hrpPrep.py

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#
# Prepare Scripting Environment Parameters
#
# This module can do with a little tidying up.
# ... perhaps with a Meta-class
#

import time, string


def doNarrow4Jython(corbaClass, corbaObject):
    return corbaClass.narrow(corbaObject)


def getORBJython(argv):
    props = System.getProperties()
    s = System.getenv("NS_OPT")
    if(not s):
        s = System.getenv("NS_OPT")
        
    if(s == ''):
        args = argv
    else:
        args = string.split(s)
    #
    return CORBA.ORB.init(args, props)


def getPluginObject2NarrowJython(name):
    #print 'getPluginObject2NarrowJython'
    try:
        exec('import Simulator.'+name+'Helper as localImport')
        return localImport
    except ImportError:
        return None

#def importJavaPlugins():
#    pluginList = dir(Simulator)
#    for p in pluginList:
#        if p[-6:] == 'Helper':
#            print 'import Simulator.'+p+' as '+p[:-6]
#            #exec('import Simulator.'+p+' as '+p[:-6])
#




def doNarrow4Python(corbaClass, corbaObject):
    #print 'corbaClass = ', corbaClass
    #print 'corbaObject = ', corbaObject
    try:
        tmp = corbaObject._narrow(corbaClass)
        #print 'narrowed result is', tmp
        return tmp
    except:
        print('narrow exception:', corbaObject, 'to', corbaClass)

    return None


def getORBPython(argv):
    return CORBA.ORB_init(argv, CORBA.ORB_ID)


def getPluginObject2NarrowPython(name):
    print(name)
    print('getPluginObject2NarrowPython('+name+')')
    try:
        exec('from _GlobalIDL import '+name+' as localImport')
        return localImport
    except ImportError:
        return None
#


global doNarrow
doNarrow = None

try: # platform is Jython
    import java.lang.System as System
    print('platform is probably Jython')
    import org.omg.CORBA as CORBA
    
    from org.omg.CosNaming import NameComponent
    from org.omg.CosNaming.NamingContextPackage import NotFound
    from jp.go.aist.hrp import simulator as IDLBase
    
    Platform = 'J'
    
    # Naming Context
    from org.omg.CosNaming import NamingContextHelper as NamingContext
    # Plugin Manager (fails here...)
    #from IDLBase import PluginManagerHelper as PluginManager
    #import IDLBase.PluginManagerHelper as PluginManager
    PluginManager = IDLBase.PluginManagerHelper
    # Command Receiver
    #from IDLBase import CommandReceiverHelper as CommandReceiver
    CommandReceiver = IDLBase.CommandReceiverHelper
    # Plugin
    #from IDLBase import PluginHelper as Plugin
    Plugin = IDLBase.PluginHelper
    # Logger Plugin
    #from IDLBase import LoggerPluginHelper as LoggerPlugin
    LoggerPlugin = IDLBase.LoggerPluginHelper
    # Sequence Player
    #from IDLBase import SequencePlayerHelper as SequencePlayer
    SequencePlayer = IDLBase.SequencePlayerHelper

    stateProvider = IDLBase.stateProviderHelper
    IoControPlugin = IDLBase.IoControlPluginHelper
    # set specialised function
    doNarrow = doNarrow4Jython
    getORB = getORBJython
    getPluginObject2Narrow = getPluginObject2NarrowJython

except ImportError: # platform is not Jython
    print('platform is probably CPython')
    import omniORB.CORBA as CORBA
    import CosNaming
    import _GlobalIDL as IDLBase
    
    NameComponent = CosNaming.NameComponent
    NotFound = CosNaming.NamingContext.NotFound
    
    Platform = 'C'

    # Naming Context
    NamingContext = CosNaming.NamingContext
    # Plugin Manager
    #from IDLBase import PluginManager
    PluginManager = IDLBase.PluginManager
    # Command Receiver
    #from IDLBase import CommandReceiver
    CommandReceiver = IDLBase.CommandReceiver
    # Plugin
    #from IDLBase import Plugin
    Plugin = IDLBase.Plugin
    # Logger Plugin
    #from IDLBase import LoggerPlugin
    LoggerPlugin = IDLBase.LoggerPlugin
    # Sequence Player
    #from IDLBase import SequencePlayer
    SequencePlayer = IDLBase.SequencePlayer
    # set specialised functions
    stateProvider = IDLBase.stateProvider
    IoControPlugin = IDLBase.IoControlPlugin

    doNarrow = doNarrow4Python
    getORB = getORBPython
    getPluginObject2Narrow = getPluginObject2NarrowPython

#---------------------------------------------------#

def getCORBAObjects():
    return NotFound, NamingContext, NameComponent, \
           IDLBase, \
           PluginManager, \
           Plugin, \
           CommandReceiver, \
           stateProvider, \
           IoControPlugin, \
           LoggerPlugin, \
           SequencePlayer