rtc_handle.py
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00001 #/usr/bin/env python
00002 # -*- Python -*-
00003 
00004 import sys
00005 from omniORB import CORBA, URI
00006 from omniORB import any
00007 
00008 import OpenRTM
00009 import RTC
00010 
00011 
00012 from CorbaNaming import *
00013 import SDOPackage
00014 
00015 # class RtmEnv :
00016 #       rtm environment manager
00017 #       orb, naming service, rtc proxy list
00018 #
00019 class RtmEnv : 
00020 
00021     def __init__(self, orb_args, nserver_names=["localhost"], 
00022                                      orb=None, naming=None):
00023         if not orb :
00024             orb = CORBA.ORB_init(orb_args)
00025         self.orb = orb
00026         self.name_space = {}
00027         if naming : # naming can specify only one naming service
00028             self.name_space['default']=NameSpace(orb, naming=naming)
00029         else :
00030             for ns in nserver_names :
00031               self.name_space[ns]=NameSpace(orb, server_name=ns)
00032 
00033     def __del__(self):
00034         self.orb.shutdown(wait_for_completion=CORBA.FALSE)
00035         self.orb.destroy()
00036 #
00037 # class NameSpace :
00038 #       rtc_handles and object list in naming service
00039 #
00040 class NameSpace :
00041     def __init__(self, orb, server_name=None, naming=None):
00042         self.orb = orb
00043         self.name = server_name
00044         if naming :
00045           self.naming = naming
00046         else :
00047           self.naming = CorbaNaming(self.orb, server_name) 
00048 
00049         self.b_len = 10 # iteration cut off no.
00050         self.rtc_handles = {}
00051         self.obj_list = {}
00052 
00053     def get_object_by_name(self, name, cl=RTC.RTObject):
00054         ref = self.naming.resolveStr(name)
00055         if ref is None: return None     # return CORBA.nil ?
00056         if cl :
00057             return ref._narrow(cl)
00058         else :
00059             return ref
00060 
00061     def list_obj(self) :
00062         self.rtc_handes = {}
00063         self.obj_list = {}
00064         return self.list_obj1(self.naming._rootContext, "")
00065 
00066     def list_obj1(self, name_context, parent) :
00067         if not name_context :
00068             name_context = self.naming._rootContext 
00069         rslt = []
00070         b_list = name_context.list(self.b_len)
00071         for bd in b_list[0] :
00072             rslt = rslt + self.proc_bd(bd, name_context, parent)
00073         if b_list[1] :  # iterator : there exists remaining.
00074             t_list = b_list[1].next_n(self.b_len)
00075             while t_list[0] :
00076                 for bd in t_list[1] :
00077                     rslt = rslt + self.proc_bd(bd, name_context, parent)
00078                 t_list = b_list[1].next_n(self.b_len)
00079         return rslt
00080 
00081     def proc_bd(self, bd, name_context, parent) :
00082 #        print '-------------------------------------------------------------------'
00083 #        print 'bd= ', bd
00084 #        print 'name_context= ', name_context
00085 #        print 'parent= ', parent
00086         rslt = []
00087         pre = ""
00088         if parent :
00089             pre = parent + "/"
00090         nam = pre + URI.nameToString(bd.binding_name)
00091         if bd.binding_type == CosNaming.nobject :
00092             tmp = name_context.resolve(bd.binding_name)
00093             self.obj_list[nam]=tmp
00094             print 'objcet '+nam+' was listed.'
00095             try :
00096                 tmp = tmp._narrow(RTC.RTObject)
00097             except :
00098                 print nam+' is not RTC.'
00099                 tmp = None
00100             try :
00101                 if tmp :
00102                    rslt = [[nam, tmp]]
00103                    self.rtc_handles[nam]=RtcHandle(nam,self,tmp)
00104                    print 'handle for '+nam+' was created.'
00105                 else :
00106                    pass
00107             except :
00108                 print nam+' is not alive.'
00109                 pass
00110         else :
00111             tmp = name_context.resolve(bd.binding_name)
00112             tmp = tmp._narrow(CosNaming.NamingContext)
00113             rslt = self.list_obj1(tmp, nam)
00114         return rslt
00115 
00116 #
00117 # data conversion
00118 #
00119 def nvlist2dict(nvlist) :
00120     rslt = {}
00121     for tmp in nvlist :
00122         rslt[tmp.name]=tmp.value.value()   # nv.value and any.value()
00123     return rslt
00124 def dict2nvlist(dict) :
00125     rslt = []
00126     for tmp in dict.keys() :
00127         rslt.append(SDOPackage.NameValue(tmp, any.to_any(dict[tmp])))
00128     return rslt
00129 #
00130 #  connector, port, inport, outport, service
00131 #                
00132 
00133 class Connector :
00134     def __init__(self, plist, name = None, id="", prop_dict={}) :
00135        self.plist = plist
00136        self.port_reflist = [tmp.port_profile.port_ref for tmp in plist]
00137        if name :
00138            self.name = name
00139        else :
00140            self.name = string.join([tmp.name for tmp in plist],'_')
00141        self.prop_dict = prop_dict
00142        self.prop_nvlist = dict2nvlist(self.prop_dict)
00143        self.profile = RTC.ConnectorProfile(self.name, id, self.port_reflist, self.prop_nvlist)
00144        self.nego_prop()
00145 
00146     def nego_prop(self) :
00147        self.possible = True
00148        for kk in self.def_prop :
00149            if kk in self.prop_dict :
00150                if not self.prop_dict[kk] :
00151                    self.prop_dict[kk]=self.def_prop[kk]
00152            else :
00153                 self.prop_dict[kk]=self.def_prop[kk]
00154            for pp in self.plist :  
00155                if not ((self.prop_dict[kk] in pp.prop[kk]) or 
00156                                  ('Any' in    pp.prop[kk])) :
00157                    self.prop_dict[kk] = ""
00158                    self.possible = False
00159        self.prop_nvlist = dict2nvlist(self.prop_dict)
00160        self.profile.properties = self.prop_nvlist
00161        return self.possible
00162 
00163     def connect(self) :
00164 #
00165 #   out and inout parameters are retuned as a tuple   
00166 #
00167        ret, self.profile = self.port_reflist[0].connect(self.profile)
00168        self.prop_nvlist = self.profile.properties
00169        self.prop_dict = nvlist2dict(self.prop_nvlist)
00170        return ret
00171 
00172     def disconnect(self) :
00173        ret = self.port_reflist[0].disconnect(self.profile.connector_id)
00174        return ret
00175 
00176 class IOConnector(Connector) :
00177     def __init__(self, plist, name = None, id="", prop_dict={}) :
00178 #      self.def_prop = {'dataport.dataflow_type':'Push' ,
00179 #                       'dataport.interface_type':'CORBA_Any' ,
00180 #                       'dataport.subscription_type':'Flush'}
00181        self.def_prop = {'dataport.dataflow_type':'push' ,
00182                         'dataport.interface_type':'corba_cdr' ,
00183                         'dataport.subscription_type':'flush'}
00184        Connector.__init__(self, plist, name, id, prop_dict)
00185 
00186 class ServiceConnector(Connector) :
00187     def __init__(self, plist, name = None, id="", prop_dict={}) :
00188        self.def_prop = {'port.port_type':'CorbaPort' }
00189        Connector.__init__(self, plist, name, id, prop_dict)
00190 
00191 
00192 class Port :
00193     def __init__(self, profile,nv_dict=None) :
00194         self.name=profile.name    
00195         self.port_profile = profile
00196         if not nv_dict :
00197             nv_dict = nvlist2dict(profile.properties)
00198         self.prop = nv_dict
00199         self.con = None           # this must be set in each subclasses
00200     def get_info(self) :
00201         self.con.connect()
00202         tmp1 = self.get_connections()
00203         tmp2 = [pp.connector_id for pp in tmp1]
00204         if self.con.profile.connector_id in tmp2 :
00205             self.con.disconnect()
00206 
00207     def get_connections(self) :
00208         return self.port_profile.port_ref.get_connector_profiles()
00209 
00210 class CorbaServer :
00211     def __init__(self, profile, port) :
00212         self.profile = profile
00213         self.port = port
00214         self.name = profile.instance_name
00215         self.type = profile.type_name
00216         self.ref = None
00217         ref_key = 'port.' + self.type + '.' + self.name
00218         self.ref=self.port.con.prop_dict[ref_key]
00219 #
00220 # if we import stubs before we create instances,
00221 # we rarely need to narrow the object references.
00222 # we need to specify global symbol table to evaluate class symbols.
00223 #
00224     def narrow_ref(self, gls) :
00225         if self.type.find('::') == -1 :
00226             self.narrow_sym = eval('_GlobalIDL.' + self.type, gls)
00227         else :
00228             self.narrow_sym = eval(self.type.replace('::','.'), gls)
00229         self.ref = self.ref._narrow(self.narrow_sym)
00230 
00231 class CorbaClient :
00232     def __init__(self, profile) :
00233         self.profile = profile
00234         self.name = profile.instance_name
00235         self.type = profile.type_name
00236 #
00237 # to connect to an outside corba client,
00238 # we need an implementation of the corresponding corba server.
00239 # but ....
00240 #
00241 
00242 class RtcService(Port) :
00243     def __init__(self, profile,nv_dict=None) :
00244         Port.__init__(self, profile, nv_dict)
00245         self.con = ServiceConnector([self])
00246         self.get_info()
00247         self.provided={}
00248         self.required={}
00249         tmp = self.port_profile.interfaces
00250         for itf in tmp :
00251             if itf.polarity == RTC.PROVIDED :
00252                 self.provided[itf.instance_name] = CorbaServer(itf,self)
00253             elif itf.polarity == RTC.REQUIRED :
00254                 self.required[itf.instance_name] = CorbaClient(itf)
00255 
00256 class RtcInport(Port) :
00257     def __init__(self, profile, nv_dict=None) :
00258         Port.__init__(self, profile, nv_dict)
00259         self.con = IOConnector([self])
00260         self.get_info() 
00261 #       self.ref = self.con.prop_dict['dataport.corba_any.inport_ref']
00262         self.ref = self.con.prop_dict['dataport.corba_cdr.inport_ref']
00263         self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
00264         self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
00265     def write(self,data) :
00266         self.ref.put(CORBA.Any(self.data_tc,
00267                          self.data_class(RTC.Time(0,0),data)))
00268 
00269 class RtcOutport(Port) :
00270     def __init__(self, profile,nv_dict=None) :
00271         Port.__init__(self, profile, nv_dict)
00272         self.con = IOConnector([self])
00273         self.get_info()
00274         if 'dataport.corba_any.outport_ref' in self.con.prop_dict :
00275            self.ref = self.con.prop_dict['dataport.corba_cdr.outport_ref']
00276 #          self.ref = self.con.prop_dict['dataport.corba_any.outport_ref']
00277         else :
00278            self.ref=None
00279         self.data_class = eval('RTC.' + self.prop['dataport.data_type'])
00280         self.data_tc = eval('RTC._tc_' + self.prop['dataport.data_type'])
00281 
00282     def read(self) :
00283         if self.ref :
00284            return self.ref.get().value()
00285         else :
00286            print "not supported"
00287            return None
00288 #
00289 # RtcHandle
00290 #
00291 class RtcHandle :
00292   def __init__(self, name, env, ref=None) :
00293     self.name = name
00294     self.env = env
00295     if ref :
00296         self.rtc_ref = ref
00297     else :
00298         self.rtc_ref = env.naming.resolve(name)._narrow(RTC.RTObject)
00299     self.conf_ref = None
00300     self.retrieve_info()
00301 
00302   def retrieve_info(self) :
00303     self.conf_set={}
00304     self.conf_set_data={}
00305     self.port_refs = []
00306     self.execution_contexts =[]
00307     if self.rtc_ref :
00308         self.conf_ref = self.rtc_ref.get_configuration()
00309         conf_set = self.conf_ref.get_configuration_sets()
00310         for cc in conf_set :
00311             self.conf_set[cc.id]=cc
00312             self.conf_set_data[cc.id]=nvlist2dict(cc.configuration_data)
00313         self.profile = self.rtc_ref.get_component_profile()
00314         self.prop = nvlist2dict(self.profile.properties)
00315         #self.execution_contexts = self.rtc_ref.get_contexts()
00316         self.execution_contexts = self.rtc_ref.get_owned_contexts()
00317         self.port_refs = self.rtc_ref.get_ports()  
00318     # this includes inports, outports and service ports
00319     self.ports = {}
00320     self.services = {}
00321     self.inports = {}
00322     self.outports = {}
00323     for pp in self.port_refs :
00324         tmp = pp.get_port_profile()
00325         tmp_prop = nvlist2dict(tmp.properties)
00326 #       self.ports[tmp.name]=Port(tmp, tmp_prop)
00327         if tmp_prop['port.port_type']=='DataInPort' :
00328             self.inports[tmp.name]=RtcInport(tmp,tmp_prop)
00329 #            self.inports[tmp.name]=Port(tmp, tmp_prop)
00330         elif tmp_prop['port.port_type']=='DataOutPort' :
00331             self.outports[tmp.name]=RtcOutport(tmp, tmp_prop)
00332 #            self.outports[tmp.name]=Port(tmp, tmp_prop)
00333         elif tmp_prop['port.port_type']=='CorbaPort' :
00334             self.services[tmp.name]=RtcService(tmp, tmp_prop)
00335 #            self.services[tmp.name]=Port(tmp, tmp_prop)
00336 
00337   def set_conf(self,conf_set_name,param_name,value) :
00338       conf_set=self.conf_set[conf_set_name]
00339       conf_set_data=self.conf_set_data[conf_set_name]
00340       conf_set_data[param_name]=value
00341       conf_set.configuration_data=dict2nvlist(conf_set_data)
00342       self.conf_ref.set_configuration_set_values(conf_set_name,conf_set)
00343   def set_conf_activate(self,conf_set_name,param_name,value) :
00344       self.set_conf(conf_set_name,param_name,value)
00345       self.conf_ref.activate_configuration_set(conf_set_name)
00346   def activate(self):
00347       return self.execution_contexts[0].activate_component(self.rtc_ref)
00348   def deactivate(self):
00349       return self.execution_contexts[0].deactivate_component(self.rtc_ref)
00350 #
00351 # pipe
00352 #  a pipe is an port (interface & implementation)
00353 #  whhich corresponds to an outside port interface.
00354 #  you can subscribe and communicate to the outside port with the pipe.
00355 #  you need an rtc implementation to use pipes.
00356 #
00357 class Pipe :
00358     pass
00359 
00360 class PipeOut(Pipe):
00361     def __init__(self, name, data_buf, size=8) :
00362         self.name =  name
00363         self.data =  data_buf
00364         self.OpenRTM.InPort(name,data_buf,OpenRTM.RingBuffer(size))


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:17