ExtTrigExecutionContext.py

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





import threading
import time

import OpenRTM_aist




class ExtTrigExecutionContext(OpenRTM_aist.PeriodicExecutionContext):
  """
  """


  
  def __init__(self):
    OpenRTM_aist.PeriodicExecutionContext.__init__(self)
    self._worker = self.Worker()
    self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.exttrig_ec")

  
  def tick(self):
    self._rtcout.RTC_TRACE("tick()")
    if not self._worker._cond.acquire():
      return
    self._worker._called = True
    self._worker._cond.notify()
    self._worker._cond.release()
    return

  
  def svc(self):
    self._rtcout.RTC_TRACE("svc()")
    flag = True

    while flag:
      sec_ = float(self._period.usec())/1000000.0
      self._worker._cond.acquire()
      while not self._worker._called and self._running:
        self._worker._cond.wait()
      if self._worker._called:
        self._worker._called = False
        for comp in self._comps:
          comp._sm.worker()

      self._worker._cond.release()
      flag = self._running

  
  class Worker:
    """
    """
    
    
    def __init__(self):
      self._mutex = threading.RLock()
      self._cond = threading.Condition(self._mutex)
      self._called = False




def ExtTrigExecutionContextInit(manager):
  manager.registerECFactory("ExtTrigExecutionContext",
                            OpenRTM_aist.ExtTrigExecutionContext,
                            OpenRTM_aist.ECDelete)