/
rt_component.py
executable file
·496 lines (399 loc) · 12 KB
/
rt_component.py
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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
'''
Copyright (C) 2016
Isao Hara
Robot Innovation Research Center
National Institute of Advanced Industrial Science and Technology (AIST), Japan
All rights reserved.
Licensed under the MIT License(MIT)
http://www.opensouce.org/license/MIT
'''
######################
#
#
import os
import sys
import json
import argparse
import time
import logging
import comm
from types import *
#######
# OpenRTM-aist
import OpenRTM_aist
import omniORB
from RTC import *
###################
# Specification of RTC
#
__version__ = "0.1"
rtcweb_spec = ["implementation_id", "RtcWeb",
"type_name", "RtcWeb",
"description", __doc__.encode('UTF-8'),
"version", __version__,
"vendor", "AIST",
"category", "RtcManger",
"activity_type", "DataFlowComponent",
"max_instance", "1",
"language", "Python",
"lang_type", "script",
"conf.default.docroot_dir", "html/",
"conf.default.project_dir", "project/",
"exec_cxt.periodic.rate", "1",
""]
#########################################################################
#
# DataListener
# This class connected with DataInPort
#
class RtcWebDataListener(OpenRTM_aist.ConnectorDataListenerT):
def __init__(self, name, type, obj):
self._name = name
self._type = type
self._obj = obj
def __call__(self, info, cdrdata):
data = OpenRTM_aist.ConnectorDataListenerT.__call__(self,
info, cdrdata, instantiateDataType(self._type))
self._obj.onData(self._name, data)
###################
from RtcWeb_Core import *
###################
# RTC
#
class RtcWeb(OpenRTM_aist.DataFlowComponentBase, RtcWeb_Core):
def __init__(self, manager):
OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
RtcWeb_Core.__init__(self)
self.manager = manager
self.activated = False
self.websocketAdaptor = None
self._docroot_dir = ["html/"]
self._project_dir = ["project/"]
def exit(self):
RtcWeb_Core.exit(self)
OpenRTM_aist.DataFlowComponentBase.exit(self)
def onInitialize(self):
OpenRTM_aist.DataFlowComponentBase.onInitialize(self)
self.bindParameter("docroot_dir", self._docroot_dir, "html/")
self.bindParameter("project_dir", self._project_dir, "project/")
return RTC_OK
def onActivated(self, ec_id):
self.activated = True
return RTC_OK
def onDeactivated(self, ec_id):
self.activated = False
return RTC_OK
def onFinalize(self):
OpenRTM_aist.DataFlowComponentBase.onFinalize(self)
return RTC_OK
def onShutdown(self, ec_id):
return RTC_OK
def onExecute(self, ec_id):
OpenRTM_aist.DataFlowComponentBase.onExecute(self, ec_id)
if self.websocketAdaptor :
for port in self._inports :
if port.isNew() :
data = port.read()
self.websocketAdaptor.on_data_inport(port, data)
self.websocketAdaptor.on_exec(ec_id)
return RTC_OK
def activate(self):
execContexts = self.get_owned_contexts()
execContexts[0].activate_component(self.getObjRef())
def deactivate(self):
execContexts = self.get_owned_contexts()
execContexts[0].deactivate_component(self.getObjRef())
def createInPort(self, name, type):
if name in self._port.keys():
print "DataPort '%s' already exists." % name
return
self._data[name] = instantiateDataType(type)
self._datatype[name] = str(type)
self._port[name] = OpenRTM_aist.InPort(name, self._data[name])
self._port[name].addConnectorDataListener(
OpenRTM_aist.ConnectorDataListenerType.ON_BUFFER_WRITE,
RtcWebDataListener(name, type, self))
self.registerInPort(name, self._port[name])
def createOutPort(self, name, type):
if name in self._port.keys():
print "DataPort '%s' already exists." % name
return
self._data[name] = instantiateDataType(type)
self._datatype[name] = str(type)
self._port[name] = OpenRTM_aist.OutPort(name, self._data[name],
OpenRTM_aist.RingBuffer(8))
self.registerOutPort(name, self._port[name])
def findDataPort(self, port):
for name in self._data.keys():
if self._port[name] == port : return name
return None
def delPort(self, name):
port = self._port[name]
if port in self._inports :
self.removeInPort(port)
elif port in self._outports :
self.removeOutPort(port)
else:
print "No such dataport..."
return
del self._data[name]
del self._datatype[name]
del self._port[name]
def setWebSocketAdaptor(self, ws):
self.websocketAdaptor = ws
def callOtherFunc(self, data):
print data
###################
# RTC Manager
#
class rtc_manager:
def __init__(self, ws=None):
self.port=8080
self.doc_root="html"
self.daemon=False
self.ssl=False
self.debug=False
self.manager=None
self.comp=None
self.comps=[]
self.setWSCmd(ws)
self.parseArgs()
argv = self.other_args
self.manager = OpenRTM_aist.Manager.init(argv)
self.manager.setModuleInitProc(self.moduleInit)
self.manager.activateManager()
#
# Initialize the RtcWeb
#
def moduleInit(self, manager):
profile = OpenRTM_aist.Properties(defaults_str=rtcweb_spec)
manager.registerFactory(profile, RtcWeb, OpenRTM_aist.Delete)
def createRtc(self, name="RtcWeb", ports=[]):
comp = self.manager.createComponent(name)
if comp == None:
print "Fail to create component.",name
return None
# sys.exit(1)
for prof in ports:
if prof['type'] == 'in' :
comp.createInPort(str(prof['name']), eval(prof['data_type']))
elif prof.type == 'out':
comp.createOutPort(str(prof['name']), eval(prof['data_type']))
else:
print "Port ",prof['type'], "isn't supported"
comp.manager = self.manager
self.comps.append(comp)
return comp
def setCurrentRtc(self, name):
self.comp = None
for comp in self.comps:
if comp.getNamingNames() == name:
self.comp = comp
return self.comp
return None
#
#
#
def addInPort(self, args):
if self.comp is None:
print "No component selected."
else:
self.comp.createInPort(str(args[0]), eval(args[1]))
return
#
#
#
def addOutPort(self, args):
if self.comp is None:
print "No component selected."
else:
self.comp.createOutPort(str(args[0]), eval(args[1]))
return
#
#
#
def addDataPort(self, args):
if self.comp is None:
print "No component selected."
else:
if args[0] == 'in':
self.comp.createInPort(str(args[1]), eval(args[2]))
elif args[0] == 'out':
self.comp.createOutPort(str(args[1]), eval(args[2]))
else:
print "Invalid parameters."
return
def deleteDataPort(self, args):
if self.comp is None:
print "No component selected."
else:
print "delete data port..."
self.comp.delPort(str(args[0]))
#
#
#
def activateRtc(self):
if self.comp is None:
print "No component selected."
else:
self.comp.activate()
#
#
#
def deactivateRtc(self):
if self.comp is None:
print "No component selected."
else:
self.comp.deactivate()
#
#
#
def setSnap(self, ws):
if self.comp is None:
print "No component selected."
else:
self.comp.setWebSocketAdaptor(ws)
#
#
def setWSCmd(self, ws):
self.ws = ws
ws.rtcmgr = self
def parseArgs(self):
self.parser = argparse.ArgumentParser(description='Http server for WebSocket')
self.parser.add_argument('-p','--port', action='store', default=self.port)
self.parser.add_argument('-d', '--daemon', action='store_true', default='False')
self.parser.add_argument('--ssl', action='store_true', default=self.ssl)
self.parser.add_argument('--root', action='store', default=self.doc_root)
self.parser.add_argument('--debug', action='store_true')
self.parser.add_argument('--version', action='version', version='%(prog)s 0.1')
(self.args, self.other_args) = self.parser.parse_known_args()
self.port = int(self.args.port)
self.doc_root = self.args.root
self.ssl = self.args.ssl
return self.args
def start(self):
self.manager.runManager(True)
self.start_httpd()
def start_httpd(self):
self.server = comm.create_httpd(self.port, self.doc_root, self.ws, "", self.ssl)
if self.daemon == True :
comm.logger.info( "Start as daemon" )
comm.daemonize()
else:
pass
if self.debug == True:
comm.logger.setLevel(logging.DEBUG)
self.server.start()
return self.server
def exit(self):
comm.logger.info( "Server terminated." )
for comp in self.comps:
comp.exit()
self.manager.shutdown()
comm.logger.info( "...RTC Manager shutdown")
self.server.close_service()
self.server.terminate()
comm.logger.info( " ...DONE")
def listRtc(self):
for comp in self.comps:
print comp.getNamingName()
#
# WebSocketCommand
#
class ws_rtc_snap(comm.WebSocketCommand):
def __init__(self, rdr):
comm.WebSocketCommand.__init__(self, rdr, "")
def init(self, f):
if f == 'rpc':
self.rtcmgr.setSnap(self)
def on_exec(self, ec_id):
pass
def on_data_inport(self, p, data):
pass
def on_data_outport(self, p, data):
pass
def newRtc(self, msg):
comp=self.rtcmgr.createRtc('RtcWeb', msg)
if comp :
comp.setWebSocketAdaptor(self)
def getInPorts(self, comp=None):
inp_data=[]
if comp is None:
comp = self.rtcmgr.comp
if comp is None:
self.logger.error( "No component selected" )
return inp_data
for inp in comp._inports:
pdata={}
pdata['name'] = inp._name
pdata['data_type'] = comp._datatype[inp._name]
inp_data.append( pdata )
return inp_data
def getOutPorts(self, comp=None):
outp_data=[]
if comp is None:
comp = self.rtcmgr.comp
if comp is None:
self.logger.error( "No component selected" )
return out_data
for outp in comp._outports:
pdata={}
pdata['name'] = outp._name
pdata['data_type'] = comp._datatype[outp._name]
outp_data.append( pdata )
return outp_data
def getRtcList(self):
rtclist = []
for comp in self.rtcmgr.comps :
data={}
data['name']=comp.getNamingNames()[0]
data['in_port'] = self.getInPorts(comp)
data['out_port'] = self.getOutPorts(comp)
rtclist.append( data )
return rtclist
def getSnapProject(self,):
flist = os.listdir(self.reader.dirname +'/snap/projects')
flist.sort()
return flist
def exit_server(self, seq):
self.sendDataFrame(json.dumps({'reply_seq':seq, 'result': 'close'}))
self.rtcmgr.exit()
def rtmgr(self, msg, seq):
self.rpc(msg, seq)
return
def rpc(self, msg, seq):
if type(msg) is StringType or type(msg) is UnicodeType:
cmd = msg
elif type(msg) is ListType:
cmd = msg.pop(0)
else:
self.logger.error( "Invalid message" )
return
self.logger.info( "Call rpc:"+cmd )
try:
if cmd == 'createRtc':
self.newRtc(msg)
elif cmd == 'getRtcList':
rtclist = self.getRtcList()
self.sendDataFrame(json.dumps({'reply_seq':seq, 'result': rtclist}))
elif cmd == 'setCurrentRtc':
self.rtcmgr.setCurrentRtc(msg)
elif cmd == 'addDataPort':
self.rtcmgr.addDataPort(msg)
elif cmd == 'deleteDataPort':
self.rtcmgr.deleteDataPort(msg)
elif cmd == 'activateRtc':
self.rtcmgr.activateRtc()
elif cmd == 'deactivateRtc':
self.rtcmgr.deactivateRtc()
elif cmd == 'projects':
flist = self.getSnapProject()
self.sendDataFrame(json.dumps({'reply_seq':seq, 'result': flist}))
elif cmd == 'exit':
self.exit_server(seq)
except:
self.logger.error( "catch exception in ws_rtc_snap.rpc " +cmd)
return