RTObject.py
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1 #!/usr/bin/env python
2 # -*- coding: euc-jp -*-
3 
4 
16 
17 
18 
19 import string
20 import sys
21 import copy
22 
23 from omniORB import any
24 from omniORB import CORBA
25 
26 import OpenRTM__POA
27 import RTC
28 import SDOPackage
29 import OpenRTM_aist
30 
31 ECOTHER_OFFSET = 1000
32 
33 default_conf = [
34  "implementation_id","",
35  "type_name", "",
36  "description", "",
37  "version", "",
38  "vendor", "",
39  "category", "",
40  "activity_type", "",
41  "max_instance", "",
42  "language", "",
43  "lang_type", "",
44  "conf", "",
45  "" ]
46 
47 
48 
49 
68 class RTObject_impl(OpenRTM__POA.DataFlowComponent):
69  """
70  """
71 
72 
91  def __init__(self, manager=None, orb=None, poa=None):
92  if manager:
93  self._manager = manager
94  self._orb = self._manager.getORB()
95  self._poa = self._manager.getPOA()
96  self._portAdmin = OpenRTM_aist.PortAdmin(self._manager.getORB(),self._manager.getPOA())
97  else:
98  self._manager = None
99  self._orb = orb
100  self._poa = poa
101  self._portAdmin = OpenRTM_aist.PortAdmin(self._orb,self._poa)
102 
103  if self._manager:
104  self._rtcout = self._manager.getLogbuf("rtobject")
105  else:
106  self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject")
107 
108  self._created = True
109  self._properties = OpenRTM_aist.Properties(defaults_str=default_conf)
110  self._configsets = OpenRTM_aist.ConfigAdmin(self._properties.getNode("conf"))
111  self._profile = RTC.ComponentProfile("","","","","","",[],None,[])
112 
113  self._sdoservice = OpenRTM_aist.SdoServiceAdmin(self)
114  self._SdoConfigImpl = OpenRTM_aist.Configuration_impl(self._configsets,self._sdoservice)
115  self._SdoConfig = self._SdoConfigImpl.getObjRef()
116  self._execContexts = []
117  self._objref = self._this()
118  self._sdoOwnedOrganizations = [] #SDOPackage.OrganizationList()
119  self._sdoSvcProfiles = [] #SDOPackage.ServiceProfileList()
120  self._sdoOrganizations = [] #SDOPackage.OrganizationList()
121  self._sdoStatus = [] #SDOPackage.NVList()
122  self._ecMine = []
123  self._ecOther = []
124  self._eclist = []
125  self._exiting = False
126  self._readAll = False
127  self._writeAll = False
128  self._readAllCompletion = False
129  self._writeAllCompletion = False
130  self._inports = []
131  self._outports = []
132  self._actionListeners = OpenRTM_aist.ComponentActionListeners()
133  self._portconnListeners = OpenRTM_aist.PortConnectListeners()
134  return
135 
136 
137 
149  def __del__(self):
150  return
151 
152 
153  #============================================================
154  # Overridden functions
155  #============================================================
156 
157 
175  def onInitialize(self):
176  self._rtcout.RTC_TRACE("onInitialize()")
177  return RTC.RTC_OK
178 
179 
180 
198  def onFinalize(self):
199  self._rtcout.RTC_TRACE("onFinalize()")
200  return RTC.RTC_OK
201 
202 
203 
222  def onStartup(self, ec_id):
223  self._rtcout.RTC_TRACE("onStartup(%d)",ec_id)
224  return RTC.RTC_OK
225 
226 
227 
246  def onShutdown(self, ec_id):
247  self._rtcout.RTC_TRACE("onShutdown(%d)",ec_id)
248  return RTC.RTC_OK
249 
250 
251 
270  def onActivated(self, ec_id):
271  self._rtcout.RTC_TRACE("onActivated(%d)",ec_id)
272  return RTC.RTC_OK
273 
274 
275 
294  def onDeactivated(self, ec_id):
295  self._rtcout.RTC_TRACE("onDeactivated(%d)",ec_id)
296  return RTC.RTC_OK
297 
298 
299 
320  def onExecute(self, ec_id):
321  self._rtcout.RTC_TRACE("onExecute(%d)",ec_id)
322  return RTC.RTC_OK
323 
324 
325 
344  def onAborting(self, ec_id):
345  self._rtcout.RTC_TRACE("onAborting(%d)",ec_id)
346  return RTC.RTC_OK
347 
348 
349 
367  def onError(self, ec_id):
368  self._rtcout.RTC_TRACE("onError(%d)",ec_id)
369  return RTC.RTC_OK
370 
371 
372 
390  def onReset(self, ec_id):
391  self._rtcout.RTC_TRACE("onReset(%d)",ec_id)
392  return RTC.RTC_OK
393 
394 
395 
416  def onStateUpdate(self, ec_id):
417  self._rtcout.RTC_TRACE("onStateupdate(%d)",ec_id)
418  return RTC.RTC_OK
419 
420 
421 
442  def onRateChanged(self, ec_id):
443  self._rtcout.RTC_TRACE("onRatechanged(%d)",ec_id)
444  return RTC.RTC_OK
445 
446 
447  #============================================================
448  # RTC::LightweightRTObject
449  #============================================================
450 
451 
487  def initialize(self):
488  self._rtcout.RTC_TRACE("initialize()")
489 
490  ec_args = self._properties.getProperty("exec_cxt.periodic.type")
491  ec_args += "?"
492  ec_args += "rate="
493  ec_args += self._properties.getProperty("exec_cxt.periodic.rate")
494 
495  ec = OpenRTM_aist.Manager.instance().createContext(ec_args)
496  if ec is None:
497  return RTC.RTC_ERROR
498 
499  ec.set_rate(float(self._properties.getProperty("exec_cxt.periodic.rate")))
500  self._eclist.append(ec)
501  ecv = ec.getObjRef()
502  if CORBA.is_nil(ecv):
503  return RTC.RTC_ERROR
504 
505  ec.bindComponent(self)
506 
507  # at least one EC must be attached
508  if len(self._ecMine) == 0:
509  return RTC.PRECONDITION_NOT_MET
510 
511  ret = self.on_initialize()
512  if ret is not RTC.RTC_OK:
513  return ret
514  self._created = False
515 
516  # -- entering alive state --
517  for i in range(len(self._ecMine)):
518  self._rtcout.RTC_DEBUG("EC[%d] starting.", i)
519  self._ecMine[i].start()
520 
521  # ret must be RTC_OK
522  return ret
523 
524 
525 
570  def finalize(self):
571  self._rtcout.RTC_TRACE("finalize()")
572  if self._created or not self._exiting:
573  return RTC.PRECONDITION_NOT_MET
574 
575  # Return RTC::PRECONDITION_NOT_MET,
576  # When the component is registered in ExecutionContext.
577  if len(self._ecOther) != 0:
578  for ec in self._ecOther:
579  if not CORBA.is_nil(ec):
580  return RTC.PRECONDITION_NOT_MET
581 
582  self._ecOther = []
583 
584  ret = self.on_finalize()
585  self.shutdown()
586  return ret
587 
588 
589 
633  def exit(self):
634  self._rtcout.RTC_TRACE("exit()")
635  if self._created:
636  return RTC.PRECONDITION_NOT_MET
637 
638  # deactivate myself on owned EC
639  OpenRTM_aist.CORBA_SeqUtil.for_each(self._ecMine,
640  self.deactivate_comps(self._objref))
641  # deactivate myself on other EC
642  OpenRTM_aist.CORBA_SeqUtil.for_each(self._ecOther,
643  self.deactivate_comps(self._objref))
644 
645  # stop and detach myself from owned EC
646  for ec in self._ecMine:
647  if not CORBA.is_nil(ec) or not ec._non_existent():
648  # ret = ec.stop()
649  # ec.remove_component(self._this())
650  pass
651 
652  # detach myself from other EC
653  for ec in self._ecOther:
654  if not CORBA.is_nil(ec):
655  # ec.stop()
656  ec.remove_component(self._this())
657 
658  self._exiting = True
659  return self.finalize()
660 
661 
662 
698  def is_alive(self, exec_context):
699  self._rtcout.RTC_TRACE("is_alive()")
700  for ec in self._ecMine:
701  if exec_context._is_equivalent(ec):
702  return True
703 
704  for ec in self._ecOther:
705  if not CORBA.is_nil(ec):
706  if exec_context._is_equivalent(ec):
707  return True
708 
709  return False
710 
711 
712 
734 
735 
736 
764  def get_context(self, ec_id):
765  global ECOTHER_OFFSET
766 
767  self._rtcout.RTC_TRACE("get_context(%d)", ec_id)
768  # owned EC
769  if ec_id < ECOTHER_OFFSET:
770  if ec_id < len(self._ecMine):
771  return self._ecMine[ec_id]
772  else:
773  return RTC.ExecutionContext._nil
774 
775  # participating EC
776  index = ec_id - ECOTHER_OFFSET
777 
778  if index < len(self._ecOther):
779  if not CORBA.is_nil(self._ecOther[index]):
780  return self._ecOther[index]
781 
782  return RTC.ExecutionContext._nil
783 
784 
785 
803  def get_owned_contexts(self):
804  self._rtcout.RTC_TRACE("get_owned_contexts()")
805  execlist = []
806  OpenRTM_aist.CORBA_SeqUtil.for_each(self._ecMine, self.ec_copy(execlist))
807  return execlist
808 
809 
827  def get_participating_contexts(self):
828  self._rtcout.RTC_TRACE("get_participating_contexts()")
829  execlist = []
830  OpenRTM_aist.CORBA_SeqUtil.for_each(self._ecOther, self.ec_copy(execlist))
831  return execlist
832 
833 
834  #
835  # @if jp
836  # @brief [CORBA interface] ExecutionContext のハンドルを返す
837  #
838  # @param ExecutionContext 実行コンテキスト # # @return ExecutionContextHandle # # 与えられた実行コンテキストに関連付けられたハンドルを返す。 # # @else # @brief [CORBA interface] Return a handle of a ExecutionContext # # @param ExecutionContext # # @return ExecutionContextHandle # # This operation returns a handle that is associated with the given # execution context. # # @endif # # virtual ExecutionContextHandle_t # get_context_handle(ExecutionContext_ptr cxt) def get_context_handle(self, cxt): self._rtcout.RTC_TRACE("get_context_handle()") num = OpenRTM_aist.CORBA_SeqUtil.find(self._ecMine, self.ec_find(cxt)) if num != -1: return long(num) num = OpenRTM_aist.CORBA_SeqUtil.find(self._ecOther, self.ec_find(cxt)) if num != -1: return long(num) return long(-1) #============================================================ # RTC::RTObject #============================================================ ## # @if jp # # @brief [RTObject CORBA interface] コンポーネントプロファイルを取得する # # 当該コンポーネントのプロファイル情報を返す。 # # @param self # # @return コンポーネントプロファイル # # @else # # @brief [RTObject CORBA interface] Get RTC's profile # # This operation returns the ComponentProfile of the RTC # # @return ComponentProfile # # @endif # virtual ComponentProfile* get_component_profile() def get_component_profile(self): self._rtcout.RTC_TRACE("get_component_profile()") try: prop_ = RTC.ComponentProfile(self._properties.getProperty("instance_name"), self._properties.getProperty("type_name"), self._properties.getProperty("description"), self._properties.getProperty("version"), self._properties.getProperty("vendor"), self._properties.getProperty("category"), self._portAdmin.getPortProfileList(), self._profile.parent, self._profile.properties) OpenRTM_aist.NVUtil.copyFromProperties(self._profile.properties, self._properties) return prop_ # return RTC.ComponentProfile(self._profile.instance_name, # self._profile.type_name, # self._profile.description, # self._profile.version, # self._profile.vendor, # self._profile.category, # self._portAdmin.getPortProfileList(), # self._profile.parent, # self._profile.properties) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) assert(False) return None ## # @if jp # # @brief [RTObject CORBA interface] ポートを取得する # # 当該コンポーネントが保有するポートの参照を返す。 # # @param self # # @return ポートリスト # # @else # # @brief [RTObject CORBA interface] Get Ports # # This operation returns a list of the RTCs ports. # # @return PortList # # @endif # virtual PortServiceList* get_ports() def get_ports(self): self._rtcout.RTC_TRACE("get_ports()") try: return self._portAdmin.getPortServiceList() except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) assert(False) return [] # RTC::ComponentAction ## # @if jp # @brief [CORBA interface] ExecutionContextをattachする # # 指定した ExecutionContext にこの RTC を所属させる。この RTC と関連する # ExecutionContext のハンドルを返す。 # このオペレーションは、ExecutionContextOperations::add_component が呼ばれた # 際に呼び出される。返されたハンドルは他のクライアントで使用することを想定 # していない。 # # @param self # @param exec_context 所属先 ExecutionContext # # @return ExecutionContext ハンドル # # @else # @brief [CORBA interface] Attach ExecutionContext. # # Inform this RTC that it is participating in the given execution context. # Return a handle that represents the association of this RTC with the # context. # This operation is intended to be invoked by # ExecutionContextOperations::add_component. It is not intended for use by # other clients. # # @param exec_context Prticipating ExecutionContext # # @return ExecutionContext Handle # # @endif # UniqueId attach_context(ExecutionContext_ptr exec_context) def attach_context(self, exec_context): global ECOTHER_OFFSET self._rtcout.RTC_TRACE("attach_context()") # ID: 0 - (offset-1) : owned ec # ID: offset - : participating ec # owned ec index = ID # participate ec index = ID - offset ecs = exec_context._narrow(RTC.ExecutionContextService) if CORBA.is_nil(ecs): return -1 # if m_ecOther has nil element, insert attached ec to there. for i in range(len(self._ecOther)): if CORBA.is_nil(self._ecOther[i]): self._ecOther[i] = ecs ec_id = i + ECOTHER_OFFSET self.onAttachExecutionContext(ec_id) return ec_id # no space in the list, push back ec to the last. OpenRTM_aist.CORBA_SeqUtil.push_back(self._ecOther,ecs) ec_id = long(len(self._ecOther) - 1 + ECOTHER_OFFSET) self.onAttachExecutionContext(ec_id) return ec_id # UniqueId bindContext(ExecutionContext_ptr exec_context); def bindContext(self, exec_context): global ECOTHER_OFFSET self._rtcout.RTC_TRACE("bindContext()") # ID: 0 - (offset-1) : owned ec # ID: offset - : participating ec # owned ec index = ID # participate ec index = ID - offset ecs = exec_context._narrow(RTC.ExecutionContextService) if CORBA.is_nil(ecs): return -1 # if m_ecMine has nil element, insert attached ec to there. for i in range(len(self._ecMine)): if CORBA.is_nil(self._ecMine[i]): self._ecMine[i] = ecs self.onAttachExecutionContext(i) return i #return i + ECOTHER_OFFSET # no space in the list, push back ec to the last. OpenRTM_aist.CORBA_SeqUtil.push_back(self._ecMine,ecs) return long(len(self._ecMine) - 1) #return long(len(self._ecMine) - 1 + ECOTHER_OFFSET) ## # @if jp # @brief [CORBA interface] ExecutionContextをdetachする # # 指定した ExecutionContext からこの RTC の所属を解除する。 # このオペレーションは、ExecutionContextOperations::remove_component が呼ば # れた際に呼び出される。返されたハンドルは他のクライアントで使用することを # 想定していない。 # # 制約 # - 指定された ExecutionContext に RTC がすでに所属していない場合には、 # ReturnCode_t::PRECONDITION_NOT_MET が返される。 # - 指定された ExecutionContext にたしいて対して RTC がActive 状態である場 # 合には、 ReturnCode_t::PRECONDITION_NOT_MET が返される。 # # @param self # @param ec_id 解除対象 ExecutionContextハンドル # # @return ReturnCode_t 型のリターンコード # # @else # @brief [CORBA interface] Attach ExecutionContext. # # Inform this RTC that it is no longer participating in the given execution # context. # This operation is intended to be invoked by # ExecutionContextOperations::remove_component. It is not intended for use # by other clients. # Constraints # - This operation may not be invoked if this RTC is not already # participating in the execution context. Such a call shall fail with # ReturnCode_t::PRECONDITION_NOT_MET. # - This operation may not be invoked if this RTC is Active in the indicated # execution context. Otherwise, it shall fail with # ReturnCode_t::PRECONDITION_NOT_MET. # # @param ec_id Dettaching ExecutionContext Handle # # @return # # @endif # ReturnCode_t detach_context(UniqueId exec_handle) def detach_context(self, ec_id): global ECOTHER_OFFSET self._rtcout.RTC_TRACE("detach_context(%d)", ec_id) len_ = len(self._ecOther) # ID: 0 - (offset-1) : owned ec # ID: offset - : participating ec # owned ec index = ID # participate ec index = ID - offset if (long(ec_id) < long(ECOTHER_OFFSET)) or \ (long(ec_id - ECOTHER_OFFSET) > len_): return RTC.BAD_PARAMETER index = long(ec_id - ECOTHER_OFFSET) if index < 0 or CORBA.is_nil(self._ecOther[index]): return RTC.BAD_PARAMETER #OpenRTM_aist.CORBA_SeqUtil.erase(self._ecOther, index) self._ecOther[index] = RTC.ExecutionContextService._nil self.onDetachExecutionContext(ec_id) return RTC.RTC_OK ## # @if jp # # @brief [ComponentAction CORBA interface] RTC の初期化 # # RTC が初期化され、Alive 状態に遷移する。 # RTC 固有の初期化処理はここで実行する。 # このオペレーション呼び出しの結果として onInitialize() コールバック関数が # 呼び出される。 # # @param self # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] Initialize RTC # # The RTC has been initialized and entered the Alive state. # Any RTC-specific initialization logic should be performed here. # # @return # # @endif def on_initialize(self): self._rtcout.RTC_TRACE("on_initialize()") ret = RTC.RTC_ERROR try: self.preOnInitialize(0) ret = self.onInitialize() except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR active_set = self._properties.getProperty("configuration.active_config", "default") if self._configsets.haveConfig(active_set): self._configsets.update(active_set) else: self._configsets.update("default") self.postOnInitialize(0,ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC の終了 # # RTC が破棄される。 # RTC 固有の終了処理はここで実行する。 # このオペレーション呼び出しの結果として onFinalize() コールバック関数が # 呼び出される。 # # @param self # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] Finalize RTC # # The RTC is being destroyed. # Any final RTC-specific tear-down logic should be performed here. # # @return # # @endif def on_finalize(self): self._rtcout.RTC_TRACE("on_finalize()") ret = RTC.RTC_ERROR try: self.preOnFinalize(0) ret = self.onFinalize() except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnFinalize(0, ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC の開始 # # RTC が所属する ExecutionContext が Stopped 状態から Running 状態へ遷移 # した場合に呼び出される。 # このオペレーション呼び出しの結果として onStartup() コールバック関数が # 呼び出される。 # # @param self # @param ec_id 状態遷移した ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] StartUp RTC # # The given execution context, in which the RTC is participating, has # transitioned from Stopped to Running. # # @param ec_id # # @return # # @endif def on_startup(self, ec_id): self._rtcout.RTC_TRACE("on_startup(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnStartup(ec_id) ret = self.onStartup(ec_id) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnStartup(ec_id, ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC の停止 # # RTC が所属する ExecutionContext が Running 状態から Stopped 状態へ遷移 # した場合に呼び出される。 # このオペレーション呼び出しの結果として onShutdown() コールバック関数が # 呼び出される。 # # @param self # @param ec_id 状態遷移した ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] ShutDown RTC # # The given execution context, in which the RTC is participating, has # transitioned from Running to Stopped. # # @param ec_id # # @return # # @endif def on_shutdown(self, ec_id): self._rtcout.RTC_TRACE("on_shutdown(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnShutdown(ec_id) ret = self.onShutdown(ec_id) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnShutdown(ec_id, ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC の活性化 # # 所属する ExecutionContext から RTC が活性化された際に呼び出される。 # このオペレーション呼び出しの結果として onActivated() コールバック関数が # 呼び出される。 # # @param self # @param ec_id 活性化 ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] Activate RTC # # The RTC has been activated in the given execution context. # # @param ec_id # # @return # # @endif def on_activated(self, ec_id): self._rtcout.RTC_TRACE("on_activated(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnActivated(ec_id) self._configsets.update() ret = self.onActivated(ec_id) self._portAdmin.activatePorts() except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnActivated(ec_id, ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC の非活性化 # # 所属する ExecutionContext から RTC が非活性化された際に呼び出される。 # このオペレーション呼び出しの結果として onDeactivated() コールバック関数が # 呼び出される。 # # @param self # @param ec_id 非活性化 ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] Deactivate RTC # # The RTC has been deactivated in the given execution context. # # @param ec_id # # @return # # @endif def on_deactivated(self, ec_id): self._rtcout.RTC_TRACE("on_deactivated(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnDeactivated(ec_id) self._portAdmin.deactivatePorts() ret = self.onDeactivated(ec_id) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnDeactivated(ec_id, ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC のエラー状態への遷移 # # RTC が所属する ExecutionContext が Active 状態から Error 状態へ遷移した # 場合に呼び出される。 # このオペレーションは RTC が Error 状態に遷移した際に一度だけ呼び出される。 # このオペレーション呼び出しの結果として onAborting() コールバック関数が # 呼び出される。 # # @param self # @param ec_id 状態遷移した ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] Transition Error State # # The RTC is transitioning from the Active state to the Error state in some # execution context. # This callback is invoked only a single time for time that the RTC # transitions into the Error state from another state. This behavior is in # contrast to that of on_error. # # @param ec_id # # @return # # @endif def on_aborting(self, ec_id): self._rtcout.RTC_TRACE("on_aborting(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnAborting(ec_id) ret = self.onAborting(ec_id) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnAborting(ec_id, ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC のエラー処理 # # RTC がエラー状態にいる際に呼び出される。 # RTC がエラー状態の場合に、対象となる ExecutionContext のExecutionKind に # 応じたタイミングで呼び出される。例えば、 # - ExecutionKind が PERIODIC の場合、本オペレーションは # DataFlowComponentAction::on_execute と on_state_update の替わりに、 # 設定された順番、設定された周期で呼び出される。 # - ExecutionKind が EVENT_DRIVEN の場合、本オペレーションは # FsmParticipantAction::on_action が呼ばれた際に、替わりに呼び出される。 # このオペレーション呼び出しの結果として onError() コールバック関数が呼び出 # される。 # # @param self # @param ec_id 対象 ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] Error Processing of RTC # # The RTC remains in the Error state. # If the RTC is in the Error state relative to some execution context when # it would otherwise be invoked from that context (according to the # context’s ExecutionKind), this callback shall be invoked instead. # For example, # - If the ExecutionKind is PERIODIC, this operation shall be invoked in # sorted order at the rate of the context instead of # DataFlowComponentAction::on_execute and on_state_update. # - If the ExecutionKind is EVENT_DRIVEN, this operation shall be invoked # whenever FsmParticipantAction::on_action would otherwise have been # invoked. # # @param ec_id # # @return # # @endif def on_error(self, ec_id): self._rtcout.RTC_TRACE("on_error(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnError(ec_id) ret = self.onError(ec_id) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self._configsets.update() self.postOnError(ec_id, ret) return ret ## # @if jp # # @brief [ComponentAction CORBA interface] RTC のリセット # # Error 状態にある RTC のリカバリ処理を実行し、Inactive 状態に復帰させる # 場合に呼び出される。 # RTC のリカバリ処理が成功した場合は Inactive 状態に復帰するが、それ以外の # 場合には Error 状態に留まる。 # このオペレーション呼び出しの結果として onReset() コールバック関数が呼び # 出される。 # # @param self # @param ec_id リセット対象 ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [ComponentAction CORBA interface] Resetting RTC # # The RTC is in the Error state. An attempt is being made to recover it such # that it can return to the Inactive state. # If the RTC was successfully recovered and can safely return to the # Inactive state, this method shall complete with ReturnCode_t::OK. Any # other result shall indicate that the RTC should remain in the Error state. # # @param ec_id # # @return # # @endif def on_reset(self, ec_id): self._rtcout.RTC_TRACE("on_reset(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnReset(ec_id) ret = self.onReset(ec_id) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnReset(ec_id, ret) return ret ## # @if jp # # @brief [DataFlowComponentAction CORBA interface] RTC の定常処理(第一周期) # # 以下の状態が保持されている場合に、設定された周期で定期的に呼び出される。 # - RTC は Alive 状態である。 # - 指定された ExecutionContext が Running 状態である。 # 本オペレーションは、Two-Pass Execution の第一周期で実行される。 # このオペレーション呼び出しの結果として onExecute() コールバック関数が呼び # 出される。 # # 制約 # - 指定された ExecutionContext の ExecutionKind は、 PERIODIC でなければな # らない # # @param self # @param ec_id 定常処理対象 ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [DataFlowComponentAction CORBA interface] Primary Periodic # Operation of RTC # # This operation will be invoked periodically at the rate of the given # execution context as long as the following conditions hold: # - The RTC is Active. # - The given execution context is Running # This callback occurs during the first execution pass. # # Constraints # - The execution context of the given context shall be PERIODIC. # # @param ec_id # # @return # # @endif def on_execute(self, ec_id): self._rtcout.RTC_TRACE("on_execute(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnExecute(ec_id) if self._readAll: self.readAll() ret = self.onExecute(ec_id) if self._writeAll: self.writeAll() except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnExecute(ec_id, ret) return ret ## # @if jp # # @brief [DataFlowComponentAction CORBA interface] RTC の定常処理(第二周期) # # 以下の状態が保持されている場合に、設定された周期で定期的に呼び出される。 # - RTC は Alive 状態である。 # - 指定された ExecutionContext が Running 状態である。 # 本オペレーションは、Two-Pass Execution の第二周期で実行される。 # このオペレーション呼び出しの結果として onStateUpdate() コールバック関数が # 呼び出される。 # # 制約 # - 指定された ExecutionContext の ExecutionKind は、 PERIODIC でなければな # らない # # @param self # @param ec_id 定常処理対象 ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [DataFlowComponentAction CORBA interface] Secondary Periodic # Operation of RTC # # This operation will be invoked periodically at the rate of the given # execution context as long as the following conditions hold: # - The RTC is Active. # - The given execution context is Running # This callback occurs during the second execution pass. # # Constraints # - The execution context of the given context shall be PERIODIC. # # @param ec_id # # @return # # @endif def on_state_update(self, ec_id): self._rtcout.RTC_TRACE("on_state_update(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnStateUpdate(ec_id) ret = self.onStateUpdate(ec_id) self._configsets.update() except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnStateUpdate(ec_id, ret) return ret ## # @if jp # # @brief [DataFlowComponentAction CORBA interface] 実行周期変更通知 # # 本オペレーションは、ExecutionContext の実行周期が変更されたことを通知する # 際に呼び出される。 # このオペレーション呼び出しの結果として onRateChanged() コールバック関数が # 呼び出される。 # # 制約 # - 指定された ExecutionContext の ExecutionKind は、 PERIODIC でなければな # らない # # @param self # @param ec_id 定常処理対象 ExecutionContext の ID # # @return ReturnCode_t 型のリターンコード # # @else # # @brief [DataFlowComponentAction CORBA interface] Notify rate chenged # # This operation is a notification that the rate of the indicated execution # context has changed. # # Constraints # - The execution context of the given context shall be PERIODIC. # # @param ec_id # # @return # # @endif def on_rate_changed(self, ec_id): self._rtcout.RTC_TRACE("on_rate_changed(%d)", ec_id) ret = RTC.RTC_ERROR try: self.preOnRateChanged(ec_id) ret = self.onRateChanged(ec_id) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) ret = RTC.RTC_ERROR self.postOnRateChanged(ec_id, ret) return ret #============================================================ # SDOPackage::SdoSystemElement #============================================================ ## # @if jp # # @brief [SDO interface] Organization リストの取得 # # SDOSystemElement は0個もしくはそれ以上の Organization を所有することが # 出来る。 SDOSystemElement が1つ以上の Organization を所有している場合 # には、このオペレーションは所有する Organization のリストを返す。 # もしOrganizationを一つも所有していないければ空のリストを返す。 # # @param self # # @return 所有している Organization リスト # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting Organizations # # SDOSystemElement can be the owner of zero or more organizations. # If the SDOSystemElement owns one or more Organizations, this operation # returns the list of Organizations that the SDOSystemElement owns. # If it does not own any Organization, it returns empty list. # # @return Owned Organization List # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable if the target SDO is reachable but cannot # respond. # @exception InternalError if the target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual SDOPackage::OrganizationList* get_owned_organizations() def get_owned_organizations(self): self._rtcout.RTC_TRACE("get_owned_organizations()") try: return self._sdoOwnedOrganizations except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.NotAvailable("NotAvailable: get_owned_organizations") return [] #============================================================ # SDOPackage::SDO #============================================================ ## # @if jp # # @brief [SDO interface] SDO ID の取得 # # SDO ID を返すオペレーション。 # このオペレーションは以下の型の例外を発生させる。 # # @param self # # @return リソースデータモデルで定義されている SDO の ID # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting SDO ID # # This operation returns id of the SDO. # This operation throws SDOException with one of the following types. # # @return id of the SDO defined in the resource data model. # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable if the target SDO is reachable but cannot # respond. # @exception InternalError if the target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual char* get_sdo_id() def get_sdo_id(self): self._rtcout.RTC_TRACE("get_sdo_id()") try: return self._profile.instance_name except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_sdo_id()") ## # @if jp # # @brief [SDO interface] SDO タイプの取得 # # SDO Type を返すオペレーション。 # このオペレーションは以下の型の例外を発生させる。 # # @param self # # @return リソースデータモデルで定義されている SDO の Type # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting SDO type # # This operation returns sdoType of the SDO. # This operation throws SDOException with one of the following types. # # @return Type of the SDO defined in the resource data model. # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable if the target SDO is reachable but cannot # respond. # @exception InternalError if the target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual char* get_sdo_type() def get_sdo_type(self): self._rtcout.RTC_TRACE("get_sdo_type()") try: return self._profile.description except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_sdo_type()") return "" ## # @if jp # # @brief [SDO interface] SDO DeviceProfile リストの取得 # # SDO の DeviceProfile を返すオペレーション。 SDO がハードウエアデバイス # に関連付けられていない場合には、空の DeviceProfile が返される。 # このオペレーションは以下の型の例外を発生させる。 # # @param self # # @return SDO DeviceProfile # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting SDO DeviceProfile # # This operation returns the DeviceProfile of the SDO. If the SDO does not # represent any hardware device, then a DeviceProfile with empty values # are returned. # This operation throws SDOException with one of the following types. # # @return The DeviceProfile of the SDO. # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable if the target SDO is reachable but cannot # respond. # @exception InternalError if the target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual SDOPackage::DeviceProfile* get_device_profile() def get_device_profile(self): self._rtcout.RTC_TRACE("get_device_profile()") try: return self._SdoConfigImpl.getDeviceProfile() except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_device_profile()") return SDOPackage.DeviceProfile("","","","",[]) ## # @if jp # # @brief [SDO interface] SDO ServiceProfile の取得 # # SDO が所有している Service の ServiceProfile を返すオペレーション。 # SDO がサービスを一つも所有していない場合には、空のリストを返す。 # このオペレーションは以下の型の例外を発生させる。 # # @param self # # @return SDO が提供する全ての Service の ServiceProfile。 # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting SDO ServiceProfile # # This operation returns a list of ServiceProfiles that the SDO has. # If the SDO does not provide any service, then an empty list is returned. # This operation throws SDOException with one of the following types. # # @return List of ServiceProfiles of all the services the SDO is # providing. # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable if the target SDO is reachable but cannot # respond. # @exception InternalError if the target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual SDOPackage::ServiceProfileList* get_service_profiles() def get_service_profiles(self): self._rtcout.RTC_TRACE("get_service_profiles()") self._sdoSvcProfiles = self._SdoConfigImpl.getServiceProfiles() try: return self._sdoSvcProfiles except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_service_profiles()") return [] ## # @if jp # # @brief [SDO interface] 特定のServiceProfileの取得 # # 引数 "id" で指定された名前のサービスの ServiceProfile を返す。 # # @param self # @param _id SDO Service の ServiceProfile に関連付けられた識別子。 # # @return 指定された SDO Service の ServiceProfile。 # # @exception InvalidParameter "id" で指定した ServiceProfile が存在しない。 # "id" が null。 # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting Organizations # # This operation returns the ServiceProfile that is specified by the # argument "id." # # @param _id The identifier referring to one of the ServiceProfiles. # # @return The profile of the specified service. # # @exception InvalidParameter if the ServiceProfile that is specified by # the argument 'id' does not exist or if 'id' # is 'null.' # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable If the target SDO is reachable but cannot # respond. # @exception InternalError If the target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual SDOPackage::ServiceProfile* get_service_profile(const char* id) def get_service_profile(self, _id): self._rtcout.RTC_TRACE("get_service_profile(%s)", _id) self._sdoSvcProfiles = self._SdoConfigImpl.getServiceProfiles() if not _id: raise SDOPackage.InvalidParameter("get_service_profile(): Empty name.") try: index = OpenRTM_aist.CORBA_SeqUtil.find(self._sdoSvcProfiles, self.svc_name(_id)) if index < 0: raise SDOPackage.InvalidParameter("get_service_profile(): Not found") return self._sdoSvcProfiles[index] except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_service_profile()") return SDOPackage.ServiceProfile("", "", [], None) ## # @if jp # # @brief [SDO interface] 指定された SDO Service の取得 # # このオペレーションは引数 "id" で指定された名前によって区別される # SDO の Service へのオブジェクト参照を返す。 SDO により提供される # Service はそれぞれ一意の識別子により区別される。 # # @param self # @param _id SDO Service に関連付けられた識別子。 # # @return 要求された SDO Service への参照。 # # # @exception InvalidParameter "id" で指定した ServiceProfile が存在しない。 # "id" が null。 # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting specified SDO Service's reference # # This operation returns an object implementing an SDO's service that # is identified by the identifier specified as an argument. Different # services provided by an SDO are distinguished with different # identifiers. See OMG SDO specification Section 2.2.8, "ServiceProfile," # on page 2-12 for more details. # # @param _id The identifier referring to one of the SDO Service # @return The object implementing the requested service. # @exception InvalidParameter if argument “id” is null, or if the # ServiceProfile that is specified by argument # “id” does not exist. # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable If the target SDO is reachable but cannot # respond. # @exception InternalError If the target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual SDOPackage::SDOService_ptr get_sdo_service(const char* id) def get_sdo_service(self, _id): self._rtcout.RTC_TRACE("get_sdo_service(%s)", _id) self._sdoSvcProfiles = self._SdoConfigImpl.getServiceProfiles() if not _id: raise SDOPackage.InvalidParameter("get_service(): Empty name.") index = OpenRTM_aist.CORBA_SeqUtil.find(self._sdoSvcProfiles, self.svc_name(_id)) if index < 0: raise SDOPackage.InvalidParameter("get_service(): Not found") try: return self._sdoSvcProfiles[index].service except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_service()") return SDOPackage.SDOService._nil ## # @if jp # # @brief [SDO interface] Configuration オブジェクトの取得 # # このオペレーションは Configuration interface への参照を返す。 # Configuration interface は各 SDO を管理するためのインターフェースの # ひとつである。このインターフェースは DeviceProfile, ServiceProfile, # Organization で定義された SDO の属性値を設定するために使用される。 # Configuration インターフェースの詳細については、OMG SDO specification # の 2.3.5節, p.2-24 を参照のこと。 # # @param self # # @return SDO の Configuration インターフェースへの参照 # # @exception InterfaceNotImplemented SDOはConfigurationインターフェースを # 持たない。 # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Getting Configuration object # # This operation returns an object implementing the Configuration # interface. The Configuration interface is one of the interfaces that # each SDO maintains. The interface is used to configure the attributes # defined in DeviceProfile, ServiceProfile, and Organization. # See OMG SDO specification Section 2.3.5, "Configuration Interface," # on page 2-24 for more details about the Configuration interface. # # @return The Configuration interface of an SDO. # # @exception InterfaceNotImplemented The target SDO has no Configuration # interface. # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable The target SDO is reachable but cannot respond. # @exception InternalError The target SDO cannot execute the operation # completely due to some internal error. # @endif # virtual SDOPackage::Configuration_ptr get_configuration() def get_configuration(self): self._rtcout.RTC_TRACE("get_configuration()") if self._SdoConfig is None: raise SODPackage.InterfaceNotImplemented("InterfaceNotImplemented: get_configuration") try: return self._SdoConfig except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_configuration()") return SDOPackage.Configuration._nil ## # @if jp # # @brief [SDO interface] Monitoring オブジェクトの取得 # # このオペレーションは Monitoring interface への参照を返す。 # Monitoring interface は SDO が管理するインターフェースの一つである。 # このインターフェースは SDO のプロパティをモニタリングするために # 使用される。 # Monitoring interface の詳細については OMG SDO specification の # 2.3.7節 "Monitoring Interface" p.2-35 を参照のこと。 # # @param self # # @return SDO の Monitoring interface への参照 # # @exception InterfaceNotImplemented SDOはConfigurationインターフェースを # 持たない。 # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Get Monitoring object # # This operation returns an object implementing the Monitoring interface. # The Monitoring interface is one of the interfaces that each SDO # maintains. The interface is used to monitor the properties of an SDO. # See OMG SDO specification Section 2.3.7, "Monitoring Interface," on # page 2-35 for more details about the Monitoring interface. # # @return The Monitoring interface of an SDO. # # @exception InterfaceNotImplemented The target SDO has no Configuration # interface. # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable The target SDO is reachable but cannot respond. # @exception InternalError The target SDO cannot execute the operation # completely due to some internal error. # @endif # virtual SDOPackage::Monitoring_ptr get_monitoring() def get_monitoring(self): self._rtcout.RTC_TRACE("get_monitoring()") raise SDOPackage.InterfaceNotImplemented("Exception: get_monitoring") return SDOPackage.Monitoring._nil ## # @if jp # # @brief [SDO interface] Organization リストの取得 # # SDO は0個以上の Organization (組織)に所属することができる。 もし SDO が # 1個以上の Organization に所属している場合、このオペレーションは所属する # Organization のリストを返す。SDO が どの Organization にも所属していない # 場合には、空のリストが返される。 # # @param self # # @return SDO が所属する Organization のリスト。 # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # @else # # @brief [SDO interface] Getting Organizations # # An SDO belongs to zero or more organizations. If the SDO belongs to one # or more organizations, this operation returns the list of organizations # that the SDO belongs to. An empty list is returned if the SDO does not # belong to any Organizations. # # @return The list of Organizations that the SDO belong to. # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable The target SDO is reachable but cannot respond. # @exception InternalError The target SDO cannot execute the operation # completely due to some internal error. # @endif # virtual SDOPackage::OrganizationList* get_organizations() def get_organizations(self): self._rtcout.RTC_TRACE("get_organizations()") self._sdoOrganizations = self._SdoConfigImpl.getOrganizations() try: return self._sdoOrganizations except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_organizations()") return [] ## # @if jp # # @brief [SDO interface] SDO Status リストの取得 # # このオペレーションは SDO のステータスを表す NVList を返す。 # # @param self # # @return SDO のステータス。 # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InternalError 内部的エラーが発生した。 # # @else # # @brief [SDO interface] Get SDO Status # # This operation returns an NVlist describing the status of an SDO. # # @return The actual status of an SDO. # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable The target SDO is reachable but cannot respond. # @exception InternalError The target SDO cannot execute the operation # completely due to some internal error. # # @endif # virtual SDOPackage::NVList* get_status_list() def get_status_list(self): self._rtcout.RTC_TRACE("get_status_list()") try: return self._sdoStatus except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_status_list()") return [] ## # @if jp # # @brief [SDO interface] SDO Status の取得 # # This operation returns the value of the specified status parameter. # # @param self # @param name SDO のステータスを定義するパラメータ。 # # @return 指定されたパラメータのステータス値。 # # @exception SDONotExists ターゲットのSDOが存在しない。(本例外は、CORBA標準 # システム例外のOBJECT_NOT_EXISTにマッピングされる) # @exception NotAvailable SDOは存在するが応答がない。 # @exception InvalidParameter 引数 "name" が null あるいは存在しない。 # @exception InternalError 内部的エラーが発生した。 # @else # # @brief [SDO interface] Get SDO Status # # @param name One of the parameters defining the "status" of an SDO. # # @return The value of the specified status parameter. # # @exception SDONotExists if the target SDO does not exist.(This exception # is mapped to CORBA standard system exception # OBJECT_NOT_EXIST.) # @exception NotAvailable The target SDO is reachable but cannot respond. # @exception InvalidParameter The parameter defined by "name" is null or # does not exist. # @exception InternalError The target SDO cannot execute the operation # completely due to some internal error. # # # @endif # virtual CORBA::Any* get_status(const char* name) def get_status(self, name): self._rtcout.RTC_TRACE("get_status(%s)", name) index = OpenRTM_aist.CORBA_SeqUtil.find(self._sdoStatus, self.nv_name(name)) if index < 0: raise SDOPackage.InvalidParameter("get_status(): Not found") try: return any.to_any(self._sdoStatus[index].value) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) raise SDOPackage.InternalError("get_status()") return any.to_any("") #============================================================ # Local interfaces #============================================================ ## # @if jp # # @brief [local interface] インスタンス名の取得 # # ComponentProfile に設定されたインスタンス名を返す。 # # @param self # # @return インスタンス名 # # @else # # @endif # const char* getInstanceName() def getInstanceName(self): self._rtcout.RTC_TRACE("getInstanceName()") return self._profile.instance_name ## # @if jp # # @brief [local interface] インスタンス名の設定 # # ComponentProfile に指定されたインスタンス名を設定する。 # # @param self # # @param instance_name インスタンス名 # # @else # # @endif # void setInstanceName(const char* instance_name); def setInstanceName(self, instance_name): self._rtcout.RTC_TRACE("setInstanceName(%s)", instance_name) self._properties.setProperty("instance_name",instance_name) self._profile.instance_name = self._properties.getProperty("instance_name") ## # @if jp # # @brief [local interface] 型名の取得 # # ComponentProfile に設定された型名を返す。 # # @param self # # @return 型名 # # @else # # @endif # const char* getTypeName() def getTypeName(self): self._rtcout.RTC_TRACE("getTypeName()") return self._profile.type_name ## # @if jp # # @brief [local interface] Description の取得 # # ComponentProfile に設定された Description を返す。 # # @param self # # @return Description # # @else # # @endif # const char* getDescription() def getDescription(self): self._rtcout.RTC_TRACE("getDescription()") return self._profile.description ## # @if jp # # @brief [local interface] バージョン情報の取得 # # ComponentProfile に設定されたバージョン情報を返す。 # # @param self # # @return バージョン情報 # # @else # # @endif # const char* getVersion() def getVersion(self): self._rtcout.RTC_TRACE("getVersion()") return self._profile.version ## # @if jp # # @brief [local interface] ベンダー情報の取得 # # ComponentProfile に設定されたベンダー情報を返す。 # # @param self # # @return ベンダー情報 # # @else # # @endif # const char* getVendor() def getVendor(self): self._rtcout.RTC_TRACE("getVendor()") return self._profile.vendor ## # @if jp # # @brief [local interface] カテゴリ情報の取得 # # ComponentProfile に設定されたカテゴリ情報を返す。 # # @param self # # @return カテゴリ情報 # # @else # # @endif # const char* getCategory() def getCategory(self): self._rtcout.RTC_TRACE("getCategory()") return self._profile.category ## # @if jp # # @brief [local interface] Naming Server 情報の取得 # # 設定された Naming Server 情報を返す。 # # @param self # # @return Naming Server リスト # # @else # # @endif # std::vector<std::string> getNamingNames(); def getNamingNames(self): self._rtcout.RTC_TRACE("getNamingNames()") return [s.strip() for s in self._properties.getProperty("naming.names").split(",")] ## # @if jp # # @brief [local interface] オブジェクトリファレンスの設定 # # RTC の CORBA オブジェクトリファレンスを設定する。 # # @param self # @param rtobj オブジェクトリファレンス # # @else # # @endif # void setObjRef(const RTObject_ptr rtobj); def setObjRef(self, rtobj): self._rtcout.RTC_TRACE("setObjRef()") self._objref = rtobj return ## # @if jp # # @brief [local interface] オブジェクトリファレンスの取得 # # 設定された CORBA オブジェクトリファレンスを取得する。 # # @param self # # @return オブジェクトリファレンス # # @else # # @endif # RTObject_ptr getObjRef() const; def getObjRef(self): self._rtcout.RTC_TRACE("getObjRef()") return self._objref ## # @if jp # # @brief [local interface] RTC のプロパティを設定する # # RTC が保持すべきプロパティを設定する。与えられるプロパティは、 # ComponentProfile 等に設定されるべき情報を持たなければならない。 # このオペレーションは通常 RTC が初期化される際に Manager から # 呼ばれることを意図している。 # # @param self # @param prop RTC のプロパティ # # @else # # @brief [local interface] Set RTC property # # This operation sets the properties to the RTC. The given property # values should include information for ComponentProfile. # Generally, this operation is designed to be called from Manager, when # RTC is initialized # # @param prop Property for RTC. # # @endif # void setProperties(const coil::Properties& prop); def setProperties(self, prop): self._rtcout.RTC_TRACE("setProperties()") self._properties.mergeProperties(prop) self._profile.instance_name = self._properties.getProperty("instance_name") self._profile.type_name = self._properties.getProperty("type_name") self._profile.description = self._properties.getProperty("description") self._profile.version = self._properties.getProperty("version") self._profile.vendor = self._properties.getProperty("vendor") self._profile.category = self._properties.getProperty("category") ## # @if jp # # @brief [local interface] RTC のプロパティを取得する # # RTC が保持しているプロパティを返す。 # RTCがプロパティを持たない場合は空のプロパティが返される。 # # @param self # # @return RTC のプロパティ # # @else # # @brief [local interface] Get RTC property # # This operation returns the properties of the RTC. # Empty property would be returned, if RTC has no property. # # @return Property for RTC. # # @endif # coil::Properties& getProperties(); def getProperties(self): self._rtcout.RTC_TRACE("getProperties()") return self._properties ## # @if jp # # @brief コンフィギュレーションパラメータの設定 # # コンフィギュレーションパラメータと変数をバインドする # <VarType>としてコンフィギュレーションパラメータのデータ型を指定する。 # # @param self # @param param_name コンフィギュレーションパラメータ名 # @param var コンフィギュレーションパラメータ格納用変数 # @param def_val コンフィギュレーションパラメータデフォルト値 # @param trans 文字列変換用関数(デフォルト値:None) # # @return 設定結果(設定成功:true，設定失敗:false) # # @else # # @endif # template <typename VarType> # bool bindParameter(const char* param_name, VarType& var, # const char* def_val, # bool (*trans)(VarType&, const char*) = coil::stringTo) def bindParameter(self, param_name, var, def_val, trans=None): self._rtcout.RTC_TRACE("bindParameter()") if trans is None: trans_ = OpenRTM_aist.stringTo else: trans_ = trans self._configsets.bindParameter(param_name, var, def_val, trans_) return True ## # @if jp # # @brief コンフィギュレーションパラメータの更新(ID指定) # # 指定したIDのコンフィギュレーションセットに設定した値で、 # コンフィギュレーションパラメータの値を更新する # # @param self # @param config_set 設定対象のコンフィギュレーションセットID # # @else # # @endif # void updateParameters(const char* config_set); def updateParameters(self, config_set): self._rtcout.RTC_TRACE("updateParameters(%s)", config_set) self._configsets.update(config_set) return ## # @if jp # # @brief [local interface] Port を登録する # # RTC が保持するPortを登録する。 # Port を外部からアクセス可能にするためには、このオペレーションにより # 登録されていなければならない。登録される Port はこの RTC 内部において # PortProfile.name により区別される。したがって、Port は RTC 内において、 # ユニークな PortProfile.name を持たなければならない。 # 登録された Port は内部で適切にアクティブ化された後、その参照と # オブジェクト参照がリスト内に保存される。 # # @param self # @param port RTC に登録する Port # @param port_type if port is PortBase, port_type is None, # if port is PortService, port_type is True # # @else # # @brief [local interface] Register Port # # This operation registers a Port to be held by this RTC. # In order to enable access to the Port from outside of RTC, the Port # must be registered by this operation. The Port that is registered by # this operation would be identified by PortProfile.name in the inside of # RTC. Therefore, the Port should have unique PortProfile.name in the RTC. # The registering Port would be activated properly, and the reference # and the object reference would be stored in lists in RTC. # # @param port Port which is registered in the RTC # # @endif # void registerPort(PortBase& port); def registerPort(self, port): self._rtcout.RTC_TRACE("registerPort()") if not self.addPort(port): self._rtcout.RTC_ERROR("addPort(PortBase&) failed.") return # void registerPort(PortService_ptr port); # def registerPortByReference(self, port_ref): # self._rtcout.RTC_TRACE("registerPortByReference()") # self.addPortByReference(port_ref) # return # new interface. since 1.0.0-RELEASE # void addPort(PortBase& port); def addPort(self, port): self._rtcout.RTC_TRACE("addPort()") if isinstance(port, OpenRTM_aist.CorbaPort): self._rtcout.RTC_TRACE("addPort(CorbaPort)") propkey = "port.corbaport." prop = self._properties.getNode(propkey) if prop: self._properties.getNode(propkey).mergeProperties(self._properties.getNode("port.corba")) port.init(self._properties.getNode(propkey)) port.setOwner(self.getObjRef()) elif isinstance(port, OpenRTM_aist.PortBase): self._rtcout.RTC_TRACE("addPort(PortBase)") port.setOwner(self.getObjRef()) port.setPortConnectListenerHolder(self._portconnListeners) self.onAddPort(port.getPortProfile()) elif isinstance(port, RTC._objref_PortService): self._rtcout.RTC_TRACE("addPort(PortService)") return self._portAdmin.addPort(port) # new interface. since 1.0.0-RELEASE # void addPort(PortService_ptr port); # def addPortByReference(self, port_ref): # self._rtcout.RTC_TRACE("addPortByReference()") # self._portAdmin.registerPortByReference(port_ref) # return ## # @if jp # # @brief [local interface] DataInPort を登録する # # RTC が保持する DataInPort を登録する。 # Port のプロパティにデータポートであること("port.dataport")、 # TCPを使用すること("tcp_any")を設定するとともに、 DataInPort の # インスタンスを生成し、登録する。 # # @param self # @param name port 名称 # @param inport 登録対象 DataInPort # # @else # # @endif def registerInPort(self, name, inport): self._rtcout.RTC_TRACE("registerInPort(%s)", name) if not self.addInPort(name, inport): self._rtcout.RTC_ERROR("addInPort(%s) failed.", name) return # new interface. since 1.0.0-RELEASE def addInPort(self, name, inport): self._rtcout.RTC_TRACE("addInPort(%s)", name) propkey = "port.inport." + name prop_ = copy.copy(self._properties.getNode(propkey)) prop_.mergeProperties(self._properties.getNode("port.inport.dataport")) ret = self.addPort(inport) if not ret: self._rtcout.RTC_ERROR("addInPort() failed.") return ret inport.init(self._properties.getNode(propkey)) self._inports.append(inport) return ret ## # @if jp # # @brief [local interface] DataOutPort を登録する # # RTC が保持する DataOutPor tを登録する。 # Port のプロパティにデータポートであること("port.dataport")、 # TCPを使用すること("tcp_any")を設定するとともに、 DataOutPort の # インスタンスを生成し、登録する。 # # @param self # @param name port 名称 # @param outport 登録対象 DataInPort # # @else # # @endif # void registerOutPort(const char* name, OutPortBase& outport); def registerOutPort(self, name, outport): self._rtcout.RTC_TRACE("registerOutPort(%s)", name) if not self.addOutPort(name, outport): self._rtcout.RTC_ERROR("addOutPort(%s) failed.", name) return # new interface. since 1.0.0-RELEASE # void addOutPort(const char* name, OutPortBase& outport); def addOutPort(self, name, outport): self._rtcout.RTC_TRACE("addOutPort(%s)", name) propkey = "port.outport." + name prop_ = copy.copy(self._properties.getNode(propkey)) prop_.mergeProperties(self._properties.getNode("port.outport.dataport")) ret = self.addPort(outport) if not ret: self._rtcout.RTC_ERROR("addOutPort() failed.") return ret outport.init(self._properties.getNode(propkey)) self._outports.append(outport) return ret ## # @if jp # # @brief [local interface] InPort の登録を削除する # # RTC が保持するInPortの登録を削除する。 # # @param port 削除対象 Port # @return 削除結果(削除成功:true，削除失敗:false) # # @else # # @brief [local interface] Unregister InPort # # This operation unregisters a InPort held by this RTC. # # @param port Port which is unregistered # @return Unregister result (Successful:true, Failed:false) # # @endif # # bool removeInPort(InPortBase& port); def removeInPort(self, port): self._rtcout.RTC_TRACE("removeInPort()") ret = self.removePort(inport) if ret: for inport in self._inports: if port == inport: try: self._inports.remove(port) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) return True return False ## # @if jp # # @brief [local interface] OutPort の登録を削除する # # RTC が保持するOutPortの登録を削除する。 # # @param port 削除対象 Port # @return 削除結果(削除成功:true，削除失敗:false) # # @else # # @brief [local interface] Unregister OutPort # # This operation unregisters a OutPort held by this RTC. # # @param port Port which is unregistered # @return Unregister result (Successful:true, Failed:false) # # @endif # # bool removeOutPort(OutPortBase& port); def removeOutPort(self, port): self._rtcout.RTC_TRACE("removeOutPort()") ret = self.removePort(outport) if ret: for outport in self._outports: if port == outport: try: self._outports.remove(port) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) return True return False ## # @if jp # # @brief [local interface] Port の登録を削除する # # RTC が保持するPortの登録を削除する。 # # @param self # @param port 削除対象 Port # # @else # # @brief [local interface] Unregister Port # # This operation unregisters a Port to be held by this RTC. # # @param port Port which is unregistered in the RTC # # @endif # void RTObject_impl::deletePort(PortBase& port) def deletePort(self, port): self._rtcout.RTC_TRACE("deletePort()") if not self.removePort(port): self._rtcout.RTC_ERROR("removePort() failed.") return # new interface. since 1.0.0-RELEASE def removePort(self, port): self._rtcout.RTC_TRACE("removePort()") if isinstance(port, OpenRTM_aist.PortBase) or isinstance(port, OpenRTM_aist.CorbaPort): self.onRemovePort(port.getPortProfile()) return self._portAdmin.removePort(port) ## # @if jp # # @brief [local interface] 名前指定により Port の登録を削除する # # 名称を指定して RTC が保持するPortの登録を削除する。 # # @param self # @param port_name 削除対象 Port 名 # # @else # # @endif def deletePortByName(self, port_name): self._rtcout.RTC_TRACE("deletePortByName(%s)", port_name) self._portAdmin.deletePortByName(port_name) return ## # @if jp # # @brief [local interface] 実行コンテキストを取得する # # get_context() と同じ機能のローカル版。違いはない。 # この関数は以下の関数内で呼ばれることを前提としている。 # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # この関数の引数はこれらの関数の引数 UniquieID exec_handle でなけ # ればならない。 # # @param ec_id 上記関数の第1引数 exec_handle を渡す必要がある。 # # @else # # @brief [local interface] Getting current execution context # # This function is the local version of get_context(). completely # same as get_context() function. This function is assumed to be # called from the following functions. # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # The argument of this function should be the first argument # (UniqueId ec_id) of the above functions. # # @param ec_id The above functions' first argument "exec_handle." # # @endif # # ExecutionContext_ptr getExecutionContext(RTC::UniqueId ec_id); def getExecutionContext(self, ec_id): return self.get_context(ec_id) ## # @if jp # # @brief [local interface] 実行コンテキストの実行レートを取得する # # 現在実行中の実行コンテキストの実行レートを取得する。実行コンテキ # ストのKindがPERIODIC以外の場合の動作は未定義である。この関数は以 # 下の関数内で呼ばれることを前提としている。 # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # この関数の引数はこれらの関数の引数 UniquieID exec_handle でなけ # ればならない。 # # @param ec_id 上記関数の第1引数 exec_handle を渡す必要がある。 # # @else # # @brief [local interface] Getting current context' execution rate # # This function returns current execution rate in this # context. If this context's kind is not PERIODC, behavior is not # defined. This function is assumed to be called from the # following functions. # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # The argument of this function should be the first argument # (UniqueId ec_id) of the above functions. # # @param ec_id The above functions' first argument "exec_handle." # # @endif # # double getExecutionRate(RTC::UniqueId ec_id); def getExecutionRate(self, ec_id): ec = self.getExecutionContext(ec_id) if CORBA.is_nil(ec): return 0.0 return ec.get_rate() ## # @if jp # # @brief [local interface] 実行コンテキストの実行レートを設定する # # 現在実行中の実行コンテキストの実行レートを設定する。実行コンテキ # ストのKindがPERIODIC以外の場合の動作は未定義である。この関数は以 # 下の関数内で呼ばれることを前提としている。 # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # この関数の引数はこれらの関数の引数 UniquieID exec_handle でなけ # ればならない。 # # @param ec_id 上記関数の第1引数 exec_handle を渡す必要がある。 # @param rate 実行レートを [Hz] で与える # # @else # # @brief [local interface] Setting current context' execution rate # # This function sets a execution rate in the context. If this # context's kind is not PERIODC, behavior is not defined. This # function is assumed to be called from the following functions. # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # The argument of this function should be the first argument # (UniqueId ec_id) of the above functions. # # @param ec_id The above functions' first argument "exec_handle." # @param rate Execution rate in [Hz]. # # @endif # # ReturnCode_t setExecutionRate(RTC::UniqueId ec_id, double rate); def setExecutionRate(self, ec_id, rate): ec = self.getExecutionContext(ec_id) if CORBA.is_nil(ec): return RTC.RTC_ERROR ec.set_rate(rate) return RTC.RTC_OK ## # @if jp # # @brief [local interface] 実行コンテキストの所有権を調べる # # 現在実行中の実行コンテキストの所有権を調べる。この関数は以下の関 # 数内で呼ばれることを前提としている。 # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # この関数の引数はこれらの関数の引数 UniquieID exec_handle でなけ # ればならない。 # # @param ec_id 上記関数の第1引数 exec_handle を渡す必要がある。 # @return true: 自身の実行コンテキスト、false: 他の実行コンテキスト # # @else # # @brief [local interface] Checking if the current context is own context # # This function checks if the current context is own execution # context. This function is assumed to be called from the # following functions. # # - onStartup() # - onShutdown() # - onActivated() # - onDeactivated() # - onExecute() # - onAborting() # - onError() # - onReset() # - onStateUpdate() # - onRateChanged() # # The argument of this function should be the first argument # (UniqueId ec_id) of the above functions. # # @param ec_id The above functions' first argument "exec_handle." # @return true: Own context, false: other's context # # @endif # # bool isOwnExecutionContext(RTC::UniqueId ec_id); def isOwnExecutionContext(self, ec_id): global ECOTHER_OFFSET if ec_id < ECOTHER_OFFSET: return True return False ## # @if jp # # @brief [local interface] 状態を Inactive に遷移させる # # 状態を Active から Inactive に遷移させる。この関数は以下の関 # 数内で呼ばれることを前提としている。 # # - onActivated() # - onExecute() # - onStateUpdate() # # この関数の引数は上記の関数の引数 UniquieID exec_handle でなけ # ればならない。 # # @param ec_id 上記関数の第1引数 exec_handle を渡す必要がある。 # @return リターンコード # # @else # # @brief [local interface] Make transition to Inactive state # # This function makes transition from Active to Inactive # state. This function is assumed to be called from the following # functions. # # - onActivated() # - onExecute() # - onStateUpdate() # # The argument of this function should be the first argument # (UniqueId ec_id) of the above function. # # @param ec_id The above functions' first argument "exec_handle." # @return Return code # # @endif # # ReturnCode_t deactivate(RTC::UniqueId ec_id); def deactivate(self, ec_id): ec = self.getExecutionContext(ec_id) if CORBA.is_nil(ec): return RTC.RTC_ERROR return ec.deactivate_component(self.getObjRef()) ## # @if jp # # @brief [local interface] 状態を Active に遷移させる # # 状態を Inactive から Active に遷移させる。この関数は以下の関 # 数内で呼ばれることを前提としている。 # # - onStartup() # - onDeactivated() # # この関数の引数は上記の関数の引数 UniquieID exec_handle でなけ # ればならない。 # # @param ec_id 上記関数の第1引数 exec_handle を渡す必要がある。 # @return リターンコード # # @else # # @brief [local interface] Make transition to Active state # # This function makes transition from Inactive to Active # state. This function is assumed to be called from the following # functions. # # - onStartup() # - onDeactivated() # # The argument of this function should be the first argument # (UniqueId ec_id) of the above function. # # @param ec_id The above functions' first argument "exec_handle." # @return Return code # # @endif # # ReturnCode_t activate(RTC::UniqueId ec_id); def activate(self, ec_id): ec = self.getExecutionContext(ec_id) if CORBA.is_nil(ec): return RTC.RTC_ERROR return ec.activate_component(self.getObjRef()) ## # @if jp # # @brief [local interface] 状態をリセットし Inactive に遷移させる # # 状態を Error から Inactive に遷移させる。この関数は以下の関 # 数内で呼ばれることを前提としている。 # # - onError() # # この関数の引数は上記の関数の引数 UniquieID exec_handle でなけ # ればならない。 # # @param ec_id 上記関数の第1引数 exec_handle を渡す必要がある。 # @return リターンコード # # @else # # @brief [local interface] Resetting and go to Inactive state # # This function reset RTC and makes transition from Error to Inactive # state. This function is assumed to be called from the following # functions. # # - onError() # # The argument of this function should be the first argument # (UniqueId ec_id) of the above function. # # @param ec_id The above functions' first argument "exec_handle." # @return Return code # # @endif # # ReturnCode_t reset(RTC::UniqueId ec_id); def reset(self, ec_id): ec = self.getExecutionContext(ec_id) if CORBA.is_nil(ec): return RTC.RTC_ERROR return ec.reset_component(self.getObjRef()) ## # @if jp # @brief [local interface] SDO service provider をセットする # @else # @brief [local interface] Set a SDO service provider # @endif # # bool addSdoServiceProvider(const SDOPackage::ServiceProfile& prof, # SdoServiceProviderBase* provider); def addSdoServiceProvider(self, prof, provider): return self._sdoservice.addSdoServiceProvider(prof, provider) ## # @if jp # @brief [local interface] SDO service provider を削除する # @else # @brief [local interface] Remove a SDO service provider # @endif # # bool removeSdoServiceProvider(const char* id); def removeSdoServiceProvider(self, id): return self._sdoservice.removeSdoServiceProvider(id) ## # @if jp # @brief [local interface] SDO service consumer をセットする # @else # @brief [local interface] Set a SDO service consumer # @endif # # bool addSdoServiceConsumer(const SDOPackage::ServiceProfile& prof); def addSdoServiceConsumer(self, prof): return self._sdoservice.addSdoServiceConsumer(prof) ## # @if jp # @brief [local interface] SDO service consumer を削除する # @else # @brief [local interface] Remove a SDO service consumer # @endif # # bool removeSdoServiceConsumer(const char* id); def removeSdoServiceConsumer(self, id): return self._sdoservice.removeSdoServiceConsumer(id) ## # @if jp # # @brief 全 InPort のデータを読み込む。 # # RTC が保持する全ての InPort のデータを読み込む。 # # @return 読み込み結果(全ポートの読み込み成功:true，失敗:false) # # @else # # @brief Readout the value from All InPorts. # # This operation read the value from all InPort # registered in the RTC. # # @return result (Successful:true, Failed:false) # # @endif # # bool readAll(); def readAll(self): self._rtcout.RTC_TRACE("readAll()") ret = True for inport in self._inports: if not inport.read(): self._rtcout.RTC_DEBUG("The error occurred in readAll().") ret = False if not self._readAllCompletion: return False return ret ## # @if jp # # @brief 全 OutPort のwrite()メソッドをコールする。 # # RTC が保持する全ての OutPort のwrite()メソッドをコールする。 # # @return 読み込み結果(全ポートへの書き込み成功:true，失敗:false) # # @else # # @brief The write() method of all OutPort is called. # # This operation call the write() method of all OutPort # registered in the RTC. # # @return result (Successful:true, Failed:false) # # @endif # # bool writeAll(); def writeAll(self): self._rtcout.RTC_TRACE("writeAll()") ret = True for outport in self._outports: if not outport.write(): self._rtcout.RTC_DEBUG("The error occurred in writeAll().") ret = False if not self._writeAllCompletion: return False return ret ## # @if jp # # @brief onExecute()実行前でのreadAll()メソッドの呼出を有効または無効にする。 # # このメソッドをパラメータをtrueとして呼ぶ事により、onExecute()実行前に # readAll()が呼出されるようになる。 # パラメータがfalseの場合は、readAll()呼出を無効にする。 # # @param read(default:true) # (readAll()メソッド呼出あり:true, readAll()メソッド呼出なし:false) # # @param completion(default:false) # readAll()にて、どれかの一つのInPortのread()が失敗しても全てのInPortのread()を呼び出す:true, # readAll()にて、どれかの一つのInPortのread()が失敗した場合、すぐにfalseで抜ける:false # # @else # # @brief Set whether to execute the readAll() method. # # Set whether to execute the readAll() method. # # @param read(default:true) # (readAll() is called:true, readAll() isn't called:false) # # @param completion(default:false) # All InPort::read() calls are completed.:true, # If one InPort::read() is False, return false.:false # # @param completion(default:false) # # @endif # # void setReadAll(bool read=true, bool completion=false); def setReadAll(self, read=True, completion=False): self._readAll = read self._readAllCompletion = completion ## # @if jp # # @brief onExecute()実行後にwriteAll()メソッドの呼出を有効または無効にする。 # # このメソッドをパラメータをtrueとして呼ぶ事により、onExecute()実行後に # writeAll()が呼出されるようになる。 # パラメータがfalseの場合は、writeAll()呼出を無効にする。 # # @param write(default:true) # (writeAll()メソッド呼出あり:true, writeAll()メソッド呼出なし:false) # # @param completion(default:false) # writeAll()にて、どれかの一つのOutPortのwrite()が失敗しても全てのOutPortのwrite()を呼び出しを行う:true, # writeAll()にて、どれかの一つのOutPortのwrite()が失敗した場合、すぐにfalseで抜ける:false # # @else # # @brief Set whether to execute the writeAll() method. # # Set whether to execute the writeAll() method. # # @param write(default:true) # (writeAll() is called:true, writeAll() isn't called:false) # # @param completion(default:false) # All OutPort::write() calls are completed.:true, # If one OutPort::write() is False, return false.:false # # @endif # # void setWriteAll(bool write=true, bool completion=false); def setWriteAll(self, write=True, completion=False): self._writeAll = write self._writeAllCompletion = completion ## # @if jp # # @brief 全 Port の登録を削除する # # RTC が保持する全ての Port を削除する。 # # @param self # # @else # # @brief Unregister the All Portse # # This operation deactivates the all Port and deletes the all Port's # registrations in the RTC.. # # @endif def finalizePorts(self): self._rtcout.RTC_TRACE("finalizePorts()") self._portAdmin.finalizePorts() self._inports = [] self._outports = [] return def finalizeContexts(self): self._rtcout.RTC_TRACE("finalizeContexts()") len_ = len(self._eclist) for i in range(len_): idx = (len_ - 1) - i self._eclist[idx].stop() try: self._poa.deactivate_object(self._poa.servant_to_id(self._eclist[idx])) except: self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception()) del self._eclist[idx] if self._eclist: self._eclist = [] return ## # @if jp # @brief PreComponentActionListener リスナを追加する # # ComponentAction 実装関数の呼び出し直前のイベントに関連する各種リ # スナを設定する。 # # 設定できるリスナのタイプとコールバックイベントは以下の通り # # - PRE_ON_INITIALIZE: onInitialize 直前 # - PRE_ON_FINALIZE: onFinalize 直前 # - PRE_ON_STARTUP: onStartup 直前 # - PRE_ON_SHUTDOWN: onShutdown 直前 # - PRE_ON_ACTIVATED: onActivated 直前 # - PRE_ON_DEACTIVATED: onDeactivated 直前 # - PRE_ON_ABORTING: onAborted 直前 # - PRE_ON_ERROR: onError 直前 # - PRE_ON_RESET: onReset 直前 # - PRE_ON_EXECUTE: onExecute 直前 # - PRE_ON_STATE_UPDATE: onStateUpdate 直前 # # リスナは PreComponentActionListener を継承し、以下のシグニチャを持つ # operator() を実装している必要がある。 # # PreComponentActionListener::operator()(UniqueId ec_id) # # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は # RTObjectに移り、RTObject解体時もしくは、 # removePreComponentActionListener() により削除時に自動的に解体される。 # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引 # 数に false を指定し、自動的な解体を抑制することができる。 # # @param listener_type リスナタイプ # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトの自動的解体を行うかどうかのフラグ # # @else # @brief Adding PreComponentAction type listener # # This operation adds certain listeners related to ComponentActions # pre events. # The following listener types are available. # # - PRE_ON_INITIALIZE: before onInitialize # - PRE_ON_FINALIZE: before onFinalize # - PRE_ON_STARTUP: before onStartup # - PRE_ON_SHUTDOWN: before onShutdown # - PRE_ON_ACTIVATED: before onActivated # - PRE_ON_DEACTIVATED: before onDeactivated # - PRE_ON_ABORTING: before onAborted # - PRE_ON_ERROR: before onError # - PRE_ON_RESET: before onReset # - PRE_ON_EXECUTE: before onExecute # - PRE_ON_STATE_UPDATE: before onStateUpdate # # Listeners should have the following function operator(). # # PreComponentActionListener::operator()(UniqueId ec_id) # # The ownership of the given listener object is transferred to # this RTObject object in default. The given listener object will # be destroied automatically in the RTObject's dtor or if the # listener is deleted by removePreComponentActionListener() function. # If you want to keep ownership of the listener object, give # "false" value to 3rd argument to inhibit automatic destruction. # # @param listener_type A listener type # @param memfunc member function object # @param autoclean A flag for automatic listener destruction # # @endif # # template <class Listener> # PreComponentActionListener* # addPreComponentActionListener(PreCompActionListenerType listener_type, # void (Listener::*memfunc)(UniqueId ec_id), # bool autoclean = true) def addPreComponentActionListener(self, listener_type, memfunc, autoclean = True): class Noname(OpenRTM_aist.PreComponentActionListener): def __init__(self, memfunc): self._memfunc = memfunc def __call__(self, ec_id): self._memfunc(ec_id) return listener = Noname(memfunc) self._actionListeners.preaction_[listener_type].addListener(listener, autoclean) return listener ## # @if jp # @brief PreComponentActionListener リスナを削除する # # 設定した各種リスナを削除する。 # # @param listener_type リスナタイプ # @param listener リスナオブジェクトへのポインタ # # @else # @brief Removing PreComponentAction type listener # # This operation removes a specified listener. # # @param listener_type A listener type # @param listener A pointer to a listener object # # @endif # # void # removePreComponentActionListener(PreComponentActionListenerType listener_type, # PreComponentActionListener* listener); def removePreComponentActionListener(self, listener_type, listener): self._actionListeners.preaction_[listener_type].removeListener(listener) return ## # @if jp # @brief PostComponentActionListener リスナを追加する # # ComponentAction 実装関数の呼び出し直後のイベントに関連する各種リ # スナを設定する。 # # 設定できるリスナのタイプとコールバックイベントは以下の通り # # - POST_ON_INITIALIZE: onInitialize 直後 # - POST_ON_FINALIZE: onFinalize 直後 # - POST_ON_STARTUP: onStartup 直後 # - POST_ON_SHUTDOWN: onShutdown 直後 # - POST_ON_ACTIVATED: onActivated 直後 # - POST_ON_DEACTIVATED: onDeactivated 直後 # - POST_ON_ABORTING: onAborted 直後 # - POST_ON_ERROR: onError 直後 # - POST_ON_RESET: onReset 直後 # - POST_ON_EXECUTE: onExecute 直後 # - POST_ON_STATE_UPDATE: onStateUpdate 直後 # # リスナは PostComponentActionListener を継承し、以下のシグニチャを持つ # operator() を実装している必要がある。 # # PostComponentActionListener::operator()(UniqueId ec_id, ReturnCode_t ret) # # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は # RTObjectに移り、RTObject解体時もしくは、 # removePostComponentActionListener() により削除時に自動的に解体される。 # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引 # 数に false を指定し、自動的な解体を抑制することができる。 # # @param listener_type リスナタイプ # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトの自動的解体を行うかどうかのフラグ # # @else # @brief Adding PostComponentAction type listener # # This operation adds certain listeners related to ComponentActions # post events. # The following listener types are available. # # - POST_ON_INITIALIZE: after onInitialize # - POST_ON_FINALIZE: after onFinalize # - POST_ON_STARTUP: after onStartup # - POST_ON_SHUTDOWN: after onShutdown # - POST_ON_ACTIVATED: after onActivated # - POST_ON_DEACTIVATED: after onDeactivated # - POST_ON_ABORTING: after onAborted # - POST_ON_ERROR: after onError # - POST_ON_RESET: after onReset # - POST_ON_EXECUTE: after onExecute # - POST_ON_STATE_UPDATE: after onStateUpdate # # Listeners should have the following function operator(). # # PostComponentActionListener::operator()(UniqueId ec_id, ReturnCode_t ret) # # The ownership of the given listener object is transferred to # this RTObject object in default. The given listener object will # be destroied automatically in the RTObject's dtor or if the # listener is deleted by removePostComponentActionListener() function. # If you want to keep ownership of the listener object, give # "false" value to 3rd argument to inhibit automatic destruction. # # @param listener_type A listener type # @param memfunc member function object # @param autoclean A flag for automatic listener destruction # # @endif # # template <class Listener> # PostComponentActionListener* # addPostComponentActionListener(PostCompActionListenerType listener_type, # void (Listener::*memfunc)(UniqueId ec_id, # ReturnCode_t ret), # bool autoclean = true) def addPostComponentActionListener(self, listener_type, memfunc, autoclean = True): class Noname(OpenRTM_aist.PostComponentActionListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, ec_id, ret): self._memfunc(ec_id, ret) return listener = Noname(memfunc) self._actionListeners.postaction_[listener_type].addListener(listener, autoclean) return listener ## # @if jp # @brief PostComponentActionListener リスナを削除する # # 設定した各種リスナを削除する。 # # @param listener_type リスナタイプ # @param listener リスナオブジェクトへのポインタ # # @else # @brief Removing PostComponentAction type listener # # This operation removes a specified listener. # # @param listener_type A listener type # @param listener A pointer to a listener object # # @endif ## # void # removePostComponentActionListener(PostComponentActionListenerType listener_type, # PostComponentActionListener* listener); def removePostComponentActionListener(self, listener_type, listener): self._actionListeners.postaction_[listener_type].removeListener(listener) return ## # @if jp # @brief PortActionListener リスナを追加する # # Portの追加、削除時にコールバックされる各種リスナを設定する。 # # 設定できるリスナのタイプとコールバックイベントは以下の通り # # - ADD_PORT: Port追加時 # - REMOVE_PORT: Port削除時 # # リスナは PortActionListener を継承し、以下のシグニチャを持つ # operator() を実装している必要がある。 # # PortActionListener::operator()(PortProfile& pprof) # # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は # RTObjectに移り、RTObject解体時もしくは、 # removePortActionListener() により削除時に自動的に解体される。 # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引 # 数に false を指定し、自動的な解体を抑制することができる。 # # @param listener_type リスナタイプ # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトの自動的解体を行うかどうかのフラグ # # @else # @brief Adding PortAction type listener # # This operation adds certain listeners related to ComponentActions # post events. # The following listener types are available. # # - ADD_PORT: At adding Port # - REMOVE_PORT: At removing Port # # Listeners should have the following function operator(). # # PortActionListener::operator()(RTC::PortProfile pprof) # # The ownership of the given listener object is transferred to # this RTObject object in default. The given listener object will # be destroied automatically in the RTObject's dtor or if the # listener is deleted by removePortActionListener() function. # If you want to keep ownership of the listener object, give # "false" value to 3rd argument to inhibit automatic destruction. # # @param listener_type A listener type # @param memfunc member function object # @param autoclean A flag for automatic listener destruction # # @endif # # template <class Listener> # PortActionListener* # addPortActionListener(PortActionListenerType listener_type, # void (Listener::*memfunc)(const RTC::PortProfile&), # bool autoclean=true) def addPortActionListener(self, listener_type, memfunc, autoclean = True): class Noname(OpenRTM_aist.PortActionListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, pprofile): self._memfunc(pprofile) return listener = Noname(memfunc) self._actionListeners.portaction_[listener_type].addListener(listener, autoclean) return listener ## # @if jp # @brief PortActionListener リスナを削除する # # 設定した各種リスナを削除する。 # # @param listener_type リスナタイプ # @param listener リスナオブジェクトへのポインタ # # @else # @brief Removing PortAction type listener # # This operation removes a specified listener. # # @param listener_type A listener type # @param listener A pointer to a listener object # # @endif # void # removePortActionListener(PortActionListenerType listener_type, # PortActionListener* listener); def removePortActionListener(self, listener_type, listener): self._actionListeners.portaction_[listener_type].removeListener(listener) return ## # @if jp # @brief ExecutionContextActionListener リスナを追加する # # ExecutionContextの追加、削除時にコールバックされる各種リスナを設定する。 # # 設定できるリスナのタイプとコールバックイベントは以下の通り # # - ATTACH_EC: ExecutionContext アタッチ時 # - DETACH_EC: ExecutionContext デタッチ時 # # リスナは ExecutionContextActionListener を継承し、以下のシグニチャを持つ # operator() を実装している必要がある。 # # ExecutionContextActionListener::operator()(UniqueId　ec_id) # # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は # RTObjectに移り、RTObject解体時もしくは、 # removeExecutionContextActionListener() により削除時に自動的に解体される。 # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引 # 数に false を指定し、自動的な解体を抑制することができる。 # # @param listener_type リスナタイプ # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトの自動的解体を行うかどうかのフラグ # # @else # @brief Adding ExecutionContextAction type listener # # This operation adds certain listeners related to ComponentActions # post events. # The following listener types are available. # # - ADD_PORT: At adding ExecutionContext # - REMOVE_PORT: At removing ExecutionContext # # Listeners should have the following function operator(). # # ExecutionContextActionListener::operator()(UniqueId ec_id) # # The ownership of the given listener object is transferred to # this RTObject object in default. The given listener object will # be destroied automatically in the RTObject's dtor or if the # listener is deleted by removeExecutionContextActionListener() function. # If you want to keep ownership of the listener object, give # "false" value to 3rd argument to inhibit automatic destruction. # # @param listener_type A listener type # @param memfunc member function object # @param autoclean A flag for automatic listener destruction # # @endif # # template <class Listener> # ECActionListener* # addExecutionContextActionListener(ECActionListenerType listener_type, # void (Listener::*memfunc)(UniqueId), # bool autoclean = true); def addExecutionContextActionListener(self, listener_type, memfunc, autoclean = True): class Noname(OpenRTM_aist.ExecutionContextActionListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, ec_id): self._memfunc(ec_id) return listener = Noname(memfunc) self._actionListeners.ecaction_[listener_type].addListener(listener, autoclean) return listener ## # @if jp # @brief ExecutionContextActionListener リスナを削除する # # 設定した各種リスナを削除する。 # # @param listener_type リスナタイプ # @param listener リスナオブジェクトへのポインタ # # @else # @brief Removing ExecutionContextAction type listener # # This operation removes a specified listener. # # @param listener_type A listener type # @param listener A pointer to a listener object # # @endif # # void # removeExecutionContextActionListener(ECActionListenerType listener_type, # ECActionListener* listener); def removeExecutionContextActionListener(self, listener_type, listener): self._actionListeners.ecaction_[listener_type].removeListener(listener) return ## # @if jp # @brief PortConnectListener リスナを追加する # # Portの接続時や接続解除時に呼び出される各種リスナを設定する。 # # 設定できるリスナのタイプとコールバックイベントは以下の通り # # - ON_NOTIFY_CONNECT: notify_connect() 関数内呼び出し直後 # - ON_NOTIFY_DISCONNECT: notify_disconnect() 呼び出し直後 # - ON_UNSUBSCRIBE_INTERFACES: notify_disconnect() 内のIF購読解除時 # # リスナは PortConnectListener を継承し、以下のシグニチャを持つ # operator() を実装している必要がある。 # # PortConnectListener::operator()(const char*, ConnectorProfile) # # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は # RTObjectに移り、RTObject解体時もしくは、 # removePortConnectListener() により削除時に自動的に解体される。 # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引 # 数に false を指定し、自動的な解体を抑制することができる。 # # @param listener_type リスナタイプ # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトの自動的解体を行うかどうかのフラグ # # @else # @brief Adding PortConnect type listener # # This operation adds certain listeners related to Port's connect actions. # The following listener types are available. # # - ON_NOTIFY_CONNECT: right after entering into notify_connect() # - ON_NOTIFY_DISCONNECT: right after entering into notify_disconnect() # - ON_UNSUBSCRIBE_INTERFACES: unsubscribing IF in notify_disconnect() # # Listeners should have the following function operator(). # # PortConnectListener::operator()(const char*, ConnectorProfile) # # The ownership of the given listener object is transferred to # this RTObject object in default. The given listener object will # be destroied automatically in the RTObject's dtor or if the # listener is deleted by removePortConnectListener() function. # If you want to keep ownership of the listener object, give # "false" value to 3rd argument to inhibit automatic destruction. # # @param listener_type A listener type # @param memfunc member function object # @param autoclean A flag for automatic listener destruction # # @endif # # template <class Listener> # PortConnectListener* # addPortConnectListener(PortConnectListenerType listener_type, # void (Listener::*memfunc)(const char*, # ConnectorProfile&), # bool autoclean = true) def addPortConnectListener(self, listener_type, memfunc, autoclean = True): class Noname(OpenRTM_aist.PortConnectListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, portname, cprofile): self._memfunc(portname, cprofile) return listener = Noname(memfunc) self._portconnListeners.portconnect_[listener_type].addListener(listener, autoclean) return listener ## # @if jp # @brief PortConnectListener リスナを削除する # # 設定した各種リスナを削除する。 # # @param listener_type リスナタイプ # @param listener リスナオブジェクトへのポインタ # # @else # @brief Removing PortConnect type listener # # This operation removes a specified listener. # # @param listener_type A listener type # @param listener A pointer to a listener object # # @endif # # void # removePortConnectListener(PortConnectListenerType listener_type, # PortConnectListener* listener); def removePortConnectListener(self, listener_type, listener): self._portconnListeners.portconnect_[listener_type].removeListener(listener) return ## # @if jp # @brief PortConnectRetListener リスナを追加する # # Portの接続時や接続解除時に呼び出される各種リスナを設定する。 # # 設定できるリスナのタイプとコールバックイベントは以下の通り # # - ON_CONNECT_NEXTPORT: notify_connect() 中のカスケード呼び出し直後 # - ON_SUBSCRIBE_INTERFACES: notify_connect() 中のインターフェース購読直後 # - ON_CONNECTED: nofity_connect() 接続処理完了時に呼び出される # - ON_DISCONNECT_NEXT: notify_disconnect() 中にカスケード呼び出し直後 # - ON_DISCONNECTED: notify_disconnect() リターン時 # # リスナは PortConnectRetListener を継承し、以下のシグニチャを持つ # operator() を実装している必要がある。 # # PortConnectRetListener::operator()(const char*, ConnectorProfile) # # デフォルトでは、この関数に与えたリスナオブジェクトの所有権は # RTObjectに移り、RTObject解体時もしくは、 # removePortConnectRetListener() により削除時に自動的に解体される。 # リスナオブジェクトの所有権を呼び出し側で維持したい場合は、第3引 # 数に false を指定し、自動的な解体を抑制することができる。 # # @param listener_type リスナタイプ # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトの自動的解体を行うかどうかのフラグ # # @else # @brief Adding PortConnectRet type listener # # This operation adds certain listeners related to Port's connect actions. # The following listener types are available. # # - ON_CONNECT_NEXTPORT: after cascade-call in notify_connect() # - ON_SUBSCRIBE_INTERFACES: after IF subscribing in notify_connect() # - ON_CONNECTED: completed nofity_connect() connection process # - ON_DISCONNECT_NEXT: after cascade-call in notify_disconnect() # - ON_DISCONNECTED: completed notify_disconnect() disconnection process # # Listeners should have the following function operator(). # # PortConnectRetListener::operator()(const char*, ConnectorProfile) # # The ownership of the given listener object is transferred to # this RTObject object in default. The given listener object will # be destroied automatically in the RTObject's dtor or if the # listener is deleted by removePortConnectRetListener() function. # If you want to keep ownership of the listener object, give # "false" value to 3rd argument to inhibit automatic destruction. # # @param listener_type A listener type # @param memfunc member function object # @param autoclean A flag for automatic listener destruction # # @endif # # template <class Listener> # PortConnectRetListener* # addPortConnectRetListener(PortConnectRetListenerType listener_type, # void (Listener::*memfunc)(const char*, # ConnectorProfile&, # ReturnCode_t)) def addPortConnectRetListener(self, listener_type, memfunc, autoclean = True): class Noname(OpenRTM_aist.PortConnectRetListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, portname, cprofile, ret): self._memfunc(portname, cprofile, ret) return listener = Noname(memfunc) self._portconnListeners.portconnret_[listener_type].addListener(listener, autoclean) return listener ## # @if jp # @brief PortConnectRetListener リスナを削除する # # 設定した各種リスナを削除する。 # # @param listener_type リスナタイプ # @param listener リスナオブジェクトへのポインタ # # @else # @brief Removing PortConnectRet type listener # # This operation removes a specified listener. # # @param listener_type A listener type # @param listener A pointer to a listener object # # @endif # # void # removePortConnectRetListener(PortConnectRetListenerType listener_type, # PortConnectRetListener* listener); def removePortConnectRetListener(self, listener_type, listener): self._portconnListeners.portconnret_[listener_type].removeListener(listener) return ## # @if jp # # @brief ConfigurationParamListener を追加する # # update(const char* config_set, const char* config_param) が呼ばれた際に # コールされるリスナ ConfigurationParamListener を追加する。 # type には現在のところ ON_UPDATE_CONFIG_PARAM のみが入る。 # # @param type ConfigurationParamListenerType型の値。 # ON_UPDATE_CONFIG_PARAM がある。 # # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトを自動で削除するかどうかのフラグ # # @else # # @brief Adding ConfigurationParamListener # # This function adds a listener object which is called when # update(const char* config_set, const char* config_param) is # called. In the type argument, currently only # ON_UPDATE_CONFIG_PARAM is allowed. # # @param type ConfigurationParamListenerType value # ON_UPDATE_CONFIG_PARAM is only allowed. # # @param memfunc member function object # @param autoclean a flag whether if the listener object autocleaned. # # @endif # # template <class Listener> # ConfigurationParamListener* # addConfigurationParamListener(ConfigurationParamListenerType listener_type, # void (Listener::*memfunc)(const char*, # const char*), # bool autoclean = true) def addConfigurationParamListener(self, type, memfunc, autoclean = True): class Noname(OpenRTM_aist.ConfigurationParamListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, config_set_name, config_param_name): self._memfunc(config_set_name, config_param_name) return listener = Noname(memfunc) self._configsets.addConfigurationParamListener(type, listener, autoclean) return listener ## # @if jp # # @brief ConfigurationParamListener を削除する # # addConfigurationParamListener で追加されたリスナオブジェクトを削除する。 # # @param type ConfigurationParamListenerType型の値。 # ON_UPDATE_CONFIG_PARAM がある。 # @param listener 与えたリスナオブジェクトへのポインタ # # @else # # @brief Removing ConfigurationParamListener # # This function removes a listener object which is added by # addConfigurationParamListener() function. # # @param type ConfigurationParamListenerType value # ON_UPDATE_CONFIG_PARAM is only allowed. # @param listener a pointer to ConfigurationParamListener listener object. # # @endif # # void removeConfigurationParamListener(ConfigurationParamListenerType type, # ConfigurationParamListener* listener); def removeConfigurationParamListener(self, type, listener): self._configsets.removeConfigurationParamListener(type, listener) return ## # @if jp # # @brief ConfigurationSetListener を追加する # # ConfigurationSet が更新されたときなどに呼ばれるリスナ # ConfigurationSetListener を追加する。設定可能なイベントは以下の # 2種類がある。 # # - ON_SET_CONFIG_SET: setConfigurationSetValues() で # ConfigurationSet に値が設定された場合。 # - ON_ADD_CONFIG_SET: addConfigurationSet() で新しい # ConfigurationSet が追加された場合。 # # @param type ConfigurationSetListenerType型の値。 # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトを自動で削除するかどうかのフラグ # # @else # # @brief Adding ConfigurationSetListener # # This function add a listener object which is called when # ConfigurationSet is updated. Available events are the followings. # # @param type ConfigurationSetListenerType value # @param memfunc member function object # @param autoclean a flag whether if the listener object autocleaned. # # @endif # # template <class Listener> # ConfigurationSetListener* # addConfigurationSetListener(ConfigurationSetListenerType listener_type, # void (Listener::*memfunc) # (const coil::Properties& config_set)) def addConfigurationSetListener(self, listener_type, memfunc, autoclean = True): class Noname(OpenRTM_aist.ConfigurationSetListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, config_set): self._memfunc(config_set) return listener = Noname(memfunc) self._configsets.addConfigurationSetListener(listener_type, listener, autoclean) return listener ## # @if jp # # @brief ConfigurationSetListener を削除する # # addConfigurationSetListener で追加されたリスナオブジェクトを削除する。 # # @param type ConfigurationSetListenerType型の値。 # @param listener 与えたリスナオブジェクトへのポインタ # # @else # # @brief Removing ConfigurationSetListener # # This function removes a listener object which is added by # addConfigurationSetListener() function. # # @param type ConfigurationSetListenerType value # @param listener a pointer to ConfigurationSetListener listener object. # # @endif # # void removeConfigurationSetListener(ConfigurationSetListenerType type, # ConfigurationSetListener* listener); def removeConfigurationSetListener(self, type, listener): self._configsets.removeConfigurationSetListener(type, listener) return ## # @if jp # # @brief ConfigurationSetNameListener を追加する # # ConfigurationSetName が更新されたときなどに呼ばれるリスナ # ConfigurationSetNameListener を追加する。設定可能なイベントは以下の # 3種類がある。 # # - ON_UPDATE_CONFIG_SET: ある ConfigurationSet がアップデートされた # - ON_REMOVE_CONFIG_SET: ある ConfigurationSet が削除された # - ON_ACTIVATE_CONFIG_SET: ある ConfigurationSet がアクティブ化された # # @param type ConfigurationSetNameListenerType型の値。 # @param memfunc 関数オブジェクト # @param autoclean リスナオブジェクトを自動で削除するかどうかのフラグ # # @else # # @brief Adding ConfigurationSetNameListener # # This function add a listener object which is called when # ConfigurationSetName is updated. Available events are the followings. # # - ON_UPDATE_CONFIG_SET: A ConfigurationSet has been updated. # - ON_REMOVE_CONFIG_SET: A ConfigurationSet has been deleted. # - ON_ACTIVATE_CONFIG_SET: A ConfigurationSet has been activated. # # @param type ConfigurationSetNameListenerType value # @param memfunc member function object # @param autoclean a flag whether if the listener object autocleaned. # # @endif # # template <class Listener> # ConfigurationSetNameListener* # addConfigurationSetNameListener(ConfigurationSetNameListenerType type, # void (Listener::*memfunc)(const char*)) def addConfigurationSetNameListener(self, type, memfunc, autoclean = True): class Noname(OpenRTM_aist.ConfigurationSetNameListener): def __init__(self, memfunc): self._memfunc = memfunc return def __call__(self, config_set_name): self._memfunc(config_set_name) return listener = Noname(memfunc) self._configsets.addConfigurationSetNameListener(type, listener, autoclean) return listener ## # @if jp # # @brief ConfigurationSetNameListener を削除する # # addConfigurationSetNameListener で追加されたリスナオブジェクトを # 削除する。 # # @param type ConfigurationSetNameListenerType型の値。 # ON_UPDATE_CONFIG_PARAM がある。 # @param listener 与えたリスナオブジェクトへのポインタ # # @else # # @brief Removing ConfigurationSetNameListener # # This function removes a listener object which is added by # addConfigurationSetNameListener() function. # # @param type ConfigurationSetNameListenerType value # ON_UPDATE_CONFIG_PARAM is only allowed. # @param listener a pointer to ConfigurationSetNameListener # listener object. # # @endif # void # removeConfigurationSetNameListener(ConfigurationSetNameListenerType type, # ConfigurationSetNameListener* listener); def removeConfigurationSetNameListener(self, type, listener): self._configsets.removeConfigurationSetNameListener(type, listener) return ## # @if jp # # @brief RTC を終了する # # RTC の終了処理を実行する。 # 保持している全 Port の登録を解除するとともに、該当する CORBA オブジェクト # を非活性化し、RTC を終了する。 # # @param self # # @else # # @endif def shutdown(self): self._rtcout.RTC_TRACE("shutdown()") try: self.finalizePorts() self.finalizeContexts() self._poa.deactivate_object(self._poa.servant_to_id(self._SdoConfigImpl)) self._poa.deactivate_object(self._poa.servant_to_id(self)) except: self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception()) if self._manager: self._rtcout.RTC_DEBUG("Cleanup on Manager") self._manager.notifyFinalized(self) return # inline void preOnInitialize(UniqueId ec_id) def preOnInitialize(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_INITIALIZE].notify(ec_id) return # inline void preOnFinalize(UniqueId ec_id) def preOnFinalize(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_FINALIZE].notify(ec_id) return # inline void preOnStartup(UniqueId ec_id) def preOnStartup(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_STARTUP].notify(ec_id) return # inline void preOnShutdown(UniqueId ec_id) def preOnShutdown(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_SHUTDOWN].notify(ec_id) return # inline void preOnActivated(UniqueId ec_id) def preOnActivated(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ACTIVATED].notify(ec_id) return # inline void preOnDeactivated(UniqueId ec_id) def preOnDeactivated(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_DEACTIVATED].notify(ec_id) return # inline void preOnAborting(UniqueId ec_id) def preOnAborting(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ABORTING].notify(ec_id) return # inline void preOnError(UniqueId ec_id) def preOnError(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ERROR].notify(ec_id) return # inline void preOnReset(UniqueId ec_id) def preOnReset(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_RESET].notify(ec_id) return # inline void preOnExecute(UniqueId ec_id) def preOnExecute(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_EXECUTE].notify(ec_id) return # inline void preOnStateUpdate(UniqueId ec_id) def preOnStateUpdate(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_STATE_UPDATE].notify(ec_id) return # inline void preOnRateChanged(UniqueId ec_id) def preOnRateChanged(self, ec_id): self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_RATE_CHANGED].notify(ec_id) return # inline void postOnInitialize(UniqueId ec_id, ReturnCode_t ret) def postOnInitialize(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_INITIALIZE].notify(ec_id, ret) return # inline void postOnFinalize(UniqueId ec_id, ReturnCode_t ret) def postOnFinalize(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_FINALIZE].notify(ec_id, ret) return # inline void postOnStartup(UniqueId ec_id, ReturnCode_t ret) def postOnStartup(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_STARTUP].notify(ec_id, ret) return # inline void postOnShutdown(UniqueId ec_id, ReturnCode_t ret) def postOnShutdown(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_SHUTDOWN].notify(ec_id, ret) return # inline void postOnActivated(UniqueId ec_id, ReturnCode_t ret) def postOnActivated(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_ACTIVATED].notify(ec_id, ret) return # inline void postOnDeactivated(UniqueId ec_id, ReturnCode_t ret) def postOnDeactivated(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_DEACTIVATED].notify(ec_id, ret) return # inline void postOnAborting(UniqueId ec_id, ReturnCode_t ret) def postOnAborting(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_ABORTING].notify(ec_id, ret) return # inline void postOnError(UniqueId ec_id, ReturnCode_t ret) def postOnError(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_ERROR].notify(ec_id, ret) return # inline void postOnReset(UniqueId ec_id, ReturnCode_t ret) def postOnReset(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_RESET].notify(ec_id, ret) return # inline void postOnExecute(UniqueId ec_id, ReturnCode_t ret) def postOnExecute(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_EXECUTE].notify(ec_id, ret) return # inline void postOnStateUpdate(UniqueId ec_id, ReturnCode_t ret) def postOnStateUpdate(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_STATE_UPDATE].notify(ec_id, ret) return # inline void postOnRateChanged(UniqueId ec_id, ReturnCode_t ret) def postOnRateChanged(self, ec_id, ret): self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_RATE_CHANGED].notify(ec_id, ret) return # inline void onAddPort(const PortProfile& pprof) def onAddPort(self, pprof): self._actionListeners.portaction_[OpenRTM_aist.PortActionListenerType.ADD_PORT].notify(pprof) return # inline void onRemovePort(const PortProfile& pprof) def onRemovePort(self, pprof): self._actionListeners.portaction_[OpenRTM_aist.PortActionListenerType.REMOVE_PORT].notify(pprof) return # inline void onAttachExecutionContext(UniqueId ec_id) def onAttachExecutionContext(self, ec_id): self._actionListeners.ecaction_[OpenRTM_aist.ExecutionContextActionListenerType.EC_ATTACHED].notify(ec_id) return # inline void onDetachExecutionContext(UniqueId ec_id) def onDetachExecutionContext(self, ec_id): self._actionListeners.ecaction_[OpenRTM_aist.ExecutionContextActionListenerType.EC_DETACHED].notify(ec_id) return ## # @if jp # @class svc_name # @brief SDOService のプロファイルリストからidでサーチするための # ファンクタクラス # @else # # @endif class svc_name: def __init__(self, _id): self._id= _id def __call__(self, prof): return self._id == prof.id #------------------------------------------------------------ # Functor #------------------------------------------------------------ ## # @if jp # @class nv_name # @brief NVList 検索用ファンクタ # @else # # @endif class nv_name: def __init__(self, _name): self._name = _name def __call__(self, nv): return self._name == nv.name ## # @if jp # @class ec_find # @brief ExecutionContext 検索用ファンクタ # @else # # @endif class ec_find: def __init__(self, _ec): self._ec = _ec def __call__(self, ecs): try: if not CORBA.is_nil(ecs): ec = ecs._narrow(RTC.ExecutionContext) return self._ec._is_equivalent(ec) except: print OpenRTM_aist.Logger.print_exception() return False return False ## # @if jp # @class ec_copy # @brief ExecutionContext Copy用ファンクタ # @else # # @endif class ec_copy: def __init__(self, eclist): self._eclist = eclist def __call__(self, ecs): if not CORBA.is_nil(ecs): self._eclist.append(ecs) ## # @if jp # @class deactivate_comps # @brief RTC 非活性化用ファンクタ # @else # # @endif class deactivate_comps: def __init__(self, comp): self._comp = comp def __call__(self, ec): try: if not CORBA.is_nil(ec) and not ec._non_existent(): ec.deactivate_component(self._comp) ec.stop() except: print OpenRTM_aist.Logger.print_exception() # RtcBase = RTObject_impl
839  #
840  # @return ExecutionContextHandle
841  #
842  # 与えられた実行コンテキストに関連付けられたハンドルを返す。
843  #
844  # @else
845  # @brief [CORBA interface] Return a handle of a ExecutionContext
846  #
847  # @param ExecutionContext
848  #
849  # @return ExecutionContextHandle
850  #
851  # This operation returns a handle that is associated with the given
852  # execution context.
853  #
854  # @endif
855  #
856  # virtual ExecutionContextHandle_t
857  # get_context_handle(ExecutionContext_ptr cxt)
858  def get_context_handle(self, cxt):
859  self._rtcout.RTC_TRACE("get_context_handle()")
860 
861  num = OpenRTM_aist.CORBA_SeqUtil.find(self._ecMine, self.ec_find(cxt))
862  if num != -1:
863  return long(num)
864 
865  num = OpenRTM_aist.CORBA_SeqUtil.find(self._ecOther, self.ec_find(cxt))
866  if num != -1:
867  return long(num)
868 
869  return long(-1)
870 
871 
872  #============================================================
873  # RTC::RTObject
874  #============================================================
875 
876 
897  def get_component_profile(self):
898  self._rtcout.RTC_TRACE("get_component_profile()")
899  try:
900  prop_ = RTC.ComponentProfile(self._properties.getProperty("instance_name"),
901  self._properties.getProperty("type_name"),
902  self._properties.getProperty("description"),
903  self._properties.getProperty("version"),
904  self._properties.getProperty("vendor"),
905  self._properties.getProperty("category"),
906  self._portAdmin.getPortProfileList(),
907  self._profile.parent,
908  self._profile.properties)
909  OpenRTM_aist.NVUtil.copyFromProperties(self._profile.properties, self._properties)
910  return prop_
911  # return RTC.ComponentProfile(self._profile.instance_name,
912  # self._profile.type_name,
913  # self._profile.description,
914  # self._profile.version,
915  # self._profile.vendor,
916  # self._profile.category,
917  # self._portAdmin.getPortProfileList(),
918  # self._profile.parent,
919  # self._profile.properties)
920 
921  except:
922  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
923 
924  assert(False)
925  return None
926 
927 
928 
949  def get_ports(self):
950  self._rtcout.RTC_TRACE("get_ports()")
951  try:
952  return self._portAdmin.getPortServiceList()
953  except:
954  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
955 
956  assert(False)
957  return []
958 
959 
960 
961  # RTC::ComponentAction
962 
963 
994  def attach_context(self, exec_context):
995  global ECOTHER_OFFSET
996  self._rtcout.RTC_TRACE("attach_context()")
997  # ID: 0 - (offset-1) : owned ec
998  # ID: offset - : participating ec
999  # owned ec index = ID
1000  # participate ec index = ID - offset
1001  ecs = exec_context._narrow(RTC.ExecutionContextService)
1002  if CORBA.is_nil(ecs):
1003  return -1
1004 
1005  # if m_ecOther has nil element, insert attached ec to there.
1006  for i in range(len(self._ecOther)):
1007  if CORBA.is_nil(self._ecOther[i]):
1008  self._ecOther[i] = ecs
1009  ec_id = i + ECOTHER_OFFSET
1010  self.onAttachExecutionContext(ec_id)
1011  return ec_id
1012 
1013  # no space in the list, push back ec to the last.
1014  OpenRTM_aist.CORBA_SeqUtil.push_back(self._ecOther,ecs)
1015  ec_id = long(len(self._ecOther) - 1 + ECOTHER_OFFSET)
1016  self.onAttachExecutionContext(ec_id)
1017  return ec_id
1018 
1019 
1020  # UniqueId bindContext(ExecutionContext_ptr exec_context);
1021  def bindContext(self, exec_context):
1022  global ECOTHER_OFFSET
1023  self._rtcout.RTC_TRACE("bindContext()")
1024  # ID: 0 - (offset-1) : owned ec
1025  # ID: offset - : participating ec
1026  # owned ec index = ID
1027  # participate ec index = ID - offset
1028  ecs = exec_context._narrow(RTC.ExecutionContextService)
1029 
1030  if CORBA.is_nil(ecs):
1031  return -1
1032 
1033  # if m_ecMine has nil element, insert attached ec to there.
1034  for i in range(len(self._ecMine)):
1035  if CORBA.is_nil(self._ecMine[i]):
1036  self._ecMine[i] = ecs
1037  self.onAttachExecutionContext(i)
1038  return i
1039  #return i + ECOTHER_OFFSET
1040 
1041  # no space in the list, push back ec to the last.
1042  OpenRTM_aist.CORBA_SeqUtil.push_back(self._ecMine,ecs)
1043 
1044  return long(len(self._ecMine) - 1)
1045  #return long(len(self._ecMine) - 1 + ECOTHER_OFFSET)
1046 
1047 
1048 
1090  def detach_context(self, ec_id):
1091  global ECOTHER_OFFSET
1092  self._rtcout.RTC_TRACE("detach_context(%d)", ec_id)
1093  len_ = len(self._ecOther)
1094 
1095  # ID: 0 - (offset-1) : owned ec
1096  # ID: offset - : participating ec
1097  # owned ec index = ID
1098  # participate ec index = ID - offset
1099  if (long(ec_id) < long(ECOTHER_OFFSET)) or \
1100  (long(ec_id - ECOTHER_OFFSET) > len_):
1101  return RTC.BAD_PARAMETER
1102 
1103  index = long(ec_id - ECOTHER_OFFSET)
1104 
1105  if index < 0 or CORBA.is_nil(self._ecOther[index]):
1106  return RTC.BAD_PARAMETER
1107 
1108  #OpenRTM_aist.CORBA_SeqUtil.erase(self._ecOther, index)
1109  self._ecOther[index] = RTC.ExecutionContextService._nil
1110  self.onDetachExecutionContext(ec_id)
1111  return RTC.RTC_OK
1112 
1113 
1114 
1138  def on_initialize(self):
1139  self._rtcout.RTC_TRACE("on_initialize()")
1140  ret = RTC.RTC_ERROR
1141  try:
1142  self.preOnInitialize(0)
1143  ret = self.onInitialize()
1144  except:
1145  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1146  ret = RTC.RTC_ERROR
1147 
1148  active_set = self._properties.getProperty("configuration.active_config",
1149  "default")
1150 
1151  if self._configsets.haveConfig(active_set):
1152  self._configsets.update(active_set)
1153  else:
1154  self._configsets.update("default")
1155 
1156  self.postOnInitialize(0,ret)
1157  return ret
1158 
1159 
1160 
1184  def on_finalize(self):
1185  self._rtcout.RTC_TRACE("on_finalize()")
1186  ret = RTC.RTC_ERROR
1187  try:
1188  self.preOnFinalize(0)
1189  ret = self.onFinalize()
1190  except:
1191  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1192  ret = RTC.RTC_ERROR
1193  self.postOnFinalize(0, ret)
1194  return ret
1195 
1196 
1197 
1224  def on_startup(self, ec_id):
1225  self._rtcout.RTC_TRACE("on_startup(%d)", ec_id)
1226  ret = RTC.RTC_ERROR
1227  try:
1228  self.preOnStartup(ec_id)
1229  ret = self.onStartup(ec_id)
1230  except:
1231  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1232  ret = RTC.RTC_ERROR
1233  self.postOnStartup(ec_id, ret)
1234  return ret
1235 
1236 
1237 
1264  def on_shutdown(self, ec_id):
1265  self._rtcout.RTC_TRACE("on_shutdown(%d)", ec_id)
1266  ret = RTC.RTC_ERROR
1267  try:
1268  self.preOnShutdown(ec_id)
1269  ret = self.onShutdown(ec_id)
1270  except:
1271  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1272  ret = RTC.RTC_ERROR
1273  self.postOnShutdown(ec_id, ret)
1274  return ret
1275 
1276 
1277 
1302  def on_activated(self, ec_id):
1303  self._rtcout.RTC_TRACE("on_activated(%d)", ec_id)
1304  ret = RTC.RTC_ERROR
1305  try:
1306  self.preOnActivated(ec_id)
1307  self._configsets.update()
1308  ret = self.onActivated(ec_id)
1309  self._portAdmin.activatePorts()
1310  except:
1311  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1312  ret = RTC.RTC_ERROR
1313  self.postOnActivated(ec_id, ret)
1314  return ret
1315 
1316 
1317 
1342  def on_deactivated(self, ec_id):
1343  self._rtcout.RTC_TRACE("on_deactivated(%d)", ec_id)
1344  ret = RTC.RTC_ERROR
1345  try:
1346  self.preOnDeactivated(ec_id)
1347  self._portAdmin.deactivatePorts()
1348  ret = self.onDeactivated(ec_id)
1349  except:
1350  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1351  ret = RTC.RTC_ERROR
1352  self.postOnDeactivated(ec_id, ret)
1353  return ret
1354 
1355 
1356 
1387  def on_aborting(self, ec_id):
1388  self._rtcout.RTC_TRACE("on_aborting(%d)", ec_id)
1389  ret = RTC.RTC_ERROR
1390  try:
1391  self.preOnAborting(ec_id)
1392  ret = self.onAborting(ec_id)
1393  except:
1394  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1395  ret = RTC.RTC_ERROR
1396  self.postOnAborting(ec_id, ret)
1397  return ret
1398 
1399 
1400 
1442  def on_error(self, ec_id):
1443  self._rtcout.RTC_TRACE("on_error(%d)", ec_id)
1444  ret = RTC.RTC_ERROR
1445  try:
1446  self.preOnError(ec_id)
1447  ret = self.onError(ec_id)
1448  except:
1449  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1450  ret = RTC.RTC_ERROR
1451  self._configsets.update()
1452  self.postOnError(ec_id, ret)
1453  return ret
1454 
1455 
1456 
1488  def on_reset(self, ec_id):
1489  self._rtcout.RTC_TRACE("on_reset(%d)", ec_id)
1490  ret = RTC.RTC_ERROR
1491  try:
1492  self.preOnReset(ec_id)
1493  ret = self.onReset(ec_id)
1494  except:
1495  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1496  ret = RTC.RTC_ERROR
1497  self.postOnReset(ec_id, ret)
1498  return ret
1499 
1500 
1501 
1541  def on_execute(self, ec_id):
1542  self._rtcout.RTC_TRACE("on_execute(%d)", ec_id)
1543  ret = RTC.RTC_ERROR
1544  try:
1545  self.preOnExecute(ec_id)
1546  if self._readAll:
1547  self.readAll()
1548 
1549  ret = self.onExecute(ec_id)
1550 
1551  if self._writeAll:
1552  self.writeAll()
1553 
1554  except:
1555  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1556  ret = RTC.RTC_ERROR
1557  self.postOnExecute(ec_id, ret)
1558  return ret
1559 
1560 
1561 
1601  def on_state_update(self, ec_id):
1602  self._rtcout.RTC_TRACE("on_state_update(%d)", ec_id)
1603  ret = RTC.RTC_ERROR
1604  try:
1605  self.preOnStateUpdate(ec_id)
1606  ret = self.onStateUpdate(ec_id)
1607  self._configsets.update()
1608  except:
1609  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1610  ret = RTC.RTC_ERROR
1611  self.postOnStateUpdate(ec_id, ret)
1612  return ret
1613 
1614 
1615 
1649  def on_rate_changed(self, ec_id):
1650  self._rtcout.RTC_TRACE("on_rate_changed(%d)", ec_id)
1651  ret = RTC.RTC_ERROR
1652  try:
1653  self.preOnRateChanged(ec_id)
1654  ret = self.onRateChanged(ec_id)
1655  except:
1656  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1657  ret = RTC.RTC_ERROR
1658  self.postOnRateChanged(ec_id, ret)
1659  return ret
1660 
1661 
1662  #============================================================
1663  # SDOPackage::SdoSystemElement
1664  #============================================================
1665 
1666 
1706  def get_owned_organizations(self):
1707  self._rtcout.RTC_TRACE("get_owned_organizations()")
1708  try:
1709  return self._sdoOwnedOrganizations
1710  except:
1711  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1712  raise SDOPackage.NotAvailable("NotAvailable: get_owned_organizations")
1713 
1714  return []
1715 
1716 
1717  #============================================================
1718  # SDOPackage::SDO
1719  #============================================================
1720 
1721 
1757  def get_sdo_id(self):
1758  self._rtcout.RTC_TRACE("get_sdo_id()")
1759  try:
1760  return self._profile.instance_name
1761  except:
1762  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1763  raise SDOPackage.InternalError("get_sdo_id()")
1764 
1765 
1766 
1802  def get_sdo_type(self):
1803  self._rtcout.RTC_TRACE("get_sdo_type()")
1804  try:
1805  return self._profile.description
1806  except:
1807  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1808  raise SDOPackage.InternalError("get_sdo_type()")
1809  return ""
1810 
1811 
1812 
1851  def get_device_profile(self):
1852  self._rtcout.RTC_TRACE("get_device_profile()")
1853  try:
1854  return self._SdoConfigImpl.getDeviceProfile()
1855  except:
1856  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1857  raise SDOPackage.InternalError("get_device_profile()")
1858 
1859  return SDOPackage.DeviceProfile("","","","",[])
1860 
1861 
1862 
1901  def get_service_profiles(self):
1902  self._rtcout.RTC_TRACE("get_service_profiles()")
1903  self._sdoSvcProfiles = self._SdoConfigImpl.getServiceProfiles()
1904  try:
1905  return self._sdoSvcProfiles
1906  except:
1907  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1908  raise SDOPackage.InternalError("get_service_profiles()")
1909 
1910  return []
1911 
1912 
1913 
1956  def get_service_profile(self, _id):
1957  self._rtcout.RTC_TRACE("get_service_profile(%s)", _id)
1958  self._sdoSvcProfiles = self._SdoConfigImpl.getServiceProfiles()
1959  if not _id:
1960  raise SDOPackage.InvalidParameter("get_service_profile(): Empty name.")
1961 
1962  try:
1963  index = OpenRTM_aist.CORBA_SeqUtil.find(self._sdoSvcProfiles, self.svc_name(_id))
1964 
1965  if index < 0:
1966  raise SDOPackage.InvalidParameter("get_service_profile(): Not found")
1967 
1968  return self._sdoSvcProfiles[index]
1969  except:
1970  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
1971  raise SDOPackage.InternalError("get_service_profile()")
1972 
1973  return SDOPackage.ServiceProfile("", "", [], None)
1974 
1975 
1976 
2023  def get_sdo_service(self, _id):
2024  self._rtcout.RTC_TRACE("get_sdo_service(%s)", _id)
2025  self._sdoSvcProfiles = self._SdoConfigImpl.getServiceProfiles()
2026 
2027  if not _id:
2028  raise SDOPackage.InvalidParameter("get_service(): Empty name.")
2029 
2030  index = OpenRTM_aist.CORBA_SeqUtil.find(self._sdoSvcProfiles, self.svc_name(_id))
2031 
2032  if index < 0:
2033  raise SDOPackage.InvalidParameter("get_service(): Not found")
2034 
2035  try:
2036  return self._sdoSvcProfiles[index].service
2037  except:
2038  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
2039  raise SDOPackage.InternalError("get_service()")
2040  return SDOPackage.SDOService._nil
2041 
2042 
2043 
2089  def get_configuration(self):
2090  self._rtcout.RTC_TRACE("get_configuration()")
2091  if self._SdoConfig is None:
2092  raise SODPackage.InterfaceNotImplemented("InterfaceNotImplemented: get_configuration")
2093  try:
2094  return self._SdoConfig
2095  except:
2096  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
2097  raise SDOPackage.InternalError("get_configuration()")
2098  return SDOPackage.Configuration._nil
2099 
2100 
2101 
2146  def get_monitoring(self):
2147  self._rtcout.RTC_TRACE("get_monitoring()")
2148  raise SDOPackage.InterfaceNotImplemented("Exception: get_monitoring")
2149  return SDOPackage.Monitoring._nil
2150 
2151 
2152 
2189  def get_organizations(self):
2190  self._rtcout.RTC_TRACE("get_organizations()")
2191  self._sdoOrganizations = self._SdoConfigImpl.getOrganizations()
2192  try:
2193  return self._sdoOrganizations
2194  except:
2195  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
2196  raise SDOPackage.InternalError("get_organizations()")
2197  return []
2198 
2199 
2200 
2233  def get_status_list(self):
2234  self._rtcout.RTC_TRACE("get_status_list()")
2235  try:
2236  return self._sdoStatus
2237  except:
2238  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
2239  raise SDOPackage.InternalError("get_status_list()")
2240  return []
2241 
2242 
2243 
2280  def get_status(self, name):
2281  self._rtcout.RTC_TRACE("get_status(%s)", name)
2282  index = OpenRTM_aist.CORBA_SeqUtil.find(self._sdoStatus, self.nv_name(name))
2283  if index < 0:
2284  raise SDOPackage.InvalidParameter("get_status(): Not found")
2285 
2286  try:
2287  return any.to_any(self._sdoStatus[index].value)
2288  except:
2289  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
2290  raise SDOPackage.InternalError("get_status()")
2291  return any.to_any("")
2292 
2293 
2294  #============================================================
2295  # Local interfaces
2296  #============================================================
2297 
2298 
2313  def getInstanceName(self):
2314  self._rtcout.RTC_TRACE("getInstanceName()")
2315  return self._profile.instance_name
2316 
2317 
2318 
2333  def setInstanceName(self, instance_name):
2334  self._rtcout.RTC_TRACE("setInstanceName(%s)", instance_name)
2335  self._properties.setProperty("instance_name",instance_name)
2336  self._profile.instance_name = self._properties.getProperty("instance_name")
2337 
2338 
2339 
2354  def getTypeName(self):
2355  self._rtcout.RTC_TRACE("getTypeName()")
2356  return self._profile.type_name
2357 
2358 
2359 
2374  def getDescription(self):
2375  self._rtcout.RTC_TRACE("getDescription()")
2376  return self._profile.description
2377 
2378 
2379 
2394  def getVersion(self):
2395  self._rtcout.RTC_TRACE("getVersion()")
2396  return self._profile.version
2397 
2398 
2399 
2414  def getVendor(self):
2415  self._rtcout.RTC_TRACE("getVendor()")
2416  return self._profile.vendor
2417 
2418 
2419 
2434  def getCategory(self):
2435  self._rtcout.RTC_TRACE("getCategory()")
2436  return self._profile.category
2437 
2438 
2439 
2454  def getNamingNames(self):
2455  self._rtcout.RTC_TRACE("getNamingNames()")
2456  return [s.strip() for s in self._properties.getProperty("naming.names").split(",")]
2457 
2458 
2459 
2473  def setObjRef(self, rtobj):
2474  self._rtcout.RTC_TRACE("setObjRef()")
2475  self._objref = rtobj
2476  return
2477 
2478 
2479 
2494  def getObjRef(self):
2495  self._rtcout.RTC_TRACE("getObjRef()")
2496  return self._objref
2497 
2498 
2499 
2525  def setProperties(self, prop):
2526  self._rtcout.RTC_TRACE("setProperties()")
2527  self._properties.mergeProperties(prop)
2528  self._profile.instance_name = self._properties.getProperty("instance_name")
2529  self._profile.type_name = self._properties.getProperty("type_name")
2530  self._profile.description = self._properties.getProperty("description")
2531  self._profile.version = self._properties.getProperty("version")
2532  self._profile.vendor = self._properties.getProperty("vendor")
2533  self._profile.category = self._properties.getProperty("category")
2534 
2535 
2536 
2559  def getProperties(self):
2560  self._rtcout.RTC_TRACE("getProperties()")
2561  return self._properties
2562 
2563 
2564 
2587  def bindParameter(self, param_name, var, def_val, trans=None):
2588  self._rtcout.RTC_TRACE("bindParameter()")
2589  if trans is None:
2590  trans_ = OpenRTM_aist.stringTo
2591  else:
2592  trans_ = trans
2593  self._configsets.bindParameter(param_name, var, def_val, trans_)
2594  return True
2595 
2596 
2597 
2612  def updateParameters(self, config_set):
2613  self._rtcout.RTC_TRACE("updateParameters(%s)", config_set)
2614  self._configsets.update(config_set)
2615  return
2616 
2617 
2618 
2652  def registerPort(self, port):
2653  self._rtcout.RTC_TRACE("registerPort()")
2654  if not self.addPort(port):
2655  self._rtcout.RTC_ERROR("addPort(PortBase&) failed.")
2656  return
2657 
2658  # void registerPort(PortService_ptr port);
2659  # def registerPortByReference(self, port_ref):
2660  # self._rtcout.RTC_TRACE("registerPortByReference()")
2661  # self.addPortByReference(port_ref)
2662  # return
2663 
2664  # new interface. since 1.0.0-RELEASE
2665  # void addPort(PortBase& port);
2666  def addPort(self, port):
2667  self._rtcout.RTC_TRACE("addPort()")
2668  if isinstance(port, OpenRTM_aist.CorbaPort):
2669  self._rtcout.RTC_TRACE("addPort(CorbaPort)")
2670  propkey = "port.corbaport."
2671  prop = self._properties.getNode(propkey)
2672  if prop:
2673  self._properties.getNode(propkey).mergeProperties(self._properties.getNode("port.corba"))
2674  port.init(self._properties.getNode(propkey))
2675  port.setOwner(self.getObjRef())
2676 
2677  elif isinstance(port, OpenRTM_aist.PortBase):
2678  self._rtcout.RTC_TRACE("addPort(PortBase)")
2679  port.setOwner(self.getObjRef())
2680  port.setPortConnectListenerHolder(self._portconnListeners)
2681  self.onAddPort(port.getPortProfile())
2682 
2683  elif isinstance(port, RTC._objref_PortService):
2684  self._rtcout.RTC_TRACE("addPort(PortService)")
2685  return self._portAdmin.addPort(port)
2686 
2687 
2688  # new interface. since 1.0.0-RELEASE
2689  # void addPort(PortService_ptr port);
2690  # def addPortByReference(self, port_ref):
2691  # self._rtcout.RTC_TRACE("addPortByReference()")
2692  # self._portAdmin.registerPortByReference(port_ref)
2693  # return
2694 
2695 
2696 
2713  def registerInPort(self, name, inport):
2714  self._rtcout.RTC_TRACE("registerInPort(%s)", name)
2715  if not self.addInPort(name, inport):
2716  self._rtcout.RTC_ERROR("addInPort(%s) failed.", name)
2717  return
2718 
2719  # new interface. since 1.0.0-RELEASE
2720  def addInPort(self, name, inport):
2721  self._rtcout.RTC_TRACE("addInPort(%s)", name)
2722 
2723  propkey = "port.inport." + name
2724  prop_ = copy.copy(self._properties.getNode(propkey))
2725  prop_.mergeProperties(self._properties.getNode("port.inport.dataport"))
2726 
2727  ret = self.addPort(inport)
2728 
2729  if not ret:
2730  self._rtcout.RTC_ERROR("addInPort() failed.")
2731  return ret
2732 
2733  inport.init(self._properties.getNode(propkey))
2734  self._inports.append(inport)
2735  return ret
2736 
2737 
2738 
2756  def registerOutPort(self, name, outport):
2757  self._rtcout.RTC_TRACE("registerOutPort(%s)", name)
2758  if not self.addOutPort(name, outport):
2759  self._rtcout.RTC_ERROR("addOutPort(%s) failed.", name)
2760  return
2761 
2762  # new interface. since 1.0.0-RELEASE
2763  # void addOutPort(const char* name, OutPortBase& outport);
2764  def addOutPort(self, name, outport):
2765  self._rtcout.RTC_TRACE("addOutPort(%s)", name)
2766 
2767  propkey = "port.outport." + name
2768  prop_ = copy.copy(self._properties.getNode(propkey))
2769  prop_.mergeProperties(self._properties.getNode("port.outport.dataport"))
2770 
2771  ret = self.addPort(outport)
2772 
2773  if not ret:
2774  self._rtcout.RTC_ERROR("addOutPort() failed.")
2775  return ret
2776 
2777  outport.init(self._properties.getNode(propkey))
2778  self._outports.append(outport)
2779  return ret
2780 
2781 
2782 
2804  def removeInPort(self, port):
2805  self._rtcout.RTC_TRACE("removeInPort()")
2806  ret = self.removePort(inport)
2807 
2808  if ret:
2809  for inport in self._inports:
2810  if port == inport:
2811  try:
2812  self._inports.remove(port)
2813  except:
2814  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
2815 
2816  return True
2817 
2818  return False
2819 
2820 
2821 
2843  def removeOutPort(self, port):
2844  self._rtcout.RTC_TRACE("removeOutPort()")
2845  ret = self.removePort(outport)
2846 
2847  if ret:
2848  for outport in self._outports:
2849  if port == outport:
2850  try:
2851  self._outports.remove(port)
2852  except:
2853  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
2854 
2855  return True
2856 
2857  return False
2858 
2859 
2860 
2880  def deletePort(self, port):
2881  self._rtcout.RTC_TRACE("deletePort()")
2882  if not self.removePort(port):
2883  self._rtcout.RTC_ERROR("removePort() failed.")
2884  return
2885 
2886  # new interface. since 1.0.0-RELEASE
2887  def removePort(self, port):
2888  self._rtcout.RTC_TRACE("removePort()")
2889  if isinstance(port, OpenRTM_aist.PortBase) or isinstance(port, OpenRTM_aist.CorbaPort):
2890  self.onRemovePort(port.getPortProfile())
2891  return self._portAdmin.removePort(port)
2892 
2893 
2894 
2907  def deletePortByName(self, port_name):
2908  self._rtcout.RTC_TRACE("deletePortByName(%s)", port_name)
2909  self._portAdmin.deletePortByName(port_name)
2910  return
2911 
2912 
2913 
2964  def getExecutionContext(self, ec_id):
2965  return self.get_context(ec_id)
2966 
2967 
3020  def getExecutionRate(self, ec_id):
3021  ec = self.getExecutionContext(ec_id)
3022  if CORBA.is_nil(ec):
3023  return 0.0
3024 
3025  return ec.get_rate()
3026 
3027 
3028 
3082  def setExecutionRate(self, ec_id, rate):
3083  ec = self.getExecutionContext(ec_id)
3084  if CORBA.is_nil(ec):
3085  return RTC.RTC_ERROR
3086  ec.set_rate(rate)
3087  return RTC.RTC_OK
3088 
3089 
3090 
3143  def isOwnExecutionContext(self, ec_id):
3144  global ECOTHER_OFFSET
3145  if ec_id < ECOTHER_OFFSET:
3146  return True
3147  return False
3148 
3149 
3150 
3189  def deactivate(self, ec_id):
3190  ec = self.getExecutionContext(ec_id)
3191  if CORBA.is_nil(ec):
3192  return RTC.RTC_ERROR
3193  return ec.deactivate_component(self.getObjRef())
3194 
3195 
3196 
3233  def activate(self, ec_id):
3234  ec = self.getExecutionContext(ec_id)
3235  if CORBA.is_nil(ec):
3236  return RTC.RTC_ERROR
3237  return ec.activate_component(self.getObjRef())
3238 
3239 
3240 
3275  def reset(self, ec_id):
3276  ec = self.getExecutionContext(ec_id)
3277  if CORBA.is_nil(ec):
3278  return RTC.RTC_ERROR
3279  return ec.reset_component(self.getObjRef())
3280 
3281 
3282 
3291  def addSdoServiceProvider(self, prof, provider):
3292  return self._sdoservice.addSdoServiceProvider(prof, provider)
3293 
3294 
3295 
3303  def removeSdoServiceProvider(self, id):
3304  return self._sdoservice.removeSdoServiceProvider(id)
3305 
3306 
3307 
3315  def addSdoServiceConsumer(self, prof):
3316  return self._sdoservice.addSdoServiceConsumer(prof)
3317 
3318 
3319 
3327  def removeSdoServiceConsumer(self, id):
3328  return self._sdoservice.removeSdoServiceConsumer(id)
3329 
3330 
3331 
3352  def readAll(self):
3353  self._rtcout.RTC_TRACE("readAll()")
3354  ret = True
3355  for inport in self._inports:
3356  if not inport.read():
3357  self._rtcout.RTC_DEBUG("The error occurred in readAll().")
3358  ret = False
3359  if not self._readAllCompletion:
3360  return False
3361 
3362  return ret
3363 
3364 
3365 
3386  def writeAll(self):
3387  self._rtcout.RTC_TRACE("writeAll()")
3388  ret = True
3389  for outport in self._outports:
3390  if not outport.write():
3391  self._rtcout.RTC_DEBUG("The error occurred in writeAll().")
3392  ret = False
3393  if not self._writeAllCompletion:
3394  return False
3395 
3396  return ret
3397 
3398 
3399 
3433  def setReadAll(self, read=True, completion=False):
3434  self._readAll = read
3435  self._readAllCompletion = completion
3436 
3437 
3438 
3470  def setWriteAll(self, write=True, completion=False):
3471  self._writeAll = write
3472  self._writeAllCompletion = completion
3473 
3474 
3475 
3492  def finalizePorts(self):
3493  self._rtcout.RTC_TRACE("finalizePorts()")
3494  self._portAdmin.finalizePorts()
3495  self._inports = []
3496  self._outports = []
3497  return
3498 
3499 
3500  def finalizeContexts(self):
3501  self._rtcout.RTC_TRACE("finalizeContexts()")
3502  len_ = len(self._eclist)
3503  for i in range(len_):
3504  idx = (len_ - 1) - i
3505  self._eclist[idx].stop()
3506  try:
3507  self._poa.deactivate_object(self._poa.servant_to_id(self._eclist[idx]))
3508  except:
3509  self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
3510  del self._eclist[idx]
3511 
3512  if self._eclist:
3513  self._eclist = []
3514  return
3515 
3516 
3517 
3594  def addPreComponentActionListener(self, listener_type, memfunc, autoclean = True):
3595  class Noname(OpenRTM_aist.PreComponentActionListener):
3596  def __init__(self, memfunc):
3597  self._memfunc = memfunc
3598 
3599  def __call__(self, ec_id):
3600  self._memfunc(ec_id)
3601  return
3602 
3603  listener = Noname(memfunc)
3604  self._actionListeners.preaction_[listener_type].addListener(listener, autoclean)
3605  return listener
3606 
3607 
3608 
3630  def removePreComponentActionListener(self, listener_type, listener):
3631  self._actionListeners.preaction_[listener_type].removeListener(listener)
3632  return
3633 
3634 
3635 
3713  def addPostComponentActionListener(self, listener_type, memfunc, autoclean = True):
3714  class Noname(OpenRTM_aist.PostComponentActionListener):
3715  def __init__(self, memfunc):
3716  self._memfunc = memfunc
3717  return
3718  def __call__(self, ec_id, ret):
3719  self._memfunc(ec_id, ret)
3720  return
3721 
3722  listener = Noname(memfunc)
3723  self._actionListeners.postaction_[listener_type].addListener(listener, autoclean)
3724  return listener
3725 
3726 
3727 
3749  def removePostComponentActionListener(self, listener_type, listener):
3750  self._actionListeners.postaction_[listener_type].removeListener(listener)
3751  return
3752 
3753 
3754 
3812  def addPortActionListener(self, listener_type, memfunc, autoclean = True):
3813  class Noname(OpenRTM_aist.PortActionListener):
3814  def __init__(self, memfunc):
3815  self._memfunc = memfunc
3816  return
3817 
3818  def __call__(self, pprofile):
3819  self._memfunc(pprofile)
3820  return
3821 
3822  listener = Noname(memfunc)
3823  self._actionListeners.portaction_[listener_type].addListener(listener, autoclean)
3824  return listener
3825 
3826 
3827 
3848  def removePortActionListener(self, listener_type, listener):
3849  self._actionListeners.portaction_[listener_type].removeListener(listener)
3850  return
3851 
3852 
3853 
3911  def addExecutionContextActionListener(self, listener_type, memfunc, autoclean = True):
3912  class Noname(OpenRTM_aist.ExecutionContextActionListener):
3913  def __init__(self, memfunc):
3914  self._memfunc = memfunc
3915  return
3916 
3917  def __call__(self, ec_id):
3918  self._memfunc(ec_id)
3919  return
3920 
3921  listener = Noname(memfunc)
3922  self._actionListeners.ecaction_[listener_type].addListener(listener, autoclean)
3923  return listener
3924 
3925 
3926 
3948  def removeExecutionContextActionListener(self, listener_type, listener):
3949  self._actionListeners.ecaction_[listener_type].removeListener(listener)
3950  return
3951 
3952 
3953 
4013  def addPortConnectListener(self, listener_type, memfunc, autoclean = True):
4014  class Noname(OpenRTM_aist.PortConnectListener):
4015  def __init__(self, memfunc):
4016  self._memfunc = memfunc
4017  return
4018 
4019  def __call__(self, portname, cprofile):
4020  self._memfunc(portname, cprofile)
4021  return
4022 
4023  listener = Noname(memfunc)
4024  self._portconnListeners.portconnect_[listener_type].addListener(listener, autoclean)
4025  return listener
4026 
4027 
4028 
4050  def removePortConnectListener(self, listener_type, listener):
4051  self._portconnListeners.portconnect_[listener_type].removeListener(listener)
4052  return
4053 
4054 
4055 
4119  def addPortConnectRetListener(self, listener_type, memfunc, autoclean = True):
4120  class Noname(OpenRTM_aist.PortConnectRetListener):
4121  def __init__(self, memfunc):
4122  self._memfunc = memfunc
4123  return
4124 
4125  def __call__(self, portname, cprofile, ret):
4126  self._memfunc(portname, cprofile, ret)
4127  return
4128 
4129  listener = Noname(memfunc)
4130  self._portconnListeners.portconnret_[listener_type].addListener(listener, autoclean)
4131  return listener
4132 
4133 
4134 
4156  def removePortConnectRetListener(self, listener_type, listener):
4157  self._portconnListeners.portconnret_[listener_type].removeListener(listener)
4158  return
4159 
4160 
4161 
4199  def addConfigurationParamListener(self, type, memfunc, autoclean = True):
4200  class Noname(OpenRTM_aist.ConfigurationParamListener):
4201  def __init__(self, memfunc):
4202  self._memfunc = memfunc
4203  return
4204 
4205  def __call__(self, config_set_name, config_param_name):
4206  self._memfunc(config_set_name, config_param_name)
4207  return
4208 
4209  listener = Noname(memfunc)
4210  self._configsets.addConfigurationParamListener(type, listener, autoclean)
4211  return listener
4212 
4213 
4214 
4240  def removeConfigurationParamListener(self, type, listener):
4241  self._configsets.removeConfigurationParamListener(type, listener)
4242  return
4243 
4244 
4245 
4281  def addConfigurationSetListener(self, listener_type, memfunc, autoclean = True):
4282  class Noname(OpenRTM_aist.ConfigurationSetListener):
4283  def __init__(self, memfunc):
4284  self._memfunc = memfunc
4285  return
4286 
4287  def __call__(self, config_set):
4288  self._memfunc(config_set)
4289  return
4290 
4291  listener = Noname(memfunc)
4292  self._configsets.addConfigurationSetListener(listener_type, listener, autoclean)
4293  return listener
4294 
4295 
4296 
4320  def removeConfigurationSetListener(self, type, listener):
4321  self._configsets.removeConfigurationSetListener(type, listener)
4322  return
4323 
4324 
4325 
4363  def addConfigurationSetNameListener(self, type, memfunc, autoclean = True):
4364  class Noname(OpenRTM_aist.ConfigurationSetNameListener):
4365  def __init__(self, memfunc):
4366  self._memfunc = memfunc
4367  return
4368 
4369  def __call__(self, config_set_name):
4370  self._memfunc(config_set_name)
4371  return
4372 
4373  listener = Noname(memfunc)
4374  self._configsets.addConfigurationSetNameListener(type, listener, autoclean)
4375  return listener
4376 
4377 
4378 
4406  def removeConfigurationSetNameListener(self, type, listener):
4407  self._configsets.removeConfigurationSetNameListener(type, listener)
4408  return
4409 
4410 
4411 
4425  def shutdown(self):
4426  self._rtcout.RTC_TRACE("shutdown()")
4427  try:
4428  self.finalizePorts()
4429  self.finalizeContexts()
4430  self._poa.deactivate_object(self._poa.servant_to_id(self._SdoConfigImpl))
4431  self._poa.deactivate_object(self._poa.servant_to_id(self))
4432  except:
4433  self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
4434 
4435  if self._manager:
4436  self._rtcout.RTC_DEBUG("Cleanup on Manager")
4437  self._manager.notifyFinalized(self)
4438 
4439  return
4440 
4441  # inline void preOnInitialize(UniqueId ec_id)
4442  def preOnInitialize(self, ec_id):
4443  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_INITIALIZE].notify(ec_id)
4444  return
4445 
4446  # inline void preOnFinalize(UniqueId ec_id)
4447  def preOnFinalize(self, ec_id):
4448  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_FINALIZE].notify(ec_id)
4449  return
4450 
4451  # inline void preOnStartup(UniqueId ec_id)
4452  def preOnStartup(self, ec_id):
4453  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_STARTUP].notify(ec_id)
4454  return
4455 
4456  # inline void preOnShutdown(UniqueId ec_id)
4457  def preOnShutdown(self, ec_id):
4458  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_SHUTDOWN].notify(ec_id)
4459  return
4460 
4461  # inline void preOnActivated(UniqueId ec_id)
4462  def preOnActivated(self, ec_id):
4463  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ACTIVATED].notify(ec_id)
4464  return
4465 
4466  # inline void preOnDeactivated(UniqueId ec_id)
4467  def preOnDeactivated(self, ec_id):
4468  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_DEACTIVATED].notify(ec_id)
4469  return
4470 
4471  # inline void preOnAborting(UniqueId ec_id)
4472  def preOnAborting(self, ec_id):
4473  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ABORTING].notify(ec_id)
4474  return
4475 
4476  # inline void preOnError(UniqueId ec_id)
4477  def preOnError(self, ec_id):
4478  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ERROR].notify(ec_id)
4479  return
4480 
4481  # inline void preOnReset(UniqueId ec_id)
4482  def preOnReset(self, ec_id):
4483  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_RESET].notify(ec_id)
4484  return
4485 
4486  # inline void preOnExecute(UniqueId ec_id)
4487  def preOnExecute(self, ec_id):
4488  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_EXECUTE].notify(ec_id)
4489  return
4490 
4491  # inline void preOnStateUpdate(UniqueId ec_id)
4492  def preOnStateUpdate(self, ec_id):
4493  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_STATE_UPDATE].notify(ec_id)
4494  return
4495 
4496 
4497  # inline void preOnRateChanged(UniqueId ec_id)
4498  def preOnRateChanged(self, ec_id):
4499  self._actionListeners.preaction_[OpenRTM_aist.PreComponentActionListenerType.PRE_ON_RATE_CHANGED].notify(ec_id)
4500  return
4501 
4502 
4503  # inline void postOnInitialize(UniqueId ec_id, ReturnCode_t ret)
4504  def postOnInitialize(self, ec_id, ret):
4505  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_INITIALIZE].notify(ec_id, ret)
4506  return
4507 
4508 
4509  # inline void postOnFinalize(UniqueId ec_id, ReturnCode_t ret)
4510  def postOnFinalize(self, ec_id, ret):
4511  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_FINALIZE].notify(ec_id, ret)
4512  return
4513 
4514 
4515  # inline void postOnStartup(UniqueId ec_id, ReturnCode_t ret)
4516  def postOnStartup(self, ec_id, ret):
4517  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_STARTUP].notify(ec_id, ret)
4518  return
4519 
4520 
4521  # inline void postOnShutdown(UniqueId ec_id, ReturnCode_t ret)
4522  def postOnShutdown(self, ec_id, ret):
4523  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_SHUTDOWN].notify(ec_id, ret)
4524  return
4525 
4526 
4527  # inline void postOnActivated(UniqueId ec_id, ReturnCode_t ret)
4528  def postOnActivated(self, ec_id, ret):
4529  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_ACTIVATED].notify(ec_id, ret)
4530  return
4531 
4532 
4533  # inline void postOnDeactivated(UniqueId ec_id, ReturnCode_t ret)
4534  def postOnDeactivated(self, ec_id, ret):
4535  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_DEACTIVATED].notify(ec_id, ret)
4536  return
4537 
4538 
4539  # inline void postOnAborting(UniqueId ec_id, ReturnCode_t ret)
4540  def postOnAborting(self, ec_id, ret):
4541  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_ABORTING].notify(ec_id, ret)
4542  return
4543 
4544 
4545  # inline void postOnError(UniqueId ec_id, ReturnCode_t ret)
4546  def postOnError(self, ec_id, ret):
4547  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_ERROR].notify(ec_id, ret)
4548  return
4549 
4550 
4551  # inline void postOnReset(UniqueId ec_id, ReturnCode_t ret)
4552  def postOnReset(self, ec_id, ret):
4553  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_RESET].notify(ec_id, ret)
4554  return
4555 
4556 
4557  # inline void postOnExecute(UniqueId ec_id, ReturnCode_t ret)
4558  def postOnExecute(self, ec_id, ret):
4559  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_EXECUTE].notify(ec_id, ret)
4560  return
4561 
4562 
4563  # inline void postOnStateUpdate(UniqueId ec_id, ReturnCode_t ret)
4564  def postOnStateUpdate(self, ec_id, ret):
4565  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_STATE_UPDATE].notify(ec_id, ret)
4566  return
4567 
4568 
4569  # inline void postOnRateChanged(UniqueId ec_id, ReturnCode_t ret)
4570  def postOnRateChanged(self, ec_id, ret):
4571  self._actionListeners.postaction_[OpenRTM_aist.PostComponentActionListenerType.POST_ON_RATE_CHANGED].notify(ec_id, ret)
4572  return
4573 
4574 
4575  # inline void onAddPort(const PortProfile& pprof)
4576  def onAddPort(self, pprof):
4577  self._actionListeners.portaction_[OpenRTM_aist.PortActionListenerType.ADD_PORT].notify(pprof)
4578  return
4579 
4580 
4581  # inline void onRemovePort(const PortProfile& pprof)
4582  def onRemovePort(self, pprof):
4583  self._actionListeners.portaction_[OpenRTM_aist.PortActionListenerType.REMOVE_PORT].notify(pprof)
4584  return
4585 
4586 
4587  # inline void onAttachExecutionContext(UniqueId ec_id)
4588  def onAttachExecutionContext(self, ec_id):
4589  self._actionListeners.ecaction_[OpenRTM_aist.ExecutionContextActionListenerType.EC_ATTACHED].notify(ec_id)
4590  return
4591 
4592 
4593  # inline void onDetachExecutionContext(UniqueId ec_id)
4594  def onDetachExecutionContext(self, ec_id):
4595  self._actionListeners.ecaction_[OpenRTM_aist.ExecutionContextActionListenerType.EC_DETACHED].notify(ec_id)
4596  return
4597 
4598 
4599 
4607  class svc_name:
4608  def __init__(self, _id):
4609  self._id= _id
4610 
4611  def __call__(self, prof):
4612  return self._id == prof.id
4613 
4614 
4615  #------------------------------------------------------------
4616  # Functor
4617  #------------------------------------------------------------
4618 
4619 
4626  class nv_name:
4627  def __init__(self, _name):
4628  self._name = _name
4629 
4630  def __call__(self, nv):
4631  return self._name == nv.name
4632 
4633 
4634 
4641  class ec_find:
4642  def __init__(self, _ec):
4643  self._ec = _ec
4644 
4645  def __call__(self, ecs):
4646  try:
4647  if not CORBA.is_nil(ecs):
4648  ec = ecs._narrow(RTC.ExecutionContext)
4649  return self._ec._is_equivalent(ec)
4650  except:
4651  print OpenRTM_aist.Logger.print_exception()
4652  return False
4653 
4654  return False
4655 
4656 
4657 
4664  class ec_copy:
4665  def __init__(self, eclist):
4666  self._eclist = eclist
4667 
4668  def __call__(self, ecs):
4669  if not CORBA.is_nil(ecs):
4670  self._eclist.append(ecs)
4671 
4672 
4673 
4680  class deactivate_comps:
4681  def __init__(self, comp):
4682  self._comp = comp
4683 
4684  def __call__(self, ec):
4685  try:
4686  if not CORBA.is_nil(ec) and not ec._non_existent():
4687  ec.deactivate_component(self._comp)
4688  ec.stop()
4689  except:
4690  print OpenRTM_aist.Logger.print_exception()
4691 
4692 
4693 # RtcBase = RTObject_impl
4694 
OpenRTM_aist.RTObject.RTObject_impl.onExecute
def onExecute(self, ec_id)
Definition: RTObject.py:320
OpenRTM_aist.RTObject.RTObject_impl.get_status
def get_status(self, name)
[SDO interface] Get SDO Status
Definition: RTObject.py:2280
OpenRTM_aist.RTObject.RTObject_impl._execContexts
_execContexts
Definition: RTObject.py:116
OpenRTM_aist.RTObject.RTObject_impl.setReadAll
def setReadAll(self, read=True, completion=False)
Set whether to execute the readAll() method.
Definition: RTObject.py:3434
OpenRTM_aist.RTObject.RTObject_impl.removePortConnectRetListener
def removePortConnectRetListener(self, listener_type, listener)
Removing PortConnectRet type listener.
Definition: RTObject.py:4163
OpenRTM_aist.RTObject.RTObject_impl._portAdmin
_portAdmin
Definition: RTObject.py:96
OpenRTM_aist.RTObject.RTObject_impl.bindContext
def bindContext(self, exec_context)
Definition: RTObject.py:1021
OpenRTM_aist.RTObject.RTObject_impl.removeExecutionContextActionListener
def removeExecutionContextActionListener(self, listener_type, listener)
Removing ExecutionContextAction type listener.
Definition: RTObject.py:3953
OpenRTM_aist.RTObject.RTObject_impl._created
_created
Definition: RTObject.py:108
OpenRTM_aist.ComponentActionListener.PostComponentActionListener
PostComponentActionListener class.
Definition: ComponentActionListener.py:275
OpenRTM_aist.RTObject.RTObject_impl.on_activated
def on_activated(self, ec_id)
[ComponentAction CORBA interface] Activate RTC
Definition: RTObject.py:1302
OpenRTM_aist.RTObject.RTObject_impl.on_finalize
def on_finalize(self)
[ComponentAction CORBA interface] Finalize RTC
Definition: RTObject.py:1184
OpenRTM_aist.RTObject.RTObject_impl.postOnExecute
def postOnExecute(self, ec_id, ret)
Definition: RTObject.py:4567
OpenRTM_aist.RTObject.RTObject_impl.removePostComponentActionListener
def removePostComponentActionListener(self, listener_type, listener)
Removing PostComponentAction type listener.
Definition: RTObject.py:3752
OpenRTM_aist.RTObject.RTObject_impl._ecMine
_ecMine
Definition: RTObject.py:122
OpenRTM_aist.RTObject.RTObject_impl.addSdoServiceProvider
def addSdoServiceProvider(self, prof, provider)
[local interface] Set a SDO service providerbool addSdoServiceProvider(const SDOPackage::ServiceProfi...
Definition: RTObject.py:3292
OpenRTM_aist.RTObject.RTObject_impl.getNamingNames
def getNamingNames(self)
std::vector<std::string> getNamingNames();
Definition: RTObject.py:2454
OpenRTM_aist.RTObject.RTObject_impl.getInstanceName
def getInstanceName(self)
const char* getInstanceName()
Definition: RTObject.py:2313
OpenRTM_aist.RTObject.RTObject_impl._rtcout
_rtcout
Definition: RTObject.py:104
OpenRTM_aist.RTObject.RTObject_impl.finalizeContexts
def finalizeContexts(self)
Definition: RTObject.py:3501
OpenRTM_aist.RTObject.RTObject_impl.reset
def reset(self, ec_id)
[local interface] Resetting and go to Inactive state
Definition: RTObject.py:3276
OpenRTM_aist.RTObject.RTObject_impl.initialize
def initialize(self)
Initialize the RTC that realizes this interface.
Definition: RTObject.py:487
OpenRTM_aist.RTObject.RTObject_impl.onDetachExecutionContext
def onDetachExecutionContext(self, ec_id)
Definition: RTObject.py:4603
OpenRTM_aist.RTObject.RTObject_impl.postOnStartup
def postOnStartup(self, ec_id, ret)
Definition: RTObject.py:4525
OpenRTM_aist.RTObject.RTObject_impl._manager
_manager
Definition: RTObject.py:93
OpenRTM_aist.RTObject.RTObject_impl.preOnDeactivated
def preOnDeactivated(self, ec_id)
Definition: RTObject.py:4476
OpenRTM_aist.RTObject.RTObject_impl.get_service_profiles
def get_service_profiles(self)
[SDO interface] Getting SDO ServiceProfile
Definition: RTObject.py:1901
OpenRTM_aist.RTObject.RTObject_impl.preOnAborting
def preOnAborting(self, ec_id)
Definition: RTObject.py:4481
OpenRTM_aist.CorbaPort.CorbaPort
RT Conponent CORBA service/consumer Port.
Definition: CorbaPort.py:604
OpenRTM_aist.RTObject.RTObject_impl.deactivate
def deactivate(self, ec_id)
[local interface] Make transition to Inactive state
Definition: RTObject.py:3190
OpenRTM_aist.RTObject.RTObject_impl.registerOutPort
def registerOutPort(self, name, outport)
void registerOutPort(const char* name, OutPortBase& outport);
Definition: RTObject.py:2757
OpenRTM_aist.RTObject.RTObject_impl.removePortActionListener
def removePortActionListener(self, listener_type, listener)
Removing PortAction type listener.
Definition: RTObject.py:3852
OpenRTM_aist.RTObject.RTObject_impl.get_sdo_service
def get_sdo_service(self, _id)
[SDO interface] Getting specified SDO Service&#39;s reference
Definition: RTObject.py:2023
OpenRTM_aist.RTObject.RTObject_impl.addPortConnectRetListener
def addPortConnectRetListener(self, listener_type, memfunc, autoclean=True)
Adding PortConnectRet type listener.
Definition: RTObject.py:4126
OpenRTM_aist.RTObject.RTObject_impl.ec_copy
Definition: RTObject.py:4673
OpenRTM_aist.RTObject.RTObject_impl.preOnStartup
def preOnStartup(self, ec_id)
Definition: RTObject.py:4461
OpenRTM_aist.RTObject.RTObject_impl.setWriteAll
def setWriteAll(self, write=True, completion=False)
Set whether to execute the writeAll() method.
Definition: RTObject.py:3471
OpenRTM_aist.StringUtil.split
def split(input, delimiter)
Split string by delimiter.
Definition: StringUtil.py:323
OpenRTM_aist.RTObject.RTObject_impl._SdoConfig
_SdoConfig
Definition: RTObject.py:115
OpenRTM_aist.CORBA_SeqUtil.push_back
def push_back(seq, elem)
Push the new element back to the CORBA sequence.
Definition: CORBA_SeqUtil.py:113
OpenRTM_aist.RTObject.RTObject_impl.on_reset
def on_reset(self, ec_id)
[ComponentAction CORBA interface] Resetting RTC
Definition: RTObject.py:1488
OpenRTM_aist.RTObject.RTObject_impl.deletePortByName
def deletePortByName(self, port_name)
Definition: RTObject.py:2908
OpenRTM_aist.RTObject.RTObject_impl.getCategory
def getCategory(self)
const char* getCategory()
Definition: RTObject.py:2434
OpenRTM_aist.RTObject.RTObject_impl.ec_copy.__init__
def __init__(self, eclist)
Definition: RTObject.py:4674
OpenRTM_aist.RTObject.RTObject_impl.onReset
def onReset(self, ec_id)
Definition: RTObject.py:390
OpenRTM_aist.ComponentActionListener.PreComponentActionListener
PreComponentActionListener class.
Definition: ComponentActionListener.py:107
OpenRTM_aist.RTObject.RTObject_impl.getDescription
def getDescription(self)
const char* getDescription()
Definition: RTObject.py:2374
OpenRTM_aist.RTObject.RTObject_impl.addConfigurationSetNameListener
def addConfigurationSetNameListener(self, type, memfunc, autoclean=True)
Adding ConfigurationSetNameListener.
Definition: RTObject.py:4372
OpenRTM_aist.RTObject.RTObject_impl._properties
_properties
Definition: RTObject.py:109
OpenRTM_aist.SdoConfiguration.Configuration_impl
Configuration implementation class.
Definition: SdoConfiguration.py:164
OpenRTM_aist.RTObject.RTObject_impl.svc_name.__init__
def __init__(self, _id)
Definition: RTObject.py:4617
OpenRTM_aist.RTObject.RTObject_impl.addConfigurationSetListener
def addConfigurationSetListener(self, listener_type, memfunc, autoclean=True)
Adding ConfigurationSetListener.
Definition: RTObject.py:4290
OpenRTM_aist.RTObject.RTObject_impl.isOwnExecutionContext
def isOwnExecutionContext(self, ec_id)
[local interface] Checking if the current context is own context
Definition: RTObject.py:3144
OpenRTM_aist.CORBA_SeqUtil.for_each
def for_each(seq, f)
Apply the functor to all CORBA sequence elements.
Definition: CORBA_SeqUtil.py:47
OpenRTM_aist.RTObject.RTObject_impl.bindParameter
def bindParameter(self, param_name, var, def_val, trans=None)
template <typename vartype>=""> bool bindParameter(const char* param_name, VarType& var...
Definition: RTObject.py:2588
OpenRTM_aist.RTObject.RTObject_impl.finalize
def finalize(self)
Finalize the RTC for preparing it for destruction.
Definition: RTObject.py:570
OpenRTM_aist.RTObject.RTObject_impl._objref
_objref
Definition: RTObject.py:117
OpenRTM_aist.RTObject.RTObject_impl.preOnExecute
def preOnExecute(self, ec_id)
Definition: RTObject.py:4496
OpenRTM_aist.RTObject.RTObject_impl.removeConfigurationParamListener
def removeConfigurationParamListener(self, type, listener)
Removing ConfigurationParamListener.
Definition: RTObject.py:4248
OpenRTM_aist.Properties.Properties
The Properties class represents a persistent set of properties.
Definition: Properties.py:83
OpenRTM_aist.RTObject.RTObject_impl.getObjRef
def getObjRef(self)
RTObject_ptr getObjRef() const;.
Definition: RTObject.py:2494
OpenRTM_aist.RTObject.RTObject_impl.on_error
def on_error(self, ec_id)
[ComponentAction CORBA interface] Error Processing of RTC
Definition: RTObject.py:1442
OpenRTM_aist.RTObject.RTObject_impl.svc_name
Definition: RTObject.py:4616
OpenRTM_aist.RTObject.RTObject_impl._exiting
_exiting
Definition: RTObject.py:125
OpenRTM_aist.RTObject.RTObject_impl._SdoConfigImpl
_SdoConfigImpl
Definition: RTObject.py:114
OpenRTM_aist.RTObject.RTObject_impl.removeSdoServiceConsumer
def removeSdoServiceConsumer(self, id)
[local interface] Remove a SDO service consumerbool removeSdoServiceConsumer(const char* id); ...
Definition: RTObject.py:3328
OpenRTM_aist.RTObject.RTObject_impl.on_shutdown
def on_shutdown(self, ec_id)
[ComponentAction CORBA interface] ShutDown RTC
Definition: RTObject.py:1264
OpenRTM_aist.RTObject.RTObject_impl._sdoOrganizations
_sdoOrganizations
Definition: RTObject.py:120
OpenRTM_aist.RTObject.RTObject_impl.preOnInitialize
def preOnInitialize(self, ec_id)
Definition: RTObject.py:4451
OpenRTM_aist.RTObject.RTObject_impl._sdoservice
_sdoservice
Definition: RTObject.py:113
OpenRTM_aist.RTObject.RTObject_impl.addSdoServiceConsumer
def addSdoServiceConsumer(self, prof)
[local interface] Set a SDO service consumerbool addSdoServiceConsumer(const SDOPackage::ServiceProfi...
Definition: RTObject.py:3316
OpenRTM_aist.RTObject.RTObject_impl._readAll
_readAll
Definition: RTObject.py:126
OpenRTM_aist.RTObject.RTObject_impl.removePort
def removePort(self, port)
Definition: RTObject.py:2888
OpenRTM_aist.ComponentActionListener.PortActionListener
PortActionListener class.
Definition: ComponentActionListener.py:399
OpenRTM_aist.ConfigurationListener.ConfigurationParamListener
ConfigurationParamListener class.
Definition: ConfigurationListener.py:64
OpenRTM_aist.RTObject.RTObject_impl.onAddPort
def onAddPort(self, pprof)
Definition: RTObject.py:4585
OpenRTM_aist.RTObject.RTObject_impl.get_sdo_id
def get_sdo_id(self)
[SDO interface] Getting SDO ID
Definition: RTObject.py:1757
OpenRTM_aist.RTObject.RTObject_impl.preOnActivated
def preOnActivated(self, ec_id)
Definition: RTObject.py:4471
OpenRTM_aist.RTObject.RTObject_impl.is_alive
def is_alive(self, exec_context)
Confirm whether RTC is an Alive state or NOT.
Definition: RTObject.py:698
OpenRTM_aist.RTObject.RTObject_impl._inports
_inports
Definition: RTObject.py:130
OpenRTM_aist.RTObject.RTObject_impl.addConfigurationParamListener
def addConfigurationParamListener(self, type, memfunc, autoclean=True)
Adding ConfigurationParamListener.
Definition: RTObject.py:4207
OpenRTM_aist.RTObject.RTObject_impl._memfunc
_memfunc
Definition: RTObject.py:3599
OpenRTM_aist.RTObject.RTObject_impl.nv_name
Definition: RTObject.py:4635
OpenRTM_aist.RTObject.RTObject_impl.deletePort
def deletePort(self, port)
[local interface] Unregister Port
Definition: RTObject.py:2881
OpenRTM_aist.RTObject.RTObject_impl.activate
def activate(self, ec_id)
[local interface] Make transition to Active state
Definition: RTObject.py:3234
OpenRTM_aist.RTObject.RTObject_impl.get_sdo_type
def get_sdo_type(self)
[SDO interface] Getting SDO type
Definition: RTObject.py:1802
OpenRTM_aist.RTObject.RTObject_impl.__del__
def __del__(self)
destructor
Definition: RTObject.py:149
OpenRTM_aist.RTObject.RTObject_impl.setInstanceName
def setInstanceName(self, instance_name)
void setInstanceName(const char* instance_name);
Definition: RTObject.py:2333
OpenRTM_aist.RTObject.RTObject_impl.addPortActionListener
def addPortActionListener(self, listener_type, memfunc, autoclean=True)
Adding PortAction type listener.
Definition: RTObject.py:3816
OpenRTM_aist.PortConnectListener.PortConnectRetListener
PortConnectRetListener class.
Definition: PortConnectListener.py:252
OpenRTM_aist.RTObject.RTObject_impl.onStartup
def onStartup(self, ec_id)
Definition: RTObject.py:222
OpenRTM_aist.RTObject.RTObject_impl.get_status_list
def get_status_list(self)
[SDO interface] Get SDO Status
Definition: RTObject.py:2233
OpenRTM_aist.ConfigAdmin.ConfigAdmin
ConfigAdmin class.
Definition: ConfigAdmin.py:318
OpenRTM_aist.RTObject.RTObject_impl.get_owned_organizations
def get_owned_organizations(self)
[SDO interface] Getting Organizations
Definition: RTObject.py:1706
OpenRTM_aist.RTObject.RTObject_impl.__init__
def __init__(self, manager=None, orb=None, poa=None)
Consructor.
Definition: RTObject.py:91
OpenRTM_aist.RTObject.RTObject_impl.on_deactivated
def on_deactivated(self, ec_id)
[ComponentAction CORBA interface] Deactivate RTC
Definition: RTObject.py:1342
OpenRTM_aist.RTObject.RTObject_impl.removeConfigurationSetListener
def removeConfigurationSetListener(self, type, listener)
Removing ConfigurationSetListener.
Definition: RTObject.py:4329
OpenRTM_aist.RTObject.RTObject_impl.preOnError
def preOnError(self, ec_id)
Definition: RTObject.py:4486
OpenRTM_aist.RTObject.RTObject_impl.on_startup
def on_startup(self, ec_id)
[ComponentAction CORBA interface] StartUp RTC
Definition: RTObject.py:1224
OpenRTM_aist.RTObject.RTObject_impl.get_context
def get_context(self, ec_id)
[CORBA interface] Get ExecutionContextList.
Definition: RTObject.py:764
OpenRTM_aist.RTObject.RTObject_impl.postOnShutdown
def postOnShutdown(self, ec_id, ret)
Definition: RTObject.py:4531
OpenRTM_aist.RTObject.RTObject_impl.addExecutionContextActionListener
def addExecutionContextActionListener(self, listener_type, memfunc, autoclean=True)
Adding ExecutionContextAction type listener.
Definition: RTObject.py:3916
OpenRTM_aist.RTObject.RTObject_impl._sdoStatus
_sdoStatus
Definition: RTObject.py:121
OpenRTM_aist.RTObject.RTObject_impl.getVendor
def getVendor(self)
const char* getVendor()
Definition: RTObject.py:2414
OpenRTM_aist.RTObject.RTObject_impl._readAllCompletion
_readAllCompletion
Definition: RTObject.py:128
OpenRTM_aist.RTObject.RTObject_impl.writeAll
def writeAll(self)
The write() method of all OutPort is called.
Definition: RTObject.py:3387
OpenRTM_aist.RTObject.RTObject_impl.onAttachExecutionContext
def onAttachExecutionContext(self, ec_id)
Definition: RTObject.py:4597
OpenRTM_aist.RTObject.RTObject_impl.preOnFinalize
def preOnFinalize(self, ec_id)
Definition: RTObject.py:4456
OpenRTM_aist.RTObject.RTObject_impl.onStateUpdate
def onStateUpdate(self, ec_id)
Definition: RTObject.py:416
OpenRTM_aist.RTObject.RTObject_impl.deactivate_comps
Definition: RTObject.py:4689
OpenRTM_aist.RTObject.RTObject_impl.setProperties
def setProperties(self, prop)
[local interface] Set RTC property
Definition: RTObject.py:2525
OpenRTM_aist.RTObject.RTObject_impl.preOnReset
def preOnReset(self, ec_id)
Definition: RTObject.py:4491
OpenRTM_aist.RTObject.RTObject_impl.onFinalize
def onFinalize(self)
Definition: RTObject.py:198
OpenRTM_aist.RTObject.RTObject_impl.ec_find.__init__
def __init__(self, _ec)
Definition: RTObject.py:4651
OpenRTM_aist.RTObject.RTObject_impl.addPort
def addPort(self, port)
Definition: RTObject.py:2667
OpenRTM_aist.PortBase.PortBase
Port base class.
Definition: PortBase.py:115
OpenRTM_aist.RTObject.RTObject_impl.removePortConnectListener
def removePortConnectListener(self, listener_type, listener)
Removing PortConnect type listener.
Definition: RTObject.py:4056
OpenRTM_aist.RTObject.RTObject_impl.get_ports
def get_ports(self)
[RTObject CORBA interface] Get Ports
Definition: RTObject.py:949
OpenRTM_aist.RTObject.RTObject_impl.get_participating_contexts
def get_participating_contexts(self)
[CORBA interface] Get participating ExecutionContextList.
Definition: RTObject.py:827
OpenRTM_aist.RTObject.RTObject_impl.detach_context
def detach_context(self, ec_id)
[CORBA interface] Attach ExecutionContext.
Definition: RTObject.py:1090
OpenRTM_aist.RTObject.RTObject_impl.getExecutionContext
def getExecutionContext(self, ec_id)
[local interface] Getting current execution context
Definition: RTObject.py:2965
OpenRTM_aist.RTObject.RTObject_impl.readAll
def readAll(self)
Readout the value from All InPorts.
Definition: RTObject.py:3353
OpenRTM_aist.RTObject.RTObject_impl.onAborting
def onAborting(self, ec_id)
Definition: RTObject.py:344
OpenRTM_aist.RTObject.RTObject_impl.shutdown
def shutdown(self)
Definition: RTObject.py:4434
OpenRTM_aist.RTObject.RTObject_impl.addOutPort
def addOutPort(self, name, outport)
Definition: RTObject.py:2765
OpenRTM_aist.RTObject.RTObject_impl.removeSdoServiceProvider
def removeSdoServiceProvider(self, id)
[local interface] Remove a SDO service providerbool removeSdoServiceProvider(const char* id); ...
Definition: RTObject.py:3304
OpenRTM_aist.RTObject.RTObject_impl.get_configuration
def get_configuration(self)
[SDO interface] Getting Configuration object
Definition: RTObject.py:2089
OpenRTM_aist.RTObject.RTObject_impl.onActivated
def onActivated(self, ec_id)
Definition: RTObject.py:270
OpenRTM_aist.RTObject.RTObject_impl.preOnStateUpdate
def preOnStateUpdate(self, ec_id)
Definition: RTObject.py:4501
OpenRTM_aist.ComponentActionListener.ExecutionContextActionListener
ExecutionContextActionListener class.
Definition: ComponentActionListener.py:509
OpenRTM_aist.RTObject.RTObject_impl.svc_name.__call__
def __call__(self, prof)
Definition: RTObject.py:4620
OpenRTM_aist.RTObject.RTObject_impl.get_service_profile
def get_service_profile(self, _id)
[SDO interface] Getting Organizations
Definition: RTObject.py:1956
OpenRTM_aist.RTObject.RTObject_impl.ec_find.__call__
def __call__(self, ecs)
Definition: RTObject.py:4654
OpenRTM_aist.RTObject.RTObject_impl.preOnShutdown
def preOnShutdown(self, ec_id)
Definition: RTObject.py:4466
OpenRTM_aist.RTObject.RTObject_impl.addInPort
def addInPort(self, name, inport)
Definition: RTObject.py:2721
OpenRTM_aist.RTObject.RTObject_impl.postOnInitialize
def postOnInitialize(self, ec_id, ret)
Definition: RTObject.py:4513
OpenRTM_aist.RTObject.RTObject_impl.setExecutionRate
def setExecutionRate(self, ec_id, rate)
[local interface] Setting current context&#39; execution rate
Definition: RTObject.py:3083
OpenRTM_aist.RTObject.RTObject_impl.get_organizations
def get_organizations(self)
[SDO interface] Getting Organizations
Definition: RTObject.py:2189
OpenRTM_aist.RTObject.RTObject_impl.onRateChanged
def onRateChanged(self, ec_id)
Definition: RTObject.py:442
OpenRTM_aist.RTObject.RTObject_impl.onShutdown
def onShutdown(self, ec_id)
Definition: RTObject.py:246
OpenRTM_aist.RTObject.RTObject_impl.finalizePorts
def finalizePorts(self)
Unregister the All Portse.
Definition: RTObject.py:3493
OpenRTM_aist.RTObject.RTObject_impl.onRemovePort
def onRemovePort(self, pprof)
Definition: RTObject.py:4591
OpenRTM_aist.RTObject.RTObject_impl.onDeactivated
def onDeactivated(self, ec_id)
Definition: RTObject.py:294
OpenRTM_aist.RTObject.RTObject_impl._configsets
_configsets
Definition: RTObject.py:110
OpenRTM_aist.RTObject.RTObject_impl.postOnAborting
def postOnAborting(self, ec_id, ret)
Definition: RTObject.py:4549
OpenRTM_aist.RTObject.RTObject_impl._poa
_poa
Definition: RTObject.py:95
OpenRTM_aist.SdoServiceAdmin.SdoServiceAdmin
Definition: SdoServiceAdmin.py:90
OpenRTM_aist.RTObject.RTObject_impl.exit
def exit(self)
Stop the RTC&#39;s execution context(s) and finalize it along with its contents.
Definition: RTObject.py:633
OpenRTM_aist.RTObject.RTObject_impl.removePreComponentActionListener
def removePreComponentActionListener(self, listener_type, listener)
Removing PreComponentAction type listener.
Definition: RTObject.py:3632
OpenRTM_aist.RTObject.RTObject_impl.registerInPort
def registerInPort(self, name, inport)
Definition: RTObject.py:2714
OpenRTM_aist.PortConnectListener.PortConnectListeners
PortConnectListeners class.
Definition: PortConnectListener.py:593
OpenRTM_aist.RTObject.RTObject_impl.preOnRateChanged
def preOnRateChanged(self, ec_id)
Definition: RTObject.py:4507
OpenRTM_aist.RTObject.RTObject_impl.on_aborting
def on_aborting(self, ec_id)
[ComponentAction CORBA interface] Transition Error State
Definition: RTObject.py:1387
OpenRTM_aist.RTObject.RTObject_impl.getTypeName
def getTypeName(self)
const char* getTypeName()
Definition: RTObject.py:2354
OpenRTM_aist.ComponentActionListener.ComponentActionListeners
ComponentActionListeners class.
Definition: ComponentActionListener.py:1087
OpenRTM_aist.RTObject.RTObject_impl.removeConfigurationSetNameListener
def removeConfigurationSetNameListener(self, type, listener)
Removing ConfigurationSetNameListener.
Definition: RTObject.py:4415
OpenRTM_aist.RTObject.RTObject_impl.addPreComponentActionListener
def addPreComponentActionListener(self, listener_type, memfunc, autoclean=True)
Adding PreComponentAction type listener.
Definition: RTObject.py:3596
OpenRTM_aist.RTObject.RTObject_impl._writeAllCompletion
_writeAllCompletion
Definition: RTObject.py:129
OpenRTM_aist.RTObject.RTObject_impl._profile
_profile
Definition: RTObject.py:111
OpenRTM_aist.RTObject.RTObject_impl.addPostComponentActionListener
def addPostComponentActionListener(self, listener_type, memfunc, autoclean=True)
Adding PostComponentAction type listener.
Definition: RTObject.py:3716
OpenRTM_aist.RTObject.RTObject_impl.removeInPort
def removeInPort(self, port)
[local interface] Unregister InPort
Definition: RTObject.py:2805
OpenRTM_aist.CORBA_SeqUtil.find
def find(seq, f)
Return the index of CORBA sequence element that functor matches.
Definition: CORBA_SeqUtil.py:84
OpenRTM_aist.RTObject.RTObject_impl._actionListeners
_actionListeners
Definition: RTObject.py:132
OpenRTM_aist.RTObject.RTObject_impl.ec_find
Definition: RTObject.py:4650
OpenRTM_aist.RTObject.RTObject_impl.getProperties
def getProperties(self)
[local interface] Get RTC property
Definition: RTObject.py:2559
OpenRTM_aist.RTObject.RTObject_impl.get_owned_contexts
def get_owned_contexts(self)
[CORBA interface] Get ExecutionContextList.
Definition: RTObject.py:803
OpenRTM_aist.ConfigurationListener.ConfigurationSetListener
ConfigurationSetListener class.
Definition: ConfigurationListener.py:187
OpenRTM_aist.RTObject.RTObject_impl
Definition: RTObject.py:68
OpenRTM_aist.RTObject.RTObject_impl._sdoOwnedOrganizations
_sdoOwnedOrganizations
Definition: RTObject.py:118
OpenRTM_aist.RTObject.RTObject_impl.registerPort
def registerPort(self, port)
[local interface] Register Port
Definition: RTObject.py:2653
OpenRTM_aist.PortAdmin.PortAdmin
PortAdmin class.
Definition: PortAdmin.py:41
OpenRTM_aist.RTObject.RTObject_impl.postOnError
def postOnError(self, ec_id, ret)
Definition: RTObject.py:4555
OpenRTM_aist.RTObject.RTObject_impl.updateParameters
def updateParameters(self, config_set)
void updateParameters(const char* config_set);
Definition: RTObject.py:2613
OpenRTM_aist.RTObject.RTObject_impl.on_execute
def on_execute(self, ec_id)
[DataFlowComponentAction CORBA interface] Primary Periodic Operation of RTC
Definition: RTObject.py:1541
OpenRTM_aist.RTObject.RTObject_impl.on_state_update
def on_state_update(self, ec_id)
[DataFlowComponentAction CORBA interface] Secondary Periodic Operation of RTC
Definition: RTObject.py:1601
OpenRTM_aist.RTObject.RTObject_impl._orb
_orb
Definition: RTObject.py:94
OpenRTM_aist.RTObject.RTObject_impl.on_rate_changed
def on_rate_changed(self, ec_id)
[DataFlowComponentAction CORBA interface] Notify rate chenged
Definition: RTObject.py:1649
OpenRTM_aist.RTObject.RTObject_impl.onInitialize
def onInitialize(self)
Definition: RTObject.py:175
OpenRTM_aist.RTObject.RTObject_impl.postOnActivated
def postOnActivated(self, ec_id, ret)
Definition: RTObject.py:4537
OpenRTM_aist.RTObject.RTObject_impl.get_component_profile
def get_component_profile(self)
[RTObject CORBA interface] Get RTC&#39;s profile
Definition: RTObject.py:897
OpenRTM_aist.RTObject.RTObject_impl._writeAll
_writeAll
Definition: RTObject.py:127
OpenRTM_aist.RTObject.RTObject_impl.postOnReset
def postOnReset(self, ec_id, ret)
Definition: RTObject.py:4561
OpenRTM_aist.PortConnectListener.PortConnectListener
PortConnectListener class.
Definition: PortConnectListener.py:109
OpenRTM_aist.RTObject.RTObject_impl.onError
def onError(self, ec_id)
Definition: RTObject.py:367
OpenRTM_aist.RTObject.RTObject_impl.getExecutionRate
def getExecutionRate(self, ec_id)
[local interface] Getting current context&#39; execution rate
Definition: RTObject.py:3021
OpenRTM_aist.RTObject.RTObject_impl.postOnRateChanged
def postOnRateChanged(self, ec_id, ret)
Definition: RTObject.py:4579
OpenRTM_aist.RTObject.RTObject_impl.get_context_handle
def get_context_handle(self, cxt)
Definition: RTObject.py:858
OpenRTM_aist.RTObject.RTObject_impl.removeOutPort
def removeOutPort(self, port)
[local interface] Unregister OutPort
Definition: RTObject.py:2844
OpenRTM_aist.RTObject.RTObject_impl.on_initialize
def on_initialize(self)
[ComponentAction CORBA interface] Initialize RTC
Definition: RTObject.py:1138
OpenRTM_aist.NVUtil.copyFromProperties
def copyFromProperties(nv, prop)
Copy to NVList from Proeprties.
Definition: NVUtil.py:85
OpenRTM_aist.RTObject.RTObject_impl._portconnListeners
_portconnListeners
Definition: RTObject.py:133
OpenRTM_aist.ConfigurationListener.ConfigurationSetNameListener
ConfigurationSetNameListener class.
Definition: ConfigurationListener.py:307
OpenRTM_aist.RTObject.RTObject_impl.getVersion
def getVersion(self)
const char* getVersion()
Definition: RTObject.py:2394
OpenRTM_aist.RTObject.RTObject_impl.postOnFinalize
def postOnFinalize(self, ec_id, ret)
Definition: RTObject.py:4519
OpenRTM_aist.RTObject.RTObject_impl.postOnStateUpdate
def postOnStateUpdate(self, ec_id, ret)
Definition: RTObject.py:4573
OpenRTM_aist.RTObject.RTObject_impl.addPortConnectListener
def addPortConnectListener(self, listener_type, memfunc, autoclean=True)
Adding PortConnect type listener.
Definition: RTObject.py:4019
OpenRTM_aist.RTObject.RTObject_impl._ecOther
_ecOther
Definition: RTObject.py:123
OpenRTM_aist.RTObject.RTObject_impl.attach_context
def attach_context(self, exec_context)
[CORBA interface] Attach ExecutionContext.
Definition: RTObject.py:994
OpenRTM_aist.RTObject.RTObject_impl.setObjRef
def setObjRef(self, rtobj)
void setObjRef(const RTObject_ptr rtobj);
Definition: RTObject.py:2473
OpenRTM_aist.RTObject.RTObject_impl._eclist
_eclist
Definition: RTObject.py:124
OpenRTM_aist.RTObject.RTObject_impl.get_monitoring
def get_monitoring(self)
[SDO interface] Get Monitoring object
Definition: RTObject.py:2146
OpenRTM_aist.RTObject.RTObject_impl._sdoSvcProfiles
_sdoSvcProfiles
Definition: RTObject.py:119
OpenRTM_aist.RTObject.RTObject_impl.get_device_profile
def get_device_profile(self)
[SDO interface] Getting SDO DeviceProfile
Definition: RTObject.py:1851
OpenRTM_aist.RTObject.RTObject_impl.ec_copy.__call__
def __call__(self, ecs)
Definition: RTObject.py:4677
OpenRTM_aist.RTObject.RTObject_impl._outports
_outports
Definition: RTObject.py:131
OpenRTM_aist.RTObject.RTObject_impl.postOnDeactivated
def postOnDeactivated(self, ec_id, ret)
Definition: RTObject.py:4543

openrtm_aist_python
Author(s): Shinji Kurihara
autogenerated on Thu Jun 6 2019 19:11:34