00001
00002
00003
00004 import sys
00005 from omniORB import CORBA, URI
00006 from omniORB import any
00007
00008 import RTC
00009
00010
00011 from CorbaNaming import *
00012 import SDOPackage
00013
00014
00015
00016
00017
00018 class RtmEnv :
00019
00020 def __init__(self, orb_args, nserver_names=["localhost"],
00021 orb=None, naming=None):
00022 if not orb :
00023 orb = CORBA.ORB_init(orb_args)
00024 self.orb = orb
00025 self.name_space = {}
00026 if naming :
00027 self.name_space['default']=NameSpace(orb, naming=naming)
00028 else :
00029 for ns in nserver_names :
00030 self.name_space[ns]=NameSpace(orb, server_name=ns)
00031
00032 def __del__(self):
00033 self.orb.shutdown(wait_for_completion=CORBA.FALSE)
00034 self.orb.destroy()
00035
00036
00037
00038
00039 class NameSpace :
00040 def __init__(self, orb, server_name=None, naming=None):
00041 self.orb = orb
00042 self.name = server_name
00043 if naming :
00044 self.naming = naming
00045 else :
00046 self.naming = CorbaNaming(self.orb, server_name)
00047
00048 self.b_len = 10
00049 self.rtc_handles = {}
00050 self.obj_list = {}
00051
00052 def get_object_by_name(self, name, cl=RTC.RTObject):
00053 ref = self.naming.resolveStr(name)
00054 if ref is None: return None
00055 if cl :
00056 return ref._narrow(cl)
00057 else :
00058 return ref
00059
00060 def list_obj(self) :
00061 self.rtc_handes = {}
00062 self.obj_list = {}
00063 return self.list_obj1(self.naming._rootContext, "")
00064
00065 def list_obj1(self, name_context, parent) :
00066 if not name_context :
00067 name_context = self.naming._rootContext
00068 rslt = []
00069 b_list = name_context.list(self.b_len)
00070 for bd in b_list[0] :
00071 rslt = rslt + self.proc_bd(bd, name_context, parent)
00072 if b_list[1] :
00073 t_list = b_list[1].next_n(self.b_len)
00074 while t_list[0] :
00075 for bd in t_list[1] :
00076 rslt = rslt + self.proc_bd(bd, name_context, parent)
00077 t_list = b_list[1].next_n(self.b_len)
00078 return rslt
00079
00080 def proc_bd(self, bd, name_context, parent) :
00081
00082
00083
00084
00085 rslt = []
00086 pre = ""
00087 if parent :
00088 pre = parent + "/"
00089 nam = pre + URI.nameToString(bd.binding_name)
00090 if bd.binding_type == CosNaming.nobject :
00091 tmp = name_context.resolve(bd.binding_name)
00092 self.obj_list[nam]=tmp
00093 print 'objcet '+nam+' was listed.'
00094 try :
00095 tmp = tmp._narrow(RTC.RTObject)
00096 except :
00097 print nam+' is not RTC.'
00098 tmp = None
00099 try :
00100 if tmp :
00101 rslt = [[nam, tmp]]
00102 self.rtc_handles[nam]=RtcHandle(nam,self,tmp)
00103 print 'handle for '+nam+' was created.'
00104 else :
00105 pass
00106 except :
00107 print nam+' is not alive.'
00108 pass
00109 else :
00110 tmp = name_context.resolve(bd.binding_name)
00111 tmp = tmp._narrow(CosNaming.NamingContext)
00112 rslt = self.list_obj1(tmp, nam)
00113 return rslt
00114
00115
00116
00117
00118 def nvlist2dict(nvlist) :
00119 rslt = {}
00120 for tmp in nvlist :
00121 rslt[tmp.name]=tmp.value.value()
00122 return rslt
00123 def dict2nvlist(dict) :
00124 rslt = []
00125 for tmp in dict.keys() :
00126 rslt.append(SDOPackage.NameValue(tmp, any.to_any(dict[tmp])))
00127 return rslt
00128
00129
00130
00131
00132 class Connector :
00133 def __init__(self, plist, name = None, id="", prop_dict={}) :
00134 self.plist = plist
00135 self.port_reflist = [tmp.port_profile.port_ref for tmp in plist]
00136 if name :
00137 self.name = name
00138 else :
00139 self.name = string.join([tmp.name for tmp in plist],'_')
00140 self.prop_dict = prop_dict
00141 self.prop_nvlist = dict2nvlist(self.prop_dict)
00142 self.profile = RTC.ConnectorProfile(self.name, id, self.port_reflist, self.prop_nvlist)
00143 self.nego_prop()
00144
00145 def nego_prop(self) :
00146 self.possible = True
00147 for kk in self.def_prop :
00148 if kk in self.prop_dict :
00149 if not self.prop_dict[kk] :
00150 self.prop_dict[kk]=self.def_prop[kk]
00151 else :
00152 self.prop_dict[kk]=self.def_prop[kk]
00153 for pp in self.plist :
00154 if not ((self.prop_dict[kk] in pp.prop[kk]) or
00155 ('Any' in pp.prop[kk])) :
00156 self.prop_dict[kk] = ""
00157 self.possible = False
00158 self.prop_nvlist = dict2nvlist(self.prop_dict)
00159 self.profile.properties = self.prop_nvlist
00160 return self.possible
00161
00162 def connect(self) :
00163
00164
00165
00166 ret, self.profile = self.port_reflist[0].connect(self.profile)
00167 self.prop_nvlist = self.profile.properties
00168 self.prop_dict = nvlist2dict(self.prop_nvlist)
00169 return ret
00170
00171 def disconnect(self) :
00172 ret = self.port_reflist[0].disconnect(self.profile.connector_id)
00173 return ret
00174
00175 class IOConnector(Connector) :
00176 def __init__(self, plist, name = None, id="", prop_dict={}) :
00177
00178
00179
00180 self.def_prop = {'dataport.dataflow_type':'push' ,
00181 'dataport.interface_type':'corba_cdr' ,
00182 'dataport.subscription_type':'flush'}
00183 Connector.__init__(self, plist, name, id, prop_dict)
00184
00185 class ServiceConnector(Connector) :
00186 def __init__(self, plist, name = None, id="", prop_dict={}) :
00187 self.def_prop = {'port.port_type':'CorbaPort' }
00188 Connector.__init__(self, plist, name, id, prop_dict)
00189
00190
00191 class Port :
00192 def __init__(self, profile,nv_dict=None) :
00193 self.name=profile.name
00194 self.port_profile = profile
00195 if not nv_dict :
00196 nv_dict = nvlist2dict(profile.properties)
00197 self.prop = nv_dict
00198 self.con = None
00199 def get_info(self) :
00200 self.con.connect()
00201 tmp1 = self.get_connections()
00202 tmp2 = [pp.connector_id for pp in tmp1]
00203 if self.con.profile.connector_id in tmp2 :
00204 self.con.disconnect()
00205
00206 def get_connections(self) :
00207 return self.port_profile.port_ref.get_connector_profiles()
00208
00209 class CorbaServer :
00210 def __init__(self, profile, port) :
00211 self.profile = profile
00212 self.port = port
00213 self.name = profile.instance_name
00214 self.type = profile.type_name
00215 self.ref = None
00216 ref_key = 'port.' + self.type + '.' + self.name
00217 self.ref=self.port.con.prop_dict[ref_key]
00218
00219
00220
00221
00222
00223 def narrow_ref(self, gls) :
00224 if self.type.find('::') == -1 :
00225 self.narrow_sym = eval('_GlobalIDL.' + self.type, gls)
00226 else :
00227 self.narrow_sym = eval(self.type.replace('::','.'), gls)
00228 self.ref = self.ref._narrow(self.narrow_sym)
00229
00230 class CorbaClient :
00231 def __init__(self, profile) :
00232 self.profile = profile
00233 self.name = profile.instance_name
00234 self.type = profile.type_name
00235
00236
00237
00238
00239
00240
00241 class RtcService(Port) :
00242 def __init__(self, profile,nv_dict=None) :
00243 Port.__init__(self, profile, nv_dict)
00244 self.con = ServiceConnector([self])
00245 self.get_info()
00246 self.provided={}
00247 self.required={}
00248 tmp = self.port_profile.interfaces
00249 for itf in tmp :
00250 if itf.polarity == RTC.PROVIDED :
00251 self.provided[itf.instance_name] = CorbaServer(itf,self)
00252 elif itf.polarity == RTC.REQUIRED :
00253 self.required[itf.instance_name] = CorbaClient(itf)
00254
00255 class RtcInport(Port) :
00256 def __init__(self, profile, nv_dict=None) :
00257 Port.__init__(self, profile, nv_dict)
00258 self.con = IOConnector([self])
00259 self.get_info()
00260
00261 self.ref = self.con.prop_dict['dataport.corba_cdr.inport_ref']
00262 self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
00263 self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
00264 def write(self,data) :
00265 self.ref.put(CORBA.Any(self.data_tc,
00266 self.data_class(RTC.Time(0,0),data)))
00267
00268 class RtcOutport(Port) :
00269 def __init__(self, profile,nv_dict=None) :
00270 Port.__init__(self, profile, nv_dict)
00271 self.con = IOConnector([self])
00272 self.get_info()
00273 if 'dataport.corba_any.outport_ref' in self.con.prop_dict :
00274 self.ref = self.con.prop_dict['dataport.corba_cdr.outport_ref']
00275
00276 else :
00277 self.ref=None
00278 self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
00279 self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
00280
00281 def read(self) :
00282 if self.ref :
00283 return self.ref.get().value()
00284 else :
00285 print "not supported"
00286 return None
00287
00288
00289
00290 class RtcHandle :
00291 def __init__(self, name, env, ref=None) :
00292 self.name = name
00293 self.env = env
00294 if ref :
00295 self.rtc_ref = ref
00296 else :
00297 self.rtc_ref = env.naming.resolve(name)._narrow(RTC.RTObject)
00298 self.conf_ref = None
00299 self.retrieve_info()
00300
00301 def retrieve_info(self) :
00302 self.conf_set={}
00303 self.conf_set_data={}
00304 self.port_refs = []
00305 self.execution_contexts =[]
00306 if self.rtc_ref :
00307 self.conf_ref = self.rtc_ref.get_configuration()
00308 conf_set = self.conf_ref.get_configuration_sets()
00309 for cc in conf_set :
00310 self.conf_set[cc.id]=cc
00311 self.conf_set_data[cc.id]=nvlist2dict(cc.configuration_data)
00312 self.profile = self.rtc_ref.get_component_profile()
00313 self.prop = nvlist2dict(self.profile.properties)
00314
00315 self.execution_contexts = self.rtc_ref.get_owned_contexts()
00316 self.port_refs = self.rtc_ref.get_ports()
00317
00318 self.ports = {}
00319 self.services = {}
00320 self.inports = {}
00321 self.outports = {}
00322 for pp in self.port_refs :
00323 tmp = pp.get_port_profile()
00324 tmp_prop = nvlist2dict(tmp.properties)
00325
00326 if tmp_prop['port.port_type']=='DataInPort' :
00327 self.inports[tmp.name]=RtcInport(tmp,tmp_prop)
00328
00329 elif tmp_prop['port.port_type']=='DataOutPort' :
00330 self.outports[tmp.name]=RtcOutport(tmp, tmp_prop)
00331
00332 elif tmp_prop['port.port_type']=='CorbaPort' :
00333 self.services[tmp.name]=RtcService(tmp, tmp_prop)
00334
00335
00336 def set_conf(self,conf_set_name,param_name,value) :
00337 conf_set=self.conf_set[conf_set_name]
00338 conf_set_data=self.conf_set_data[conf_set_name]
00339 conf_set_data[param_name]=value
00340 conf_set.configuration_data=dict2nvlist(conf_set_data)
00341 self.conf_ref.set_configuration_set_values(conf_set_name,conf_set)
00342 def set_conf_activate(self,conf_set_name,param_name,value) :
00343 self.set_conf(conf_set_name,param_name,value)
00344 self.conf_ref.activate_configuration_set(conf_set_name)
00345 def activate(self):
00346 return self.execution_contexts[0].activate_component(self.rtc_ref)
00347 def deactivate(self):
00348 return self.execution_contexts[0].deactivate_component(self.rtc_ref)
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