接続相手のポートとの通信でCOMM_FAILURE_WaitingForReply例外が発生した場合に接続をリトライする

OpenRTM_aist/InPortCorbaCdrConsumer.py

@@ -16,7 +16,7 @@
 #     All rights reserved.
 #
 
-
+import omniORB
 from omniORB import any
 from omniORB import CORBA
 import OpenRTM_aist
@@ -155,8 +155,18 @@ def put(self, data):
 
         try:
             inportcdr = self._ptr()
+
             if inportcdr:
-                return self.convertReturnCode(inportcdr.put(data))
+                try:
+                    return self.convertReturnCode(inportcdr.put(data))
+                except CORBA.COMM_FAILURE as ex:
+                    if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                        self._rtcout.RTC_DEBUG("Retry put message")
+                        return self.convertReturnCode(inportcdr.put(data))
+                    else:
+                        raise
+                except BaseException:
+                    raise
             return self.CONNECTION_LOST
         except BaseException:
             self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())

OpenRTM_aist/InPortDSConsumer.py

@@ -15,6 +15,7 @@
 #     All rights reserved.
 
 
+import omniORB
 from omniORB import any
 from omniORB import CORBA
 import OpenRTM_aist
@@ -154,7 +155,16 @@ def put(self, data):
         try:
             dataservice = self._ptr()
             if dataservice:
-                return self.convertReturnCode(dataservice.push(data))
+                try:
+                    return self.convertReturnCode(dataservice.push(data))
+                except CORBA.COMM_FAILURE as ex:
+                    if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                        self._rtcout.RTC_DEBUG("Retry push message")
+                        return self.convertReturnCode(dataservice.push(data))
+                    else:
+                        raise
+                except BaseException:
+                    raise
             return self.CONNECTION_LOST
         except BaseException:
             self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())

OpenRTM_aist/InPortSHMConsumer.py

@@ -8,7 +8,8 @@
 # @author Nobuhiko Miyamoto
 #
 
-
+import omniORB
+from omniORB import CORBA
 import OpenRTM_aist
 import OpenRTM__POA
 
@@ -184,12 +185,24 @@ def put(self, data):
             if portshmem:
 
                 guard = OpenRTM_aist.ScopedLock(self._mutex)
-
-                self._shmem.setEndian(self._endian)
-                self._shmem.create_memory(self._memory_size, self._shm_address)
-                self._shmem.write(data)
-
-                ret = portshmem.put()
+                try:
+                    self._shmem.setEndian(self._endian)
+                    self._shmem.create_memory(
+                        self._memory_size, self._shm_address)
+                    self._shmem.write(data)
+                    ret = portshmem.put()
+                except CORBA.COMM_FAILURE as ex:
+                    if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                        self._rtcout.RTC_DEBUG("Retry put message")
+                        self._shmem.setEndian(self._endian)
+                        self._shmem.create_memory(
+                            self._memory_size, self._shm_address)
+                        self._shmem.write(data)
+                        ret = portshmem.put()
+                    else:
+                        raise
+                except BaseException:
+                    raise
                 del guard
                 return self.convertReturnCode(ret)
             return self.CONNECTION_LOST

OpenRTM_aist/OutPortCorbaCdrConsumer.py

@@ -18,7 +18,9 @@
 #
 
 
+import omniORB
 from omniORB import any
+from omniORB import CORBA
 import OpenRTM_aist
 import OpenRTM
 
@@ -201,7 +203,16 @@ def get(self):
         try:
             data = None
             outportcdr = self._ptr()
-            ret, cdr_data = outportcdr.get()
+            try:
+                ret, cdr_data = outportcdr.get()
+            except CORBA.COMM_FAILURE as ex:
+                if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                    self._rtcout.RTC_DEBUG("Retry get message")
+                    ret, cdr_data = outportcdr.get()
+                else:
+                    raise
+            except BaseException:
+                raise
 
             if ret == OpenRTM.PORT_OK:
                 self._rtcout.RTC_DEBUG("get() successful")

OpenRTM_aist/OutPortDSConsumer.py

@@ -16,7 +16,9 @@
 #     All rights reserved.
 
 
+import omniORB
 from omniORB import any
+from omniORB import CORBA
 import OpenRTM_aist
 import RTC
 
@@ -199,7 +201,16 @@ def get(self):
         try:
             data = None
             dataservice = self._ptr()
-            ret, cdr_data = dataservice.pull()
+            try:
+                ret, cdr_data = dataservice.pull()
+            except CORBA.COMM_FAILURE as ex:
+                if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                    self._rtcout.RTC_DEBUG("Retry pull message")
+                    ret, cdr_data = dataservice.pull()
+                else:
+                    raise
+            except BaseException:
+                raise
 
             if ret == RTC.PORT_OK:
                 self._rtcout.RTC_DEBUG("get() successful")

OpenRTM_aist/OutPortSHMConsumer.py

@@ -10,11 +10,11 @@
 #
 #
 
-
+import omniORB
+from omniORB import CORBA
 import OpenRTM_aist
 import OpenRTM
 import OpenRTM__POA
-from omniORB import CORBA
 
 import threading
 
@@ -158,7 +158,17 @@ def get(self):
             portshmem = self._ptr()
 
             guard = OpenRTM_aist.ScopedLock(self._mutex)
-            ret = portshmem.get()
+
+            try:
+                ret = portshmem.get()
+            except CORBA.COMM_FAILURE as ex:
+                if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                    self._rtcout.RTC_DEBUG("Retry get message")
+                    ret = portshmem.get()
+                else:
+                    raise
+            except BaseException:
+                raise
 
             data = None
 

OpenRTM_aist/OutPortSHMProvider.py

@@ -9,7 +9,8 @@
 #
 #
 
-
+import omniORB
+from omniORB import CORBA
 import OpenRTM_aist
 import OpenRTM
 
@@ -171,8 +172,26 @@ def get(self):
             self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
             return OpenRTM.UNKNOWN_ERROR
 
-        self.setEndian(self._endian)
-        self.create_memory(self._memory_size, self._shm_address)
+        try:
+            self.setEndian(self._endian)
+            self.create_memory(self._memory_size, self._shm_address)
+        except CORBA.COMM_FAILURE as ex:
+            if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                self._rtcout.RTC_DEBUG("Retry set memory")
+                try:
+                    self.setEndian(self._endian)
+                    self.create_memory(self._memory_size, self._shm_address)
+                except BaseException:
+                    self._rtcout.RTC_TRACE(
+                        OpenRTM_aist.Logger.print_exception())
+                    return OpenRTM.UNKNOWN_ERROR
+            else:
+                self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+                return OpenRTM.UNKNOWN_ERROR
+        except BaseException:
+            self._rtcout.RTC_TRACE(OpenRTM_aist.Logger.print_exception())
+            return OpenRTM.UNKNOWN_ERROR
+
         if cdr:
             self.write(cdr)
 

OpenRTM_aist/PortBase.py

@@ -17,6 +17,8 @@
 
 import threading
 import copy
+import omniORB
+from omniORB import CORBA
 
 import OpenRTM_aist
 import OpenRTM_aist.CORBA_RTCUtil
@@ -2305,6 +2307,16 @@ def checkPorts(self, ports):
                 if port._non_existent():
                     self._rtcout.RTC_WARN("Dead Port reference detected.")
                     return False
+            except CORBA.COMM_FAILURE as ex:
+                if ex.minor == omniORB.COMM_FAILURE_WaitingForReply:
+                    self._rtcout.RTC_DEBUG("Retry access connected port")
+                    if port._non_existent():
+                        self._rtcout.RTC_WARN("Dead Port reference detected.")
+                        return False
+                else:
+                    self._rtcout.RTC_WARN(
+                        OpenRTM_aist.Logger.print_exception())
+                    return False
             except BaseException:
                 self._rtcout.RTC_WARN(OpenRTM_aist.Logger.print_exception())
                 return False