マネージャ起動時のポート接続、アクティベート失敗時に異常終了しないようにする

OpenRTM_aist/CorbaNaming.py

@@ -17,6 +17,7 @@
 
 import omniORB.CORBA as CORBA
 import CosNaming
+import OpenRTM_aist.CORBA_RTCUtil
 import string
 import sys
 import traceback
@@ -85,7 +86,9 @@ def __init__(self, orb, name_server=None):
         self._blLength = 100
 
         if name_server:
-            self._nameServer = "corbaloc::" + name_server + "/NameService"
+            self._nameServer = OpenRTM_aist.CORBA_RTCUtil.CorbaURI(
+                name_server, "NameService").toString()
+
             obj = orb.string_to_object(self._nameServer)
             self._rootContext = obj._narrow(CosNaming.NamingContext)
             if CORBA.is_nil(self._rootContext):
@@ -125,7 +128,8 @@ def __del__(self):
     # @endif
 
     def init(self, name_server):
-        self._nameServer = "corbaloc::" + name_server + "/NameService"
+        self._nameServer = OpenRTM_aist.CORBA_RTCUtil.CorbaURI(
+            name_server, "NameService").toString()
         obj = self._orb.string_to_object(self._nameServer)
         self._rootContext = obj._narrow(CosNaming.NamingContext)
         if CORBA.is_nil(self._rootContext):

OpenRTM_aist/InPortBase.py

@@ -1260,7 +1260,11 @@ def createProvider(self, cprof, prop):
 
         if provider is not None:
             self._rtcout.RTC_DEBUG("provider created")
-            provider.init(prop.getNode("provider"))
+            try:
+                provider.init(prop.getNode("provider"))
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                return None
 
             if not provider.publishInterface(cprof.properties):
                 self._rtcout.RTC_ERROR(
@@ -1304,7 +1308,11 @@ def createConsumer(self, cprof, prop):
 
         if consumer is not None:
             self._rtcout.RTC_DEBUG("consumer created")
-            consumer.init(prop.getNode("consumer"))
+            try:
+                consumer.init(prop.getNode("consumer"))
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                return None
 
             if not consumer.subscribeInterface(cprof.properties):
                 self._rtcout.RTC_ERROR("interface subscription failed.")

OpenRTM_aist/InPortPullConnector.py

@@ -133,7 +133,7 @@ def __init__(self, info, consumer, listeners, buffer=None):
             self._buffer = self.createBuffer(self._profile)
 
         if not self._buffer or not self._consumer:
-            raise
+            raise MemoryError("InPortPullConnector creation failed")
 
         self._buffer.init(info.properties.getNode("buffer"))
         self._consumer.init(info.properties)
@@ -414,4 +414,5 @@ def unsubscribeInterface(self, prop):
 
     def setDataType(self, data):
         OpenRTM_aist.InPortConnector.setDataType(self, data)
-        self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
+        self._serializer = OpenRTM_aist.SerializerFactories.instance(
+        ).createSerializer(self._marshaling_type, data)

OpenRTM_aist/InPortPushConnector.py

@@ -131,7 +131,7 @@ def __init__(self, info, provider, listeners, buffer=None):
             self._buffer = self.createBuffer(info)
 
         if self._buffer is None or not self._provider:
-            raise
+            raise MemoryError("InPortPushConnector creation failed")
 
         self._buffer.init(info.properties.getNode("buffer"))
         self._provider.init(info.properties)

OpenRTM_aist/Manager.py

@@ -1789,6 +1789,44 @@ def createORBOptions(self):
 
         return opt
 
+    ##
+    # @if jp
+    # @brief giopからはじまるORBエンドポイントでの指定した場合にtrue、
+    #       それ以外(例えばホスト名:ポート番号の指定)の場合はfalseを返す。
+    # 
+    #
+    # @param endpoint エンドポイント
+    # @return エンドポイントの指定方法
+    #
+    # @else
+    # @brief 
+    #
+    # @param endpoint 
+    # @return 
+    #
+    # @endif
+    #
+    # static bool isORBEndPoint(const std::string& endpoint);
+
+    @staticmethod
+    def isORBEndPoint(endpoint):
+        if "giop:" in endpoint:
+            return True
+        elif "iiop://" in endpoint:
+            return True
+        elif "diop://" in endpoint:
+            return True
+        elif "uiop://" in endpoint:
+            return True
+        elif "shmiop://" in endpoint:
+            return True
+        elif "inet:" in endpoint:
+            return True
+        return False
+
+
+
+
     ##
     # @if jp
     # @brief エンドポイントの生成
@@ -1839,11 +1877,14 @@ def createORBEndpoints(self):
         if OpenRTM_aist.toBool(self._config.getProperty(
                 "manager.is_master"), "YES", "NO", False):
             mm = self._config.getProperty("corba.master_manager", ":2810")
-            mmm = [s.strip() for s in mm.split(":")]
-            if len(mmm) == 2:
-                endpoints.insert(0, ":" + mmm[1])
+            if not Manager.isORBEndPoint(mm):
+                mmm = [s.strip() for s in mm.split(":")]
+                if len(mmm) == 2:
+                    endpoints.insert(0, ":" + mmm[1])
+                else:
+                    endpoints.insert(0, ":2810")
             else:
-                endpoints.insert(0, ":2810")
+                endpoints.insert(0, mm)
 
         endpoints = OpenRTM_aist.unique_sv(endpoints)
 
@@ -1882,12 +1923,21 @@ def createORBEndpointOption(self, opt, endpoints):
                 if endpoint == "all:":
                     opt += " -ORBendPointPublish all(addr)"
                 else:
-                    opt += " -ORBendPoint giop:tcp:" + endpoint
+                    if not Manager.isORBEndPoint(endpoint):
+                        opt += " -ORBendPoint giop:tcp:" + endpoint
+                    else:
+                        opt += " -ORBendPoint " + endpoint
 
             elif corba == "TAO":
-                opt += "-ORBEndPoint iiop://" + endpoint
+                if not Manager.isORBEndPoint(endpoint):
+                    opt += "-ORBEndPoint iiop://" + endpoint
+                else:
+                    opt += "-ORBEndPoint " + endpoint
             elif corba == "MICO":
-                opt += "-ORBIIOPAddr inet:" + endpoint
+                if not Manager.isORBEndPoint(endpoint):
+                    opt += "-ORBIIOPAddr inet:" + endpoint
+                else:
+                    opt += "-ORBIIOPAddr " + endpoint
 
             endpoints[i] = endpoint
 
@@ -3083,9 +3133,13 @@ def connectDataPorts(self, port, target_ports):
             con_name += ":"
             con_name += p1.name
             prop = OpenRTM_aist.Properties()
-            if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                    con_name, prop, port, p):
-                self._rtcout.RTC_ERROR("Connection error in topic connection.")
+            try:
+                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                        con_name, prop, port, p):
+                    self._rtcout.RTC_ERROR(
+                        "Connection error in topic connection.")
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
 
     ##
     # @if jp
@@ -3114,9 +3168,13 @@ def connectServicePorts(self, port, target_ports):
             con_name += ":"
             con_name += p1.name
             prop = OpenRTM_aist.Properties()
-            if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                    con_name, prop, port, p):
-                self._rtcout.RTC_ERROR("Connection error in topic connection.")
+            try:
+                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                        con_name, prop, port, p):
+                    self._rtcout.RTC_ERROR(
+                        "Connection error in topic connection.")
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
 
     ##
     # @if jp
@@ -3170,9 +3228,12 @@ def initPreConnection(self):
             if not ("interface_type" in configs.keys()):
                 configs["interface_type"] = "corba_cdr"
 
-            tmp = port0_str.split(".")
-            tmp.pop()
-            comp0_name = ".".join([x.strip() for x in tmp])
+            pos_port0 = port0_str.rfind(".")
+            comp0_name = ""
+            if pos_port0 >= 0:
+                comp0_name = port0_str[0:pos_port0]
+            else:
+                comp0_name = port0_str
 
             port0_name = port0_str
 
@@ -3191,11 +3252,16 @@ def initPreConnection(self):
                 comp0_ref = rtcs[0]
                 port0_name = port0_str.split("/")[-1]
 
-            port0_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
-                comp0_ref, port0_name)
+            port0_var = None
+            try:
+                port0_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
+                    comp0_ref, port0_name)
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                continue
 
             if CORBA.is_nil(port0_var):
-                self._rtcout.RTC_DEBUG("port %s found: " % port0_str)
+                self._rtcout.RTC_DEBUG("port %s not found: " % port0_str)
                 continue
 
             if not ports:
@@ -3206,15 +3272,24 @@ def initPreConnection(self):
                     v = v.strip()
                     prop.setProperty("dataport." + k, v)
 
-                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                        c, prop, port0_var, RTC.PortService._nil):
-                    self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                try:
+                    if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                            c, prop, port0_var, RTC.PortService._nil):
+                        self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
+                    continue
 
             for port_str in ports:
 
-                tmp = port_str.split(".")
-                tmp.pop()
-                comp_name = ".".join([x.strip() for x in tmp])
+                pos_port = port_str.rfind(".")
+                comp_name = ""
+                if pos_port >= 0:
+                    comp_name = port_str[0:pos_port]
+                else:
+                    comp_name = port_str
+
                 port_name = port_str
 
                 if comp_name.find("://") == -1:
@@ -3232,11 +3307,17 @@ def initPreConnection(self):
                     comp_ref = rtcs[0]
                     port_name = port_str.split("/")[-1]
 
-                port_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
-                    comp_ref, port_name)
+                port_var = None
+                try:
+                    port_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
+                        comp_ref, port_name)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
+                    continue
 
                 if CORBA.is_nil(port_var):
-                    self._rtcout.RTC_DEBUG("port %s found: " % port_str)
+                    self._rtcout.RTC_DEBUG("port %s not found: " % port_str)
                     continue
 
                 prop = OpenRTM_aist.Properties()
@@ -3245,10 +3326,13 @@ def initPreConnection(self):
                     k = k.strip()
                     v = v.strip()
                     prop.setProperty("dataport." + k, v)
-
-                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                        c, prop, port0_var, port_var):
-                    self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                try:
+                    if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                            c, prop, port0_var, port_var):
+                        self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
 
     ##
     # @if jp
@@ -3284,7 +3368,14 @@ def initPreActivation(self):
                         self._rtcout.RTC_ERROR("%s not found." % c)
                         continue
                     comp_ref = rtcs[0]
-                ret = OpenRTM_aist.CORBA_RTCUtil.activate(comp_ref)
+                ret = RTC.RTC_OK
+                try:
+                    ret = OpenRTM_aist.CORBA_RTCUtil.activate(comp_ref)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
+                    continue
+
                 if ret != RTC.RTC_OK:
                     self._rtcout.RTC_ERROR("%s activation failed." % c)
                 else:

OpenRTM_aist/ManagerServant.py

@@ -20,6 +20,7 @@
 import time
 from omniORB import CORBA
 import OpenRTM_aist
+import OpenRTM_aist.CORBA_RTCUtil
 import RTC
 import RTM
 import RTM__POA
@@ -1172,9 +1173,7 @@ def findManager(self, host_port):
         self._rtcout.RTC_TRACE("findManager(host_port = %s)", host_port)
         try:
             config = copy.deepcopy(self._mgr.getConfig())
-            mgrloc = "corbaloc:iiop:"
-            mgrloc += host_port
-            mgrloc += "/" + config.getProperty("manager.name")
+            mgrloc = OpenRTM_aist.CORBA_RTCUtil.CorbaURI(host_port, config.getProperty("manager.name")).toString()
 
             self._rtcout.RTC_DEBUG("corbaloc: %s", mgrloc)