def cd(cmd_path, full_path):
path, port = parse_path(full_path)
if port:
# Can't change dir to a port
print >> sys.stderr, "rtcd: {0}: Not a \
directory".format(
cmd_path
)
return 1
if not path[-1]:
# Remove trailing slash part
path = path[:-1]
tree = create_rtctree(paths=path)
if not tree:
return 1
if not tree.has_path(path):
print >> sys.stderr, "rtcd: {0}: No such directory or \
object".format(
cmd_path
)
return 1
if not tree.is_directory(path):
print >> sys.stderr, "rtcd: {0}: Not a directory".format(cmd_path)
return 1
print make_cmd_line(full_path)
return 0
def get_manager(cmd_path, full_path, tree=None):
path, port = parse_path(full_path)
if port:
# Can't configure a port
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return None
if not path[-1]:
# There was a trailing slash - ignore it
path = path[:-1]
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return None
object = tree.get_node(path)
if not object:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return tree, None
if not object.is_manager:
print >>sys.stderr, '{0}: Cannot access {1}: Not a \
manager.'.format(sys.argv[0], cmd_path)
return tree, None
return tree, object
def get_comp_obj(cmd_path, path, options, tree=None, orb=None):
if not tree:
tree = create_rtctree(paths=path, orb=orb)
if not tree:
return 1, (None, None)
if not tree.has_path(path):
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1, (None, None)
comp = tree.get_node(path)
if not comp or not comp.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object'.format(sys.argv[0], cmd_path)
return 1, None
return 0, (tree, comp)
def get_our_listener(options, tree=None, orb=None):
if not tree:
tree = create_rtctree(paths=['/', 'localhost'], orb=orb)
if not tree:
return 1, None
listener_name = listener_reg_name(index)
def get_result(node, args):
return node
def is_our_listener(node):
if node.name == listener_name:
return True
matches = tree.iterate(get_result, filter=['is_component', is_our_listener])
if not matches or len(matches) != 1:
print >>sys.stderr, '{0}: Could not find listener component.'.format(\
sys.argv[0])
return 1, None
return 0, matches[0]
def select_index(path, tree=None):
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return 1, 0
listener_re = re.compile('{0}(\d+)0.rtc'.format(listener_name_base()))
def get_result(node, args):
return int(listener_re.match(node.name).group(1))
def is_listener(node):
if listener_re.match(node.name):
return True
matches = tree.iterate(get_result, filter=['is_component', is_listener])
if not matches:
# No existing listeners, so claim the first spot
return 0, 0
matches.sort ()
return 0, matches[-1] + 1
def delete_object_reference(cmd_path, full_path, options, tree=None):
path, port = parse_path(full_path)
if port:
# Can't delete a port
print >>sys.stderr, '{0}: Cannot access {1}: Cannot delete \
ports.'.format(sys.argv[0], cmd_path)
return 1
trailing_slash = False
if not path[-1]:
path = path[:-1]
# Cannot delete name servers
if len(path) == 2:
print >>sys.stderr, '{0}: {1}: Cannot delete name servers.'.format(\
sys.argv[0], cmd_path)
return 1
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return 1
# There is no point in doing path checks for the path, as the path we are
# deleting may not be in the tree if it's a zombie. Instead, we need to
# find its parent, and use that to remove the name.
parent = tree.get_node(path[:-1])
if parent.is_manager:
print >>sys.stderr, '{0}: {1}: Use rtmgr to delete components from \
managers.'.format(sys.argv[0], cmd_path)
return 1
if not parent.is_directory:
print >>sys.stderr, '{0}: {1}: Parent is not a directory.'.format(\
sys.argv[0], cmd_path)
return 1
try:
parent.unbind(path[-1])
except BadPathError:
print >>sys.stderr, '{0}: {1}: No such name registered.'.format(\
sys.argv[0], cmd_path)
return 1
return 0
def cat_target(cmd_path, full_path, options, tree=None):
use_colour = sys.stdout.isatty()
path, port = parse_path(full_path)
if port:
# Can't cat a port
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
trailing_slash = False
if not path[-1]:
# There was a trailing slash
print >>sys.stderr, '{0}: {1}: Not an \
object'.format(sys.argv[0], cmd_path)
return 1
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return tree
if not tree.has_path(path):
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
object = tree.get_node(path)
if object.is_component:
for l in format_component(object, use_colour=sys.stdout.isatty(),
long=options.long,
really_long=options.really_long):
print l
elif object.is_manager:
for l in format_manager(object, use_colour=sys.stdout.isatty(),
long=options.long):
print l
else:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
return 0
def set_conf_value(set, param, new_value, cmd_path, full_path, options,
tree=None):
path, port = parse_path(full_path)
if port:
# Can't configure a port
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
trailing_slash = False
if not path[-1]:
# There was a trailing slash
print >>sys.stderr, '{0}: {1}: Not an \
object'.format(sys.argv[0], cmd_path)
return 1
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return 1
object = tree.get_node(path)
if not object:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
if not object.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: Not a \
component.'.format(sys.argv[0], cmd_path)
return 1
if not set:
set = object.active_conf_set_name
try:
object.set_conf_set_value(set, param, new_value)
except NoSuchConfSetError, e:
print >>sys.stderr, '{0}: {1}: No such configuration \
set'.format(sys.argv[0], e)
return 1
def disconnect_all(cmd_path, full_path, options, tree=None):
path, port = parse_path(full_path)
if not path[-1]:
# Trailing slashes are bad
print >>sys.stderr, '{0}: Not a directory: {1}'.format(sys.argv[0],
cmd_path)
return 1
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return 1
object = tree.get_node(path)
if not object:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
if not object.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object'.format(sys.argv[0], cmd_path)
return 1
if port:
# Disconnect a single port
port_obj = object.get_port_by_name(port)
if not port_obj:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
port'.format(sys.argv[0], cmd_path)
return 1
port_obj.disconnect_all()
else:
# Disconnect all ports
object.disconnect_all()
pass
return 0
def print_conf_sets(cmd_path, full_path, options, tree=None):
use_colour = sys.stdout.isatty()
path, port = parse_path(full_path)
if port:
# Can't configure a port
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
trailing_slash = False
if not path[-1]:
# There was a trailing slash
print >>sys.stderr, '{0}: {1}: Not an \
object'.format(sys.argv[0], cmd_path)
return 1
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return 1
object = tree.get_node(path)
if not object:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
if not object.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: Not a \
component.'.format(sys.argv[0], cmd_path)
return 1
for l in format_conf_sets(object.conf_sets, object.active_conf_set_name,
use_colour, options.long):
print l
return 0
def alter_component_state(action, cmd_path, full_path, options, tree=None):
path, port = parse_path(full_path)
if port:
# Can't cat a port
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
trailing_slash = False
if not path[-1]:
# There was a trailing slash
print >>sys.stderr, '{0}: {1}: Not an \
object'.format(sys.argv[0], cmd_path)
return 1
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return 1
if not tree.has_path(path):
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], cmd_path)
return 1
object = tree.get_node(path)
if not object.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: Not an \
object'.format(sys.argv[0], cmd_path)
return 1
try:
action(object, options.ec_index)
except BadECIndexError, e:
print >>sys.stderr, '{0}: No execution context at index \
{1}'.format(sys.argv[0], e.args[0])
return 1
def connect_ports(source_cmd_path, source_full_path,
dest_cmd_path, dest_full_path,
options, tree=None):
source_path, source_port = parse_path(source_full_path)
if not source_port:
# Need a port to connect to
print >>sys.stderr, '{0}: No source port specified'.format(sys.argv[0])
return 1
if not source_path[-1]:
# Trailing slashes are bad
print >>sys.stderr, '{0}: Bad source path'.format(sys.argv[0])
return 1
dest_path, dest_port = parse_path(dest_full_path)
if not dest_port:
# Need a port to connect to
print >>sys.stderr, '{0}: No destination port \
specified'.format(sys.argv[0])
return 1
if not dest_path[-1]:
# Trailing slashes are bad
print >>sys.stderr, '{0}: Bad destination path'.format(sys.argv[0])
return 1
if not tree:
tree = create_rtctree(paths=[source_path, dest_path])
if not tree:
return 1
if not tree.has_path(source_path):
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], source_cmd_path)
return 1
if not tree.has_path(dest_path):
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], dest_cmd_path)
return 1
source_comp = tree.get_node(source_path)
if not source_comp or not source_comp.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object'.format(sys.argv[0], source_cmd_path)
return 1
source_port_obj = source_comp.get_port_by_name(source_port)
if not source_port_obj:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
port'.format(sys.argv[0], source_cmd_path)
return 1
dest_comp = tree.get_node(dest_path)
if not dest_comp or not dest_comp.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object'.format(sys.argv[0], dest_cmd_path)
return 1
dest_port_obj = dest_comp.get_port_by_name(dest_port)
if not dest_port_obj:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
port'.format(sys.argv[0], dest_cmd_path)
return 1
conn_name = options.name if options.name else None
try:
source_port_obj.connect(dest_port_obj, name=conn_name, id=options.id,
props=options.properties)
except IncompatibleDataPortConnectionPropsError:
print >>sys.stderr, '{0}: An incompatible data port property or \
property value was given.'.format(sys.argv[0])
return 1
except WrongPortTypeError:
print >>sys.stderr, '{0}: Mismatched port types.'.format(sys.argv[0])
return 1
except MismatchedPolarityError:
print >>sys.stderr, '{0}: Service port polarities do not \
match.'.format(sys.argv[0])
return 1
except MismatchedInterfacesError:
print >>sys.stderr, '{0}: Service port interfaces do not \
match.'.format(sys.argv[0])
return 1
except FailedToConnectError:
print >>sys.stderr, '{0}: Failed to connect.'.format(sys.argv[0])
return 1
return 0
def disconnect_ports(source_cmd_path, source_full_path,
dest_cmd_path, dest_full_path,
options, tree=None):
source_path, source_port = parse_path(source_full_path)
if not source_port:
# Need a port to disconnect
print >>sys.stderr, '{0}: No source port specified'.format(sys.argv[0])
return 1
if not source_path[-1]:
# Trailing slashes are bad
print >>sys.stderr, '{0}: Bad source path'.format(sys.argv[0])
return 1
dest_path, dest_port = parse_path(dest_full_path)
if not dest_port:
# Need a port to disconnect
print >>sys.stderr, '{0}: No destination port \
specified'.format(sys.argv[0])
return 1
if not dest_path[-1]:
# Trailing slashes are bad
print >>sys.stderr, '{0}: Bad destination path'.format(sys.argv[0])
return 1
if not tree:
tree = create_rtctree(paths=[source_path, dest_path])
if not tree:
return 1
source_comp = tree.get_node(source_path)
if not source_comp:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], source_cmd_path)
return 1
if not source_comp.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object'.format(sys.argv[0], source_cmd_path)
return 1
source_port_obj = source_comp.get_port_by_name(source_port)
if not source_port_obj:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
port'.format(sys.argv[0], source_cmd_path)
return 1
dest_comp = tree.get_node(dest_path)
if not dest_comp:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object.'.format(sys.argv[0], dest_cmd_path)
return 1
if not dest_comp.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
object'.format(sys.argv[0], dest_cmd_path)
return 1
dest_port_obj = dest_comp.get_port_by_name(dest_port)
if not dest_port_obj:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
port'.format(sys.argv[0], dest_cmd_path)
return 1
conn = source_port_obj.get_connection_by_dest(dest_port_obj)
if not conn:
print >>sys.stderr, '{0}: No connection between {1} and \
{2}'.format(sys.argv[0], source_cmd_path, dest_cmd_path)
return 1
conn.disconnect()
return 0
def search(cmd_path, full_path, options, tree=None, returnvalue=None):
path, port = parse_path(full_path)
if port:
# Can't search in a port
print >>sys.stderr, '{0}: Cannot access {1}: No such directory or \
object.'.format(sys.argv[0], cmd_path)
if returnvalue == 'list':
return None
else:
return 1
trailing_slash = False
if not path[-1]:
# There was a trailing slash
trailing_slash = True
path = path[:-1]
if not tree:
tree = create_rtctree(paths=path)
if not tree:
if returnvalue == 'list':
return None
else :
return 1
# Find the root node of the search
root = tree.get_node(path)
if not root:
print >>sys.stderr, '{0}: Cannot access {1}: No such directory or \
object.'.format(sys.argv[0], cmd_path)
if returnvalue == 'list':
return None
else :
return 1
if root.is_component and trailing_slash:
# If there was a trailing slash, complain that a component is not a
# directory.
print >>sys.stderr, '{0}: cannot access {1}: Not a directory.'.format(\
sys.argv[0], address)
if returnvalue == 'list':
return None
else :
return 1
name_res = []
for name in options.name:
# Replace regex special characters
name = re.escape (name)
# * goes to .*?
name = name.replace (r'\*', '.*?')
# ? goes to .
name = name.replace (r'\?', r'.')
name_res.append(re.compile(name))
for name in options.iname:
# Replace regex special characters
name = re.escape (name)
# * goes to .*?
name = name.replace (r'\*', '.*?')
# ? goes to .
name = name.replace (r'\?', r'.')
name_res.append(re.compile(name, re.IGNORECASE))
def get_result(node, args):
if node.full_path.startswith(cmd_path):
result = node.full_path[len(cmd_path):]
if not result:
# This will happen if the search root is a component
return node.name
return node.full_path
else:
return node.full_path
def matches_search(node):
# Filter out types
if node.is_component and 'c' not in options.type:
return False
if node.is_manager and 'm' not in options.type and \
'd' not in options.type:
return False
if node.is_nameserver and 'n' not in options.type and \
'd' not in options.type:
return False
if node.is_directory and 'd' not in options.type and \
(not node.is_nameserver and not node.is_manager):
return False
if not name_res:
return True
# Check for name matches
for name_re in name_res:
if name_re.search(node.full_path):
return True
return False
matches = root.iterate(get_result, filter=[matches_search])
if returnvalue == 'list':
return matches
else :
for m in matches:
print m
return 0
def list_target(cmd_path, full_path, options, tree=None):
path, port = parse_path(full_path)
if port:
# Can't list a port
print >>sys.stderr, '{0}: Cannot access {1}: No such directory or \
object.'.format(sys.argv[0], cmd_path)
return 1
trailing_slash = False
if not path[-1]:
# There was a trailing slash
trailing_slash = True
path = path[:-1]
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return 1
if not tree.has_path(path):
print >>sys.stderr, '{0}: Cannot access {1}: No such directory or \
object.'.format(sys.argv[0], cmd_path)
return 1
if tree.is_component(path):
# Path points to a single component: print it like 'ls <file>'.
if trailing_slash:
# If there was a trailing slash, complain that a component is not a
# directory.
print >>sys.stderr, '{0}: cannot access {1}: Not a \
directory.'.format(sys.argv[0], address)
return 1
if options.long:
lines = get_node_long_lines([tree.get_node(path)],
sys.stdout.isatty())
for l in lines:
print l
else:
print path[-1]
elif tree.is_directory(path):
# If recursing, need to list this directory and all its children
if options.recurse:
recurse_root = tree.get_node(path)
recurse_root_path = recurse_root.full_path
def get_name(node, args):
if node.full_path.startswith(recurse_root_path):
result = node.full_path[len(recurse_root_path):]
else:
result = node.full_path
return result.lstrip('/')
dir_names = ['.'] + recurse_root.iterate(get_name,
args=options.long, filter=['is_directory'])[1:]
listings = recurse_root.iterate(list_directory,
args=options.long, filter=['is_directory'])
for dir, listing in zip(dir_names, listings):
if dir == '.':
print '.:'
else:
print './' + dir + ':'
for l in listing:
print l
print
else:
dir_node = tree.get_node(path)
lines = list_directory(dir_node, options.long)
for l in lines:
print l
else:
print >>sys.stderr, '{0}: cannot access {1}: Unknown object \
type.'.format(sys.argv[0], cmd_path)
return 1
return 0
def inject_data(cmd_path, full_path, options, data, tree):
path, port = parse_path(full_path)
if not port:
# Need a port to inject to
print >>sys.stderr, '{0}: Cannot access {1}: Not a port'.format(\
sys.argv[0], cmd_path)
return 1
trailing_slash = False
if not path[-1]:
# There was a trailing slash
print >>sys.stderr, '{0}: {1}: Not a port'.format(\
sys.argv[0], cmd_path)
return 1
if not tree:
tree = create_rtctree(paths=path)
if not tree:
return tree
comp = tree.get_node(path)
if not comp or not comp.is_component:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
component.'.format(sys.argv[0], cmd_path)
return 1
port = comp.get_port_by_name(port)
if not port:
print >>sys.stderr, '{0}: Cannot access {1}: No such \
port'.format(sys.argv[0], cmd_path)
return 1
if not port.porttype == 'DataInPort':
print >>sys.stderr, '{0}: Can only inject to DataInPort port \
type.'.format(sys.argv[0])
return 1
# Create a dummy connector on the port
datatype = str(data.__class__).rpartition('.')[2]
props = []
props.append(SDOPackage.NameValue('dataport.dataflow_type',
any.to_any('push')))
props.append(SDOPackage.NameValue('dataport.interface_type',
any.to_any('corba_cdr')))
props.append(SDOPackage.NameValue('dataport.subscription_type',
any.to_any('flush')))
props.append(SDOPackage.NameValue('dataport.data_type',
any.to_any(datatype)))
profile = RTC.ConnectorProfile(path[-1] + '.inject_conn',
path[-1] + '.temp', [port.object], props)
return_code, profile = port.object.connect(profile)
port.reparse_connections()
if return_code != RTC.RTC_OK:
print >>sys.stderr, '{0}: Failed to create local connection. Check \
your data type matches the port.'.format(sys.argv[0])
return 1
# Get the connection's IOR and narrow it to an InPortCdr object
conn = port.get_connection_by_name(path[-1] + '.inject_conn')
ior = conn.properties['dataport.corba_cdr.inport_ior']
object = comp.orb.string_to_object(ior)
if CORBA.is_nil(object):
print >>sys.stderr, '{0}: Failed to get inport object.'.format(\
sys.argv[0])
return 1
object = object._narrow(InPortCdr)
# Inject the data
cdr = cdrMarshal(any.to_any(data).typecode(), data, True)
if object.put(cdr) != PORT_OK:
print >>sys.stderr, '{0}: Failed to inject data.'.format(sys.argv[0])
return 1
# Remove the dummy connection
conn.disconnect()
return 0
