def opAnyString(self, inArg, inoutArg):
tc = CORBA.TypeCode('IDL:omg.org/CORBA/string:1.0')
assert inArg.typecode() == tc
assert inArg.value() == constants.STRING_IN
assert inoutArg.typecode() == tc
assert inoutArg.value() == constants.STRING_INOUT_IN
return (CORBA.Any(tc, constants.STRING_RETN),
CORBA.Any(tc, constants.STRING_INOUT_OUT),
CORBA.Any(tc, constants.STRING_OUT))
def opAnyStruct(self, inArg, inoutArg):
tc = CORBA.TypeCode('IDL:matecorba/test/VariableLengthStruct:1.0')
assert inArg.typecode() == tc
assert inArg.value().a == constants.STRING_IN
assert inoutArg.typecode() == tc
assert inoutArg.value().a == constants.STRING_INOUT_IN
return (CORBA.Any(tc, matecorba.test.VariableLengthStruct(constants.STRING_RETN)),
CORBA.Any(tc, matecorba.test.VariableLengthStruct(constants.STRING_INOUT_OUT)),
CORBA.Any(tc, matecorba.test.VariableLengthStruct(constants.STRING_OUT)))
def getRandomStruct(typeCode, compRef):
'''
Helper function
'''
structDef = getDefinition(typeCode.id())
try:
return getKnownBaciType(structDef._get_id())
except:
pass
#determine which namespace the struct is in...
#changes 'IDL:alma/someMod/.../struct:1.0" to
# [ 'someMod', ...,'struct' ]
nameHierarchy = structDef._get_id().split(':')[1].split('/')[1:]
#Just the 'struct' part...
structName = nameHierarchy.pop()
moduleName = nameHierarchy.pop(0)
LOGGER.logTrace("module=" + moduleName + "; hierarchy=" +
str(nameHierarchy) + "; struct=" + structName)
#import the top module
tGlobals = {}
tLocals = {}
#module object where the struct is contained
container = __import__(moduleName, tGlobals, tLocals, [])
if container == None:
msg = "import of module \'" + moduleName + "\' failed"
LOGGER.logCritical(msg)
raise CORBA.NO_IMPLEMENT(msg)
# Now navigate down the nested hierarchy of objects
for h in nameHierarchy:
previousContainer = container
container = container.__dict__.get(h)
if container == None:
msg = "Name \'" + h + "\' not found in " + str(previousContainer)
LOGGER.logCritical(msg)
raise CORBA.NO_IMPLEMENT(msg)
#class object for the struct
tClass = container.__dict__.get(structName)
if tClass == None:
msg = "Could not get structure \'" + structName + "\' from " \
+ str(container)
LOGGER.logCritical(msg)
raise CORBA.NO_IMPLEMENT(msg)
#create an instance of the struct using a kooky Python mechanism.
retVal = instance(tClass)
#populate the fields of the struct using the IFR
for member in structDef._get_members():
LOGGER.logTrace("Adding a member variable for: " + str(member.name))
retVal.__dict__[member.name] = getRandomValue(
member.type_def._get_type(), compRef)
return retVal
def makeNVP(name, value):
if (type(value) == type('')):
return CosLifeCycle.NameValuePair(name,
CORBA.Any(CORBA.TC_string, value))
elif (type(value) == type(0)):
return CosLifeCycle.NameValuePair(name,
CORBA.Any(CORBA.TC_ulong, value))
else:
sys.stderr.write("Unexpected type.\n")
sys.exit(1)
def test28_typecode(self):
'''TypeCodes'''
objref = factory.getAnyServer()
inarg = CORBA.TypeCode('IDL:matecorba/test/ArrayUnion:1.0')
inoutarg = CORBA.TypeCode('IDL:matecorba/test/AnyServer:1.0')
retn, inout, out = objref.opTypeCode(inarg, inoutarg)
assert retn == CORBA.TypeCode(
'IDL:matecorba/test/VariableLengthStruct:1.0')
assert inout == CORBA.TypeCode('IDL:matecorba/test/TestException:1.0')
assert out == CORBA.TypeCode('IDL:matecorba/test/AnEnum:1.0')
def __init__(self, desc):
if type(desc) is not types.IntType: raise CORBA.INTERNAL()
if desc not in [
tv_null, tv_void, tv_short, tv_long, tv_ushort, tv_ulong,
tv_float, tv_double, tv_boolean, tv_char, tv_octet, tv_any,
tv_TypeCode, tv_Principal, tv_longlong, tv_ulonglong,
tv_longdouble, tv_wchar
]:
raise CORBA.INTERNAL()
self._d = desc
self._k = CORBA.TCKind._item(desc)
def main(args):
orb = CORBA.ORB_init(args)
poa = orb.resolve_initial_references("RootPOA")
orb.register_value_factory(CORBA.id(ValueTest.Three), Three_i)
ti = Test_i()
to = ti._this()
print orb.object_to_string(to)
poa._get_the_POAManager().activate()
orb.run()
def test27_any_equivalence(self):
'''anys equivalence'''
tc = CORBA.TypeCode('IDL:matecorba/test/unionSeq:1.0')
seq = [
test.VariableLengthUnion(4, CORBA.TRUE),
test.VariableLengthUnion(2, 'blah'),
test.VariableLengthUnion(55, constants.LONG_IN)
]
a = CORBA.Any(tc, seq)
b = CORBA.Any(tc, seq)
assert a == b
def _convertToCorbaAny(value):
from sys import version_info
if version_info.major > 2:
integers = (int, )
else:
integers = (
long, # noqa: F821
int,
)
import CORBA
t = type(value)
if t is float:
return CORBA.Any(CORBA.TC_double, value)
elif isinstance(value, bool):
return CORBA.Any(CORBA.TC_boolean, value)
elif isinstance(value, integers):
return CORBA.Any(CORBA.TC_longlong, value)
elif isinstance(value, str):
return CORBA.Any(CORBA.TC_string, value)
elif isinstance(value, (list, tuple)):
if isinstance(value[0], (list, tuple)):
return CORBA.Any(CORBA.TypeCode("IDL:hpp/floatSeqSeq:1.0"), value)
else:
return CORBA.Any(CORBA.TypeCode("IDL:hpp/floatSeq:1.0"), value)
else: # Assume value is already a CORBA.Any
return value
def test23_any_string(self):
'''any with strings'''
objref = factory.getAnyServer()
tc = CORBA.TypeCode('IDL:omg.org/CORBA/string:1.0')
retn, inout, out = objref.opAnyString(
CORBA.Any(tc, constants.STRING_IN),
CORBA.Any(tc, constants.STRING_INOUT_IN))
assert retn.typecode() == tc
assert retn.value() == constants.STRING_RETN
assert inout.typecode() == tc
assert inout.value() == constants.STRING_INOUT_OUT
assert out.typecode() == tc
assert out.value() == constants.STRING_OUT
def getUnsupported(typeCode, compRef):
'''
Helper function
'''
valType = typeCode.kind()
LOGGER.logCritical(str(valType) + " not yet supported")
raise CORBA.NO_IMPLEMENT()
def test(channel):
# Prepare
assert (channel._is_a(CosEventChannelAdmin._tc_EventChannel.id()))
consumer_i = servant.PullConsumer_i()
supplier_i = servant.PushSupplier_i()
supplier_i.connect(channel)
consumerAdmin = for_consumers(channel)
test = "PPulS-1" # ----------------------------------------------------------
proxyPullSupplier = obtain_pull_supplier(consumerAdmin)
try:
connect_pull_consumer(proxyPullSupplier,
CosEventComm.PullConsumer._nil)
push(supplier_i.pushConsumer, CORBA.Any(CORBA.TC_string, test))
result, hasEvent = try_pull(proxyPullSupplier, time.time() + timeout)
if (hasEvent):
if (result.value(CORBA.TC_string) == test):
passed(test)
else:
failed(test + ": wrong value (" +
result.value(CORBA.TC_string) + ")")
else:
failed(test + ": timed out")
disconnect_pull_supplier(proxyPullSupplier) # Tidy up
except CORBA.Exception, ex:
failed(test + ": got exception %s" % ex.__class__.__name__)
def createFixedTC(digits, scale):
if digits < 1 or digits > 31 or scale > digits:
raise CORBA.BAD_PARAM(omniORB.BAD_PARAM_InvalidFixedPointLimits,
CORBA.COMPLETED_NO)
d = (tv_fixed, digits, scale)
return createTypeCode(d)
def try_pull(self):
if (self.event):
result = self.event
self.event = None
return (result, 1)
else:
return (CORBA.Any(CORBA.TC_long, 0), 0)
def setUp(self):
self._orb = CORBA.ORB_init([''])
test = MEDCouplingCorbaSwigTest.MEDCouplingCorbaServBasicsTest()
f = file(test.buildFileNameForIOR(), "r")
ior = f.read()
self._objC = self._orb.string_to_object(ior)
pass
def pull(self):
if (self.event):
result = self.event
self.event = None
return result
else:
raise CORBA.TRANSIENT(0, CORBA.COMPLETED_NO)
def equal(self, tc):
try:
if self._d == tc._d: return CORBA.TRUE
else: return CORBA.FALSE
except AttributeError:
raise CORBA.BAD_PARAM(omniORB.BAD_PARAM_WrongPythonType,
CORBA.COMPLETED_NO)
def test(channel):
# Prepare
assert (channel._is_a(CosEventChannelAdmin._tc_EventChannel.id()))
consumer_i = servant.PullConsumer_i()
consumer_i.connect(channel)
supplier_i = servant.PushSupplier_i()
supplierAdmin = for_suppliers(channel)
test = "PPshC-1" # ----------------------------------------------------------
proxyPushConsumer = obtain_push_consumer(supplierAdmin)
connect_push_supplier(proxyPushConsumer, CosEventComm.PushSupplier._nil)
push(proxyPushConsumer, CORBA.Any(CORBA.TC_string, test))
result, hasEvent = try_pull(consumer_i.pullSupplier, time.time() + timeout)
if (hasEvent):
if (result.value(CORBA.TC_string) == test):
passed(test)
else:
failed(test + ": wrong value (" + result.value(CORBA.TC_string) +
")")
else:
failed(test + ": timed out")
disconnect_push_consumer(proxyPushConsumer) # Tidy!
test = "PPshC-3" # ----------------------------------------------------------
proxyPushConsumer = obtain_push_consumer(supplierAdmin)
connect_push_supplier(proxyPushConsumer, supplier_i._this())
try:
connect_push_supplier(proxyPushConsumer, supplier_i._this())
failed(test + ": no exception")
except CosEventChannelAdmin.AlreadyConnected, ex:
passed(test)
def __init__(self, objref, perm=0):
if not isinstance(objref, CORBA.Object):
raise CORBA.BAD_PARAM(BAD_PARAM_WrongPythonType,
CORBA.COMPLETED_NO)
self._forward = objref
self._perm = perm
def setUp(self):
self._orb = CORBA.ORB_init()
self._poa = self._orb.resolve_initial_references("RootPOA")
prop = OpenRTM_aist.Properties(defaults_str=configsample_spec)
ca = OpenRTM_aist.ConfigAdmin(prop.getNode("conf"))
self._sdoconf = Configuration_impl(ca)
def __init__(self, desc, parent):
if type(desc) is not types.TupleType or \
desc[0] != tv_value_box:
raise CORBA.INTERNAL()
self._d = desc
self._k = CORBA.tk_value_box
self._p = parent
def main(argv):
print "Game Server starting..."
orb = CORBA.ORB_init(argv, CORBA.ORB_ID)
poa = orb.resolve_initial_references("RootPOA")
poa._get_the_POAManager().activate()
gf_impl = GameFactory_i(poa)
gf_id = poa.activate_object(gf_impl)
gf_obj = poa.id_to_reference(gf_id)
print orb.object_to_string(gf_obj)
# Bind the GameFactory into the Naming service. This code is
# paranoid about checking all the things which could go wrong.
# Normally, you would assume something this fundamental works, and
# just die with uncaught exceptions if it didn't.
try:
nameRoot = orb.resolve_initial_references("NameService")
nameRoot = nameRoot._narrow(CosNaming.NamingContext)
if nameRoot is None:
print "NameService narrow failed!"
sys.exit(1)
except CORBA.ORB.InvalidName, ex:
# This should never happen, since "NameService" is always a
# valid name, even if it hadn't been configured.
print "Got an InvalidName exception when resolving NameService!"
sys.exit(1)
def createValueTC(id, name, modifier, base, members):
base_desc = base._d
if modifier == CORBA.VM_TRUNCATABLE:
if base_desc == tv_null:
raise CORBA.BAD_PARAM(omniORB.BAD_PARAM_InvalidTypeCode,
CORBA.COMPLETED_NO)
base_ids = base_desc[5]
if base_ids is None:
base_ids = (id, base_desc[2])
else:
base_ids = (id, ) + base_ids
else:
base_ids = None
dlist = [
tv_value,
omniORB.createUnknownValue(id, base_desc), id, name, modifier,
base_ids, base_desc
]
for m in members:
dlist.append(m.name)
dlist.append(m.type._d)
dlist.append(m.access)
return createTypeCode(tuple(dlist))
def __init__(self, desc):
if type(desc) is not types.TupleType or \
desc[0] not in [ tv_objref,
tv_abstract_interface,
tv_local_interface ]:
raise CORBA.INTERNAL()
self._d = desc
self._k = CORBA.TCKind._items[desc[0]]
def test25_any_struct(self):
'''any with structs'''
objref = factory.getAnyServer()
tc = CORBA.TypeCode('IDL:matecorba/test/VariableLengthStruct:1.0')
inarg = CORBA.Any(tc, test.VariableLengthStruct(constants.STRING_IN))
inoutarg = CORBA.Any(
tc, test.VariableLengthStruct(constants.STRING_INOUT_IN))
retn, inout, out = objref.opAnyStruct(inarg, inoutarg)
assert retn.typecode() == tc
assert retn.value().a == constants.STRING_RETN
assert inout.typecode() == tc
assert inout.value().a == constants.STRING_INOUT_OUT
assert out.typecode() == tc
assert out.value().a == constants.STRING_OUT
def getEvent(self):
t = time.time()
x = self.radius * cos(self.omega * t)
y = self.radius * sin(self.omega * t)
z = 0.0
alpha = self.omega * t
qx, qy, qz, qw = 0.0, 0.0, sin(alpha * 0.5), cos(alpha * 0.5)
return [
OT_CORBA.EventAttribute(
"position",
CORBA.Any(CORBA.TypeCode("IDL:OT_CORBA/FloatVector:1.0"),
[x, y, z])),
OT_CORBA.EventAttribute(
"orientation",
CORBA.Any(CORBA.TypeCode("IDL:OT_CORBA/FloatVector:1.0"),
[qx, qy, qz, qw])),
OT_CORBA.EventAttribute("timestamp", any.to_any(t))
]
def get_mock_enum_prop():
'''
Mocks enum ACS properties
'''
chars = CORBA.Any(CORBA.TC_string, 'STATE1, STATE2, STATE3')
attrs = {'get_characteristic_by_name.return_value': chars}
mock_prop = Mock()
mock_prop.configure_mock(**attrs)
return mock_prop
def equals(a, b, client=None):
"""
Compare whether the two objects a and b are the same on the server.
param a, b object to compare.
param client either an instance of Client or a client to the Tools interface.
"""
import CORBA
orb = CORBA.ORB_init()
return a == b or orb.object_to_string(a) == orb.object_to_string(b)
def close(self, evt):
if self.toplevel:
self.toplevel = None
try:
self.game.unwatchGame(self.cookie)
except CORBA.SystemException, ex:
print "System exception trying to unwatch game:"
print " ", CORBA.id(ex), ex
id = poa.servant_to_id(self)
poa.deactivate_object(id)
def from_any(any, keep_structs=0):
"""from_any(any, keep_structs=0) -- extract the data from an Any.
If keep_structs is true, CORBA structs are left as Python
instances; if false, structs are turned into dictionaries with
string keys.
"""
if not isinstance(any, CORBA.Any):
raise CORBA.BAD_PARAM(omniORB.BAD_PARAM_WrongPythonType,
CORBA.COMPLETED_NO)
return _from_desc_value(any._t._d, any._v, keep_structs)
def setUp(self):
orb = CORBA.ORB_init(sys.argv)
poa = orb.resolve_initial_references("RootPOA")
poa._get_the_POAManager().activate()
self._mysvc = MyService_impl()
self._mycon = OpenRTM_aist.CorbaConsumer()
#self._mysvc._this()
self._cpSvc = CorbaPort("MyService")
self._cpCon = CorbaPort("MyService")
def main(args):
orb = CORBA.ORB_init(args)
poa = orb.resolve_initial_references("RootPOA")
orb.register_value_factory(CORBA.id(ValueTest.Three), Three_i)
ti = Test_i()
to = ti._this()
print orb.object_to_string(to)
poa._get_the_POAManager().activate()
orb.run()
def killGame(self):
selection = self.listbox.curselection()
if selection == (): return
index = int(selection[0])
info = self.gameList[index]
try:
info.obj.kill()
msg = "killed"
except CORBA.SystemException, ex:
print "System exception trying to kill game:"
print " ", CORBA.id(ex), ex
msg = "error contacting object"
def getGameList(self):
"""Get the list of games from the GameFactory, and populate
the Listbox in the GUI"""
# To make life interesting, we get the game information
# structures one at a time from the server. It would be far
# more sensible to get them many at a time.
self.gameList = []
self.listbox.delete(0,END)
try:
seq, iterator = self.gameFactory.listGames(0)
except CORBA.SystemException, ex:
print "System exception contacting GameFactory:"
print " ", CORBA.id(ex), ex
return
def selectGame(self, evt):
selection = self.listbox.curselection()
if selection == (): return
index = int(selection[0])
info = self.gameList[index]
try:
players = info.obj._get_players()
if players == 0:
msg = "no players yet"
elif players == 1:
msg = "one player waiting"
else:
msg = "game in progress"
except CORBA.SystemException, ex:
print "System exception contacting Game:"
print " ", CORBA.id(ex), ex
msg = "error contacting Game object"
def newGameEntered(self, evt):
name = evt.widget.get()
self.newGameDialogue.destroy()
self.newGameDialogue = None
if name == "":
self.statusMessage("You must give a non-empty name")
return
try:
game = self.gameFactory.newGame(name)
except TicTacToe.GameFactory.NameInUse:
self.statusMessage("Game name in use")
return
except CORBA.SystemException, ex:
print "System exception trying to create new game:"
print " ", CORBA.id(ex), ex
self.statusMessage("System exception trying to create new game")
return
def click(self, evt):
x = evt.x / 100
y = evt.y / 100
try:
self.statusMessage("Waiting for other player...")
state = self.controller.play(x, y)
self.drawState(state)
except TicTacToe.GameController.SquareOccupied:
self.statusMessage("Square already occupied")
except TicTacToe.GameController.NotYourGo:
self.statusMessage("Not your go")
except TicTacToe.GameController.InvalidCoordinates:
self.statusMessage("Eek! Invalid coordinates")
except CORBA.SystemException:
print "System exception trying to contact GameController:"
print " ", CORBA.id(ex), ex
self.statusMessage("System exception contacting GameController!")
def watchGame(self):
selection = self.listbox.curselection()
if selection == (): return
index = int(selection[0])
info = self.gameList[index]
si = Spectator_i(self.master, info.name)
id = poa.activate_object(si)
so = poa.id_to_reference(id)
try:
cookie, state = info.obj.watchGame(so)
si.go(info.obj, cookie, state)
self.statusMessage("Watching %s" % info.name)
except CORBA.SystemException, ex:
poa.deactivate_object(id)
print "System exception trying to watch game:"
print " ", CORBA.id(ex), ex
self.statusMessage("%s: system exception contacting game" % \
info.name)
self.getGameList()
def testBaseCorbaFetching(self):
self.assertTrue(not CORBA.is_nil(self._objC))
pass
stype = "noughts"
else:
stype = "crosses"
pi.go(info.obj, controller, stype)
self.statusMessage("%s: joined game as %s" % (info.name, stype))
except TicTacToe.Game.CannotJoin, ex:
poa.deactivate_object(id)
self.statusMessage("%s: cannot join game" % info.name)
except CORBA.SystemException, ex:
poa.deactivate_object(id)
print "System exception trying to join game:"
print " ", CORBA.id(ex), ex
self.statusMessage("%s: system exception contacting game" % \
info.name)
self.getGameList()
def watchGame(self):
selection = self.listbox.curselection()
if selection == (): return
index = int(selection[0])
info = self.gameList[index]
si = Spectator_i(self.master, info.name)
id = poa.activate_object(si)
so = poa.id_to_reference(id)
try:
pass
try:
BooleanType
except NameError:
class BooleanType:
pass
try:
bool(1)
except:
def bool(x): return x
# Fixed type
_f = CORBA.fixed(0)
FixedType = type(_f)
def to_any(data):
"""to_any(data) -- try to return data as a CORBA.Any"""
tc, val = _to_tc_value(data)
return CORBA.Any(tc, val)
def _to_tc_value(data):
"""_to_tc_value(data) -- return TypeCode and value for Any insertion"""
if data is None:
return CORBA.TC_null, None
#!/usr/bin/python
import CORBA
class mail:
msg = 0
def submit(self, msg):
print "Message Recieved from:", msg.fr
print "Message for:", msg.to
for line in msg.body:
print line
self.msgs = self.msgs + 1;
print "Message Served: ", self.msgs
CORBA.load_idl("msg.idl")
CORBA.load_idl("/usr/share/idl/name-service.idl")
orb = CORBA.ORB_init((), CORBA.ORB_ID)
poa = orb.resolve_initial_references("RootPOA")
servant = POA.MESSAGING.mail(mail())
poa.activate_object(servant)
ref = poa.servant_to_reference(servant)
open("./msg-server.ior","w").write(orb.object_to_string(ref))
print "Wrote IOR to file", orb.object_to_string(ref)
poa.the_POAManager.activate()
orb.run()
uri = 'file:%s' % directory
print uri, action
self.dialogs['add-repos']['local'] = uri
if __name__ == '__main__':
conn = RepositoryConnection()
win = RepositoryBrowserWindow(conn)
win.connect('destroy', mainquit)
m = win.browser.repos.main
mainloop()
if False:
import CORBA
CORBA._load_idl(join(cfg['local_idl_path'], 'repos.idl'))
from _GlobalIDL import Repos
orb = CORBA.ORB_init()
ior = file('ior').readline()
o = orb.string_to_object(ior)
#o.init('deb file:/mirrors/debian sid main contrib non-free')
#o.update()
#o.parse()
def on_update(self):
addr = VREP_RTC_PATH
selfAddr = SELF_RTC_PATH
clientNS = selfAddr.split('/')[0]
clientAddr = selfAddr[:selfAddr.rfind(':')][len(clientNS)+1:]
if clientNS.find(':') < 0: clientNS = clientNS+':2809'
clientPortName = selfAddr.split(':')[1]
hostNS = addr.split('/')[0]
hostAddr = addr[:addr.rfind(':')][len(hostNS)+1:]
if hostNS.find(':') < 0: hostNS = hostNS+':2809'
hostPortName = addr.split(':')[1]
robotRTCs = {}
rangeRTCs = {}
cameraRTCs = {}
objectRTCs = {}
otherRTCs = {}
try:
clientCorbaNaming = OpenRTM_aist.CorbaNaming(OpenRTM_aist.Manager.instance().getORB(), clientNS)
root_cxt = clientCorbaNaming.getRootContext()
def parseContext(cxt_str, cxt):
objs = []
bindingList, bindingIterator = cxt.list(30)
for b in bindingList:
if b.binding_type == CosNaming.ncontext:
child_cxt_str = b.binding_name[0].id + '.' + b.binding_name[0].kind + '/'
objs = objs + [cxt_str + o for o in parseContext(child_cxt_str, cxt.resolve(b.binding_name))]
elif b.binding_type == CosNaming.nobject:
objs.append(cxt_str + b.binding_name[0].id + '.' + b.binding_name[0].kind)
return objs
rtobjectNames = parseContext("", root_cxt)
for rtobjectName in rtobjectNames:
obj = clientCorbaNaming.resolve(rtobjectName)
if CORBA.is_nil(obj):
sys.stdout.write(' - RTObject(%s) not found' % rtobjectName)
continue
corbaConsumer = OpenRTM_aist.CorbaConsumer()
corbaConsumer.setObject(obj)
try:
prof = corbaConsumer._ptr().get_component_profile()
if prof.type_name == 'RobotRTC' and prof.category == 'Simulator':
robotRTCs[rtobjectName] = corbaConsumer
elif prof.type_name == 'RangeRTC' and prof.category == 'Simulator':
rangeRTCs[rtobjectName] = corbaConsumer
elif prof.type_name == 'CameraRTC' and prof.category == 'Simulator':
cameraRTCs[rtobjectName] = corbaConsumer
else:
if prof.type_name == 'SimulationManager' and prof.category == 'Simulator':
pass
else:
ns, path, port = self.get_host_rtc_paths()
print clientNS + '/' + rtobjectName
print ns+'/'+path
if ns+'/'+path == clientNS+'/'+rtobjectName:
pass
else:
otherRTCs[clientNS+'/'+rtobjectName] = corbaConsumer
except:
traceback.print_exc()
pass
print robotRTCs
print otherRTCs
def get_object_profile(rtcs):
profile_dic = {}
for n, r in rtcs.items():
objName = ""
arg = ""
try:
for nv in r._ptr().get_component_profile().properties:
if nv.name == 'conf.__innerparam.objectName':
objName = any.from_any(nv.value, keep_structs=True)
elif nv.name == 'conf.__innerparam.argument':
arg = any.from_any(nv.value, keep_structs=True)
profile_dic[objName] = arg
except:
pass
return profile_dic
self._confRobotsBuffer.set(yaml.dump(get_object_profile(robotRTCs)))
self._confRangesBuffer.set(yaml.dump(get_object_profile(rangeRTCs)))
self._confCamerasBuffer.set(yaml.dump(get_object_profile(cameraRTCs)))
self.rtcMenu['menu'].delete("0", "end")
for r in otherRTCs.keys():
self.rtcMenu['menu'].add_command(label=str(r), command= lambda x=str(r): self.synchRTCEntryBuffer.set(x))
if len(otherRTCs.keys()) > 0:
self.synchRTCEntryBuffer.set(otherRTCs.keys()[0])
else:
self.synchRTCEntryBuffer.set("")
if self._simulator._ptr():
retval, rtcs = self._simulator._ptr().getSynchronizingRTCs()
if self._fullpath_to_self[0] in rtcs:
rtcs.remove(self._fullpath_to_self[0])
ss = yaml.dump(rtcs)
if len(rtcs) == 1:
ss = '[' + ss + ']'
elif len(rtcs) == 0:
ss = '[]'
self._confSyncRTCsBuffer.set(ss)
else:
self._confSyncRTCsBuffer.set("[]")
except CORBA.TRANSIENT, e:
print 'CORBA.TRANSIENT Exception'
def on_connect(self):
addr = self.connectEntryBuffer.get()
selfAddr = self.selfEntryBuffer.get()
print ' - Connecting ', selfAddr, ' ServicePort to ', addr
clientNS = selfAddr.split('/')[0]
clientAddr = selfAddr[:selfAddr.rfind(':')][len(clientNS)+1:]
if clientNS.find(':') < 0: clientNS = clientNS+':2809'
clientPortName = selfAddr.split(':')[1]
hostNS = addr.split('/')[0]
hostAddr = addr[:addr.rfind(':')][len(hostNS)+1:]
if hostNS.find(':') < 0: hostNS = hostNS+':2809'
hostPortName = addr.split(':')[1]
clientCorbaNaming = OpenRTM_aist.CorbaNaming(OpenRTM_aist.Manager.instance().getORB(), clientNS)
clientObj = clientCorbaNaming.resolve(clientAddr)
if CORBA.is_nil(clientObj):
sys.stdout.write(' -- Failed to connect %s' % clientAddr)
return
client = OpenRTM_aist.CorbaConsumer()
client.setObject(clientObj)
clientPorts = client._ptr().get_ports()
clientPort = None
for p in clientPorts:
if p.get_port_profile().name.split('.')[1] == clientPortName:
clientPort = p
if not clientPort:
sys.stdout.write(' -- Failed to find port %s' % clientPort)
hostCorbaNaming = OpenRTM_aist.CorbaNaming(OpenRTM_aist.Manager.instance().getORB(), clientNS)
hostObj = hostCorbaNaming.resolve(hostAddr)
if CORBA.is_nil(hostObj):
sys.stdout.write(' -- Failed to connect %s' % clientAddr)
return
host = OpenRTM_aist.CorbaConsumer()
host.setObject(hostObj)
hostPorts = host._ptr().get_ports()
hostPort = None
for p in hostPorts:
if p.get_port_profile().name.split('.')[1] == hostPortName:
hostPort = p
if not hostPort:
sys.stdout.write(' -- Failed to find port %s' % hostPort)
return
name = clientPortName + '_to_' + hostPortName
connector_id = name
ports = [hostPort, clientPort]
properties = []
prof = RTC.ConnectorProfile(name, connector_id, ports, properties)
ret = hostPort.connect(prof)
hostECList = host._ptr().get_owned_contexts();
hostECList[0].activate_component(host._ptr());
clientECList = client._ptr().get_owned_contexts();
clientECList[0].activate_component(client._ptr());
for b in self._enableAfterConnectButton:
b.config(state=tk.NORMAL)
pass
pass
def main(args):
orb = CORBA.ORB_init(args)
poa = orb.resolve_initial_references("RootPOA")
poa._get_the_POAManager().activate()
orb.register_value_factory(CORBA.id(ValueTest.Three), Three_i)
obj = orb.string_to_object(args[1])
obj = obj._narrow(ValueTest.Test)
v1 = ValueTest.One("hello", 123)
v2 = ValueTest.One("test", 42)
v3 = ValueTest.Two(None, None)
v4 = ValueTest.Two(v1, None)
v5 = ValueTest.Two(v1, v2)
v6 = ValueTest.Two(v1, v1)
v7 = Derived.Five("abc", 456, "more")
obj.show("Simple values")
r1 = obj.op1(v1)
r2 = obj.op1(v2)
r3 = obj.op1(None)
obj.show("Two different values")
obj.op2(v1, v2)
obj.show("Nil, value")
obj.op2(None, v1)
obj.show("Value, nil")
obj.op2(v1, None)
obj.show("Two nils")
obj.op2(None, None)
obj.show("Two references to the same value")
obj.op2(v1, v1)
obj.show("Value containing two nils")
r4 = obj.op3(v3)
obj.show("Value containing value, nil")
r5 = obj.op3(v4)
obj.show("Value containing val1, val2")
r6 = obj.op3(v5)
obj.show("Value containing two references to same value")
r7 = obj.op3(v6)
obj.show("Derived value (should be truncated)")
r8 = obj.op1(v7)
obj.show("Same derived value twice")
obj.op2(v7, v7)
obj.show("Base value, derived value")
obj.op2(v1, v7)
obj.show("Derived value, base value")
obj.op2(v7, v1)
obj.show("String in valuebox")
r9 = obj.op4("Hello")
obj.show("Empty value box")
r10 = obj.op4(None)
obj.show("Nil abstract interface")
obj.op5(None)
fi = Four_i()
fo = fi._this()
obj.show("Abstract interface set to object reference")
obj.op5(fo)
t = Three_i("experiment")
obj.show("Abstract interface set to value")
obj.op5(t)
# Any tests
a1 = CORBA.Any(ValueTest._tc_One, v1)
a2 = CORBA.Any(Derived._tc_Five, v7)
v8 = Derived.Six(1.234, "test")
a3 = CORBA.Any(Derived._tc_Six, v8)
a4 = CORBA.Any(ValueTest._tc_One, None)
a5 = CORBA.Any(ValueTest._tc_One, v2)
a6 = CORBA.Any(ValueTest._tc_One, v2)
obj.show("Value in Any")
obj.op6(a1)
obj.show("Derived value in Any")
obj.op6(a2)
obj.show("Completely unknown value in any")
obj.op6(a3)
obj.show("Nil value in any")
obj.op6(a4)
obj.show("Two anys")
obj.op7(a1, a5)
obj.show("Same any twice")
obj.op7(a1, a1)
obj.show("Different anys containing same value")
obj.op7(a5, a6)
obj.show("Same derived value twice")
obj.op7(a2, a2)
obj.show("Any and value")
obj.op8(a1, v2)
obj.show("Any and same value")
obj.op8(a1, v1)
obj.show("Any and derived")
obj.op8(a1, v7)
obj.show("Same derived value in any and value")
obj.op8(a2, v7)
obj.show("Value and any")
obj.op9(v2, a1)
obj.show("Value and same value in any")
obj.op9(v1, a1)
obj.show("Derived value and any")
obj.op9(v7, a1)
obj.show("Same derived value as value and in any")
obj.op9(v7, a2)
obj.show("Empty value")
e1 = ValueTest.Empty()
e2 = ValueTest.Empty()
obj.op10(e1)
obj.show("Different empty values")
obj.op11(e1, e2)
obj.show("Same empty values")
obj.op11(e1, e1)
obj.show("Empty value, None")
obj.op11(e1, None)
obj.show("None, empty value")
obj.op11(None, e1)
obj.show("None, None")
obj.op11(None, None)
obj.show("Container of empty values")
c1 = ValueTest.Container(e1, e2)
obj.op12(c1)
orb.destroy()
