def __init__(self, orb, server_name=None, naming=None):
self.orb = orb
self.name = server_name
if naming:
self.naming = naming
else:
self.naming = CorbaNaming(self.orb, server_name)
self.b_len = 10 # iteration cut off no.
self.rtc_handles = {}
self.obj_list = {}
def SetNamingServer(s_name, orb):
try:
namingserver = CorbaNaming(orb, s_name)
except:
print 'ネーミングサービスへの接続に失敗しました'
return None
return namingserver
def SetNamingServer(s_name, orb, MyMsgBox = None):
try:
namingserver = CorbaNaming(orb, s_name)
except:
if MyMsgBox != None:
MyMsgBox(SetCoding('エラー','utf-8'),SetCoding('ネーミングサービスへの接続に失敗しました','utf-8'))
return None
return namingserver
def main():
try:
orb = CORBA.ORB_init(sys.argv, CORBA.ORB_ID)
namingserver = CorbaNaming(orb, "localhost")
except:
if os.name == 'posix':
subprocess.Popen("rtm-naming&".split(" "), shell=True)
elif os.name == 'nt':
subprocess.Popen("start rtm-naming", shell=True)
time.sleep(3)
def SetNamingServer(s_name, orb, MyMsgBox = None, w_code = 'utf-8'):
try:
namingserver = CorbaNaming(orb, s_name)
except:
if MyMsgBox != None:
if w_code == "Unicode":
MyMsgBox(u'エラー',u'ネーミングサービスへの接続に失敗しました')
else:
MyMsgBox(SetCoding('エラー',w_code),SetCoding('ネーミングサービスへの接続に失敗しました','utf-8'))
return None
return namingserver
def main():
env = RtmEnv(sys.argv, ["localhost:2809"])
## Get Manager object reference
mgr_name = socket.gethostname() + ".host_cxt/manager.mgr"
naming = CorbaNaming(env.orb, "localhost:2809")
manager = naming.resolve(mgr_name)._narrow(RTM.Manager)
listo = env.name_space["localhost:2809"].list_obj()
env.name_space['localhost:2809'].rtc_handles.keys()
ns = env.name_space['localhost:2809']
comp = ns.rtc_handles["PeriodicECSharedComposite0.rtc"]
config = comp.rtc_ref.get_configuration()
configset = config.get_configuration_sets()
config_data = configset[0].configuration_data
time.sleep(1)
motor = ns.rtc_handles["Motor0.rtc"]
sensor = ns.rtc_handles["Sensor0.rtc"]
controller = ns.rtc_handles["Controller0.rtc"]
loop_count = 1000
for i in range(loop_count):
manager.create_component("PeriodicECSharedComposite?instance_name=aaa")
env.name_space["localhost:2809"].list_obj()
aaa = ns.rtc_handles[socket.gethostname() + ".host_cxt/aaa.rtc"]
org = aaa.rtc_ref.get_owned_organizations()[0]
org.set_members([motor.rtc_ref, sensor.rtc_ref, controller.rtc_ref])
time.sleep(1)
ret = org.remove_member("Motor0")
ret = org.remove_member("Sensor0")
ret = org.remove_member("Controller0")
aaa.rtc_ref.exit()
time.sleep(1)
class NameSpace:
def __init__(self, orb, server_name=None, naming=None):
self.orb = orb
self.name = server_name
if naming:
self.naming = naming
else:
self.naming = CorbaNaming(self.orb, server_name)
self.b_len = 10 # iteration cut off no.
self.rtc_handles = {}
self.obj_list = {}
def get_object_by_name(self, name, cl=RTC.RTObject):
ref = self.naming.resolveStr(name)
if ref is None:
return None # return CORBA.nil ?
if cl:
return ref._narrow(cl)
else:
return ref
def list_obj(self):
self.rtc_handes = {}
self.obj_list = {}
return self.list_obj1(self.naming._rootContext, "")
def list_obj1(self, name_context, parent):
if not name_context:
name_context = self.naming._rootContext
rslt = []
b_list = name_context.list(self.b_len)
for bd in b_list[0]:
rslt = rslt + self.proc_bd(bd, name_context, parent)
if b_list[1]: # iterator : there exists remaining.
t_list = b_list[1].next_n(self.b_len)
while t_list[0]:
for bd in t_list[1]:
rslt = rslt + self.proc_bd(bd, name_context, parent)
t_list = b_list[1].next_n(self.b_len)
return rslt
def proc_bd(self, bd, name_context, parent):
# print('-------------------------------------------------------------------')
# print('bd= ', bd)
# print('name_context= ', name_context)
# print('parent= ', parent)
rslt = []
pre = ""
if parent:
pre = parent + "/"
nam = pre + URI.nameToString(bd.binding_name)
if bd.binding_type == CosNaming.nobject:
tmp = name_context.resolve(bd.binding_name)
self.obj_list[nam] = tmp
print('objcet ' + nam + ' was listed.')
try:
tmp = tmp._narrow(RTC.RTObject)
except BaseException:
print(nam + ' is not RTC.')
tmp = None
try:
if tmp:
rslt = [[nam, tmp]]
self.rtc_handles[nam] = RtcHandle(nam, self, tmp)
print('handle for ' + nam + ' was created.')
else:
pass
except BaseException:
print(nam + ' is not alive.')
pass
else:
tmp = name_context.resolve(bd.binding_name)
tmp = tmp._narrow(CosNaming.NamingContext)
rslt = self.list_obj1(tmp, nam)
return rslt
