Merge pull request #315 from Nobu19800/bugs/loadmodule

create_component関数でRTCが起動できない場合がある問題の修正
OpenRTM · Aug 5, 2024 · d4d02f4 · d4d02f4
2 parents 85db64f + ac1f388
commit d4d02f4
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Showing 2 changed files with 26 additions and 5 deletions.
diff --git a/OpenRTM_aist/Manager.py b/OpenRTM_aist/Manager.py
@@ -568,6 +568,17 @@ def join(self):
     def load(self, fname, initfunc):
         self._rtcout.RTC_TRACE("Manager.load(fname = %s, initfunc = %s)",
                                (fname, initfunc))
+        prop = OpenRTM_aist.Properties()
+        prop.setProperty("module_file_name", fname)
+
+        return self.load_prop(prop, initfunc)
+
+    def load_prop(self, prop, initfunc):
+        self._rtcout.RTC_TRACE("Manager.load(module_file_name = %s, module_file_path = %s, language = %s, initfunc = %s)",
+                               (prop.getProperty("module_file_name"),
+                                prop.getProperty("module_file_path"),
+                                prop.getProperty("language")))
+        fname = prop.getProperty("module_file_name")
         fname = fname.replace("/", os.sep)
         fname = fname.replace("\\", os.sep)
         fname, initfunc = self._listeners.module_.preLoad(fname, initfunc)
@@ -582,7 +593,7 @@ def load(self, fname, initfunc):
             if not initfunc:
                 mod = [s.strip() for s in fname_.split(".")]
                 initfunc = mod[0] + "Init"
-            path = self._module.load(fname, initfunc)
+            path = self._module.load_prop(prop, initfunc)
             self._rtcout.RTC_DEBUG("module path: %s", path)
             path, initfunc = self._listeners.module_.postLoad(path, initfunc)
         except OpenRTM_aist.ModuleManager.NotAllowedOperation as e:
@@ -946,7 +957,7 @@ def createComponent(self, comp_args):
             self._rtcout.RTC_INFO(
                 "Loading module: %s",
                 found_obj.getProperty("module_file_path"))
-            self.load(found_obj.getProperty("module_file_path"), "")
+            self.load_prop(found_obj, "")
             factory = self._factory.find(comp_id)
             if not factory:
                 self._rtcout.RTC_ERROR("Factory not found for loaded module: %s",

diff --git a/OpenRTM_aist/ModuleManager.py b/OpenRTM_aist/ModuleManager.py
@@ -246,8 +246,19 @@ def __init__(self, reason_):
     # std::string ModuleManager::load(const std::string& file_name,
     #                                 const std::string& init_func)
     def load(self, file_name, init_func=None):
-
         self._rtcout.RTC_TRACE("load(fname = %s)", file_name)
+
+        prop = OpenRTM_aist.Properties()
+        prop.setProperty("module_file_name", file_name)
+        return self.load_prop(prop, init_func)
+
+    def load_prop(self, prop, init_func=None):
+        self._rtcout.RTC_TRACE("load(module_file_name = %s, module_file_path = %s, language = %s)", 
+                               (prop.getProperty("module_file_name"),
+                                prop.getProperty("module_file_path"),
+                                prop.getProperty("language")))
+        file_name = prop.getProperty("module_file_name")
+        file_path = prop.getProperty("module_file_path")
         if file_name == "":
             raise ModuleManager.InvalidArguments("Invalid file name.")
 
@@ -260,7 +271,6 @@ def load(self, file_name, init_func=None):
 
         import_name = os.path.split(file_name)[-1]
         pathChanged = False
-        file_path = None
 
         if OpenRTM_aist.isAbsolutePath(file_name):
             if not self._absoluteAllowed:
@@ -275,7 +285,7 @@ def load(self, file_name, init_func=None):
                 import_name = splitted_name[-1]
                 file_path = file_name
 
-        else:
+        elif not file_path:
             paths = self._properties.getProperty(
                 "manager.modules.Python.load_paths").split(",")
             paths.extend(self._properties.getProperty(