#!/usr/bin/env python # -*- coding: utf-8 -*- import sys import RTC import OpenRTM_aist ectest_spec = ["implementation_id", "ECTest", "type_name", "ECTest", "description", "Console input component", "version", "1.0", "vendor", "Sample", "category", "example", "activity_type", "DataFlowComponent", "max_instance", "10", "language", "Python", "lang_type", "script", ""] class ECListener: def __init__(self): pass def onAttached(self, ec_id): print "ATTACHED:" + str(ec_id) return def onDetached(self, ec_id): print "DETACHED:" + str(ec_id) return class POST_CAListener: def __init__(self): self.name = "POST:" def onInitialize(self, ec_id, ret): print self.name + "INITIALIZE:" + str(ec_id) + ":" + str(ret) return def onFinalize(self, ec_id, ret): print self.name + "FINALIZE:" + ":" + str(ec_id) + ":" + str(ret) return def onStartup(self, ec_id, ret): print self.name + "STARTUP:" + ":" + str(ec_id) + ":" + str(ret) return def onShutdown(self, ec_id, ret): print self.name + "SHUTDOWN:" + str(ec_id) + ":" + str(ret) return def onActivated(self, ec_id, ret): print self.name + "ACTIVATED:" + ":" + str(ec_id) + ":" + str(ret) return def onDeactivated(self, ec_id, ret): print self.name + "DEACTIVATED:" + ":" + str(ec_id) + ":" + str(ret) return def onAborting(self, ec_id, ret): print self.name + "ABORTING:" + ":" + str(ec_id) + ":" + str(ret) return def onError(self, ec_id, ret): print self.name + "ERROR:" + str(ec_id) + ":" + str(ret) return def onReset(self, ec_id, ret): print self.name + "RESET:" + ":" + str(ec_id) + ":" + str(ret) return def onExcecute(self, ec_id, ret): print self.name + "EXECUTE:" + ":" + str(ec_id) + ":" + str(ret) return def onUpdate(self, ec_id, ret): print self.name + "ON_STATE_UPDATE:" + ":" + str(ec_id) + ":" + str(ret) return def onRateChanged(self, ec_id, ret): print self.name + "RATE_CHANGED:" + ":" + str(ec_id) + ":" + str(ret) return class PRE_CAListener: def __init__(self): self.name = "RRE:" def onInitialize(self, ec_id): print self.name + "INITIALIZE:" + str(ec_id) return def onFinalize(self, ec_id): print self.name + "FINALIZE:" + ":" + str(ec_id) return def onStartup(self, ec_id): print self.name + "STARTUP:" + ":" + str(ec_id) return def onShutdown(self, ec_id): print self.name + "SHUTDOWN:" + str(ec_id) return def onActivated(self, ec_id): print self.name + "ACTIVATED:" + ":" + str(ec_id) return def onDeactivated(self, ec_id): print self.name + "DEACTIVATED:" + ":" + str(ec_id) return def onAborting(self, ec_id): print self.name + "ABORTING:" + ":" + str(ec_id) return def onError(self, ec_id): print self.name + "ERROR:" + str(ec_id) return def onReset(self, ec_id): print self.name + "RESET:" + ":" + str(ec_id) return def onExcecute(self, ec_id): print self.name + "EXECUTE:" + ":" + str(ec_id) return def onUpdate(self, ec_id): print self.name + "ON_STATE_UPDATE:" + ":" + str(ec_id) return def onRateChanged(self, ec_id): print self.name + "RATE_CHANGED:" + ":" + str(ec_id) return class ECTest(OpenRTM_aist.DataFlowComponentBase): def __init__(self, manager): OpenRTM_aist.DataFlowComponentBase.__init__(self, manager) self.ECListener = ECListener() self.addExecutionContextActionListener(OpenRTM_aist.ExecutionContextActionListenerType.EC_ATTACHED, self.ECListener.onAttached) self.addExecutionContextActionListener(OpenRTM_aist.ExecutionContextActionListenerType.EC_DETACHED, self.ECListener.onDetached) self.POST_CAListener = POST_CAListener() self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_INITIALIZE, self.POST_CAListener.onInitialize) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_FINALIZE, self.POST_CAListener.onFinalize) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_STARTUP, self.POST_CAListener.onStartup) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_SHUTDOWN, self.POST_CAListener.onShutdown) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_ACTIVATED, self.POST_CAListener.onActivated) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_DEACTIVATED, self.POST_CAListener.onDeactivated) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_ABORTING, self.POST_CAListener.onAborting) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_ERROR, self.POST_CAListener.onError) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_RESET, self.POST_CAListener.onReset) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_EXECUTE, self.POST_CAListener.onExcecute) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_STATE_UPDATE, self.POST_CAListener.onUpdate) self.addPostComponentActionListener(OpenRTM_aist.PostComponentActionListenerType.POST_ON_RATE_CHANGED, self.POST_CAListener.onRateChanged) self.PRE_CAListener = PRE_CAListener() self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_INITIALIZE, self.PRE_CAListener.onInitialize) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_FINALIZE, self.PRE_CAListener.onFinalize) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_STARTUP, self.PRE_CAListener.onStartup) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_SHUTDOWN, self.PRE_CAListener.onShutdown) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ACTIVATED, self.PRE_CAListener.onActivated) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_DEACTIVATED, self.PRE_CAListener.onDeactivated) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ABORTING, self.PRE_CAListener.onAborting) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_ERROR, self.PRE_CAListener.onError) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_RESET, self.PRE_CAListener.onReset) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_EXECUTE, self.PRE_CAListener.onExcecute) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_STATE_UPDATE, self.PRE_CAListener.onUpdate) self.addPreComponentActionListener(OpenRTM_aist.PreComponentActionListenerType.PRE_ON_RATE_CHANGED, self.PRE_CAListener.onRateChanged) return def onInitialize(self): return RTC.RTC_OK def onExecute(self, ec_id): return RTC.RTC_OK def ECTestInit(manager): profile = OpenRTM_aist.Properties(defaults_str=ectest_spec) manager.registerFactory(profile, ECTest, OpenRTM_aist.Delete) def MyModuleInit(manager): ECTestInit(manager) # Create a component comp = manager.createComponent("ECTest") def main(): mgr = OpenRTM_aist.Manager.init(sys.argv) mgr.setModuleInitProc(MyModuleInit) mgr.activateManager() mgr.runManager() if __name__ == "__main__": main()