def shutdown(self):
guard_master = OpenRTM_aist.ScopedLock(self._masterMutex)
for master in self._masters:
try:
if CORBA.is_nil(master):
continue
master.remove_slave_manager(self._objref)
except BaseException:
pass
self._masters = []
guard_slave = OpenRTM_aist.ScopedLock(self._slaveMutex)
for slaves in self._slaves:
try:
if CORBA.is_nil(slaves):
continue
slaves.remove_master_manager(self._objref)
except BaseException:
pass
self._slaves = []
wait_time = 1.0
if self._mgr.getConfig().findNode("manager.termination_waittime"):
s = self._mgr.getConfig().getProperty("manager.termination_waittime")
ret, wait_time = OpenRTM_aist.stringTo(wait_time, s)
self._mgr.terminate()
return RTC.RTC_OK
def destroyRecursive(self, context):
cont = True
bl = []
bi = 0
bl, bi = context.list(self._blLength)
while cont:
for i in range(len(bl)):
if bl[i].binding_type == CosNaming.ncontext:
obj = context.resolve(bl[i].binding_name)
next_context = obj._narrow(CosNaming.NamingContext)
self.destroyRecursive(next_context)
context.unbind(bl[i].binding_name)
next_context.destroy()
elif bl[i].binding_type == CosNaming.nobject:
context.unbind(bl[i].binding_name)
else:
assert(0)
if CORBA.is_nil(bi):
cont = False
else:
bi.next_n(self._blLength, bl)
if not (CORBA.is_nil(bi)):
bi.destroy()
return
def PBMeshSmeshPressed(self):
from omniORB import CORBA
import salome
from salome.kernel import studyedit
from salome.smesh.smeshstudytools import SMeshStudyTools
from salome.gui import helper as guihelper
from salome.smesh import smeshBuilder
smesh = smeshBuilder.New(salome.myStudy)
mySObject, myEntry = guihelper.getSObjectSelected()
if CORBA.is_nil(mySObject) or mySObject==None:
#QMessageBox.critical(self, "Mesh", "select an input mesh")
self.LE_MeshSmesh.setText("")
self.MeshIn=""
self.LE_MeshFile.setText("")
self.fichierIn=""
return
self.smeshStudyTool = SMeshStudyTools()
try:
self.__selectedMesh = self.smeshStudyTool.getMeshObjectFromSObject(mySObject)
except:
QMessageBox.critical(self, "Mesh", "select an input mesh")
return
if CORBA.is_nil(self.__selectedMesh):
QMessageBox.critical(self, "Mesh", "select an input mesh")
return
myName = mySObject.GetName()
#print "MeshSmeshNameChanged", myName
self.MeshIn=myName
self.LE_MeshSmesh.setText(myName)
self.LE_MeshFile.setText("")
self.fichierIn=""
def deactivate(rtc, ec_id=0):
if CORBA.is_nil(rtc):
return RTC.BAD_PARAMETER
ec = get_actual_ec(rtc, ec_id)
if CORBA.is_nil(ec):
return RTC.BAD_PARAMETER
return ec.deactivate_component(rtc)
def destroyRecursive(self, context):
cont = True
bl = []
bi = 0
bl, bi = context.list(self._blLength)
while cont:
for i in range(len(bl)):
if bl[i].binding_type == CosNaming.ncontext:
obj = context.resolve(bl[i].binding_name)
next_context = obj._narrow(CosNaming.NamingContext)
self.destroyRecursive(next_context)
context.unbind(bl[i].binding_name)
next_context.destroy()
elif bl[i].binding_type == CosNaming.nobject:
context.unbind(bl[i].binding_name)
else:
assert(0)
if CORBA.is_nil(bi):
cont = False
else:
bi.next_n(self._blLength, bl)
if not (CORBA.is_nil(bi)):
bi.destroy()
return
def reset(rtc, ec_id=0):
if CORBA.is_nil(rtc):
return RTC.BAD_PARAMETER
ec = get_actual_ec(rtc, ec_id)
if CORBA.is_nil(ec):
return RTC.BAD_PARAMETER
return ec.reset_component(rtc)
def remove_rtc_to_default_ec(localcomp, othercomp):
if CORBA.is_nil(othercomp):
return RTC.BAD_PARAMETER
ec = get_actual_ec(localcomp)
if CORBA.is_nil(ec):
return RTC.BAD_PARAMETER
return ec.remove_component(othercomp)
def onSelectSmeshObject(self):
'''
This function is the slot connected on the mesh selection
button. It memorizes the selected mesh and put its name in the
text field of the dialog box.
'''
mySObject, myEntry = guihelper.getSObjectSelected()
if CORBA.is_nil(mySObject):
self.__ui.txtSmeshObject.setText("You must choose a mesh")
self.__ui.txtGroupName.setText("")
self.__ui.txtSmeshObject.setEnabled(False)
self.__ui.btnAddInput.setEnabled(False)
self.__selectedMesh = None
return
self.smeshStudyTool.updateStudy(studyedit.getActiveStudyId())
self.__selectedMesh = self.smeshStudyTool.getMeshObjectFromSObject(mySObject)
if CORBA.is_nil(self.__selectedMesh):
self.__ui.txtSmeshObject.setText("The selected object is not a mesh")
self.__ui.txtGroupName.setText("")
self.__ui.txtSmeshObject.setEnabled(False)
self.__ui.btnAddInput.setEnabled(False)
self.__selectedMesh = None
return
myName = mySObject.GetName()
self.__ui.txtSmeshObject.setText(myName)
self.__ui.txtSmeshObject.setEnabled(True)
self.__ui.btnAddInput.setEnabled(True)
# We can suggest a default group name from the mesh name
self.__ui.txtGroupName.setText(myName)
def exit(self):
guard_master = OpenRTM_aist.ScopedLock(self._masterMutex)
for master in self._masters:
try:
if CORBA.is_nil(master):
continue
master.remove_slave_manager(self._objref)
except BaseException:
pass
self._masters = []
guard_slave = OpenRTM_aist.ScopedLock(self._slaveMutex)
for slave in self._slaves:
try:
if CORBA.is_nil(slave):
continue
slave.remove_master_manager(self._objref)
except BaseException:
pass
self._slaves = []
del guard_slave
del guard_master
if not CORBA.is_nil(self._objref):
poa = self._mgr.getORB().resolve_initial_references("omniINSPOA")
poa.deactivate_object(poa.servant_to_id(self))
# self._objref._release()
return
def get_state(rtc, ec_id=0):
if CORBA.is_nil(rtc):
return False, RTC.CREATED_STATE
ec = get_actual_ec(rtc, ec_id)
if CORBA.is_nil(ec):
return False, RTC.CREATED_STATE
state = ec.get_component_state(rtc)
return True, state
def create_component(self, module_name):
self._rtcout.RTC_TRACE("create_component(%s)", module_name)
rtc = self.createComponentByAddress(module_name)
if not CORBA.is_nil(rtc):
return rtc
rtc = self.createComponentByManagerName(module_name)
if not CORBA.is_nil(rtc):
return rtc
#module_name = module_name.split("&")[0]
module_name = [module_name]
self.getParameterByModulename("manager_address",module_name)
manager_name = self.getParameterByModulename("manager_name",module_name)
module_name = module_name[0]
comp_param = CompParam(module_name)
if self._isMaster:
guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
for slave in self._slaves[:]:
try:
prof = slave.get_configuration()
prop = OpenRTM_aist.Properties()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof)
slave_lang = prop.getProperty("manager.language")
if slave_lang == comp_param.language():
rtc = slave.create_component(module_name)
if not CORBA.is_nil(rtc):
return rtc
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
self._slaves.remove(slave)
del guard
if not manager_name:
module_name = module_name + "&manager_name=manager_%p"
rtc = self.createComponentByManagerName(module_name)
return rtc
else:
# create on this manager
rtc = self._mgr.createComponent(module_name)
if rtc:
return rtc.getObjRef()
return RTC.RTObject._nil
def sdoToDFC(self, sdo, dfc):
if CORBA.is_nil(sdo):
return False
dfc[0] = sdo._narrow(OpenRTM.DataFlowComponent)
if CORBA.is_nil(dfc[0]):
return False
return True
def sdoToDFC(self, sdo, dfc):
if CORBA.is_nil(sdo):
return False
dfc[0] = sdo._narrow(OpenRTM.DataFlowComponent)
if CORBA.is_nil(dfc[0]):
return False
return True
def connect(name, prop, port0, port1):
if CORBA.is_nil(port0):
return RTC.BAD_PARAMETER
# if CORBA.is_nil(port1):
# return RTC.BAD_PARAMETER
if not CORBA.is_nil(port1):
if port0._is_equivalent(port1):
return RTC.BAD_PARAMETER
cprof = create_connector(name, prop, port0, port1)
return port0.connect(cprof)[0]
def setOwner(self, comp):
self._rtcout.RTC_TRACE("setOwner()")
assert(not CORBA.is_nil(comp))
rtobj_ = comp._narrow(RTC.RTObject)
if CORBA.is_nil(rtobj_):
self._rtcout.RTC_ERROR("Narrowing failed.")
return RTC.BAD_PARAMETER
guard = OpenRTM_aist.ScopedLock(self._profileMutex)
self._profile.owner = rtobj_
del guard
return RTC.RTC_OK
def test_getPortRef(self):
getP = self._pa.getPortRef("")
self.assertEqual(CORBA.is_nil(getP), True)
getP = self._pa.getPortRef("port1")
self.assertEqual(CORBA.is_nil(getP), False)
self.assertEqual(getP.get_port_profile().name, "port1")
getP = self._pa.getPortRef("port0")
self.assertEqual(CORBA.is_nil(getP), False)
self.assertEqual(getP.get_port_profile().name, "port0")
return
def CCCtest_getPortRef(self):
getP = self._pa.getPortRef("")
self.assertEqual(CORBA.is_nil(getP), True)
getP = self._pa.getPortRef("port1")
self.assertEqual(CORBA.is_nil(getP), False)
self.assertEqual(getP.get_port_profile().name, "port1")
getP = self._pa.getPortRef("port0")
self.assertEqual(CORBA.is_nil(getP), False)
self.assertEqual(getP.get_port_profile().name, "port0")
return
def disconnect_by_port_name(localport, othername):
if CORBA.is_nil(localport):
return RTC.BAD_PARAMETER
prof = localport.get_port_profile()
if prof.name == othername:
return RTC.BAD_PARAMETER
conprof = localport.get_connector_profiles()
for c in conprof:
for p in c.ports:
if not CORBA.is_nil(p):
pp = p.get_port_profile()
if pp.name == othername:
return disconnect(c)
return RTC.BAD_PARAMETER
def connect_by_name(name, prop, rtc0, port_name0, rtc1, port_name1):
if CORBA.is_nil(rtc0):
return RTC.BAD_PARAMETER
if CORBA.is_nil(rtc1):
return RTC.BAD_PARAMETER
port0 = get_port_by_name(rtc0, port_name0)
if CORBA.is_nil(port0):
return RTC.BAD_PARAMETER
port1 = get_port_by_name(rtc1, port_name1)
if CORBA.is_nil(port1):
return RTC.BAD_PARAMETER
return connect(name, prop, port0, port1)
def get_components(self):
self._rtcout.RTC_TRACE("get_components()")
# get local component references
rtcs = self._mgr.getComponents()
crtcs = []
for rtc in rtcs:
crtcs.append(rtc.getObjRef())
# get slaves' component references
self._rtcout.RTC_DEBUG("%d slave managers exists.", len(self._slaves))
for slave in self._slaves[:]:
try:
if not CORBA.is_nil(slave):
srtcs = slave.get_components()
OpenRTM_aist.CORBA_SeqUtil.push_back_list(crtcs, srtcs)
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
self._slaves.remove(slave)
#self._rtcout.RTC_INFO("slave (%d) has disappeared.", i)
#self._slaves[i] = RTM.Manager._nil
#OpenRTM_aist.CORBA_SeqUtil.erase(self._slaves, i)
#i -= 1
return crtcs
def addComponent(self, comp):
self._rtcout.RTC_TRACE("addComponent()")
if CORBA.is_nil(comp):
self._rtcout.RTC_ERROR("A nil reference was given.")
return RTC.BAD_PARAMETER
rtobj_ = comp._narrow(RTC.RTObject)
if CORBA.is_nil(rtobj_):
self._rtcout.RTC_ERROR("Narrowing was failed.")
return RTC.RTC_ERROR
guard = OpenRTM_aist.ScopedLock(self._profileMutex)
OpenRTM_aist.CORBA_SeqUtil.push_back(self._profile.participants,
rtobj_)
del guard
return RTC.RTC_OK
def getManager():
'''
Returns a reference to the Manager.
Params: None
Returns: a reference to the Manager (or None if there are network problems).
Raises: Nothing.
'''
global MGR_REF
if MGR_REF == None:
#If this function has never been called before...
try:
MGR_REF = getORB().string_to_object(getManagerCorbaloc())
if MGR_REF != None and (not CORBA.is_nil(MGR_REF)):
try:
MGR_REF._non_existent()
MGR_REF = MGR_REF._narrow(Manager)
except:
MGR_REF = None
else:
MGR_REF = None
except Exception, e:
MGR_REF = None
print_exc()
def onInitialize(self):
self._rtcout.RTC_TRACE("onInitialize()")
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")
mgr = OpenRTM_aist.Manager.instance()
sdos = []
for member in self._members[0]:
if member == "":
continue
rtc = mgr.getComponent(member)
if rtc is None:
print "no RTC found: ", member
continue
sdo = rtc.getObjRef()
if CORBA.is_nil(sdo):
continue
OpenRTM_aist.CORBA_SeqUtil.push_back(sdos, sdo)
try:
self._org.set_members(sdos)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
return RTC.RTC_OK
def addOrganizationToTarget(self, member):
conf = member._config
if CORBA.is_nil(conf):
return
conf.add_organization(self._objref)
return
def onInitialize(self):
self._rtcout.RTC_TRACE("onInitialize()")
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")
mgr = OpenRTM_aist.Manager.instance()
sdos = []
for member in self._members[0]:
if member == "":
continue
rtc = mgr.getComponent(member)
if rtc is None:
print "no RTC found: ", member
continue
sdo = rtc.getObjRef()
if CORBA.is_nil(sdo):
continue
OpenRTM_aist.CORBA_SeqUtil.push_back(sdos, sdo)
try:
self._org.set_members(sdos)
except:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
return RTC.RTC_OK
def subscribeFromRef(self, properties):
self._rtcout.RTC_TRACE("subscribeFromRef()")
index = OpenRTM_aist.NVUtil.find_index(properties,
"dataport.corba_cdr.inport_ref")
if index < 0:
self._rtcout.RTC_ERROR("inport_ref not found")
return False
obj = None
try:
obj = any.from_any(properties[index].value, keep_structs=True)
except:
self._rtcout.RTC_ERROR(sys.exc_info()[0])
if not obj:
self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
return False
if CORBA.is_nil(obj):
self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
return False
if not self.setObject(obj):
self._rtcout.RTC_ERROR("Setting object to consumer failed.")
return False
return True
def subscribeFromIor(self, properties):
self._rtcout.RTC_TRACE("subscribeFromIor()")
index = OpenRTM_aist.NVUtil.find_index(properties,
"dataport.corba_cdr.inport_ior")
if index < 0:
self._rtcout.RTC_ERROR("inport_ior not found")
return False
ior = ""
try:
ior = any.from_any(properties[index].value, keep_structs=True)
except:
self._rtcout.RTC_ERROR(sys.exc_info()[0])
if not ior:
self._rtcout.RTC_ERROR("inport_ior has no string")
return False
orb = OpenRTM_aist.Manager.instance().getORB()
obj = orb.string_to_object(ior)
if CORBA.is_nil(obj):
self._rtcout.RTC_ERROR("invalid IOR string has been passed")
return False
if not self.setObject(obj):
self._rtcout.RTC_WARN("Setting object to consumer failed.")
return False
return True
def subscribeFromIor(self, properties):
self._rtcout.RTC_TRACE("subscribeFromIor()")
index = OpenRTM_aist.NVUtil.find_index(
properties, "dataport.corba_cdr.inport_ior")
if index < 0:
self._rtcout.RTC_ERROR("inport_ior not found")
return False
ior = ""
try:
ior = any.from_any(properties[index].value, keep_structs=True)
except BaseException:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not ior:
self._rtcout.RTC_ERROR("inport_ior has no string")
return False
orb = OpenRTM_aist.Manager.instance().getORB()
obj = orb.string_to_object(ior)
if CORBA.is_nil(obj):
self._rtcout.RTC_ERROR("invalid IOR string has been passed")
return False
if not self.setObject(obj):
self._rtcout.RTC_WARN("Setting object to consumer failed.")
return False
return True
def subscribeFromRef(self, properties):
self._rtcout.RTC_TRACE("subscribeFromRef()")
index = OpenRTM_aist.NVUtil.find_index(
properties, "dataport.corba_cdr.inport_ref")
if index < 0:
self._rtcout.RTC_ERROR("inport_ref not found")
return False
obj = None
try:
obj = any.from_any(properties[index].value, keep_structs=True)
except BaseException:
self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
if not obj:
self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
return False
if CORBA.is_nil(obj):
self._rtcout.RTC_ERROR("prop[inport_ref] is not objref")
return False
if not self.setObject(obj):
self._rtcout.RTC_ERROR("Setting object to consumer failed.")
return False
return True
def bindComponent(self, rtc):
ret = OpenRTM_aist.ExecutionContextBase.bindComponent(self, rtc)
mgr = OpenRTM_aist.Manager.instance()
threads_str = rtc.getProperties().getProperty("conf.default.members")
str = [threads_str]
threads = str[0].split("|")
for thread in threads:
rtcs = []
members = thread.split(",")
for member in members:
member = member.strip()
if member == "":
continue
comp = mgr.getComponent(member)
if comp is None:
self._rtcout.RTC_ERROR("no RTC found: %s", member)
continue
rtobj = comp.getObjRef()
if CORBA.is_nil(rtobj):
continue
rtcs.append(rtobj)
self.addTask(rtcs)
return ret
def get_component_profiles(self):
rtcs = self._mgr.getComponents()
cprofs = [rtc.get_component_profile() for rtc in rtcs]
# copy slaves' component profiles
guard = OpenRTM_aist.ScopedLock(self._slaveMutex)
self._rtcout.RTC_DEBUG("%d slave managers exists.", len(self._slaves))
for slave in self._slaves[:]:
try:
if not CORBA.is_nil(slave):
sprofs = slave.get_component_profiles()
OpenRTM_aist.CORBA_SeqUtil.push_back_list(cprofs, sprofs)
except:
self._rtcout.RTC_ERROR("Unknown exception cought.")
self._rtcout.RTC_DEBUG(OpenRTM_aist.Logger.print_exception())
self._slaves.remove(slave)
#self._rtcout.RTC_INFO("slave (%d) has disappeared.", i)
#self._slaves[i] = RTM.Manager._nil
#OpenRTM_aist.CORBA_SeqUtil.erase(self._slaves, i)
#i -= 1
del guard
return cprofs
def getManager():
"""
Returns a reference to the Manager.
Params: None
Returns: a reference to the Manager (or None if there are network problems).
Raises: Nothing.
"""
global MGR_REF
if MGR_REF == None:
# If this function has never been called before...
try:
MGR_REF = getORB().string_to_object(getManagerCorbaloc())
if MGR_REF != None and (not CORBA.is_nil(MGR_REF)):
try:
MGR_REF._non_existent()
MGR_REF = MGR_REF._narrow(Manager)
except:
MGR_REF = None
else:
MGR_REF = None
except Exception, e:
MGR_REF = None
print_exc()
def setObjRef(self, ec_ptr):
self._rtcout.RTC_TRACE("setObjRef()")
assert (not CORBA.is_nil(ec_ptr))
guard = OpenRTM_aist.ScopedLock(self._profileMutex)
self._ref = ec_ptr
del guard
return
def string_to_component(self, name):
rtc_list = []
tmp = name.split("://")
if len(tmp) > 1:
if tmp[0] == "rtcloc":
#tag = tmp[0]
url = tmp[1]
r = url.split("/")
if len(r) > 1:
host = r[0]
rtc_name = url[len(host) + 1:]
mgr = self.getManager(host)
if not CORBA.is_nil(mgr):
rtc_list = mgr.get_components_by_name(rtc_name)
slaves = mgr.get_slave_managers()
for slave in slaves:
try:
rtc_list.extend(
slave.get_components_by_name(rtc_name))
except BaseException:
self._rtcout.RTC_DEBUG(
OpenRTM_aist.Logger.print_exception())
mgr.remove_slave_manager(slave)
return rtc_list
return rtc_list
def addOrganizationToTarget(self, member):
conf = member._config
if CORBA.is_nil(conf):
return
conf.add_organization(self._objref)
return
def create_memory(self, memory_size, shm_address):
if self._shmem is None:
self._rtcout.RTC_TRACE("create():memory_size="+str(memory_size)+",shm_address="+str(shm_address))
self._memory_size = memory_size
self._shm_address = shm_address
if os.name == "nt":
self._shmem = mmap.mmap(0, self._memory_size, self._shm_address, mmap.ACCESS_WRITE)
else:
O_RDWR = 2
O_CREAT = 64
S_IRUSR = 256
S_IWUSR = 128
S_IRGRP = 32
S_IWGRP = 16
S_IROTH = 4
self.fd = self.rt.shm_open(self._shm_address,O_RDWR | O_CREAT,S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP|S_IROTH)
if self.fd < 0:
return
self.rt.ftruncate(self.fd, self._memory_size)
self._shmem = mmap.mmap(self.fd, self._memory_size, mmap.MAP_SHARED)
self.rt.close( self.fd )
if not CORBA.is_nil(self._smInterface):
self._smInterface.open_memory(self._memory_size, self._shm_address)
def destroyRecursive(self, context):
cont = True
bl = []
bi = None
bl, bi = context.list(self._blLength)
while cont:
for bli in bl:
if bli.binding_type == CosNaming.ncontext:
obj = context.resolve(bli.binding_name)
next_context = obj._narrow(CosNaming.NamingContext)
self.destroyRecursive(next_context)
context.unbind(bli.binding_name)
next_context.destroy()
elif bli.binding_type == CosNaming.nobject:
context.unbind(bli.binding_name)
if CORBA.is_nil(bi):
cont = False
else:
bi.next_n(self._blLength)
# if not (CORBA.is_nil(bi)):
# bi.destroy()
return
def set_owner(self, sdo):
self.__rtcout.RTC_TRACE("set_owner()")
if CORBA.is_nil(sdo):
raise SDOPackage.InvalidParameter("set_owner(): sdo is nil")
self._varOwner = sdo
return True
def get_component_profile(rtc):
prop = OpenRTM_aist.Properties()
if CORBA.is_nil(rtc):
return prop
prof = rtc.get_component_profile()
OpenRTM_aist.NVUtil.copyToProperties(prop, prof.properties)
return prop
def onExecute(self, ec_id):
try:
if CORBA.is_nil(self._CalibrationService._ptr()):
# print("TkCalibGUI : [nil] object reference is not assigned.")
return RTC.RTC_OK
elif self._CalibrationService._ptr()._non_existent():
# print("TkCalibGUI : provider is inactive.")
return RTC.RTC_OK
except Exception as e:
print("TkCalibGUI : ",str(e))
return RTC.RTC_OK
if self._checker_imageIn.isNew():
_image = self._checker_imageIn.read()
# チェスボード撮影枚数確認
try:
num = self._CalibrationService._ptr().getImageNumber()
except Exception as e:
# print("TkCalibGUI : getImageNumber() : ",str(e))
return RTC.RTC_OK
if self.pic_num != num:
self.pic_num = num
# 撮影枚数変更に伴うGUI再描画
self.gui.redraw_gui(num)
self.gui.set_image( _image.pixels, _image.width, _image.height)
return RTC.RTC_OK
def init(self, name_server):
self._nameServer = "corbaloc::" + name_server + "/NameService"
obj = self._orb.string_to_object(self._nameServer)
self._rootContext = obj._narrow(CosNaming.NamingContext)
if CORBA.is_nil(self._rootContext):
raise MemoryError
return
def setObject(self, ior):
self._ior = ior
orb = OpenRTM_aist.Manager.instance().getORB()
obj = orb.string_to_object(ior)
if CORBA.is_nil(obj):
return False
return self._consumer.setObject(obj)
def removeOrganizationFromTarget(self, member):
# get given RTC's configuration object
if CORBA.is_nil(member._config):
return
# set organization to target RTC's conf
ret = member._config.remove_organization(self._pId)
return
def __call__(self, obj):
try:
if CORBA.is_nil(obj):
print "No service connected."
else:
self._result[0] = obj.echo(self._msg)
except:
pass
def add_component(self, comp):
self._rtcout.RTC_TRACE("add_component()")
if CORBA.is_nil(comp):
return RTC.BAD_PARAMETER
try:
dfp_ = comp._narrow(OpenRTM.DataFlowComponent)
rtc_ = comp._narrow(RTC.RTObject)
if CORBA.is_nil(dfp_) or CORBA.is_nil(rtc_):
return RTC.BAD_PARAMETER
id_ = dfp_.attach_context(self._ref)
comp_ = self.Comp(ref=comp, dfp=dfp_, id=id_)
self._comps.append(comp_)
self._profile.participants.append(rtc_)
return RTC.RTC_OK
except CORBA.Exception:
self._rtcout.RTC_ERROR(sys.exc_info()[0])
return RTC.BAD_PARAMETER
return RTC.RTC_OK
def ListRecursive(context, rtclist, name):
m_blLength = 100
bl = context.list(m_blLength)
cont = True
while cont:
for i in bl[0]:
if i.binding_type == CosNaming.ncontext:
next_context = context.resolve(i.binding_name)
name_buff = name[:]
name.append(i.binding_name[0].id)
ListRecursive(next_context,rtclist,name)
name = name_buff
elif i.binding_type == CosNaming.nobject:
if len(rtclist) > m_blLength:
break
if i.binding_name[0].kind == 'rtc':
name_buff = name[:]
name_buff.append(i.binding_name[0].id)
tkm = OpenRTM_aist.CorbaConsumer()
tkm.setObject(context.resolve(i.binding_name))
inobj = tkm.getObject()._narrow(RTC.RTObject)
pin = inobj.get_ports()
for p in pin:
name_buff2 = name_buff[:]
profile = p.get_port_profile()
props = nvlist_to_dict(profile.properties)
tp_n = profile.name.split('.')[1]
name_buff2.append(tp_n)
rtclist.append([name_buff2,p])
else:
pass
if CORBA.is_nil(bl[1]):
cont = False
else:
bl = i.next_n(m_blLength)
def set_owner(self, sdo):
self._rtcout.RTC_TRACE("set_owner()")
if CORBA.is_nil(sdo):
raise SDOPackage.InvalidParameter("set_owner()")
try:
self._varOwner = sdo
return True
except:
self._rtcout.RTC_ERROR(sys.exc_info()[0])
raise SDOPackage.InternalError("set_owner()")
return True
def set_owner(self, sdo):
self.__rtcout.RTC_TRACE("set_owner()")
if CORBA.is_nil(sdo):
raise SDOPackage.InvalidParameter("set_owner()")
try:
self._varOwner = sdo
return True
except:
self.__rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
raise SDOPackage.InternalError("set_owner()")
return True
def setObject(self, obj):
if not CorbaConsumerBase.setObject(self, obj):
self.releaseObject()
return False
if self._interfaceType:
self._var = obj._narrow(self._interfaceType)
else:
self._var = self._objref
if not CORBA.is_nil(self._var):
return True
self.releaseObject()
return False
def remove_component(self, comp):
self._rtcout.RTC_TRACE("remove_component()")
len_ = len(self._comps)
for i in range(len_):
idx = (len_ - 1) - i
if self._comps[idx]._ref._is_equivalent(comp):
self._comps[idx]._ref.detach_context(self._comps[idx]._sm.ec_id)
del self._comps[idx]
rtcomp = comp._narrow(RTC.RTObject)
if CORBA.is_nil(rtcomp):
self._rtcout.RTC_ERROR("Invalid object reference.")
return RTC.RTC_ERROR
OpenRTM_aist.CORBA_SeqUtil.erase_if(self._profile.participants,
self.find_participant(rtcomp))
return RTC.RTC_OK
return RTC.BAD_PARAMETER
def _connect_to_naming_service(self, address):
# Try to connect to a name server and get the root naming context.
with self._mutex:
self._full_address = 'corbaloc::{0}/NameService'.format(address)
try:
self._ns_obj = self._orb.string_to_object(self._full_address)
except CORBA.ORB.InvalidName:
raise exceptions.InvalidServiceError(address)
try:
root_context = self._ns_obj._narrow(CosNaming.NamingContext)
except CORBA.TRANSIENT as e:
if e.args[0] == TRANSIENT_ConnectFailed:
raise exceptions.InvalidServiceError(address)
else:
raise
if CORBA.is_nil(root_context):
raise exceptions.FailedToNarrowRootNamingError(address)
return root_context
def __init__(self, orb, name_server=None):
self._orb = orb
self._nameServer = ""
self._rootContext = CosNaming.NamingContext._nil
self._blLength = 100
if name_server:
self._nameServer = "corbaloc::" + name_server + "/NameService"
try:
obj = orb.string_to_object(self._nameServer)
self._rootContext = obj._narrow(CosNaming.NamingContext)
if CORBA.is_nil(self._rootContext):
print "CorbaNaming: Failed to narrow the root naming context."
except CORBA.ORB.InvalidName:
print "Service required is invalid [does not exist]."
return
def addParticipantToEC(self, member):
if CORBA.is_nil(self._ec) or self._ec is None:
ecs = self._rtobj.get_owned_contexts()
if len(ecs) > 0:
self._ec = ecs[0]
else:
return
# set ec to target RTC
ret = self._ec.add_component(member._rtobj)
orglist = member._rtobj.get_organizations()
for org in orglist:
sdos = org.get_members()
for sdo in sdos:
dfc = [None]
if not self.sdoToDFC(sdo, dfc):
continue
self._ec.add_component(dfc[0])
return
def removeParticipantFromEC(self, member):
if CORBA.is_nil(self._ec) or self._ec is None:
ecs = self._rtobj.get_owned_contexts()
if len(ecs) > 0:
self._ec = ecs[0]
else:
self._rtcout.RTC_FATAL("no owned EC")
return
self._ec.remove_component(member._rtobj)
orglist = member._rtobj.get_organizations()
for org in orglist:
sdos = org.get_members()
for sdo in sdos:
dfc = [None]
if not self.sdoToDFC(sdo, dfc):
continue
self._ec.remove_component(dfc[0])
return
def PBLoadHypPressed(self):
"""load hypothesis saved in Object Browser"""
#QMessageBox.warning(self, "load Object Browser YAMS hypothesis", "TODO")
import salome
from salome.kernel import studyedit
from salome.smesh.smeshstudytools import SMeshStudyTools
from salome.gui import helper as guihelper
from omniORB import CORBA
mySObject, myEntry = guihelper.getSObjectSelected()
if CORBA.is_nil(mySObject) or mySObject==None:
QMessageBox.critical(self, "Hypothese", "select an Object Browser YAMS hypothesis")
return
text=mySObject.GetComment()
#a verification
if "Optimisation=" not in text:
QMessageBox.critical(self, "Load Hypothese", "Object Browser selection not a YAMS Hypothesis")
return
self.loadResumeData(text, separator=" ; ")
return
def setObject(self, obj):
if CORBA.is_nil(obj):
return False
self._objref = obj
return True
def objIsNamingContext(self, obj):
nc = obj._narrow(CosNaming.NamingContext)
if CORBA.is_nil(nc):
return False
else:
return True
def ListRecursive(context, rtclist, name, oParent, oTreeDataModel):
m_blLength = 100
bl = context.list(m_blLength)
cont = True
while cont:
for i in bl[0]:
if i.binding_type == CosNaming.ncontext:
next_context = context.resolve(i.binding_name)
name_buff = name[:]
name.append(i.binding_name[0].id)
if oTreeDataModel == None:
oChild = None
else:
oChild = oTreeDataModel.createNode(i.binding_name[0].id,False)
oParent.appendChild(oChild)
ListRecursive(next_context,rtclist,name, oChild, oTreeDataModel)
name = name_buff
elif i.binding_type == CosNaming.nobject:
if oTreeDataModel == None:
oChild = None
else:
oChild = oTreeDataModel.createNode(i.binding_name[0].id,False)
oParent.appendChild(oChild)
if len(rtclist) > m_blLength:
break
if i.binding_name[0].kind == 'rtc':
name_buff = name[:]
name_buff.append(i.binding_name[0].id)
tkm = OpenRTM_aist.CorbaConsumer()
tkm.setObject(context.resolve(i.binding_name))
inobj = tkm.getObject()._narrow(RTC.RTObject)
try:
pin = inobj.get_ports()
for p in pin:
name_buff2 = name_buff[:]
profile = p.get_port_profile()
#props = nvlist_to_dict(profile.properties)
tp_n = profile.name.split('.')[1]
name_buff2.append(tp_n)
if oTreeDataModel == None:
pass
else:
oChild_port = oTreeDataModel.createNode(tp_n,False)
oChild.appendChild(oChild_port)
rtclist.append([name_buff2,p])
except:
pass
else:
pass
if CORBA.is_nil(bl[1]):
cont = False
else:
bl = i.next_n(m_blLength)
def isFsmParticipant(obj): fsmp = obj._narrow(RTC.FsmParticipant) return not CORBA.is_nil(fsmp)
def isFsmObject(obj): fsm = obj._narrow(RTC.FsmObject) return not CORBA.is_nil(fsm)
