Merge pull request #1255 from ishiguroJSK/multi_name_server

support any RTCmanager port num

python/rtm.py

@@ -18,6 +18,8 @@
 rootnc = None
 nshost = None
 nsport = None
+mgrhost = None
+mgrport = None
 
 ##
 # \brief wrapper class of RT component
@@ -311,7 +313,7 @@ def unbindObject(name, kind):
 # \brief initialize ORB 
 #
 def initCORBA():
- global rootnc, orb, nshost, nsport
+ global rootnc, orb, nshost, nsport, mgrhost, mgrport
 
  # from omniorb's document
  # When CORBA::ORB_init() is called, the value for each configuration
@@ -320,17 +322,55 @@ def initCORBA():
  # Environment variables
  # so init_CORBA will follow this order
  # first check command line argument
- try:
- n = sys.argv.index('-ORBInitRef')
- (nshost, nsport) = re.match(
- 'NameService=corbaloc:iiop:(\w+):(\d+)/NameService', sys.argv[n + 1]).group(1, 2)
- except:
- if not nshost:
- nshost = socket.gethostname()
- if not nsport:
- nsport = 15005
 
- print("configuration ORB with %s:%s"%(nshost, nsport))
+ rtm_argv = [sys.argv[0]] # extract rtm related args only
+ for i in range(len(sys.argv)):
+ if sys.argv[i] == '-o':
+ rtm_argv.extend(['-o', sys.argv[i+1]])
+
+ mc = OpenRTM_aist.ManagerConfig();
+ mc.parseArgs(rtm_argv)
+
+ if nshost != None: # these values can be set via other script like "import rtm; rtm.nshost=XXX"
+ print("\033[34m[rtm.py] nshost already set as " + str(nshost) + "\033[0m")
+ else:
+ try:
+ nshost = mc._argprop.getProperty("corba.nameservers").split(":")[0]
+ if not nshost:
+ raise
+ except:
+ nshost = socket.gethostname() # default
+ print("\033[34m[rtm.py] Failed to parse corba.nameservers, use " + str(nshost) + " as nshost \033[0m")
+
+ if nsport != None:
+ print("\033[34m[rtm.py] nsport already set as " + str(nsport) + "\033[0m")
+ else:
+ try:
+ nsport = int(mc._argprop.getProperty("corba.nameservers").split(":")[1])
+ if not nsport:
+ raise
+ except:
+ nsport = 15005 # default
+ print("\033[34m[rtm.py] Failed to parse corba.nameservers, use " + str(nsport) + " as nsport \033[0m")
+
+ if mgrhost != None: 
+ print("\033[34m[rtm.py] mgrhost already set as " + str(mgrhost) + "\033[0m")
+ else:
+ mgrhost = nshost
+
+ if mgrport != None: 
+ print("\033[34m[rtm.py] mgrport already set as " + str(mgrport) + "\033[0m")
+ else:
+ try:
+ mgrport = int(mc._argprop.getProperty("corba.master_manager").split(":")[1])
+ if not mgrport:
+ raise
+ except:
+ mgrport = 2810 # default
+ print("\033[34m[rtm.py] Failed to parse corba.master_manager, use " + str(mgrport) + "\033[0m")
+
+ print("\033[34m[rtm.py] configuration ORB with %s:%s\033[0m"%(nshost, nsport))
+ print("\033[34m[rtm.py] configuration RTCManager with %s:%s\033[0m"%(mgrhost, mgrport))
  os.environ['ORBInitRef'] = 'NameService=corbaloc:iiop:%s:%s/NameService' % \
  (nshost, nsport)
 
@@ -420,10 +460,9 @@ def getManagerFromNS(hostname, mgr=None):
  return mgr
 
  def getManagerDirectly(hostname, mgr=None):
- global orb
- mgrport = int(nsport) + 1 # RTC manager port is set as name server port + 1 traditionally
+ global orb, mgrport
  corbaloc = "corbaloc:iiop:" + hostname + ":" + str(mgrport) + "/manager"
- print("\033[34m[rtm.py] tring to findRTCManager on port" + str(mgrport) + "\033[0m")
+ print("\033[34m[rtm.py] trying to findRTCManager on port" + str(mgrport) + "\033[0m")
  try:
  obj = orb.string_to_object(corbaloc)
  mgr = RTCmanager(obj._narrow(RTM.Manager))