def __init__(self, orb, server_name=None, naming=None):
self.orb = orb
self.name = server_name
if naming:
self.naming = naming
else:
self.naming = CorbaNaming(self.orb, server_name)
self.b_len = 10 # iteration cut off no.
self.rtc_handles = {}
self.obj_list = {}
def setUp(self):
self.orb = OpenRTM_aist.Manager.instance().getORB()
self.naming = CorbaNaming(self.orb, "localhost:2809")
#self.naming.clearAll()
self.name_list = []
self.name_list.append(CosNaming.NameComponent("Mon", "mon_cxt"))
self.name_list.append(CosNaming.NameComponent("Tus", "tus_cxt"))
self.name_list.append(CosNaming.NameComponent("Wed", "wed_cxt"))
self.name_list.append(CosNaming.NameComponent("Thu", "thu_cxt"))
self.name_list.append(CosNaming.NameComponent("Fri", "fri_cxt"))
self.name_list.append(CosNaming.NameComponent("Sat", "sat_cxt"))
self.name_list.append(CosNaming.NameComponent("Sun", "sun_cxt"))
return
def __init__(self, orb=None, server_name='localhost'):
if orb is None:
self.orb = CORBA.ORB_init(sys.argv)
else:
self.orb=orb
self.name=server_name
self.naming=CorbaNaming(self.orb, self.name)
self.maxlen=20
self.object_list={}
self.current_ctx=""
def __init__(self, orb, server_name=None, naming=None):
self.orb = orb
self.name = server_name
if naming:
self.naming = naming
else:
self.naming = CorbaNaming(self.orb, server_name)
self.b_len = 10 # iteration cut off no.
self.rtc_handles = {}
self.obj_list = {}
def setUp(self):
self.orb = OpenRTM_aist.Manager.instance().getORB()
self.naming = CorbaNaming(self.orb, "localhost:2809")
#self.naming.clearAll()
self.name_list = []
self.name_list.append(CosNaming.NameComponent("Mon","mon_cxt"))
self.name_list.append(CosNaming.NameComponent("Tus","tus_cxt"))
self.name_list.append(CosNaming.NameComponent("Wed","wed_cxt"))
self.name_list.append(CosNaming.NameComponent("Thu","thu_cxt"))
self.name_list.append(CosNaming.NameComponent("Fri","fri_cxt"))
self.name_list.append(CosNaming.NameComponent("Sat","sat_cxt"))
self.name_list.append(CosNaming.NameComponent("Sun","sun_cxt"))
return
def setUp(self):
self.orb = CORBA.ORB_init()
self.naming = CorbaNaming(self.orb, "localhost:2809")
#self.naming.clearAll()
self.name_list = []
self.name_list.append(CosNaming.NameComponent("Mon","mon_cxt"))
self.name_list.append(CosNaming.NameComponent("Tus","tus_cxt"))
self.name_list.append(CosNaming.NameComponent("Wed","wed_cxt"))
self.name_list.append(CosNaming.NameComponent("Thu","thu_cxt"))
self.name_list.append(CosNaming.NameComponent("Fri","fri_cxt"))
self.name_list.append(CosNaming.NameComponent("Sat","sat_cxt"))
self.name_list.append(CosNaming.NameComponent("Sun","sun_cxt"))
return
class NameSpace :
def __init__(self, orb, server_name=None, naming=None):
self.orb = orb
self.name = server_name
if naming :
self.naming = naming
else :
self.naming = CorbaNaming(self.orb, server_name)
self.b_len = 10 # iteration cut off no.
self.rtc_handles = {}
self.obj_list = {}
def get_object_by_name(self, name, cl=RTC.RTObject):
ref = self.naming.resolveStr(name)
if ref is None: return None # return CORBA.nil ?
if cl :
return ref._narrow(cl)
else :
return ref
def list_obj(self) :
self.rtc_handles = {}
self.obj_list = {}
return self.list_obj1(self.naming._rootContext, "")
def list_obj1(self, name_context, parent) :
if not name_context :
name_context = self.naming._rootContext
rslt = []
b_list = name_context.list(self.b_len)
for bd in b_list[0] :
rslt = rslt + self.proc_bd(bd, name_context, parent)
if b_list[1] : # iterator : there exists remaining.
t_list = b_list[1].next_n(self.b_len)
while t_list[0] :
for bd in t_list[1] :
rslt = rslt + self.proc_bd(bd, name_context, parent)
t_list = b_list[1].next_n(self.b_len)
return rslt
def proc_bd(self, bd, name_context, parent) :
# print '-------------------------------------------------------------------'
# print 'bd= ', bd
# print 'name_context= ', name_context
# print 'parent= ', parent
rslt = []
pre = ""
if parent :
pre = parent + "/"
nam = pre + URI.nameToString(bd.binding_name)
if bd.binding_type == CosNaming.nobject :
tmp = name_context.resolve(bd.binding_name)
self.obj_list[nam]=tmp
print 'objcet '+nam+' was listed.'
try :
tmp = tmp._narrow(RTC.RTObject)
except :
print nam+' is not RTC.'
tmp = None
try :
if tmp :
rslt = [[nam, tmp]]
self.rtc_handles[nam]=RtcHandle(nam,self,tmp)
print 'handle for '+nam+' was created.'
else :
pass
except :
print nam+' is not alive.' , sys.exc_info()[0]
pass
else :
tmp = name_context.resolve(bd.binding_name)
tmp = tmp._narrow(CosNaming.NamingContext)
rslt = self.list_obj1(tmp, nam)
return rslt
class NameSpace:
def __init__(self, orb, server_name=None, naming=None):
self.orb = orb
self.name = server_name
if naming:
self.naming = naming
else:
self.naming = CorbaNaming(self.orb, server_name)
self.b_len = 10 # iteration cut off no.
self.rtc_handles = {}
self.obj_list = {}
def get_object_by_name(self, name, cl=RTC.RTObject):
ref = self.naming.resolveStr(name)
if ref is None: return None # return CORBA.nil ?
if cl:
return ref._narrow(cl)
else:
return ref
def list_obj(self):
self.rtc_handles = {}
self.obj_list = {}
return self.list_obj1(self.naming._rootContext, "")
def list_obj1(self, name_context, parent):
if not name_context:
name_context = self.naming._rootContext
rslt = []
b_list = name_context.list(self.b_len)
for bd in b_list[0]:
rslt = rslt + self.proc_bd(bd, name_context, parent)
if b_list[1]: # iterator : there exists remaining.
t_list = b_list[1].next_n(self.b_len)
while t_list[0]:
for bd in t_list[1]:
rslt = rslt + self.proc_bd(bd, name_context, parent)
t_list = b_list[1].next_n(self.b_len)
return rslt
def proc_bd(self, bd, name_context, parent):
# print '-------------------------------------------------------------------'
# print 'bd= ', bd
# print 'name_context= ', name_context
# print 'parent= ', parent
rslt = []
pre = ""
if parent:
pre = parent + "/"
nam = pre + URI.nameToString(bd.binding_name)
if bd.binding_type == CosNaming.nobject:
tmp = name_context.resolve(bd.binding_name)
self.obj_list[nam] = tmp
print('objcet ' + nam + ' was listed.')
try:
tmp = tmp._narrow(RTC.RTObject)
except:
print(nam + ' is not RTC.')
tmp = None
try:
if tmp:
rslt = [[nam, tmp]]
self.rtc_handles[nam] = RtcHandle(nam, self, tmp)
print('handle for ' + nam + ' was created.')
else:
pass
except:
print(nam + ' is not alive.', sys.exc_info()[0])
pass
else:
tmp = name_context.resolve(bd.binding_name)
tmp = tmp._narrow(CosNaming.NamingContext)
rslt = self.list_obj1(tmp, nam)
return rslt
#
# $Id: CreateDeleteRTCTest.py 1541 2009-08-31 07:21:12Z hakuta $
#
from rtc_handle import *
from BasicDataType_idl import *
from CorbaNaming import *
import time
import commands
import socket
import RTM
env = RtmEnv(sys.argv, ["localhost:9898"])
mgr_name=socket.gethostname()+".host_cxt/manager.mgr"
naming = CorbaNaming(env.orb,"localhost:9898")
manager = naming.resolve(mgr_name)._narrow(RTM.Manager)
time.sleep(2)
def mem_rss():
(stat, output) = commands.getstatusoutput("ps alxww | grep \"[r]\"tcd")
return output.split()[7]
## file and console out
def print_file_and_cons(out_data, out_flag=0):
## out_flag:1 is file out only
if out_flag == 1:
fout.write(out_data + '\n')
fout.flush()
## out_flag:2 is console out only
class TestCorbaNaming(unittest.TestCase):
def setUp(self):
self.orb = OpenRTM_aist.Manager.instance().getORB()
self.naming = CorbaNaming(self.orb, "localhost:2809")
#self.naming.clearAll()
self.name_list = []
self.name_list.append(CosNaming.NameComponent("Mon", "mon_cxt"))
self.name_list.append(CosNaming.NameComponent("Tus", "tus_cxt"))
self.name_list.append(CosNaming.NameComponent("Wed", "wed_cxt"))
self.name_list.append(CosNaming.NameComponent("Thu", "thu_cxt"))
self.name_list.append(CosNaming.NameComponent("Fri", "fri_cxt"))
self.name_list.append(CosNaming.NameComponent("Sat", "sat_cxt"))
self.name_list.append(CosNaming.NameComponent("Sun", "sun_cxt"))
return
def tearDown(self):
OpenRTM_aist.Manager.instance().shutdownManager()
del self
return
def test_init(self):
try:
self.naming.init("localhost")
except:
print "Exeption at naming init."
def test_bind(self):
self.naming.clearAll()
self.bind_test_sequence(self.name_list)
def bind_test_sequence(self, sname):
obj = self.naming.newContext()
self.naming.bind(sname, obj)
# resolve test
new_obj = self.naming.resolve(sname)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
return True
def test_bindByString(self):
name = "localhost.host_cxt\/Manager123456.mgr_cxt/MobileRobot.cat_cxt/Kani0.rtc"
lname = []
lname.append(
CosNaming.NameComponent("localhost.host_cxt\/Manager123456",
"mgr_cxt"))
lname.append(CosNaming.NameComponent("MobileRobot", "cat_cxt"))
lname.append(CosNaming.NameComponent("Kani0", "rtc"))
obj = self.naming.newContext()
self.naming.bindByString(name, obj)
new_obj = self.naming.resolve(name)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
new_obj = self.naming.resolve(lname)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
#def test_bindRecursive(self):
# pass
def test_rebind(self):
obj = self.naming.newContext()
self.naming.bind(self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
self.naming.rebind(self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
#def test_rebindByString(self):
# pass
def test_rebindRecursive(self):
obj = self.naming.newContext()
self.naming.bind(self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
self.naming.rebindRecursive(self.naming.getRootContext(),
self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
def test_bindContext(self):
obj = self.naming.newContext()
name = []
name.append(CosNaming.NameComponent("bindcxt", "bindcxt_cxt"))
self.naming.bindContext("bindcxt.bindcxt_cxt", obj)
new_obj = self.naming.resolve(name)
self.assertEqual(obj._is_equivalent(new_obj), True, "Resolve failed.")
def test_unbind(self):
obj = self.naming.newContext()
self.naming.bind(self.name_list, obj)
self.naming.unbind(self.name_list)
def test_bindNewContext(self):
name = []
name.append(CosNaming.NameComponent("newContext", "new_cxt"))
self.naming.bindNewContext(name)
new_obj = self.naming.resolve(name)
def test_destroy(self):
obj = self.naming.newContext()
name = []
name.append(CosNaming.NameComponent("destroy", "destroy_cxt"))
self.naming.bind(name, obj)
self.naming.destroy(obj)
def test_destroyRecursive(self):
obj = self.naming.newContext()
name = []
name.append(CosNaming.NameComponent("desRec0", "desRec0_cxt"))
name.append(CosNaming.NameComponent("desRec1", "desRec1_cxt"))
name.append(CosNaming.NameComponent("desRec2", "desRec2_cxt"))
self.naming.bind(name, obj)
self.naming.destroyRecursive(obj)
def test_list(self):
bl = []
bi = []
self.naming.list(self.naming.getRootContext(), 100, bl, bi)
print bl[0][0].binding_name[0].id
def test_toString(self):
name = []
name.append(CosNaming.NameComponent("desRec0", "desRec0_cxt"))
name.append(CosNaming.NameComponent("desRec1", "desRec1_cxt"))
name.append(CosNaming.NameComponent("desRec2", "desRec2_cxt"))
string_name = self.naming.toString(name)
self.assertEqual(
str("desRec0.desRec0_cxt/desRec1.desRec1_cxt/desRec2.desRec2_cxt/"
), str(string_name))
print ".", string_name, "."
class Rtc_Sh:
def __init__(self, orb=None, server_name='localhost'):
if orb is None:
self.orb = CORBA.ORB_init(sys.argv)
else:
self.orb=orb
self.name=server_name
self.naming=CorbaNaming(self.orb, self.name)
self.maxlen=20
self.object_list={}
self.current_ctx=""
#self.getRTObjectList()
def resolveRTObject(self, name):
try:
if name.count(".rtc") == 0 : name = name+".rtc"
ref=self.naming.resolveStr(name)
ref._non_existent()
return ref._narrow(RTObject)
except:
#traceback.print_exc()
return None
def unbind(self, name):
self.naming.unbind(name)
print("Unbind :", name)
return
def clearObjectList(self):
self.object_list={}
def getRTObjectList(self, name_context=None, parent=""):
res=[]
if name_context is None:
name_context = self.naming._rootContext
binds, bind_i = name_context.list(self.maxlen)
for bind in binds:
res = res + self.resolveBindings(bind, name_context, parent)
if bind_i :
tl = bind_i.next_n(self.maxlen)
while tl[0]:
for bind in tl[1] :
res = res + self.resolveBindings(bind, name_conext, parent)
tl = bind_i.next_n(self.maxlen)
return res
def resolveBindings(self, bind, name_context, parent):
res = []
prefix=parent
if parent :
prefix += "/"
name = prefix + URI.nameToString(bind.binding_name)
if bind.binding_type == CosNaming.nobject:
if bind.binding_name[0].kind == "rtc":
obj = name_context.resolve(bind.binding_name)
try:
obj._non_existent()
obj = obj._narrow(RTObject)
res = [[name, obj]]
self.object_list[name] = obj
except:
obj = None
res = [[name, obj]]
else:
pass
#self.object_list[name] = None
else:
ctx = name_context.resolve(bind.binding_name)
ctx = ctx._narrow(CosNaming.NamingContext)
parent = name
res = self.getRTObjectList( ctx, parent)
return res
def refreshObjectList(self):
self.object_list = {}
return self.getRTObjectList()
def getPorts(self, name):
res=[]
if name.count(".rtc") == 0 : name = name+".rtc"
if not (name in self.object_list):
self.refreshObjectList()
if name in self.object_list:
port_ref = self.object_list[name].get_ports()
for p in port_ref:
pp = p.get_port_profile()
pprof = nvlist2dict(pp.properties)
if pp.interfaces:
ifp=pp.interfaces[0]
pprof['interface_name'] = ifp.instance_name
pprof['interface_type_name'] = ifp.type_name
pprof['interface_polarity'] = ifp.polarity
res.append( (pp.name, pprof))
else:
print("No such RTC:", name)
return res
def getPortRef(self, name, port):
res=[]
if name in self.object_list:
self.refreshObjectList()
if name.count(".rtc") == 0 : name = name+".rtc"
if name in self.object_list:
port_ref = self.object_list[name].get_ports()
for p in port_ref:
pp = p.get_port_profile()
if port == pp.name.split('.')[-1]:
return p
else:
print("No such port:", name, ":", port)
return None
def getConnectors(self, name, port):
port_ref=self.getPortRef(name, port)
if port_ref:
cons = port_ref.get_connector_profiles()
return cons
return None
def getConnectionInfo(self, con):
ports = [(con.ports[0].get_port_profile()).name, (con.ports[1].get_port_profile()).name]
res={'name': con.name, 'ports': ports, 'id': con.connector_id }
return res
def getConnections(self, name, port):
res = []
cons = self.getConnectors(name, port)
if cons:
for c in cons:
res.append(self.getConnectionInfo(c))
return res
def find_connection(self, portname1, portname2):
try:
name1, port1 = portname1.split(":")
name2, port2 = portname2.split(":")
p1=self.getPortRef(name1, port1)
p2=self.getPortRef(name2, port2)
cons = self.getConnectors(name1, port1)
cons2 = self.getConnectors(name2, port2)
if cons and cons2 :
for c in cons:
for c2 in cons2:
if c.connector_id == c2.connector_id:
return c
return False
except:
traceback.print_exc()
return None
def connect(self, portname1, portname2, service=False):
if service:
con_prof = {'port.port_type':'CorbaPort' }
else:
con_prof={'dataport.dataflow_type':'push',
'dataport.interface_type':'corba_cdr' ,
'dataport.subscription_type':'flush'}
chk = self.find_connection(portname1, portname2)
if chk is None:
return None
if chk :
print("Conntction exists:", chk.connector_id)
return
try:
name1, port1 = portname1.split(":")
name2, port2 = portname2.split(":")
p1=self.getPortRef(name1, port1)
p2=self.getPortRef(name2, port2)
if p1 and p2:
name=string.join([name1, port1, name2, port2], '_')
prof_req=ConnectorProfile(name, "", [p1, p2], dict2nvlist(con_prof))
res, prof=p1.connect(prof_req)
else:
res="Error in connect"
except:
res="Error"
print(res)
return
def disconnect(self, portname1, portname2):
try:
con=self.find_connection(portname1, portname2)
if con is None or not con:
print("No such connrction:", portname1, portname2)
con.ports[0].disconnect(con.connector_id)
print("Sucess to disconnect:", portname1, portname2)
except:
print("Fail to disconnect:", portname1, portname2)
def getEC(self, name):
obj=self.resolveRTObject(name)
if obj :
ec=obj.get_owned_contexts()[0]
return ec
else:
return None
def activate(self, name):
res=None
obj=self.resolveRTObject(name)
if obj :
ec=obj.get_owned_contexts()[0]
res=ec.activate_component(obj)
return res
def deactivate(self, name):
res=None
obj=self.resolveRTObject(name)
if obj :
ec=obj.get_owned_contexts()[0]
res=ec.deactivate_component(obj)
return res
def get_component_state(self, name):
stat=None
obj=self.resolveRTObject(name)
if obj:
ec=obj.get_owned_contexts()[0]
stat=ec.get_component_state(obj)
return stat
def terminate(self, name):
obj=self.resolveRTObject(name)
if obj:
obj.exit()
return None
class TestCorbaNaming(unittest.TestCase):
def setUp(self):
self.orb = OpenRTM_aist.Manager.instance().getORB()
self.naming = CorbaNaming(self.orb, "localhost:2809")
#self.naming.clearAll()
self.name_list = []
self.name_list.append(CosNaming.NameComponent("Mon","mon_cxt"))
self.name_list.append(CosNaming.NameComponent("Tus","tus_cxt"))
self.name_list.append(CosNaming.NameComponent("Wed","wed_cxt"))
self.name_list.append(CosNaming.NameComponent("Thu","thu_cxt"))
self.name_list.append(CosNaming.NameComponent("Fri","fri_cxt"))
self.name_list.append(CosNaming.NameComponent("Sat","sat_cxt"))
self.name_list.append(CosNaming.NameComponent("Sun","sun_cxt"))
return
def tearDown(self):
OpenRTM_aist.Manager.instance().shutdownManager()
del self
return
def test_init(self):
try:
self.naming.init("localhost")
except:
print "Exeption at naming init."
def test_bind(self):
self.naming.clearAll()
self.bind_test_sequence(self.name_list)
def bind_test_sequence(self, sname):
obj = self.naming.newContext()
self.naming.bind(sname, obj)
# resolve test
new_obj = self.naming.resolve(sname)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
return True
def test_bindByString(self):
name = "localhost.host_cxt\/Manager123456.mgr_cxt/MobileRobot.cat_cxt/Kani0.rtc"
lname = []
lname.append(CosNaming.NameComponent("localhost.host_cxt\/Manager123456","mgr_cxt"))
lname.append(CosNaming.NameComponent("MobileRobot","cat_cxt"))
lname.append(CosNaming.NameComponent("Kani0","rtc"))
obj = self.naming.newContext()
self.naming.bindByString(name, obj)
new_obj = self.naming.resolve(name)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
new_obj = self.naming.resolve(lname)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
#def test_bindRecursive(self):
# pass
def test_rebind(self):
obj = self.naming.newContext()
self.naming.bind(self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
self.naming.rebind(self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
#def test_rebindByString(self):
# pass
def test_rebindRecursive(self):
obj = self.naming.newContext()
self.naming.bind(self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
self.naming.rebindRecursive(self.naming.getRootContext(), self.name_list, obj)
new_obj = self.naming.resolve(self.name_list)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
def test_bindContext(self):
obj = self.naming.newContext()
name = []
name.append(CosNaming.NameComponent("bindcxt","bindcxt_cxt"))
self.naming.bindContext("bindcxt.bindcxt_cxt", obj)
new_obj = self.naming.resolve(name)
self.assertEqual(obj._is_equivalent(new_obj), True,"Resolve failed.")
def test_unbind(self):
obj = self.naming.newContext()
self.naming.bind(self.name_list, obj)
self.naming.unbind(self.name_list)
def test_bindNewContext(self):
name = []
name.append(CosNaming.NameComponent("newContext","new_cxt"))
self.naming.bindNewContext(name)
new_obj = self.naming.resolve(name)
def test_destroy(self):
obj = self.naming.newContext()
name = []
name.append(CosNaming.NameComponent("destroy","destroy_cxt"))
self.naming.bind(name, obj)
self.naming.destroy(obj)
def test_destroyRecursive(self):
obj = self.naming.newContext()
name = []
name.append(CosNaming.NameComponent("desRec0","desRec0_cxt"))
name.append(CosNaming.NameComponent("desRec1","desRec1_cxt"))
name.append(CosNaming.NameComponent("desRec2","desRec2_cxt"))
self.naming.bind(name, obj)
self.naming.destroyRecursive(obj)
def test_list(self):
bl = []
bi = []
self.naming.list(self.naming.getRootContext(), 100, bl, bi)
print bl[0][0].binding_name[0].id
def test_toString(self):
name = []
name.append(CosNaming.NameComponent("desRec0","desRec0_cxt"))
name.append(CosNaming.NameComponent("desRec1","desRec1_cxt"))
name.append(CosNaming.NameComponent("desRec2","desRec2_cxt"))
string_name = self.naming.toString(name)
self.assertEqual(str("desRec0.desRec0_cxt/desRec1.desRec1_cxt/desRec2.desRec2_cxt/"),str(string_name))
print ".",string_name,"."
