rtinject_comp.py

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#!/usr/bin/env python
# -*- Python -*-
# -*- coding: utf-8 -*-

'''rtshell

Copyright (C) 2009-2014
    Geoffrey Biggs
    RT-Synthesis Research Group
    Intelligent Systems Research Institute,
    National Institute of Advanced Industrial Science and Technology (AIST),
    Japan
    All rights reserved.
Licensed under the Eclipse Public License -v 1.0 (EPL)
http://www.opensource.org/licenses/eclipse-1.0.txt

Writer component used by rtinject

'''


import gen_comp

import OpenRTM_aist
import RTC
import sys


###############################################################################
## Writer component for rtinject

class Writer(gen_comp.GenComp):
    def __init__(self, mgr, port_specs, val=None, *args, **kwargs):
        gen_comp.GenComp.__init__(self, mgr, port_specs, *args, **kwargs)
        self._val = val

    def _behv(self, ec_id):
        for p in self._ports.values():
            p.port.write(self._val)
        return RTC.RTC_OK, 1


###############################################################################
## From-standard-input writer component for rtinject

class StdinWriter(Writer):
    def __init__(self, mgr, port_specs, buf=None, mutex=None, *args,
            **kwargs):
        Writer.__init__(self, mgr, port_specs, *args, **kwargs)
        if buf is None:
            raise ValueError('buf cannot be None.')
        if mutex is None:
            raise ValueError('mutex cannot be None.')
        self._val_buffer = buf
        self._mutex = mutex

    def _behv(self, ec_id):
        with self._mutex:
            if self._val_buffer:
                self._val = self._val_buffer.pop(0)
                result = Writer._behv(self, ec_id)
                return result
            else:
                return RTC.RTC_OK, 0