SdoOrganization.py

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#!/usr/bin/env python
# -*- coding: euc-jp -*-
 
 
 
import sys
import omniORB.any
from omniORB import CORBA
import threading
 
import OpenRTM_aist
import SDOPackage, SDOPackage__POA
 
 
 
class Organization_impl(SDOPackage__POA.Organization):
  """
  """
 
  
  def __init__(self, sdo):
    self._pId         = str(OpenRTM_aist.uuid1())
    self._org_mutex   = threading.RLock()
 
    self._orgProperty = SDOPackage.OrganizationProperty([])
    self._varOwner    = sdo
    self._memberList  = []
    self._dependency  = SDOPackage.OWN
    self._objref      = self._this()
    self.__rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.sdo_organization")
 
 
  #============================================================
  #
  # <<< CORBA interfaces >>>
  #
  #============================================================
  
  def get_organization_id(self):
    self.__rtcout.RTC_TRACE("get_organization_id() = %s", self._pId)
    return self._pId
 
 
  
  def get_organization_property(self):
    self.__rtcout.RTC_TRACE("get_organization_property()")
    guard = OpenRTM_aist.ScopedLock(self._org_mutex)
    prop = SDOPackage.OrganizationProperty(self._orgProperty.properties)
    return prop
 
 
  
  def get_organization_property_value(self, name):
    self.__rtcout.RTC_TRACE("get_organization_property_value(%s)", name)
    if not name:
      raise SDOPackage.InvalidParameter("Empty name.")
 
    index = OpenRTM_aist.CORBA_SeqUtil.find(self._orgProperty.properties, self.nv_name(name))
 
    if index < 0:
      raise SDOPackage.InvalidParameter("Not found.")
 
    try:
      value = omniORB.any.to_any(self._orgProperty.properties[index].value)
      return value
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("get_organization_property_value()")
 
    # never reach here
    return None
 
 
  
  def add_organization_property(self, org_property):
    self.__rtcout.RTC_TRACE("add_organization_property()")
    if org_property is None:
      raise SDOPackage.InvalidParameter("org_property is Empty.")
 
    try:
      guard = OpenRTM_aist.ScopedLock(self._org_mutex)
      self._orgProperty = org_property
      return True
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("add_organization_property()")
 
    return False
 
 
  
  def set_organization_property_value(self, name, value):
    self.__rtcout.RTC_TRACE("set_organization_property_value(name=%s)", name)
    if not name:
      raise SDOPackage.InvalidParameter("set_organization_property_value(): Enpty name.")
 
    index = OpenRTM_aist.CORBA_SeqUtil.find(self._orgProperty.properties, self.nv_name(name))
 
    if index < 0:
      nv = SDOPackage.NameValue(name, value)
      OpenRTM_aist.CORBA_SeqUtil.push_back(self._orgProperty.properties, nv)
    else:
      self._orgProperty.properties[index].value = value
 
    return True
 
 
  
  def remove_organization_property(self, name):
    self.__rtcout.RTC_TRACE("remove_organization_property(%s)", name)
    if not name:
      raise SDOPackage.InvalidParameter("remove_organization_property_value(): Enpty name.")
 
    index = OpenRTM_aist.CORBA_SeqUtil.find(self._orgProperty.properties, self.nv_name(name))
 
    if index < 0:
      raise SDOPackage.InvalidParameter("remove_organization_property_value(): Not found.")
 
    try:
      OpenRTM_aist.CORBA_SeqUtil.erase(self._orgProperty.properties, index)
      return True
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("remove_organization_property_value()")
 
    return False
 
 
  
  def get_owner(self):
    self.__rtcout.RTC_TRACE("get_owner()")
    return self._varOwner
 
 
  
  def set_owner(self, sdo):
    self.__rtcout.RTC_TRACE("set_owner()")
    if CORBA.is_nil(sdo):
      raise SDOPackage.InvalidParameter("set_owner()")
 
    try:
      self._varOwner = sdo
      return True
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("set_owner()")
 
    return True
 
 
  
  def get_members(self):
    self.__rtcout.RTC_TRACE("get_members()")
    try:
      return self._memberList
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("get_members()")
 
 
  
  def set_members(self, sdos):
    self.__rtcout.RTC_TRACE("set_members()")
    if sdos is None:
      raise SDOPackage.InvalidParameter("set_members(): SDOList is empty.")
 
    try:
      self._memberList = sdos
      return True
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("set_members()")
 
    return True
 
 
  
  def add_members(self, sdo_list):
    self.__rtcout.RTC_TRACE("add_members()")
    if not sdo_list:
      raise SDOPackage.InvalidParameter("add_members(): SDOList is empty.")
 
    try:
      OpenRTM_aist.CORBA_SeqUtil.push_back_list(self._memberList, sdo_list)
      return True
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("add_members()")
 
    return False
 
 
  
  def remove_member(self, id):
    self.__rtcout.RTC_TRACE("remove_member(%s)", id)
    if not id:
      self.__rtcout.RTC_ERROR("remove_member(): Enpty name.")
      raise SDOPackage.InvalidParameter("remove_member(): Empty name.")
 
    index = OpenRTM_aist.CORBA_SeqUtil.find(self._memberList, self.sdo_id(id))
 
    if index < 0:
      self.__rtcout.RTC_ERROR("remove_member(): Not found.")
      raise SDOPackage.InvalidParameter("remove_member(): Not found.")
 
    try:
      OpenRTM_aist.CORBA_SeqUtil.erase(self._memberList, index)
      return True
    except:
      self.__rtcout.RTC_ERROR("unknown exception")
      raise SDOPackage.InternalError("remove_member(): Not found.")
 
    return False
 
 
  
  def get_dependency(self):
    self.__rtcout.RTC_TRACE("get_dependency()")
    return self._dependency
 
 
  
  def set_dependency(self, dependency):
    self.__rtcout.RTC_TRACE("set_dependency()")
    if dependency is None:
      raise SDOPackage.InvalidParameter("set_dependency(): Empty dependency.")
 
    try:
      self._dependency = dependency
      return True
    except:
      self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
      raise SDOPackage.InternalError("set_dependency(): Unknown.")
 
    return False
 
 
  def getObjRef(self):
    return self._objref
 
 
 
  # end of CORBA interface definition
  #============================================================
 
 
  
  class nv_name:
    def __init__(self, name):
      self._name = name
 
    def __call__(self, nv):
      return str(self._name) == str(nv.name)
 
  
  class sdo_id:
    def __init__(self, id_):
      self._id = id_
 
    def __call__(self, sdo):
      id_ = sdo.get_sdo_id()
      return str(self._id) == str(id_)