def on_connect(self):
addr = self.connectEntryBuffer.get()
selfAddr = self.selfEntryBuffer.get()
print ' - Connecting ', selfAddr, ' ServicePort to ', addr
clientNS = selfAddr.split('/')[0]
clientAddr = selfAddr[:selfAddr.rfind(':')][len(clientNS)+1:]
if clientNS.find(':') < 0: clientNS = clientNS+':2809'
clientPortName = selfAddr.split(':')[1]
hostNS = addr.split('/')[0]
hostAddr = addr[:addr.rfind(':')][len(hostNS)+1:]
if hostNS.find(':') < 0: hostNS = hostNS+':2809'
hostPortName = addr.split(':')[1]
clientCorbaNaming = OpenRTM_aist.CorbaNaming(OpenRTM_aist.Manager.instance().getORB(), clientNS)
clientObj = clientCorbaNaming.resolve(clientAddr)
if CORBA.is_nil(clientObj):
sys.stdout.write(' -- Failed to connect %s' % clientAddr)
return
client = OpenRTM_aist.CorbaConsumer()
client.setObject(clientObj)
clientPorts = client._ptr().get_ports()
clientPort = None
for p in clientPorts:
if p.get_port_profile().name.split('.')[1] == clientPortName:
clientPort = p
if not clientPort:
sys.stdout.write(' -- Failed to find port %s' % clientPort)
hostCorbaNaming = OpenRTM_aist.CorbaNaming(OpenRTM_aist.Manager.instance().getORB(), clientNS)
hostObj = hostCorbaNaming.resolve(hostAddr)
if CORBA.is_nil(hostObj):
sys.stdout.write(' -- Failed to connect %s' % clientAddr)
return
host = OpenRTM_aist.CorbaConsumer()
host.setObject(hostObj)
hostPorts = host._ptr().get_ports()
hostPort = None
for p in hostPorts:
if p.get_port_profile().name.split('.')[1] == hostPortName:
hostPort = p
if not hostPort:
sys.stdout.write(' -- Failed to find port %s' % hostPort)
return
name = clientPortName + '_to_' + hostPortName
connector_id = name
ports = [hostPort, clientPort]
properties = []
prof = RTC.ConnectorProfile(name, connector_id, ports, properties)
ret = hostPort.connect(prof)
hostECList = host._ptr().get_owned_contexts();
hostECList[0].activate_component(host._ptr());
clientECList = client._ptr().get_owned_contexts();
clientECList[0].activate_component(client._ptr());
for b in self._enableAfterConnectButton:
b.config(state=tk.NORMAL)
pass
pass
def on_update(self):
addr = VREP_RTC_PATH
selfAddr = SELF_RTC_PATH
clientNS = selfAddr.split('/')[0]
clientAddr = selfAddr[:selfAddr.rfind(':')][len(clientNS)+1:]
if clientNS.find(':') < 0: clientNS = clientNS+':2809'
clientPortName = selfAddr.split(':')[1]
hostNS = addr.split('/')[0]
hostAddr = addr[:addr.rfind(':')][len(hostNS)+1:]
if hostNS.find(':') < 0: hostNS = hostNS+':2809'
hostPortName = addr.split(':')[1]
robotRTCs = {}
rangeRTCs = {}
cameraRTCs = {}
objectRTCs = {}
otherRTCs = {}
try:
clientCorbaNaming = OpenRTM_aist.CorbaNaming(OpenRTM_aist.Manager.instance().getORB(), clientNS)
root_cxt = clientCorbaNaming.getRootContext()
def parseContext(cxt_str, cxt):
objs = []
bindingList, bindingIterator = cxt.list(30)
for b in bindingList:
if b.binding_type == CosNaming.ncontext:
child_cxt_str = b.binding_name[0].id + '.' + b.binding_name[0].kind + '/'
objs = objs + [cxt_str + o for o in parseContext(child_cxt_str, cxt.resolve(b.binding_name))]
elif b.binding_type == CosNaming.nobject:
objs.append(cxt_str + b.binding_name[0].id + '.' + b.binding_name[0].kind)
return objs
rtobjectNames = parseContext("", root_cxt)
for rtobjectName in rtobjectNames:
obj = clientCorbaNaming.resolve(rtobjectName)
if CORBA.is_nil(obj):
sys.stdout.write(' - RTObject(%s) not found' % rtobjectName)
continue
corbaConsumer = OpenRTM_aist.CorbaConsumer()
corbaConsumer.setObject(obj)
try:
prof = corbaConsumer._ptr().get_component_profile()
if prof.type_name == 'RobotRTC' and prof.category == 'Simulator':
robotRTCs[rtobjectName] = corbaConsumer
elif prof.type_name == 'RangeRTC' and prof.category == 'Simulator':
rangeRTCs[rtobjectName] = corbaConsumer
elif prof.type_name == 'CameraRTC' and prof.category == 'Simulator':
cameraRTCs[rtobjectName] = corbaConsumer
else:
if prof.type_name == 'SimulationManager' and prof.category == 'Simulator':
pass
else:
ns, path, port = self.get_host_rtc_paths()
print clientNS + '/' + rtobjectName
print ns+'/'+path
if ns+'/'+path == clientNS+'/'+rtobjectName:
pass
else:
otherRTCs[clientNS+'/'+rtobjectName] = corbaConsumer
except:
traceback.print_exc()
pass
print robotRTCs
print otherRTCs
def get_object_profile(rtcs):
profile_dic = {}
for n, r in rtcs.items():
objName = ""
arg = ""
try:
for nv in r._ptr().get_component_profile().properties:
if nv.name == 'conf.__innerparam.objectName':
objName = any.from_any(nv.value, keep_structs=True)
elif nv.name == 'conf.__innerparam.argument':
arg = any.from_any(nv.value, keep_structs=True)
profile_dic[objName] = arg
except:
pass
return profile_dic
self._confRobotsBuffer.set(yaml.dump(get_object_profile(robotRTCs)))
self._confRangesBuffer.set(yaml.dump(get_object_profile(rangeRTCs)))
self._confCamerasBuffer.set(yaml.dump(get_object_profile(cameraRTCs)))
self.rtcMenu['menu'].delete("0", "end")
for r in otherRTCs.keys():
self.rtcMenu['menu'].add_command(label=str(r), command= lambda x=str(r): self.synchRTCEntryBuffer.set(x))
if len(otherRTCs.keys()) > 0:
self.synchRTCEntryBuffer.set(otherRTCs.keys()[0])
else:
self.synchRTCEntryBuffer.set("")
if self._simulator._ptr():
retval, rtcs = self._simulator._ptr().getSynchronizingRTCs()
if self._fullpath_to_self[0] in rtcs:
rtcs.remove(self._fullpath_to_self[0])
ss = yaml.dump(rtcs)
if len(rtcs) == 1:
ss = '[' + ss + ']'
elif len(rtcs) == 0:
ss = '[]'
self._confSyncRTCsBuffer.set(ss)
else:
self._confSyncRTCsBuffer.set("[]")
except CORBA.TRANSIENT, e:
print 'CORBA.TRANSIENT Exception'
def testBaseCorbaFetching(self):
self.assertTrue(not CORBA.is_nil(self._objC))
pass
def testBaseCorbaFetching(self):
self.assertTrue(not CORBA.is_nil(self._objC))
pass
def __init__(self):
self.orb = CORBA.ORB_init()
try:
self.ior = open("LTTSample0.rtc").read()
except:
print "LTTSample0.rtc not found"
import time, sys
write = sys.stdout.write
write("Launching LTTSampleComp...")
sys.stdout.flush()
if os.sep == '\\':
os.system("start LTTSampleComp.exe")
else:
os.system("./LTTSampleComp&")
while True:
try:
self.ior = open("LTTSample0.rtc").read()
break;
except:
write(".")
sys.stdout.flush()
time.sleep(0.01)
pass
print "done"
obj = self.orb.string_to_object(self.ior)
if CORBA.is_nil(obj):
print "Object in LTTSample0.rtc is nil. Restarting LTTSampleComp..."
if os.sep == '\\':
os.system("start LTTSampleComp.exe")
else:
os.system("./LTTSampleComp&")
self.ior = open("LTTSample0.rtc").read()
obj = self.orb.string_to_object(self.ior)
if CORBA.is_nil(obj):
print "Object reference is nil"
sys.exit(1)
import omniORB
import sys
if os.sep == '\\':
os.system("omniidl -I. -bpython SDOPackage.idl RTC.idl LogicalTimeTriggeredEC.idl")
import RTC
import OpenRTM
else:
self.sdo_idl = omniORB.importIDL("idl/SDOPackage.idl")
self.rtc_idl = omniORB.importIDL("idl/RTC.idl", ["-Iidl"])
self.ltt_idl = omniORB.importIDL("idl/LogicalTimeTriggeredEC.idl",
["-Iidl"])
RTC = sys.modules["RTC"]
OpenRTM = sys.modules["OpenRTM"]
try:
self.rtobj = obj._narrow(RTC.RTObject)
except:
print "Narrowing failed. Restarting LTTSampleComp..."
import time
print "Launching LTTSampleComp..."
if os.sep == '\\':
os.system("start LTTSampleComp.exe")
else:
os.system("./LTTSampleComp&")
time.sleep(1.0)
obj = self.orb.string_to_object(open("LTTSample0.rtc").read())
self.rtobj = obj._narrow(RTC.RTObject)
cxts = self.rtobj.get_owned_contexts()
self.lttcxt = cxts[0]._narrow(OpenRTM.LogicalTimeTriggeredEC)
profile = self.lttcxt.get_profile()
p = {}
p["kind"] = profile.kind
p["rate"] = profile.rate
p["owner"] = profile.owner
from omniORB import any
for prop in profile.properties:
p[prop.name] = any.from_any(prop.value)
print "ExecutionContext:"
print " type:", p.pop("type")
print " name:", p.pop("name")
print " kind:", p.pop("kind")
print " rate:", p.pop("rate")
print " owner:", p.pop("owner")
print "properties:", p
