configMsg.setConfigSetListener:
      self._rtobj.removeConfigurationSetListener(confsetlistenertype_.ON_SET_CONFIG_SET,
                                                 self._configMsg.setConfigSetListener)
      self._configMsg.setConfigSetListener = None

    if self._configMsg.addConfigSetListener:
      self._rtobj.removeConfigurationSetListener(confsetlistenertype_.ON_ADD_CONFIG_SET,
                                                 self._configMsg.addConfigSetListener)
      self._configMsg.addConfigSetListener = None

    confsetnamelistenertype_ = OpenRTM_aist.ConfigurationSetNameListenerType
    if self._configMsg.updateConfigSetListener:
      self._rtobj.removeConfigurationSetNameListener(confsetnamelistenertype_.ON_UPDATE_CONFIG_SET,
                                                     self._configMsg.updateConfigSetListener)
      self._configMsg.updateConfigSetListener = None

    if self._configMsg.removeConfigSetListener:
      self._rtobj.removeConfigurationSetNameListener(confsetnamelistenertype_.ON_REMOVE_CONFIG_SET,
                                                     self._configMsg.removeConfigSetListener)
      self._configMsg.removeConfigSetListener = None

    if self._configMsg.activateConfigSetListener:
      self._rtobj.removeConfigurationSetNameListener(confsetnamelistenertype_.ON_ACTIVATE_CONFIG_SET,
                                                     self._configMsg.activateConfigSetListener)
      self._configMsg.activateConfigSetListener = None

    return


  ##
  # @if jp
  # @brief PostComponentActionListener class
  # @else
  # @brief PostComponentActionListener class
  # @endif
  #
  class CompStatMsg:
    """
    """

    #CompStatMsg(ComponentObserverConsumer& coc)
    def __init__(self, coc):
      self.activatedListener = None
      self.deactivatedListener = None
      self.resetListener = None
      self.abortingListener = None
      self.finalizeListener = None
      self._coc = coc
      return

    def __del__(self):
      del self._coc
      return

    #void onGeneric(const char* msgprefix, UniqueId ec_id, ReturnCode_t ret)
    def onGeneric(self, msgprefix, ec_id, ret):
      if ret == RTC.RTC_OK:
        msg_ = msgprefix
        msg_ += str(ec_id)
        self._coc.updateStatus(OpenRTM.RTC_STATUS, msg_)
      return

    #void onActivated(UniqueId ec_id, ReturnCode_t ret)
    def onActivated(self, ec_id, ret):
      self.onGeneric("ACTIVE:", ec_id, ret)
      return

    #void onDeactivated(UniqueId ec_id, ReturnCode_t ret)
    def onDeactivated(self, ec_id, ret):
      self.onGeneric("INACTIVE:", ec_id, ret)
      return

    #void onReset(UniqueId ec_id, ReturnCode_t ret)
    def onReset(self, ec_id, ret):
      self.onGeneric("INACTIVE:", ec_id, ret)
      return

    #void onAborting(UniqueId ec_id, ReturnCode_t ret)
    def onAborting(self, ec_id, ret):
      self.onGeneric("ERROR:", ec_id, ret)
      return

    #void onFinalize(UniqueId ec_id, ReturnCode_t ret)
    def onFinalize(self, ec_id, ret):
      self.onGeneric("FINALIZE:", ec_id, ret)
      return

  ##
  # @if jp
  # @brief PortActionListener
  # @else
  # @brief PortActionListener
  # @endif
  #
  class PortAction:
    """
    """

    #PortAction(ComponentObserverConsumer& coc)
    def __init__(self, coc):
      self.portAddListener = None
      self.portRemoveListener = None
      self.portConnectListener = None
      self.portDisconnectListener = None
      self._coc = coc
      return

    def __del__(self):
      del self._coc
      return

    #void onGeneric(const char* _msg, const char* portname)
    def onGeneric(self, _msg, portname):
      msg_ = _msg
      msg_ += portname
      self._coc.updateStatus(OpenRTM.PORT_PROFILE, msg_)
      return

    #void onAddPort(const ::RTC::PortProfile& pprof)
    def onAddPort(self, pprof):
      self.onGeneric("ADD:", str(pprof.name))
      return

    #void onRemovePort(const ::RTC::PortProfile& pprof)
    def onRemovePort(self, pprof):
      self.onGeneric("REMOVE:", str(pprof.name))
      return

    #void onConnect(const char* portname,
    #                 ::RTC::ConnectorProfile& pprof, ReturnCode_t ret)
    def onConnect(self, portname, pprof, ret):
      if ret == RTC.RTC_OK:
        self.onGeneric("CONNECT:", portname)
      return

    #void onDisconnect(const char* portname,
    #                  ::RTC::ConnectorProfile& pprof, ReturnCode_t ret)
    def onDisconnect(self, portname, pprof, ret):
      if ret == RTC.RTC_OK:
        self.onGeneric("DISCONNECT:", portname)
      return


  ##
  # @if jp
  # @brief ExecutionContextActionListener
  # @else
  # @brief ExecutionContextActionListener
  # @endif
  #
  class ECAction:
    """
    """

    #ECAction(ComponentObserverConsumer& coc)
    def __init__(self, coc):
      self.ecAttached = None
      self.ecDetached = None
      self.ecRatechanged = None
      self.ecStartup = None
      self.ecShutdown = None
      self._coc = coc
      return

    def __del__(self):
      del self._coc
      return

    #void onGeneric(const char* _msg, UniqueId ec_id)
    def onGeneric(self, _msg, ec_id):
      msg_ = _msg + str(ec_id)
      self._coc.updateStatus(OpenRTM.EC_STATUS, msg_)
      return

    #void onAttached(UniqueId ec_id)
    def onAttached(self, ec_id):
      self.onGeneric("ATTACHED:", ec_id)
      return

    #void onDetached(UniqueId ec_id)
    def onDetached(self, ec_id):
      self.onGeneric("DETACHED:", ec_id)
      return

    #void onRateChanged(UniqueId ec_id, ReturnCode_t ret)
    def onRateChanged(self, ec_id, ret):
      if ret == RTC.RTC_OK:
        self.onGeneric("RATE_CHANGED:", ec_id)
      return

    #void onStartup(UniqueId ec_id, ReturnCode_t ret)
    def onStartup(self, ec_id, ret):
      if ret == RTC.RTC_OK:
        self.onGeneric("STARTUP:", ec_id)
      return

    #void onShutdown(UniqueId ec_id, ReturnCode_t ret)
    def onShutdown(self, ec_id, ret):
      if ret == RTC.RTC_OK:
        self.onGeneric("SHUTDOWN:", ec_id)
      return


  ##
  # @if jp
  # @brief ConfigActionListener
  # @else
  # @brief ConfigActionListener
  # @endif
  #
  class ConfigAction:
    """
    """

    #ConfigAction(ComponentObserverConsumer& coc)
    def __init__(self, coc):
      self.updateConfigParamListener = None
      self.setConfigSetListener = None
      self.addConfigSetListener = None
      self.updateConfigSetListener = None
      self.removeConfigSetListener = None
      self.activateConfigSetListener = None
      self._coc = coc

    def __del__(self):
      del self._coc
      return

    #void updateConfigParam(const char* configsetname,
    #                       const char* configparamname)
    def updateConfigParam(self, configsetname, configparamname):
      msg_ = "UPDATE_CONFIG_PARAM: "
      msg_ += configsetname
      msg_ += "."
      msg_ += configparamname
      self._coc.updateStatus(OpenRTM.CONFIGURATION, msg_)
      return

    #void setConfigSet(const coil::Properties& config_set)
    def setConfigSet(self, config_set):
      msg_ = "SET_CONFIG_SET: "
      msg_ += config_set.getName()
      self._coc.updateStatus(OpenRTM.CONFIGURATION, msg_)
      return

    #void addConfigSet(const coil::Properties& config_set)
    def addConfigSet(self, config_set):
      msg_ = "ADD_CONFIG_SET: "
      msg_ += config_set.getName()
      self._coc.updateStatus(OpenRTM.CONFIGURATION, msg_)
      return

    #void updateConfigSet(const char* config_set_name)
    def updateConfigSet(self, config_set_name):
      msg_ = "UPDATE_CONFIG_SET: "
      msg_ += config_set_name
      self._coc.updateStatus(OpenRTM.CONFIGURATION, msg_)
      return

    #void removeConfigSet(const char* config_set_name)
    def removeConfigSet(self, config_set_name):
      msg_ = "REMOVE_CONFIG_SET: "
      msg_ += config_set_name
      self._coc.updateStatus(OpenRTM.CONFIGURATION, msg_)
      return

    #void activateConfigSet(const char* config_set_name)
    def activateConfigSet(self, config_set_name):
      msg_ = "ACTIVATE_CONFIG_SET: "
      msg_ += config_set_name
      self._coc.updateStatus(OpenRTM.CONFIGURATION, msg_)
      return

def ComponentObserverConsumerInit(mgr=None):
  factory = OpenRTM_aist.SdoServiceConsumerFactory.instance()
  factory.addFactory(OpenRTM.ComponentObserver._NP_RepositoryId,
                     ComponentObserverConsumer,
                     OpenRTM_aist.Delete)
  return