def _enable_dynamic(self, enable=True):
if enable:
obs = rtctree.sdo.RTCObserver(self)
uuid_val = uuid.uuid4().get_bytes()
intf_type = obs._this()._NP_RepositoryId
props = utils.dict_to_nvlist(
{"heartbeat.enable": "YES", "heartbeat.interval": "1.0", "observed_status": "ALL"}
)
sprof = SDOPackage.ServiceProfile(
id=uuid_val, interface_type=intf_type, service=obs._this(), properties=props
)
conf = self.object.get_configuration()
res = conf.add_service_profile(sprof)
if res:
self._dynamic = True
self._obs = obs
self._obs_id = uuid_val
# If we could set an observer, the component is alive
self._last_heartbeat = time.time()
else: # Disable
conf = self.object.get_configuration()
res = conf.remove_service_profile(self._obs_id)
if res:
self._dynamic = False
self._obs = None
self._obs_id = None
def add_logger(self, cb, level="NORMAL", filters="ALL"):
"""Add a callback to receive log events from this component.
@param cb The callback function to receive log events. It must have the
signature cb(name, time, source, level, message), where name is the
name of the component the log record came from, time is a
floating-point time stamp, source is the name of the logger that
provided the log record, level is the log level of the record and
message is a text string.
@param level The maximum level of log records to receive.
@param filters Filter the objects from which to receive log messages.
@return An ID for this logger. Use this ID in future operations such as
removing this logger.
@raises AddLoggerError
"""
with self._mutex:
obs = rtctree.sdo.RTCLogger(self, cb)
uuid_val = uuid.uuid4()
intf_type = obs._this()._NP_RepositoryId
props = {"logger.log_level": level, "logger.filter": filters}
props = utils.dict_to_nvlist(props)
sprof = SDOPackage.ServiceProfile(
id=uuid_val.get_bytes(), interface_type=intf_type, service=obs._this(), properties=props
)
conf = self.object.get_configuration()
res = conf.add_service_profile(sprof)
if res:
self._loggers[uuid_val] = obs
return uuid_val
raise exceptions.AddLoggerError(self.name)
def add_logger(self, cb, level='NORMAL', filters='ALL'):
'''Add a callback to receive log events from this component.
@param cb The callback function to receive log events. It must have the
signature cb(name, time, source, level, message), where name is the
name of the component the log record came from, time is a
floating-point time stamp, source is the name of the logger that
provided the log record, level is the log level of the record and
message is a text string.
@param level The maximum level of log records to receive.
@param filters Filter the objects from which to receive log messages.
@return An ID for this logger. Use this ID in future operations such as
removing this logger.
@raises AddLoggerError
'''
with self._mutex:
obs = rtctree.sdo.RTCLogger(self, cb)
uuid_val = uuid.uuid4()
intf_type = obs._this()._NP_RepositoryId
props = {'logger.log_level': level,
'logger.filter': filters}
props = utils.dict_to_nvlist(props)
sprof = SDOPackage.ServiceProfile(id=uuid_val.get_bytes(),
interface_type=intf_type, service=obs._this(),
properties=props)
conf = self.object.get_configuration()
res = conf.add_service_profile(sprof)
if res:
self._loggers[uuid_val] = obs
return uuid_val
raise exceptions.AddLoggerError(self.name)
def _enable_dynamic(self, enable=True):
if enable:
obs = rtctree.sdo.RTCObserver(self)
uuid_val = uuid.uuid4().get_bytes()
intf_type = obs._this()._NP_RepositoryId
props = utils.dict_to_nvlist({'heartbeat.enable': 'YES',
'heartbeat.interval': '1.0',
'observed_status': 'ALL'})
sprof = SDOPackage.ServiceProfile(id=uuid_val,
interface_type=intf_type, service=obs._this(),
properties=props)
conf = self.object.get_configuration()
res = conf.add_service_profile(sprof)
if res:
self._dynamic = True
self._obs = obs
self._obs_id = uuid_val
# If we could set an observer, the component is alive
self._last_heartbeat = time.time()
else: # Disable
conf = self.object.get_configuration()
res = conf.remove_service_profile(self._obs_id)
if res:
self._dynamic = False
self._obs = None
self._obs_id = None
def connect(self, dests=[], name=None, id='', props={}):
'''Connect this port to other ports.
After the connection has been made, a delayed reparse of the
connections for this and the destination port will be triggered.
@param dests A list of the destination Port objects. Must be provided.
@param name The name of the connection. If None, a suitable default
will be created based on the names of the two ports.
@param id The ID of this connection. If None, one will be generated by
the RTC implementation.
@param props Properties of the connection. Required values depend on
the type of the two ports being connected.
@raises IncompatibleDataPortConnectionPropsError, FailedToConnectError
'''
with self._mutex:
if self.porttype == 'DataInPort' or self.porttype == 'DataOutPort':
for prop in props:
if prop in self.properties:
if props[prop] not in [x.strip() for x in self.properties[prop].split(',')] and \
'any' not in self.properties[prop].lower():
# Invalid property selected
raise IncompatibleDataPortConnectionPropsError
for d in dests:
if prop in d.properties:
if props[prop] not in [x.strip() for x in d.properties[prop].split(',')] and \
'any' not in d.properties[prop].lower():
# Invalid property selected
raise IncompatibleDataPortConnectionPropsError
if not name:
name = self.name + '_'.join([d.name for d in dests])
props = dict_to_nvlist(props)
profile = RTC.ConnectorProfile(name, id,
[self._obj] + [d._obj for d in dests], props)
return_code, profile = self._obj.connect(profile)
if return_code != RTC.RTC_OK:
raise FailedToConnectError(return_code)
self.reparse_connections()
for d in dests:
d.reparse_connections()
def connect(self, dests=[], name=None, id='', props={}):
'''Connect this port to other ports.
After the connection has been made, a delayed reparse of the
connections for this and the destination port will be triggered.
@param dests A list of the destination Port objects. Must be provided.
@param name The name of the connection. If None, a suitable default
will be created based on the names of the two ports.
@param id The ID of this connection. If None, one will be generated by
the RTC implementation.
@param props Properties of the connection. Required values depend on
the type of the two ports being connected.
@raises IncompatibleDataPortConnectionPropsError, FailedToConnectError
'''
with self._mutex:
if self.porttype == 'DataInPort' or self.porttype == 'DataOutPort':
for prop in props:
if prop in self.properties:
if props[prop] not in [x.strip() for x in self.properties[prop].split(',')] and \
'any' not in self.properties[prop].lower():
# Invalid property selected
raise exceptions.IncompatibleDataPortConnectionPropsError
for d in dests:
if prop in d.properties:
if props[prop] not in [x.strip() for x in d.properties[prop].split(',')] and \
'any' not in d.properties[prop].lower():
# Invalid property selected
raise exceptions.IncompatibleDataPortConnectionPropsError
if not name:
name = self.name + '_'.join([d.name for d in dests])
props = utils.dict_to_nvlist(props)
profile = RTC.ConnectorProfile(name, id, [self._obj] +
[d._obj for d in dests], props)
return_code, profile = self._obj.connect(profile)
if return_code != RTC.RTC_OK:
raise exceptions.FailedToConnectError(return_code)
self.reparse_connections()
for d in dests:
d.reparse_connections()
def set_param(self, param, value):
'''Set a parameter in this configuration set.'''
self.data[param] = value
self._object.configuration_data = utils.dict_to_nvlist(self.data)
def set_param(self, param, value):
'''Set a parameter in this configuration set.'''
self.data[param] = value
self._object.configuration_data = utils.dict_to_nvlist(self.data)
