def __init__(self):
OpenRTM_aist.PeriodicExecutionContext.__init__(self)
self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.mp_ec")
self.prop = OpenRTM_aist.Manager.instance().getConfig()
#print OpenRTM_aist.Manager.instance().getConfig()
self.SetGui = "YES"
self.FileName = ""
#self.DebugFlag = ""
self.SetGui = self.getProperty(self.prop, "exec_cxt.periodic.gui", self.SetGui)
#print self.SetGui
self.FileName = self.getProperty(self.prop, "exec_cxt.periodic.filename", self.FileName)
#print self.FileName
#self.DebugFlag = self.getProperty(self.prop, "exec_cxt.periodic.debug", self.DebugFlag)
self.rs = []
self.r_num = 0
self.SetGui = [self.SetGui]
OpenRTM_aist.eraseBlank(self.SetGui)
self.SetGui = self.SetGui[0]
self.FileName = [self.FileName]
OpenRTM_aist.eraseBlank(self.FileName)
self.FileName = self.FileName[0]
#self.DebugFlag = [self.DebugFlag]
#OpenRTM_aist.eraseBlank(self.DebugFlag)
#self.DebugFlag = self.DebugFlag[0]
self._mutex_del2 = threading.RLock()
if self.SetGui == "YES":
#print pyqtExist
if pyqtExist:
self.g_task = GUITask(self)
self.g_task.activate()
self.nameList = []
self.comp_t = []
class MultipleOrderedEC(OpenRTM_aist.PeriodicExecutionContext):
##
# @brief コンストラクタ
# @param self
def __init__(self):
OpenRTM_aist.PeriodicExecutionContext.__init__(self)
self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("rtobject.mp_ec")
self.prop = OpenRTM_aist.Manager.instance().getConfig()
#print OpenRTM_aist.Manager.instance().getConfig()
self.SetGui = "YES"
self.FileName = ""
#self.DebugFlag = ""
self.SetGui = self.getProperty(self.prop, "exec_cxt.periodic.gui", self.SetGui)
#print self.SetGui
self.FileName = self.getProperty(self.prop, "exec_cxt.periodic.filename", self.FileName)
#print self.FileName
#self.DebugFlag = self.getProperty(self.prop, "exec_cxt.periodic.debug", self.DebugFlag)
self.rs = []
self.r_num = 0
self.SetGui = [self.SetGui]
OpenRTM_aist.eraseBlank(self.SetGui)
self.SetGui = self.SetGui[0]
self.FileName = [self.FileName]
OpenRTM_aist.eraseBlank(self.FileName)
self.FileName = self.FileName[0]
#self.DebugFlag = [self.DebugFlag]
#OpenRTM_aist.eraseBlank(self.DebugFlag)
#self.DebugFlag = self.DebugFlag[0]
self._mutex_del2 = threading.RLock()
if self.SetGui == "YES":
#print pyqtExist
if pyqtExist:
self.g_task = GUITask(self)
self.g_task.activate()
self.nameList = []
self.comp_t = []
##
# @brief rtc.confの設定を取得する関数
# @param self
# @param prop プロパティ
# @param key キー
# @param value 値
# @return 値
def getProperty(self, prop, key, value):
if prop.findNode(key) != None:
#print value
value = prop.getProperty(key)
return value
##
# @brief RTCのリスト更新
# @param self
def Update_Name(self):
self._worker.updateComponentList()
if self.comp_t == self._worker._comps:
pass
else:
guard2 = OpenRTM_aist.ScopedLock(self._mutex_del2)
self.comp_t = []
self.nameList = []
for i in range(0, len(self._worker._comps)):
self.comp_t.append(self._worker._comps[i])
self._worker._comps[i].i_name = self._worker._comps[i]._rtobj.get_component_profile().instance_name
#self.nameList.append(self._worker._comps[i]._sm._obj.get_component_profile().instance_name)
del guard2
##
# @brief 番号からコンポーネントの名前取得の関数
# @param self
# @param num 番号
# @return RTC名
def getCompName(self, num):
self.Update_Name()
#guard2 = OpenRTM_aist.ScopedLock(self._mutex_del2)
#Name = self._worker._comps[num]._sm._obj.get_component_profile().instance_name
#del guard2
#Name = self.nameList[num]
Name = self._worker._comps[num].i_name
return Name
##
# @brief コンポーネントの数取得の関数
# @param self
# @return RTC数
def getCompNum(self):
return len(self._worker._comps)
##
# @brief コンポーネントのロジック実行の関数
# @param self
# @param c ブロック
def workerComp(self, c):
sd = c.r in self._worker._comps
#if self.DebugFlag == "YES":
# print c.v
#print c.v, c.r
if sd == True:
#t0_ = OpenRTM_aist.Time()
c.r._sm.worker()
#t1_ = OpenRTM_aist.Time()
#print c.v,(t1_ - t0_).getTime().toDouble()
else:
for i in range(0, len(self._worker._comps)):
if c.v == self.getCompName(i):
c.r = self._worker._comps[i]
self._worker._comps[i]._sm.worker()
##
# @brief 設定した実行順序のRTCを格納する関数
# @param self
def LoadRules(self):
for h in range(0, len(self.rs)):
for i in range(0, len(self.rs[h].ar)):
for j in range(0, len(self._worker._comps)):
#Name = self._worker._comps[j]._sm._obj.get_component_profile().instance_name
Name = self.getCompName(j)
if Name == self.rs[h].ar[i].name:
self.rs[h].ar[i].r = self._worker._comps[j]
for i in range(0, len(self.rs[h].rs)):
for j in range(0, len(self.rs[h].rs[i].SR)):
for k in range(0, len(self.rs[h].rs[i].SR[j])):
for l in range(0, len(self._worker._comps)):
#Name = self._worker._comps[l]._sm._obj.get_component_profile().instance_name
Name = self.getCompName(l)
if Name == self.rs[h].rs[i].SR[j][k].v:
self.rs[h].rs[i].SR[j][k].r = self._worker._comps[l]
##
# @brief GUIから実行順序の読み込みの関数
# @param self
# @param RS_d 実行順序のリスト
def LoadRuleGUI(self, RS_d):
guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
self.rs = []
self.rs = RS_d
self.LoadRules()
del guard
##
# @brief ファイルから実行順序の読み込みの関数
# @param self
def LoadRule(self):
guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
for h in range(0, len(self.rs)):
self.rs[h].rs = []
self.rs = []
MPComp.LoadMainRule(self.rs, self.FileName)
self.LoadRules()
del guard
##
# @brief スレッド実行関数
# @param self
# @return 0
def svc(self):
self._rtcout.RTC_TRACE("svc()")
#flag = True
count_ = 0
self.LoadRule()
#while flag:
while self.threadRunning():
guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
#self.LoadRules()
#self._worker._cond.acquire()
#while not self._worker._running:
# self._worker._cond.wait()
while not self._workerthread._running:
self._workerthread._cond.wait()
self._worker.updateComponentList()
t0_ = OpenRTM_aist.Time()
if self._worker._running:
for i in range(0, len(self.rs)):
S = True
for j in range(0, len(self.rs[i].ar)):
Flag = False
for k in range(0, len(self._worker._comps)):
if self.rs[i].ar[j].r == self._worker._comps[k]:
if self.rs[i].ar[j].state == -1:
pass
else:
if self.rs[i].ar[j].state != self._worker._comps[k]._sm.get_state():
S = False
if Flag == False:
for k in range(0, len(self._worker._comps)):
if self.getCompName(k) == self.rs[i].ar[j].name:
self.rs[i].ar[j].r = self._worker._comps[k]
if self.rs[i].ar[j].state == -1:
pass
else:
if self.rs[i].ar[j].state != self._worker._comps[k]._sm.get_state():
S = False
if S == True:
self.r_num = i
break
if self.r_num < len(self.rs):
for i in range(0, len(self.rs[self.r_num].rs)):
if len(self.rs[self.r_num].rs[i].SR) == 0:
pass
elif len(self.rs[self.r_num].rs[i].SR) == 1:
for j in range(0, len(self.rs[self.r_num].rs[i].SR[0])):
self.rs[self.r_num].rs[i].SR[0][j].s = 1
"""sd = self.rs[self.r_num].rs[i].SR[0][j].r in self._worker._comps
print self.rs[self.r_num].rs[i].SR[0][j].v,self.rs[self.r_num].rs[i].SR[0][j].r
if sd == True:
self.rs[self.r_num].rs[i].SR[0][j].r._sm.worker()"""
self.workerComp(self.rs[self.r_num].rs[i].SR[0][j])
self.rs[self.r_num].rs[i].SR[0][j].s = 0
else:
p_num = len(self.rs[self.r_num].rs[i].SR)
m_task = []
for j in range(0, p_num):
m_task_s = MPTask(self)
m_task.append(m_task_s)
for k in range(0, len(self.rs[self.r_num].rs[i].SR[j])):
m_task_s.addComp(self.rs[self.r_num].rs[i].SR[j][k],i,j,k)
m_task_s.activate()
for j in range(0, p_num):
m_task[j].wait()
m_task[j].close()
#self._worker._cond.release()
del guard
t1_ = OpenRTM_aist.Time()
period_ = self.getPeriod()
if count_ > 1000:
exctm_ = (t1_ - t0_).getTime().toDouble()
#slptm_ = self._period.toDouble() - exctm_
slptm_ = period_.toDouble() - exctm_
self._rtcout.RTC_PARANOID("Period: %f [s]", period_.toDouble())
self._rtcout.RTC_PARANOID("Execution: %f [s]", exctm_)
self._rtcout.RTC_PARANOID("Sleep: %f [s]", slptm_)
t2_ = OpenRTM_aist.Time()
if not self._nowait and period_.toDouble() > ((t1_ - t0_).getTime().toDouble()):
if count_ > 1000:
self._rtcout.RTC_PARANOID("sleeping...")
slptm_ = period_.toDouble() - (t1_ - t0_).getTime().toDouble()
time.sleep(slptm_)
if count_ > 1000:
t3_ = OpenRTM_aist.Time()
self._rtcout.RTC_PARANOID("Slept: %f [s]", (t3_ - t2_).getTime().toDouble())
count_ = 0
count_ += 1
#flag = self._running
return 0
