def _config_event(self, name, event):
with self._mutex:
if self._conf_sets:
if event == self.CFG_UPDATE_SET:
# A configuration set has been updated
cs = self._conf.get_configuration_set(name)
self._conf_sets[name]._reload(cs, cs.description,
utils.nvlist_to_dict(cs.configuration_data))
elif event == self.CFG_UPDATE_PARAM:
# A parameter in a configuration set has been changed
cset, param = name.split('.')
cs = self._conf.get_configuration_set(cset)
data = utils.nvlist_to_dict(cs.configuration_data)
self._conf_sets[cset].set_param(param, data[param])
elif event == self.CFG_ADD_SET:
# A new configuration set has been added
cs = self._conf.get_configuration_set(name)
self._conf_sets[name] = ConfigurationSet(self, cs,
cs.description,
utils.nvlist_to_dict(cs.configuration_data))
elif event == self.CFG_REMOVE_SET:
# Remove the configuration set
del self._conf_sets[name]
elif event == self.CFG_ACTIVATE_SET:
# Change the active configuration set
self._active_conf_set = name
# Call callbacks outside the mutex
self._call_cb('config_event', (name, event))
def _config_event(self, name, event):
with self._mutex:
if self._conf_sets:
if event == self.CFG_UPDATE_SET:
# A configuration set has been updated
cs = self._conf.get_configuration_set(name)
self._conf_sets[name]._reload(cs, cs.description, utils.nvlist_to_dict(cs.configuration_data))
elif event == self.CFG_UPDATE_PARAM:
# A parameter in a configuration set has been changed
cset, param = name.split(".")
cs = self._conf.get_configuration_set(cset)
data = utils.nvlist_to_dict(cs.configuration_data)
self._conf_sets[cset].set_param(param, data[param])
elif event == self.CFG_ADD_SET:
# A new configuration set has been added
cs = self._conf.get_configuration_set(name)
self._conf_sets[name] = ConfigurationSet(
self, cs, cs.description, utils.nvlist_to_dict(cs.configuration_data)
)
elif event == self.CFG_REMOVE_SET:
# Remove the configuration set
del self._conf_sets[name]
elif event == self.CFG_ACTIVATE_SET:
# Change the active configuration set
self._active_conf_set = name
# Call callbacks outside the mutex
self._call_cb("config_event", (name, event))
def _parse(self):
# Parse the ConnectorProfile object.
with self._mutex:
self._name = self._obj.name
self._id = self._obj.connector_id
self._ports = None
self._properties = utils.nvlist_to_dict(self._obj.properties)
def _parse_manager_children(self):
# Parses the list returned by _obj.get_slave_managers into child nodes.
with self._mutex:
try:
mgrs = self._obj.get_slave_managers()
except CORBA.BAD_OPERATION:
# This manager does not support slave managers; ignore
return
index = 0
for m in mgrs:
# Add each slave manager as a child node.
try:
props = utils.nvlist_to_dict(m.get_profile().properties)
except CORBA.TRANSIENT as e:
if e.args[0] == TRANSIENT_ConnectFailed:
print('{0}: Warning: zombie slave of '\
'manager {1} found'.format(sys.argv[0],
self.name), file=sys.stderr)
continue
else:
raise
if 'name' in props:
name = props['name']
else:
name = 'slave{0}'.format(index)
index += 1
leaf = Manager(name, self, m)
self._add_child(leaf)
def profile(self):
'''The manager's profile.'''
with self._mutex:
if not self._profile:
profile = self._obj.get_profile()
self._profile = utils.nvlist_to_dict(profile.properties)
return self._profile
def configuration(self):
'''The configuration dictionary of the manager.'''
with self._mutex:
if not self._configuration:
self._configuration = utils.nvlist_to_dict(
self._obj.get_configuration())
return self._configuration
def profile(self):
'''The manager's profile.'''
with self._mutex:
if not self._profile:
profile = self._obj.get_profile()
self._profile = nvlist_to_dict(profile.properties)
return self._profile
def _parse(self):
# Parse the ConnectorProfile object.
with self._mutex:
self._name = self._obj.name
self._id = self._obj.connector_id
self._ports = None
self._properties = nvlist_to_dict(self._obj.properties)
def _parse_manager_children(self):
# Parses the list returned by _obj.get_slave_managers into child nodes.
with self._mutex:
try:
mgrs = self._obj.get_slave_managers()
except CORBA.BAD_OPERATION:
# This manager does not support slave managers; ignore
return
index = 0
for m in mgrs:
# Add each slave manager as a child node.
try:
props = nvlist_to_dict(m.get_profile().properties)
except CORBA.TRANSIENT as e:
if e.args[0] == TRANSIENT_ConnectFailed:
print('{0}: Warning: zombie slave of '\
'manager {1} found'.format(sys.argv[0],
self.name), file=sys.stderr)
continue
else:
raise
if 'name' in props:
name = props['name']
else:
name = 'slave{0}'.format(index)
index += 1
leaf = Manager(name, self, m)
self._add_child(leaf)
def _parse(self):
# Parse the ExecutionContext object.
with self._mutex:
profile = self._obj.get_profile()
self._owner = profile.owner
self._participants = profile.participants
self._properties = nvlist_to_dict(profile.properties)
def factory_profiles(self):
'''The factory profiles of all loaded modules.'''
with self._mutex:
if not self._factory_profiles:
self._factory_profiles = []
for fp in self._obj.get_factory_profiles():
self._factory_profiles.append(nvlist_to_dict(fp.properties))
return self._factory_profiles
def loaded_modules(self):
'''The list of loaded module profile dictionaries.'''
with self._mutex:
if not self._loaded_modules:
self._loaded_modules = []
for mp in self._obj.get_loaded_modules():
self._loaded_modules.append(nvlist_to_dict(mp.properties))
return self._loaded_modules
def factory_profiles(self):
'''The factory profiles of all loaded modules.'''
with self._mutex:
if not self._factory_profiles:
self._factory_profiles = []
for fp in self._obj.get_factory_profiles():
self._factory_profiles.append(
utils.nvlist_to_dict(fp.properties))
return self._factory_profiles
def loaded_modules(self):
'''The list of loaded module profile dictionaries.'''
with self._mutex:
if not self._loaded_modules:
self._loaded_modules = []
for mp in self._obj.get_loaded_modules():
self._loaded_modules.append(
utils.nvlist_to_dict(mp.properties))
return self._loaded_modules
def _parse(self):
# Parse the PortService object to build a port profile.
with self._mutex:
profile = self._obj.get_port_profile()
self._name = profile.name
self._properties = nvlist_to_dict(profile.properties)
if self.owner:
prefix = self.owner.instance_name + '.'
if self._name.startswith(prefix):
self._name = self._name[len(prefix):]
def _parse(self):
# Parse the PortService object to build a port profile.
with self._mutex:
profile = self._obj.get_port_profile()
self._name = profile.name
self._properties = utils.nvlist_to_dict(profile.properties)
if self.owner:
prefix = self.owner.instance_name + '.'
if self._name.startswith(prefix):
self._name = self._name[len(prefix):]
def _parse_configuration(self):
# Parse the component's configuration sets
with self._mutex:
self._conf = self.object.get_configuration()
self._conf_sets = {}
for cs in self._conf.get_configuration_sets():
self._conf_sets[cs.id] = ConfigurationSet(self, cs, cs.description,
nvlist_to_dict(cs.configuration_data))
try:
self._active_conf_set = self._conf.get_active_configuration_set().id
except SDOPackage.NotAvailable:
self._active_conf_set = ''
def _parse(self):
# Parse the ExecutionContext object.
with self._mutex:
if self._is_service:
profile = self._obj.get_profile()
self._owner = profile.owner
self._participants = profile.participants
self._properties = utils.nvlist_to_dict(profile.properties)
else:
self._owner = None
self._participants = []
self._properties = []
def _parse(self):
# Parse the ExecutionContext object.
with self._mutex:
if self._is_service:
profile = self._obj.get_profile()
self._owner = profile.owner
self._participants = profile.participants
self._properties = utils.nvlist_to_dict(profile.properties)
else:
self._owner = None
self._participants = []
self._properties = []
def _parse_configuration(self):
# Parse the component's configuration sets
with self._mutex:
self._conf = self.object.get_configuration()
self._conf_sets = {}
for cs in self._conf.get_configuration_sets():
self._conf_sets[cs.id] = ConfigurationSet(self, cs, cs.description,
utils.nvlist_to_dict(cs.configuration_data))
try:
self._active_conf_set = self._conf.get_active_configuration_set().id
except SDOPackage.NotAvailable:
self._active_conf_set = ''
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 _parse_profile(self):
# Parse the component's profile
with self._mutex:
profile = self._obj.get_component_profile()
self._instance_name = profile.instance_name
self._type_name = profile.type_name
self._description = profile.description
self._version = profile.version
self._vendor = profile.vendor
self._category = profile.category
if profile.parent:
self._parent_obj = profile.parent.get_component_profile().instance_name
else:
self._parent_obj = ""
self._properties = utils.nvlist_to_dict(profile.properties)
def _parse_profile(self):
# Parse the component's profile
with self._mutex:
profile = self._obj.get_component_profile()
self._instance_name = profile.instance_name
self._type_name = profile.type_name
self._description = profile.description
self._version = profile.version
self._vendor = profile.vendor
self._category = profile.category
if profile.parent:
self._parent_obj = \
profile.parent.get_component_profile().instance_name
else:
self._parent_obj = ''
self._properties = utils.nvlist_to_dict(profile.properties)
def GetDataType(m_port):
basic = DataType.basic
extended = DataType.extended
profile = m_port.get_port_profile()
props = nvlist_to_dict(profile.properties)
data_type = props["dataport.data_type"]
if data_type.startswith("IDL:"):
data_type = data_type[4:]
colon = data_type.rfind(":")
if colon != -1:
data_type = data_type[:colon]
data_type = data_type.replace("RTC/", "")
return GetDataSType(data_type)
def GetDataType(m_port):
basic = DataType.basic
extended = DataType.extended
profile = m_port.get_port_profile()
props = nvlist_to_dict(profile.properties)
data_type = props['dataport.data_type']
if data_type.startswith('IDL:'):
data_type = data_type[4:]
colon = data_type.rfind(':')
if colon != -1:
data_type = data_type[:colon]
data_type = data_type.replace('RTC/','')
return GetDataSType(data_type)
def parse_port(port_obj, owner):
'''Create a port object of the correct type.
The correct port object type is chosen based on the port.port_type
property of port_obj.
@param port_obj The CORBA PortService object to wrap.
@param owner The owner of this port. Should be a Component object or None.
@return The created port object.
'''
profile = port_obj.get_port_profile()
props = utils.nvlist_to_dict(profile.properties)
if props['port.port_type'] == 'DataInPort':
return DataInPort(port_obj, owner)
elif props['port.port_type'] == 'DataOutPort':
return DataOutPort(port_obj, owner)
elif props['port.port_type'] == 'CorbaPort':
return CorbaPort(port_obj, owner)
else:
return Port(port_obj, owner)
def parse_port(port_obj, owner):
'''Create a port object of the correct type.
The correct port object type is chosen based on the port.port_type
property of port_obj.
@param port_obj The CORBA PortService object to wrap.
@param owner The owner of this port. Should be a Component object or None.
@return The created port object.
'''
profile = port_obj.get_port_profile()
props = nvlist_to_dict(profile.properties)
if props['port.port_type'] == 'DataInPort':
return DataInPort(port_obj, owner)
elif props['port.port_type'] == 'DataOutPort':
return DataOutPort(port_obj, owner)
elif props['port.port_type'] == 'CorbaPort':
return CorbaPort(port_obj, owner)
else:
return Port(port_obj, owner)
def __init__(self, manager):
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
self.Port = {}
_paths = getPathList("localhost",manager)
print _paths
for i,j in self.PortList.items():
for k in _paths:
if j == k[0]:
m_data, m_data_type = GetDataType(k[1])
profile = k[1].get_port_profile()
props = nvlist_to_dict(profile.properties)
if props['port.port_type'] == 'DataInPort':
m_port = OpenRTM_aist.OutPort(i, m_data)
self.Port[i] = MyPortObject(m_port, m_data)
self.addOutPort(i, m_port)
m_addport(m_port._objref, k[1], i)
elif props['port.port_type'] == 'DataOutPort':
m_port = OpenRTM_aist.InPort(i, m_data)
self.Port[i] = MyPortObject(m_port, m_data)
self.addOutPort(i, m_port)
m_addport(m_port._objref, k[1], i)
return
def LoadSheet():
if OOoRTC.draw_comp:
draw = OOoRTC.draw_comp.draw
OOoRTC.draw_comp.mRemoveAllPort()
oDrawPages = draw.drawpages
oDrawPage = oDrawPages.getByIndex(0)
st_control = oDrawPage.getForms().getByIndex(0).getByName('SaveTextBox')
text = str(st_control.Text)
m_port = re.split(';',text)
m_hostname = ''
_path = []
for mp in m_port:
m_list = re.split('#',mp)
if len(m_list) > 10:
m_name = re.split(':',m_list[0])
if len(m_name) < 2:
return
if len(m_name) == 2:
for dn in DrawDataPort.DataType.DataTypeList:
if m_name[1] == dn:
m_name[1] = dn
m_i,m_j,_ox,_oy,_or,_sx,_sy,_x,_y,_r,_obj,flag = LoadParam(m_list, oDrawPages)
F_Name = m_name[1] + str(m_i) + str(m_j)
if m_name[0] == "DataOutPort":
OOoRTC.draw_comp.mAddOutPort(F_Name, [[m_name[0],m_name[1]],m_name[1]], [_ox,_oy,_or], [_sx,_sy], [_x, _y, _r], _obj, False)
if m_name[0] == 'DataOutPort':
OOoRTC.draw_comp.mAddInPort(F_Name, [[m_name[0],m_name[1]],m_name[1]], [_ox,_oy,_or], [_sx,_sy], [_x, _y, _r], _obj, False)
else:
if m_hostname == m_name[1]:
pass
else:
_paths = OOoRTC.GetPathList(m_name[1], OOoRTC.mgr ,MyMsgBox)
m_hostname = m_name[1]
if _paths == None:
return
for p in _paths:
if p[0] == m_name:
profile = p[1].get_port_profile()
props = nvlist_to_dict(profile.properties)
m_i,m_j,_ox,_oy,_or,_sx,_sy,_x,_y,_r,_obj,flag = LoadParam(m_list, oDrawPages)
F_Name = p[0][-2] + p[0][-1] + str(m_i) + str(m_j)
if flag:
if props['port.port_type'] == 'DataInPort':
OOoRTC.draw_comp.mAddOutPort(F_Name, p, [_ox,_oy,_or], [_sx,_sy], [_x, _y, _r], _obj)
if props['port.port_type'] == 'DataOutPort':
OOoRTC.draw_comp.mAddInPort(F_Name, p, [_ox,_oy,_or], [_sx,_sy], [_x, _y, _r], _obj)
def GetDataType(m_port):
sig = m_DataType.Single
sec = m_DataType.Sequence
m_string = m_DataType.String
m_value = m_DataType.Value
profile = m_port.get_port_profile()
props = nvlist_to_dict(profile.properties)
data_type = props['dataport.data_type']
if data_type.startswith('IDL:'):
data_type = data_type[4:]
colon = data_type.rfind(':')
if colon != -1:
data_type = data_type[:colon]
data_type = data_type.replace('RTC/','')
if data_type == 'TimedDouble':
dt = RTC.TimedDouble(RTC.Time(0,0),0)
return dt, [float, sig, m_value]
elif data_type == 'TimedLong':
dt = RTC.TimedLong(RTC.Time(0,0),0)
return dt, [long, sig, m_value]
elif data_type == 'TimedFloat':
dt = RTC.TimedFloat(RTC.Time(0,0),0)
return dt, [float, sig, m_value]
elif data_type == 'TimedInt':
dt = RTC.TimedInt(RTC.Time(0,0),0)
return dt, [int, sig, m_value]
elif data_type == 'TimedShort':
dt = RTC.TimedShort(RTC.Time(0,0),0)
return dt, [int, sig, m_value]
elif data_type == 'TimedUDouble':
dt = RTC.TimedUDouble(RTC.Time(0,0),0)
return dt, [float, sig, m_value]
elif data_type == 'TimedULong':
dt = RTC.TimedULong(RTC.Time(0,0),0)
return dt, [long, sig, m_value]
elif data_type == 'TimedUFloat':
dt = RTC.TimedUFloat(RTC.Time(0,0),0)
return dt, [float, sig, m_value]
elif data_type == 'TimedUInt':
dt = RTC.TimedUInt(RTC.Time(0,0),0)
return dt, [int, sig, m_value]
elif data_type == 'TimedUShort':
dt = RTC.TimedUShort(RTC.Time(0,0),0)
return dt, [int, sig, m_value]
elif data_type == 'TimedChar':
dt = RTC.TimedChar(RTC.Time(0,0),0)
return dt, [str, sig, m_string]
elif data_type == 'TimedWChar':
dt = RTC.TimedWChar(RTC.Time(0,0),0)
return dt, [str, sig, m_string]
elif data_type == 'TimedBoolean':
dt = RTC.TimedBoolean(RTC.Time(0,0),0)
return dt, [bool, sig, m_value]
elif data_type == 'TimedOctet':
dt = RTC.TimedOctet(RTC.Time(0,0),0)
return dt, [int, sig, m_value]
elif data_type == 'TimedString':
dt = RTC.TimedString(RTC.Time(0,0),0)
return dt, [str, sig, m_string]
elif data_type == 'TimedWString':
dt = RTC.TimedWString(RTC.Time(0,0),0)
return dt, [str, sig, m_string]
elif data_type == 'TimedDoubleSeq':
dt = RTC.TimedDoubleSeq(RTC.Time(0,0),[])
return dt, [float, sec, m_value]
elif data_type == 'TimedLongSeq':
dt = RTC.TimedLongSeq(RTC.Time(0,0),[])
return dt, [long, sec, m_value]
elif data_type == 'TimedFloatSeq':
dt = RTC.TimedFloatSeq(RTC.Time(0,0),[])
return dt, [float, sec, m_value]
elif data_type == 'TimedIntSeq':
dt = RTC.TimedIntSeq(RTC.Time(0,0),[])
return dt, [int, sec, m_value]
elif data_type == 'TimedShortSeq':
dt = RTC.TimedShortSeq(RTC.Time(0,0),[])
return dt, [int, sec, m_value]
elif data_type == 'TimedUDoubleSeq':
dt = RTC.TimedUDoubleSeq(RTC.Time(0,0),[])
return dt, [float, sec, m_value]
elif data_type == 'TimedULongSeq':
dt = RTC.TimedULongSeq(RTC.Time(0,0),[])
return dt, [long, sec, m_value]
elif data_type == 'TimedUFloatSeq':
dt = RTC.TimedUFloatSeq(RTC.Time(0,0),[])
return dt, [float, sec, m_value]
elif data_type == 'TimedUIntSeq':
dt = RTC.TimedUIntSeq(RTC.Time(0,0),[])
return dt, [int, sec, m_value]
elif data_type == 'TimedUShortSeq':
dt = RTC.TimedUShortSeq(RTC.Time(0,0),[])
return dt, [int, sec, m_value]
elif data_type == 'TimedCharSeq':
dt = RTC.TimedCharSeq(RTC.Time(0,0),[])
return dt, [str, sec, m_string]
elif data_type == 'TimedWCharSeq':
dt = RTC.TimedWCharSeq(RTC.Time(0,0),[])
return dt, [str, sec, m_string]
elif data_type == 'TimedBooleanSeq':
dt = RTC.TimedBooleanSeq(RTC.Time(0,0),[])
return dt, [bool, sec, m_value]
elif data_type == 'TimedOctetSeq':
dt = RTC.TimedOctetSeq(RTC.Time(0,0),[])
return dt, [int, sec, m_value]
elif data_type == 'TimedStringSeq':
dt = RTC.TimedStringSeq(RTC.Time(0,0),[])
return dt, [str, sec, m_string]
elif data_type == 'TimedWStringSeq':
dt = RTC.TimedWStringSeq(RTC.Time(0,0),[])
return dt, [str, sec, m_string]
else:
return None
def actionPerformed(self, actionEvent):
try:
draw = OOoDraw()
except NotOOoDrawException:
return
sobj = draw.document.CurrentSelection
if sobj:
if sobj.Count > 0:
obj = sobj.getByIndex(0)
jport, d_type = JudgeDrawObjRTC(obj)
if jport:
xo_control = self.dlg_control.getControl( ControlName.XoffsetBName )
yo_control = self.dlg_control.getControl( ControlName.YoffsetBName )
ro_control = self.dlg_control.getControl( ControlName.RoffsetBName )
xs_control = self.dlg_control.getControl( ControlName.XscaleBName )
ys_control = self.dlg_control.getControl( ControlName.YscaleBName )
jport._ox = long(xo_control.Text)
jport._oy = long(yo_control.Text)
jport._or = float(ro_control.Text)
jport._sx = long(xs_control.Text)
jport._sy = long(ys_control.Text)
UpdateSaveSheet()
return
dtcb_control = self.dlg_control.getControl( ControlName.DataTypeCBName )
dt = str(dtcb_control.Text)
if dt != "":
F_Name = dt + str(OpenRTM_aist.uuid1())
ptcb_control = self.dlg_control.getControl( ControlName.PortTypeCBName )
pt = str(ptcb_control.Text)
for d in DrawDataPort.DataType.DataTypeList:
if dt == d:
dt = d
if pt == "DataOutPort":
pt = "DataInPort"
else:
pt = "DataOutPort"
CompAddPort(F_Name, [[pt,dt],dt], self.dlg_control, obj, pt, False)
if pt == "DataInPort":
MyMsgBox('',OOoRTC.SetCoding(dt+"型のOutPortを作成しました。",'utf-8'))
else:
MyMsgBox('',OOoRTC.SetCoding(dt+"型のInPortを作成しました。",'utf-8'))
UpdateSaveSheet()
info_control = self.dlg_control.getControl( ControlName.TextFName )
info_control.setText(OOoRTC.SetCoding('作成済み','utf-8'))
return
objectTree = self.dlg_control.getControl(ControlName.RTCTreeName)
t_comp, nd = OOoRTC.JudgePort(objectTree, self._paths)
if t_comp:
m_i,m_j = JudgeRTCObjDraw(obj)
F_Name = t_comp[0][-2] + t_comp[0][-1] + str(m_i) + str(m_j)
profile = t_comp[1].get_port_profile()
props = nvlist_to_dict(profile.properties)
CompAddPort(F_Name, t_comp, self.dlg_control, obj, props['port.port_type'])
t_str = str(m_i) + "ページの" + str(m_j) + "番目の図形と" + t_comp[0][-2] + t_comp[0][-1] + "を関連付けました"
MyMsgBox('',OOoRTC.SetCoding(t_str,'utf-8'))
UpdateSaveSheet()
info_control = self.dlg_control.getControl( ControlName.TextFName )
info_control.setText(OOoRTC.SetCoding('作成済み','utf-8'))
def configuration(self):
'''The configuration dictionary of the manager.'''
with self._mutex:
if not self._configuration:
self._configuration = nvlist_to_dict(self._obj.get_configuration())
return self._configuration
