def to_tc_value(data, type_):
if data == None:
return any.to_any(None)
tc, data = any._to_tc_value(data)
# first getting the appropriate TypeCode based on the type_ attribute
if __TYPE_MAP.has_key(type_):
pytype = __TYPE_MAP[type_][0]
tc = __TYPE_MAP[type_][1]
if type(data) != pytype:
data = to_pyvalue(data, type_)
return CORBA.Any(tc, data)
def readDataPort(port, timeout=1.0):
pprof = port.get_port_profile()
for prop in pprof.properties:
if prop.name == "dataport.data_type":
classname = any.from_any(prop.value)
if prop.name == "dataport.data_value":
return any._to_tc_value(prop.value)[1]
nv1 = SDOPackage.NameValue("dataport.interface_type",
any.to_any("corba_cdr"))
nv2 = SDOPackage.NameValue("dataport.dataflow_type", any.to_any("Pull"))
nv3 = SDOPackage.NameValue("dataport.subscription_type",
any.to_any("flush"))
con_prof = RTC.ConnectorProfile("connector0", "", [port], [nv1, nv2, nv3])
ret, prof = port.connect(con_prof)
if ret != RTC.RTC_OK:
print("failed to connect")
return None
for p in prof.properties:
# print(p.name)
if p.name == 'dataport.corba_cdr.outport_ior':
ior = any.from_any(p.value)
obj = orb.string_to_object(ior)
outport = obj._narrow(OutPortCdr)
tm = 0
while tm < timeout:
try:
ret, data = outport.get()
if ret == OpenRTM.PORT_OK:
port.disconnect(prof.connector_id)
tokens = classname.split(':')
if len(tokens) == 3: # for 1.1?
classname = tokens[1].replace('/', '.')
return cdr2data(data, classname)
except:
pass
time.sleep(0.1)
tm = tm + 0.1
port.disconnect(prof.connector_id)
return None
def readDataPort(port, timeout=1.0):
pprof = port.get_port_profile()
for prop in pprof.properties:
if prop.name == "dataport.data_type":
classname = any.from_any(prop.value)
if prop.name == "dataport.data_value":
return any._to_tc_value(prop.value)[1]
nv1 = SDOPackage.NameValue("dataport.interface_type", any.to_any("corba_cdr"))
nv2 = SDOPackage.NameValue("dataport.dataflow_type", any.to_any("Pull"))
nv3 = SDOPackage.NameValue("dataport.subscription_type", any.to_any("flush"))
con_prof = RTC.ConnectorProfile("connector0", "", [port], [nv1, nv2, nv3])
ret, prof = port.connect(con_prof)
if ret != RTC.RTC_OK:
print("failed to connect")
return None
for p in prof.properties:
# print(p.name)
if p.name == 'dataport.corba_cdr.outport_ior':
ior = any.from_any(p.value)
obj = orb.string_to_object(ior)
outport = obj._narrow(OutPortCdr)
tm = 0
while tm < timeout:
try:
ret, data = outport.get()
if ret == OpenRTM.PORT_OK:
port.disconnect(prof.connector_id)
tokens = classname.split(':')
if len(tokens) == 3: # for 1.1?
classname = tokens[1].replace('/', '.')
return cdr2data(data, classname)
except:
pass
time.sleep(0.1)
tm = tm + 0.1
port.disconnect(prof.connector_id)
return None