def rtmrun_with_tabs(packs, comps, cxts, delays, rates=None, ecxtpacks=None, host=None, port=None,terminal_options=""):
pythonpath=commands.getoutput("which python")
if os.environ.has_key("EUS"):
if os.environ["EUS"] == "jskrbeusgl":
euslisppath=commands.getoutput("which jskrbeusgl")
else:
euslisppath=commands.getoutput("which irteusgl")
tmppaths=commands.getoutput("which -a invoke_command_with_sleep.sh").split('\n')
invoke_commandpath=tmppaths[len(tmppaths)-1]
tabcommands=[]
rtcdcommands = []
unames = []
baseno = 2809
if host == None:
host = socket.gethostname()
if port == None:
port = 2809
for (pack, comp, cxt, rte, delay) in zip(packs, comps, cxts, rates, delays):
path=rtmpack(["find",pack])
rtcdcommand = None
if comp.find('.so')!=-1:
cpos=comp.find(':')
if cpos != -1:
exec_context = comp[cpos+1:]
comp = comp[:cpos]
else:
exec_context = None
#use rtmgr for creating components
uname = '_' + str(cxt)
tmpfn = "/tmp/rtcconf" + uname + ".XXX"
tmpconf = open(tmpfn, 'w')
tmpconf.write("corba.nameservers: " + host + ":" + str(port) + "\n")
tmpconf.write("logger.enable: NO\n")
tmpconf.write("manager.instance_name: rtmext_manager" + uname + "\n")
mmport = ordsum(uname) + baseno
tmpconf.write("corba.master_manager:" + host + ":" + str(mmport) + "\n")
tmpconf.write("manager.modules.load_path: ./\n")
tmpconf.write("manager.modules.abs_path_allowed: yes\n")
if rte == None:
rte = 1000
tmpconf.write("exec_cxt.periodic.rate: " + str(rte) + "\n")
if exec_context!=None:
tmpconf.write("exec_cxt.periodic.type: " + str(exec_context) + "\n")
tmpconf.close()
rtcdcommand = "rtcd rtmextmgr -f " + tmpfn + " -d"
tabcommands.append("--tab -t " + cxt + " -e \"" + rtcdcommand + "\"" + " --working-directory=" + path)
unames.append(uname)
else:
comppath = search_file(comp, path)
if path != "" and comppath != None:
if comp.find(".py") >= 0:
tabcommands.append("--tab -t " + comp + " -e \"" + pythonpath + " " + comppath + "\"" + " --working-directory=" + path)
elif comp.find(".l") >= 0:
tabcommands.append("--tab -t " + comp + " -e \"" + invoke_commandpath + " " + delay + " " + euslisppath + " " + comppath + "\"" + " --working-directory=" + path)
else:
tabcommands.append("--tab -t " + comp + " -e \"" + comppath + "\"" + " --working-directory=" + path)
rtcdcommands.append(rtcdcommand)
if tabcommands != []:
sprocs = subprocess.Popen("/usr/bin/gnome-terminal " + terminal_options + " " + " ".join(tabcommands), shell=True)
time.sleep(0.1)
#loading & creating components from manager
manager_no = 0
for (pack, comp, cxt, ectpack) in zip(packs, comps, cxts, ecxtpacks):
if comp.find('.so')!=-1:
cpos=comp.find(':')
if cpos != -1:
exec_context = comp[cpos+1:]
comp = comp[:cpos]
else:
exec_context = None
rtfret , manpath = rtfind.main(['/' + host, '--name=rtmext_manager' + unames[manager_no] + '.mgr', '--type=m'], None)
path=rtmpack(["find",pack])
sopath = search_file(comp, path)
classname = comp[:len(comp)-3]
initfuncname = classname + "Init"
if manpath !=[]:
if exec_context !=None:
ec_sofile = exec_context + '.so'
ec_initfunc = exec_context + 'Init'
if not ectpack == None:
path=rtmpack(["find",ectpack])
ecpath = search_file( ec_sofile, path)
rtmgr.main(['--load=' + str(ecpath), '--init-func=' + str(ec_initfunc), manpath[0]], None)
rtmgr.main(['--load=' + str(sopath) ,'--init-func=' + str(initfuncname), manpath[0]], None)
rtmgr.main(['--create=' + str(classname) + '?instance_name=' + str(cxt) ,manpath[0]], None)
time.sleep(0.5)
manager_no += 1
#removing temporary files
for i in range(manager_no):
tmpfn = "/tmp/rtcconf" + unames[i] + ".XXX"
os.remove(tmpfn)
return [sprocs, rtcdcommands]
def rtmrun(pack, comp, cxt, delay, rate=None, ecxtpack=None, host=None, port=None):
path=rtmpack(["find",pack])
sproc=None
pythonpath=commands.getoutput("which python")
if os.environ.has_key("EUS"):
if os.environ["EUS"] == "jskrbeusgl":
euslisppath=commands.getoutput("which jskrbeusgl")
else:
euslisppath=commands.getoutput("which irteusgl")
tmppaths=commands.getoutput("which -a invoke_command_with_sleep.sh").split('\n')
invoke_commandpath=tmppaths[len(tmppaths)-1]
if host == None:
host = socket.gethostname()
if port == None:
port = 2809
rtcdcommand = None
baseno = 2809
if comp.find('.so')!=-1:
cpos=comp.find(':')
if cpos != -1:
exec_context = comp[cpos+1:]
comp = comp[:cpos]
else:
exec_context = None
#use rtmgr for creating components
uname = '_' + str(cxt)
tmpfn = "/tmp/rtcconf" + uname + ".XXX"
tmpconf = open(tmpfn, 'w')
tmpconf.write("corba.nameservers: " + host + ":" + str(port) + "\n")
tmpconf.write("logger.enable: NO\n")
tmpconf.write("manager.instance_name: rtmext_manager" + uname + "\n")
mmport = ordsum(uname) + baseno
tmpconf.write("corba.master_manager:" + host + ":" + str(mmport) + "\n")
tmpconf.write("manager.modules.load_path: ./\n")
tmpconf.write("manager.modules.abs_path_allowed: yes\n")
if rate == None:
rate = 1000
tmpconf.write("exec_cxt.periodic.rate: "+ str(rate) + "\n")
if exec_context!=None:
tmpconf.write("exec_cxt.periodic.type: " + str(exec_context) + "\n")
tmpconf.close()
rtcdcommand = "rtcd rtmextmgr -f " + tmpfn + " -d"
sproc = subprocess.Popen(rtcdcommand, cwd=path, shell=True)
time.sleep(0.1)
#loading & creating components
rtfret , manpath = rtfind.main(['/' + host, '--name=rtmext_manager' + uname + '.mgr', '--type=m'], None)
sopath = search_file(comp, path)
classname = comp[:len(comp)-3]
if exec_context !=None:
ec_sofile = exec_context + '.so'
ec_initfunc = exec_context + 'Init'
if not ecxtpack == None:
path=rtmpack(["find", ecxtpack])
ecpath = search_file( ec_sofile, path)
rtmgr.main(['--load=' + str(ecpath), '--init-func=' + str(ec_initfunc), manpath[0]], None)
initfuncname = classname + "Init"
rtmgr.main(['--load=' + str(sopath) , '--init-func=' + str(initfuncname), manpath[0]], None)
rtmgr.main(['--create=' + str(classname) + '?instance_name=' + str(cxt), manpath[0]], None)
time.sleep(0.5)
#removing temporary files
os.remove(tmpfn)
else:
comppath = search_file(comp, path)
if path != "":
if comp.find(".py") >= 0:
sproc = subprocess.Popen(pythonpath + " " + comppath, cwd=path, shell=True)
elif comp.find(".l") >= 0:
sproc = subprocess.Popen(invoke_commandpath + " " + delay + " " + euslisppath + " " + comppath, cwd=path, shell=True)
else:
sproc = subprocess.Popen(comppath, cwd=path)
else:
sproc = None
return [sproc, rtcdcommand]
