comp_mgmt.py

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

'''rtshell

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

Functions for component management.

'''


import OpenRTM_aist
import re
import RTC
import rtctree.tree
import rtctree.utils
import sys

import gen_comp
import rts_exceptions


def find_comp_in_mgr(name, mgr):
    '''Find a component in a manager.

    @param name The type name of the component to search for.
    @param mgr The manager to which the component is registered.

    '''
    for c in mgr.getComponents():
        if c.getTypeName() == name:
            return c
    raise rts_exceptions.MissingCompError(name)


def get_comp(rtc, tree=None, orb=None):
    '''Get a rtctree.Component object from an rtctree.RTCTree.

    Get the component object by searching the RTCTree for the specified RTC.

    @param rtc Path to the component. This should be in
               the format used by rtctree, i.e. a list of path entries, with
               the first being a /. e.g. ['/', 'localhost', 'comp0.rtc'].
    @param tree An already-populated rtctree.RTCTree object, or None if one
                should be created.
    @param orb An ORB to use if the tree must be created, or None to make one.

    '''
    if not tree:
        tree = rtctree.tree.RTCTree(paths=rtc, orb=orb, filter=[rtc])

    if not tree.has_path(rtc):
        raise rts_exceptions.NoSuchObjectError(rtc)
    comp = tree.get_node(rtc)
    if not comp.is_component:
        raise rts_exceptions.NotAComponentError(rtc)
    return comp


def find_port(rtc, port, tree=None, orb=None):
    '''Get a rtctree.Port object from an rtctree.RTCTree.

    Get the port object by searching the RTCTree for the specified RTC, then
    looking for the specified port on that component.

    @param rtc Path to the component that should have a port. This should be in
               the format used by rtctree, i.e. a list of path entries, with
               the first being a /. e.g. ['/', 'localhost', 'comp0.rtc'].
    @param port Name of the port.
    @param tree An already-populated rtctree.RTCTree object, or None if one
                should be created.
    @param orb An ORB to use if the tree must be created, or None to make one.

    '''
    comp = get_comp(rtc, tree=tree, orb=orb)
    port_obj = comp.get_port_by_name(port)
    if not port_obj:
        raise rts_exceptions.PortNotFoundError(rtc, port)
    return port_obj


def choose_name(base, tree):
    '''Choose a name for the component from a given base.

    The name is chosen such that it does not conflict with other possible
    instances of the base name by appending an index number.

    @param base The base name to append the index to.
    @param tree A populated RTCTree to search for other instances of the
                same type of component.

    '''
    def get_result(node, args):
        return int(regex.match(node.name).group(1))
    def is_gen_comp(node):
        if regex.match(node.name):
            return True
        return False
    regex = re.compile('{0}(\d+)0.rtc'.format(base))
    matches = tree.iterate(get_result, filter=['is_component', is_gen_comp])
    if not matches:
        return base + '0'
    matches.sort()
    return base + '{0}'.format(matches[-1] + 1)


def make_comp(name_base, tree, cons, port_specs, event=None, rate=1.0,
        max=-1, **kwargs):
    name = choose_name(name_base, tree)
    mgr = OpenRTM_aist.Manager.init(1, [sys.argv[0]])
    mgr.setModuleInitProc(gen_comp.make_init(name, cons, port_specs,
        event=event, rate=rate, max=max, **kwargs))
    mgr.activateManager()
    mgr.runManager(True)
    return name, mgr


def delete_comp(mgr, comp):
    '''Delete the component from the manager.'''
    mgr.deleteComponent(comp=comp)


def shutdown(mgr):
    '''Shut down the manager.'''
    mgr.shutdown()
    mgr.join()


def connect(comp, port_specs, tree):
    def find_local_port(name, ports):
        for p in ports:
            if p.get_port_profile().name.split('.')[-1] == name:
                return p
        raise rts_exceptions.PortNotFoundError(comp.getTypeName(), name)

    props = {'dataport.dataflow_type':'push',
            'dataport.interface_type':'corba_cdr',
            'dataport.subscription_type':'flush'}
    ports = comp.get_ports()
    conns = []
    for p in port_specs:
        local_port = find_local_port(p.name, ports)
        for t in p.targets:
            dest_port = find_port(t[0], t[1], tree)
            props['dataport.data_type'] = \
                    dest_port.properties['dataport.data_type']
            prof = RTC.ConnectorProfile(p.name + '_' + t[1],
                    '', [local_port, dest_port.object],
                    rtctree.utils.dict_to_nvlist(props))
            res, connector = local_port.connect(prof)
            if res != RTC.RTC_OK:
                raise rts_exceptions.ConnectFailedError(t[0], t[1])
            conns.append(connector)
    return conns


def disconnect(comp):
    '''Disconnect all connections to @ref comp.

    @param comp An RTObject.

    '''
    ports = comp.get_ports()
    for p in ports:
        p.disconnect_all()


def activate(comp):
    for ec in comp.get_owned_contexts():
        if ec.activate_component(comp.getObjRef()) != RTC.RTC_OK:
            raise rts_exceptions.ActivateError(comp.getTypeName())
    for ec in comp.get_participating_contexts():
        if ec.activate_component(comp.getObjRef()) != RTC.RTC_OK:
            raise rts_exceptions.ActivateError(comp.getTypeName())


def deactivate(comp):
    for ec in comp.get_owned_contexts():
        if ec.deactivate_component(comp.getObjRef()) != RTC.RTC_OK:
            raise rts_exceptions.DeactivateError(comp.getTypeName())
    for ec in comp.get_participating_contexts():
        if ec.deactivate_component(comp.getObjRef()) != RTC.RTC_OK:
            raise rts_exceptions.DeactivateError(comp.getTypeName())