RtmNSHelper.py

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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
#  @file RtmNSHelper.py
#  @brief rtc-link name service access helper class
#  @date $Date: 2005-05-12 09:06:19 $
#  @author Noriaki Ando <n-ando@aist.go.jp>
# 
#  Copyright (C) 2004-2005
#      Task-intelligence Research Group,
#      Intelligent Systems Research Institute,
#      National Institute of
#          Advanced Industrial Science and Technology (AIST), Japan
#      All rights reserved.
# 
#  $Id$
# 

import sys
#sys.path.append("/usr/local/lib/python2.3/site-packages")
import omniORB.CORBA as CORBA
import CosNaming
import RTM
from RtmDialog import *


class RtmNSHelper:
        def __init__(self):
                self.orb = None

        def __del__(self):
                if self.orb != None:
                        try:
                                self.orb.destroy()
                        except:
                                except_mess('CORBA Name Server: Destroy Error!! <' + name_server + '>')

        def Connect(self, name_server):
                try:
                        if self.orb != None:
                                self.orb.destroy()
                        arg = ["-ORBInitRef", "NameService=corbaname::","-ORBclientCallTimeOutPeriod","2000"]
                        arg[1] = arg[1] + name_server
                        self.orb = CORBA.ORB_init(arg)
                        obj = self.orb.resolve_initial_references("NameService")
                        self.root_cxt = obj._narrow(CosNaming.NamingContext)
                except:
                        self.root_cxt = None
#                       print 'CORBA Name Server: Connect Error!! <',name_server,'>'

        def GetNSDict(self):
                ns_dict = None
                if self.root_cxt != None:
                        ns_dict = self.__GetNameTreeRecursive__(self.root_cxt)
                return ns_dict

        def __GetNameTreeRecursive__(self, cxt):
                ns_dict = {}
                try:
                        cur_cxt = cxt.list(100)
                except:
                        except_mess("cxt.list method error!:")
                        return
        
                for bc in cur_cxt[0]:
                        if bc != None:
                                try:
                                        cur_obj = cxt.resolve(bc.binding_name)
                                        dict_key = bc.binding_name[0].id \
                                                           + "|" \
                                                           + bc.binding_name[0].kind
                                        if bc.binding_type == CosNaming.ncontext:
                                                ns_dict[dict_key] = (
                                                        {
                                                        "objref":cur_obj,
                                                        "id":bc.binding_name[0].id,
                                                        "kind":bc.binding_name[0].kind,
                                                        "bname":bc.binding_name
                                                        },
                                                self.__GetNameTreeRecursive__(cur_obj))
                                        elif bc.binding_type == CosNaming.nobject:
                                                ns_dict[dict_key] = (cur_obj, None)
                                                ns_dict[dict_key] = (
                                                        {
                                                        "objref":cur_obj,
                                                        "id":bc.binding_name[0].id,
                                                        "kind":bc.binding_name[0].kind,
                                                        "bname":bc.binding_name
                                                        },None)
                                except:
                                        except_mess("context method error!:")
                                        ns_dict = {}
                                        break

                return ns_dict
        
        def DeleteToContext(self,cxt,bname):
                if cxt != None:
                        try:
                                cxt.unbind(bname)
                        except:
                                except_mess('contex not found:')


if __name__ == '__main__':
        import sys
        nsh = RtmNSHelper()
        if len(sys.argv) == 1:
                print sys.argv[0] + " [CosNameService Host Name]"
                sys.exit(1)
                
        nsh.Connect(sys.argv[1])
        print nsh.GetNSDict()