ObjectManager.py

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




import sys
import string
import threading

import OpenRTM_aist




class ObjectManager:
  """
  """

  
  def __init__(self, predicate):
    self._objects = self.Objects()
    self._predicate = predicate



  
  class Objects:
    def __init__(self):
      self._mutex = threading.RLock()
      self._obj = []


  
  def registerObject(self, obj):
    guard = OpenRTM_aist.ScopedLock(self._objects._mutex)
    predi = self._predicate(factory=obj)

    for _obj in self._objects._obj:
      if predi(_obj):
        return False

    self._objects._obj.append(obj)
    return True


  
  def unregisterObject(self, id):
    guard = OpenRTM_aist.ScopedLock(self._objects._mutex)
    predi = self._predicate(name=id)
    i = 0
    for _obj in self._objects._obj:
      if predi(_obj):
        ret = _obj
        del self._objects._obj[i]
        return ret
      i+=1
      
    return None


  
  def find(self, id):
    guard = OpenRTM_aist.ScopedLock(self._objects._mutex)
    if isinstance(id,str):
      predi = self._predicate(name=id)
    else:
      predi = self._predicate(prop=id)

    for _obj in self._objects._obj:
      if predi(_obj):
        return _obj
      
    return None


  
  def getObjects(self):
    guard = OpenRTM_aist.ScopedLock(self._objects._mutex)
    return self._objects._obj


  
  def for_each(self,p):
    guard = OpenRTM_aist.ScopedLock(self._objects._mutex)
    predi = p()

    for _obj in self._objects._obj:
      predi(_obj)

    return predi