def create_proxies(self):
result = ""
for iface, num in get_name_number(self.component.requires):
if communication_is_ice(iface):
module = self.component.idsl_pool.module_providing_interface(
iface.name)
proxy_type = iface.name
if module is not None:
proxy_type = f"{module['name']}::{iface.name}"
if self.component.language.lower() == "cpp":
result += f"{proxy_type}Prx {iface.name.lower()}{num}_proxy;\n"
else:
result += f"{proxy_type}PrxPtr {iface.name.lower()}{num}_proxy;\n"
for iface, num in get_name_number(self.component.publishes):
if communication_is_ice(iface):
module = self.component.idsl_pool.module_providing_interface(
iface.name)
proxy_type = iface.name
if module is not None:
proxy_type = f"{module['name']}::{iface.name}"
if self.component.language.lower() == "cpp":
result += f"{proxy_type}Prx {iface.name.lower()}{num}_pubproxy;\n"
else:
result += f"{proxy_type}PrxPtr {iface.name.lower()}{num}_pubproxy;\n"
return result
def require_and_publish_proxies_creation(self):
result = ""
cont = 0
for interface, num in get_name_number(self.component.requires):
if communication_is_ice(interface):
name = interface.name
if self.component.language.lower() == 'cpp':
prx_type = name
if prx_type not in CPP_TYPES and '::' not in prx_type:
module = self.component.idsl_pool.module_providing_interface(name)
prx_type = f"{module['name']}::{prx_type}"
result += name.lower() + num + "_proxy = (*(" + prx_type + "Prx*)mprx[\"" + name + "Proxy" + num + "\"]);\n"
else:
result += name.lower() + num + "_proxy = std::get<" + str(cont) + ">(tprx);\n"
cont = cont + 1
for interface, num in get_name_number(self.component.publishes):
if communication_is_ice(interface):
name = interface.name
prx_type = name
if prx_type not in CPP_TYPES and '::' not in prx_type:
module = self.component.idsl_pool.module_providing_interface(name)
prx_type = f"{module['name']}::{prx_type}"
if self.component.language.lower() == 'cpp':
result += name.lower() + num + "_pubproxy = (*(" + prx_type + "Prx*)mprx[\"" + name + "Pub" + num + "\"]);\n"
else:
result += name.lower() + num + "_pubproxy = std::get<" + str(cont) + ">(tprx);\n"
cont = cont + 1
return result
def require_and_publish_proxies_creation(self):
result = ""
cont = 0
for interface, num in get_name_number(self.component.requires):
result += self.get_proxy_string(interface,
num,
cont,
is_publication=False)
cont = cont + 1
for interface, num in get_name_number(self.component.publishes):
result += self.get_proxy_string(interface,
num,
cont,
is_publication=True)
cont = cont + 1
return result
def subscribes_to(self):
result = ""
for interface, num in get_name_number(self.component.subscribesTo):
name = interface.name
if communication_is_ice(interface):
if self.component.language.lower() == "cpp":
change1 = "IceStorm::TopicPrx"
change2 = "Ice::ObjectPrx"
change3 = " new <NORMAL>I"
change4 = "Ice::ObjectPrx"
else:
change1 = "std::shared_ptr<IceStorm::TopicPrx>"
change2 = "Ice::ObjectPrxPtr"
change3 = " std::make_shared <<NORMAL>I>"
change4 = "auto"
module = self.component.idsl_pool.module_providing_interface(
name)
proxy_type = utils.get_type_string(name, module['name'])
result += SUBSCRIBESTO_STR.replace(
"<CHANGE1>",
change1).replace("<CHANGE2>", change2).replace(
"<CHANGE3>",
change3).replace("<CHANGE4>", change4).replace(
"<NORMAL>",
name).replace("<LOWER>", name.lower()).replace(
"<PROXYNAME>",
name.lower() + num).replace(
"<PROXYNUMBER>",
num).replace("<PTR_TYPE>", proxy_type)
return result
def test_get_name_number(self):
self.assertCountEqual(
parsing_utils.get_name_number(['AGMExecutiveTopic', 'HumanPose']),
[['AGMExecutiveTopic', ''], ['HumanPose', '']])
self.assertCountEqual(
parsing_utils.get_name_number(
['AGMExecutiveTopic', 'HumanPose', 'HumanPose']),
[['AGMExecutiveTopic', ''], ['HumanPose', ''], ['HumanPose', '1']])
self.assertCountEqual(
parsing_utils.get_name_number(
['HumanPose', 'HumanPose', 'HumanPose']),
[['HumanPose', ''], ['HumanPose', '1'], ['HumanPose', '2']])
self.assertRaises(AssertionError, parsing_utils.get_name_number,
"lapatochada")
self.assertRaises(AssertionError, parsing_utils.get_name_number,
["lapatochada", 8, 3.9])
def config_requires_proxies(self):
result = ""
for interface, num in get_name_number(self.component.requires):
if communication_is_ice(interface):
port = 0
if interface.name == 'DifferentialRobot': port = 10004
if interface.name == 'Laser': port = 10003
result += interface.name + num + "Proxy = " + interface.name.lower(
) + ":tcp -h localhost -p " + str(port) + "\n"
if result != "":
result = '# Proxies for required interfaces\n' + result + '\n\n'
return result
def publish_proxy_creation(self):
result = ""
for iface, num in get_name_number(self.component.publishes):
if communication_is_ice(iface):
name = iface.name
module = self.component.idsl_pool.module_providing_interface(
iface.name)
result += Template(PUBLISHES_STR).substitute(
iface_name=name,
iface_name_lower=name.lower(),
module_name=module['name'])
return result
def publishes_proxies(self):
result = ""
for pb, num in get_name_number(self.component.publishes):
if isinstance(pb, str):
pub = pb
else:
pub = pb[0]
if communication_is_ice(pb):
result += "self." + pub.lower() + num + "_proxy = mprx[\"" + pub + "Pub" + num + "\"]\n"
else:
result += "self." + pub.lower() + "_proxy = Publisher" + pub + "()\n"
return result
def requires_proxies(self):
result = ""
for req, num in get_name_number(self.component.requires):
if isinstance(req, str):
rq = req
else:
rq = req[0]
if communication_is_ice(req):
result += "self." + rq.lower() + num + "_proxy = mprx[\"" + rq + "Proxy" + num + "\"]\n"
else:
result += "self." + rq.lower() + "_proxy = ServiceClient" + rq + "()\n"
return result
def require_proxy_creation(self):
result = ""
for iface, num in get_name_number(self.component.requires):
if communication_is_ice(iface):
name = iface.name
module = self.component.idsl_pool.module_providing_interface(
iface.name)
result += Template(REQUIRE_STR).substitute(
iface_name=name,
module_name=module['name'],
iface_name_lower=name.lower(),
num=num)
return result
def config_requires_proxies(self):
result = ""
for interface, num in get_name_number(self.component.requires):
if communication_is_ice(interface):
port = 0
if interface.name == 'DifferentialRobot': port = 10004
elif interface.name == 'Laser': port = 10003
elif RCPortChecker:
port = get_existing_port(interface.name)
else:
port = random.randint(10001, 19000)
result += interface.name + num + "Proxy = " + interface.name.lower(
) + ":tcp -h localhost -p " + str(port) + "\n"
if result != "":
result = '# Proxies for required interfaces\n' + result + '\n\n'
return result
def proxy_ptr(self, interfaces, prefix=''):
result = ""
for interface, num in get_name_number(interfaces):
if communication_is_ice(interface):
ptr = ""
if self.component.language.lower() != "cpp":
ptr = "Ptr"
name = interface.name
module = self.component.idsl_pool.module_providing_interface(
name)
proxy_type = utils.get_type_string(name, module['name'])
result += Template(PROXY_PTR_STR).substitute(
prx_type=proxy_type,
ptr=ptr,
lower=name.lower(),
num=num,
prefix=prefix)
return result
def specificworker_creation(self):
result = ""
if self.component.language.lower() == "cpp":
var_name = 'm'
else:
var_name = 't'
proxy_list = [
interface.name.lower() + num + "_proxy"
for interface, num in get_name_number(self.component.requires)
]
proxy_list += [
interface.name.lower() + "_pubproxy"
for interface in self.component.publishes
]
if proxy_list:
result += "tprx = std::make_tuple(" + ",".join(
proxy_list) + ");\n"
else:
result += "tprx = std::tuple<>();\n"
result += "SpecificWorker *worker = new SpecificWorker({}prx, startup_check_flag);\n".format(
var_name)
return result
def interface_specific_comment(self):
result = ""
interfaces_by_type = {
"requires": self.component.requires,
"publishes": self.component.publishes,
"implements": self.component.implements,
"subscribesTo": self.component.subscribesTo
}
for interface_type, interfaces in interfaces_by_type.items():
for interface, num in p_utils.get_name_number(interfaces):
if p_utils.communication_is_ice(interface):
proxy_methods_calls = ""
module = self.component.idsl_pool.module_providing_interface(
interface.name)
if interface_type in ["publishes", "requires"]:
if interface_type == 'publishes':
action = "publish calling"
pub = "pub"
else:
action = "call"
pub = ""
proxy_reference = "this->" + interface.name.lower(
) + num + f"_{pub}proxy->"
for method in module['interfaces'][0]['methods']:
proxy_methods_calls += f"// {proxy_reference}{method}(...)\n"
if proxy_methods_calls:
result += Template(
PROXY_METHODS_COMMENT_STR).substitute(
module_name=module['name'],
methods=proxy_methods_calls,
action=action)
structs_str = ""
for struct in module['structs']:
structs_str += f"// {struct['name'].replace('/', '::')}\n"
if structs_str:
result += Template(
INTERFACE_TYPES_COMMENT_STR).substitute(
module_name=module['name'], types=structs_str)
return result
def requires(self):
result = ""
for interface, num in get_name_number(self.component.requires):
name = interface.name
if communication_is_ice(interface):
module = self.component.idsl_pool.module_providing_interface(
name)
proxy_type = utils.get_type_string(name, module['name'])
if self.component.language.lower() == "cpp":
cpp = "<PROXYNAME>_proxy = <PROXY_TYPE>Prx::uncheckedCast( communicator()->stringToProxy( proxy ) );"
else:
cpp = "<PROXYNAME>_proxy = Ice::uncheckedCast<<PROXY_TYPE>Prx>( communicator()->stringToProxy( proxy ) );"
result += REQUIRE_STR.replace("<C++_VERSION>", cpp).replace(
"<NORMAL>", name).replace("<LOWER>", name.lower()).replace(
"<PROXYNAME>",
name.lower() + num).replace("<PROXYNUMBER>",
num).replace(
'<PROXY_TYPE>',
proxy_type)
if self.component.language.lower() == "cpp":
result += "mprx[\"" + name + "Proxy" + num + "\"] = (::IceProxy::Ice::Object*)(&" + name.lower(
) + num + "_proxy);//Remote server proxy creation example\n"
return result
needIce = True
needStorm = True
if needStorm:
cog.outl("""
<TABHERE># Topic Manager
<TABHERE>proxy = ic.getProperties().getProperty("TopicManager.Proxy")
<TABHERE>obj = ic.stringToProxy(proxy)
<TABHERE>try:
<TABHERE><TABHERE>topicManager = IceStorm.TopicManagerPrx.checkedCast(obj)
<TABHERE>except Ice.ConnectionRefusedException as e:
<TABHERE><TABHERE>print('Cannot connect to IceStorm! ('+proxy+')')
<TABHERE><TABHERE>status = 1""")
except:
pass
for req, num in get_name_number(component['requires']):
if communication_is_ice(req):
w = REQUIRE_STR.replace("<NORMAL>", req).replace("<LOWER>", req.lower()).replace("<NUM>",num)
cog.outl(w)
for pub, num in get_name_number(component['publishes']):
if communication_is_ice(pub):
w = PUBLISHES_STR.replace("<NORMAL>", pub).replace("<LOWER>", pub.lower())
cog.outl(w)
cog.outl("<TABHERE>if status == 0:")
cog.outl("<TABHERE><TABHERE>worker = SpecificWorker(mprx)")
cog.outl("<TABHERE><TABHERE>worker.setParams(parameters)")
cog.outl("<TABHERE>else:")
cog.outl("<TABHERE><TABHERE>print(\"Error getting required connections, check config file\")")
cog.outl("<TABHERE><TABHERE>sys.exit(-1)")
