NVUtil.py

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#!/usr/bin/env python
# -*- coding: euc-jp -*- 
 
 
 
import sys
import traceback
from omniORB import any
 
import OpenRTM_aist
import SDOPackage, SDOPackage__POA
 
 
 
def newNV(name, value):
  try:
    any_val = any.to_any(value)
  except:
    print("ERROR  NVUtil.newNV : Can't convert to any. ", type(value))
    raise
 
    
  nv = SDOPackage.NameValue(name, any_val)
  return nv
 
 
 
def copyFromProperties(nv, prop):
  keys = prop.propertyNames()
  keys_len = len(keys)
  nv_len = len(nv)
  if nv_len > 0:
    for i in range(nv_len):
      del nv[-1]
 
  for i in range(keys_len):
    nv.append(newNV(keys[i], prop.getProperty(keys[i])))
 
 
 
def copyToProperties(prop, nvlist):
  for nv in nvlist:
    try:
      val = str(any.from_any(nv.value, keep_structs=True))
      prop.setProperty(str(nv.name),val)
    except:
      print(OpenRTM_aist.Logger.print_exception())
      pass
 
 
 
 
class to_prop:
  def __init__(self):
    self._prop = OpenRTM_aist.Properties()
    
  def __call__(self, nv):
    self._prop.setProperty(nv.name, nv.value)
 
 
 
 
def toProperties(nv):
  p = OpenRTM_aist.CORBA_SeqUtil.for_each(nv, to_prop())
  return p._prop
 
 
 
 
class nv_find:
  """
  """
 
  def __init__(self, name):
    self._name = name
 
  def __call__(self, nv):
    return str(self._name) == str(nv.name)
 
 
 
def find(nv, name):
  index = OpenRTM_aist.CORBA_SeqUtil.find(nv, nv_find(name))
 
  if index < 0:
    raise "Not found."
 
  return nv[index].value
 
 
 
def find_index(nv, name):
  return OpenRTM_aist.CORBA_SeqUtil.find(nv, nv_find(name))
 
 
 
def isString(nv, name):
  try:
    value = find(nv, name)
    val = any.from_any(value, keep_structs=True)
    return type(val) == str
  except:
    return False
 
 
 
def isStringValue(nv, name, value):
  if isString(nv, name):
    if toString(nv, name) == value:
      return True
  return False
 
 
 
def toString(nv, name=None):
  if not name:
    str_ = [""]
    return dump_to_stream(str_, nv)
 
  str_value = ""
  try:
    ret_value = find(nv, name)
    val = any.from_any(ret_value, keep_structs=True)
    if type(val) == str:
      str_value = val
  except:
    print(OpenRTM_aist.Logger.print_exception())
    pass
  
  return str_value
 
 
 
def appendStringValue(nv, name, value):
  index = find_index(nv, name)
  if index >= 0:
    tmp_str = nv[index].value.value()
    values = OpenRTM_aist.split(tmp_str,",")
    find_flag = False
    for val in values:
      if val == value:
        find_flag = True
 
    if not find_flag:
      tmp_str += ", "
      tmp_str += value
      nv[index].value = any.to_any(tmp_str)
  else:
    OpenRTM_aist.CORBA_SeqUtil.push_back(nv, newNV(name, value))
 
  return True
 
 
 
def append(dest, src):
  for i in range(len(src)):
    OpenRTM_aist.CORBA_SeqUtil.push_back(dest, src[i])
 
 
 
def dump_to_stream(out, nv):
  for i in range(len(nv)):
    val = any.from_any(nv[i].value, keep_structs=True)
    if type(val) == str:
            out[0] += (nv[i].name + ": " + str(nv[i].value) + "\n")
    else:
            out[0] += (nv[i].name + ": not a string value \n")
 
  return out[0]
 
 
 
def dump(nv):
  out = [""]
  print(dump_to_stream(out, nv))