Async.py

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



import threading
import OpenRTM_aist


class Async_t(OpenRTM_aist.Task):

  def __init__(self, obj, func, *args):
    OpenRTM_aist.Task.__init__(self)
    self._obj        = obj
    self._func       = func
    self._finished   = False
    self._args       = args
    self._mutex      = threading.RLock()

  def invoke(self):
    self.activate()


  def finished(self):
    guard = OpenRTM_aist.ScopedLock(self._mutex)
    return self._finished


  def svc(self):
    if len(self._args) > 0:
      self._func(self._obj, self._args)
    else:
      self._func(self._obj)

    guard = OpenRTM_aist.ScopedLock(self._mutex)
    self._finished = True
    return 0


class Async_ref_t(OpenRTM_aist.Task):

  def __init__(self, obj, func, *args):
    OpenRTM_aist.Task.__init__(self)
    self._obj        = obj
    self._func       = func
    self._args       = args
    self._finished   = False
    

  def invoke(self):
    self.activate()


  def finished(self):
    return self._finished
  

  def svc(self):
    if len(self._args) > 0:
      self._func(self._obj, self._args)
    else:
      self._func(self._obj)

    self._finished = True
    return 0
  
  

def Async_tInvoker(obj, func, *args):
  return Async_t(obj, func, *args)


def Async_ref_tInvoker(obj, func, *args):
  return Async_ref_t(obj, func, *args)