Merge branch 'master' into feature/supportvariosaddress

.github/workflows/static_code_analysis.yaml

@@ -0,0 +1,16 @@
+name: Workflow for openrtm-aist-python static code analysis
+on: [push, pull_request]
+jobs:
+ build:
+ runs-on: ubuntu-latest
+ strategy:
+ matrix:
+ os: [ubuntu_2004_pycodestyle, ubuntu_2004_pyflakes, ubuntu_2004_flake8, ubuntu_2004_bandit]
+ steps:
+ - name: Checkout
+ uses: actions/checkout@v2
+ - name: run static code analysis
+ run: | 
+ export OPENRTMPYTHON_IMAGE=openrtm-aist-python:${{matrix.os}}-$(date +%s)
+ docker build .. --file scripts/${{matrix.os}}/Dockerfile --tag $OPENRTMPYTHON_IMAGE
+ docker run $OPENRTMPYTHON_IMAGE

COPYRIGHT

@@ -1,5 +1,5 @@
 
-Copyright (C) 2003-2018
+Copyright (C) 2003-2024
  Noriaki Ando and the OpenRTM-aist Project team
  Intelligent Systems Research Institute,
  National Institute of Advanced Industrial Science and Technology (AIST),

MANIFEST.in

@@ -1,7 +1,10 @@
 include OpenRTM-aist.pth
 include MANIFEST.in
 include setup.py
+include setup.cfg
+include pyproject.toml
 include README
+exclude README.md
 recursive-include packages Makefile
 recursive-include packages/deb *.sh copyright changelog rules README* compat control control.* files
 recursive-include packages/rpm *.sh openrtm-aist.spec.in openrtm-aist_py3.spec.in

OpenRTM_aist/CORBA_IORUtil.py

@@ -8,9 +8,12 @@
 # @author Noriaki Ando
 #
 
+import sys
 from omniORB import CORBA
 from omniORB import *
 from omniORB import any
+from omniORB import cdrMarshal
+from omniORB import cdrUnmarshal
 from IORProfile_idl import *
 from IORProfile_idl import _0__GlobalIDL
 endian = True

OpenRTM_aist/CSPInPort.py

@@ -349,7 +349,7 @@ def getDataBufferMode(self, con, retry):
  if not self._syncmode:
  guard_ctrl = OpenRTM_aist.ScopedLock(self._ctrl._cond)
  if not self._thebuffer.empty():
- _, value = self._thebuffer.read(value)
+ _, value = self._thebuffer.read()
  if guard_ctrl is not None:
  del guard_ctrl
  self.notify()

OpenRTM_aist/ConfigAdmin.py

@@ -1701,7 +1701,7 @@ def __init__(self, name):
  return
 
  def __call__(self, conf):
- if conf is None:
+ if conf is None or conf == 0:
  return False
 
  return self._name == conf.name

OpenRTM_aist/ConnectorListener.py

@@ -784,7 +784,7 @@ def notify(self, info, cdrdata):
 
  endian = info.properties.getProperty(
  "serializer.cdr.endian", "little")
- if endian is not "little" and endian is not None:
+ if endian != "little" and endian is not None:
  # Maybe endian is ["little","big"]
  endian = OpenRTM_aist.split(endian, ",")
  # Maybe self._endian is "little" or "big"

OpenRTM_aist/CorbaNaming.py

@@ -347,14 +347,12 @@ def rebind(self, name_list, obj, force=True):
  if force:
  self.rebindRecursive(self._rootContext, name_list, obj)
  else:
- self.__print_exception()
  raise
 
  except CosNaming.NamingContext.CannotProceed as err:
  if force:
  self.rebindRecursive(err.cxt, err.rest_of_name, obj)
  else:
- self.__print_exception()
  raise
 
  ##
@@ -571,12 +569,8 @@ def resolve(self, name):
  else:
  name_ = name
 
- try:
- obj = self._rootContext.resolve(name_)
- return obj
- except CosNaming.NamingContext.NotFound:
- self.__print_exception()
- return None
+ obj = self._rootContext.resolve(name_)
+ return obj
 
  ##
  # @if jp
@@ -612,10 +606,7 @@ def unbind(self, name):
  else:
  name_ = name
 
- try:
- self._rootContext.unbind(name_)
- except BaseException:
- self.__print_exception()
+ self._rootContext.unbind(name_)
 
  return
 
@@ -680,14 +671,12 @@ def bindNewContext(self, name, force=True):
  if force:
  self.bindRecursive(self._rootContext, name_, self.newContext())
  else:
- self.__print_exception()
  raise
  except CosNaming.NamingContext.CannotProceed as err:
  if force:
  self.bindRecursive(
  err.cxt, err.rest_of_name, self.newContext())
  else:
- self.__print_exception()
  raise
  return None
 

OpenRTM_aist/DefaultConfiguration.py

@@ -25,12 +25,12 @@
  lang = "Python"
 elif os.name == "posix":
  cpp_suffixes = "so"
- supported_languages = "C++, Python, Python3, Java"
- lang = "Python3"
+ supported_languages = "C++, Python, Java"
+ lang = "Python"
 else:
  cpp_suffixes = "dylib"
- supported_languages = "C++, Python, Python3, Java"
- lang = "Python3"
+ supported_languages = "C++, Python, Java"
+ lang = "Python"
 
 ##
 # @if jp
@@ -90,32 +90,25 @@
  "manager.auto_shutdown_duration", "20.0",
  "manager.termination_waittime", "1.0",
  "manager.name", "manager",
- "manager.command", "rtcd",
+ "manager.command", "rtcd2_python",
  "manager.nameservers", "default",
  "manager.language", lang,
  "manager.components.naming_policy", "process_unique",
- "manager.modules.C++.manager_cmd", "rtcd",
- "manager.modules.Python.manager_cmd", "rtcd_python",
- "manager.modules.Java.manager_cmd", "rtcd_java",
+ "manager.modules.C++.manager_cmd", "rtcd2",
+ "manager.modules.Python.manager_cmd", "rtcd2_python",
+ "manager.modules.Java.manager_cmd", "rtcd2_java",
  "manager.modules.search_auto", "YES",
  "manager.local_service.enabled_services", "ALL",
  "sdo.service.provider.enabled_services", "ALL",
  "sdo.service.consumer.enabled_services", "ALL",
  "manager.supported_languages", supported_languages,
- "manager.modules.C++.profile_cmd", "rtcprof",
- "manager.modules.Python.profile_cmd", "rtcprof_python",
- "manager.modules.Java.profile_cmd", "rtcprof_java",
+ "manager.modules.C++.profile_cmd", "rtcprof2",
+ "manager.modules.Python.profile_cmd", "rtcprof2_python",
+ "manager.modules.Java.profile_cmd", "rtcprof2_java",
  "manager.modules.C++.suffixes", cpp_suffixes,
  "manager.modules.Python.suffixes", "py",
  "manager.modules.Java.suffixes", "class",
  "manager.modules.C++.load_paths", "",
  "manager.modules.Python.load_paths", "",
  "manager.modules.Java.load_paths", ""]
 
-if os.name != "nt":
- python3_config = [
- "manager.modules.Python3.manager_cmd", "rtcd_python3",
- "manager.modules.Python3.profile_cmd", "rtcprof_python3",
- "manager.modules.Python3.suffixes", "py",
- "manager.modules.Python3.load_paths", ""]
- default_config.extend(python3_config)

OpenRTM_aist/EventPort_pyfsm.py

@@ -78,7 +78,7 @@ def __call__(self, info, cdrdata):
  return OpenRTM_aist.ConnectorListenerStatus.NO_CHANGE, cdrdata
 
  def run(self, data):
- self._fsm.dispatch(pyfsm.Event(self._handler, data_))
+ self._fsm.dispatch(pyfsm.Event(self._handler, data))
 
 
 class EventConnListener(OpenRTM_aist.ConnectorListener):

OpenRTM_aist/ExecutionContextWorker.py

@@ -534,12 +534,11 @@ def addComponent(self, comp):
  id_, comp))
  del guard
  except BaseException:
- del guard
  self._rtcout.RTC_ERROR("addComponent() failed.")
  return RTC.RTC_ERROR
 
  self._rtcout.RTC_DEBUG("addComponent() succeeded.")
- if self._running == False:
+ if self._running is False:
  self.updateComponentList()
  return RTC.RTC_OK
 
@@ -635,7 +634,7 @@ def removeComponent(self, comp):
  guard = OpenRTM_aist.ScopedLock(self._removedMutex)
  self._removedComps.append(rtobj_)
  del guard
- if self._running == False:
+ if self._running is False:
  self.updateComponentList()
  return RTC.RTC_OK
 

OpenRTM_aist/ExtTrigExecutionContext.py

@@ -410,13 +410,13 @@ def onStopping(self):
 
  def onAddedComponent(self, rtobj):
  guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
- if self._workerthread._ticked == False:
+ if self._workerthread._ticked is False:
  self._worker.updateComponentList()
  return RTC.RTC_OK
 
  def onRemovedComponent(self, rtobj):
  guard = OpenRTM_aist.ScopedLock(self._workerthread._mutex)
- if self._workerthread._ticked == False:
+ if self._workerthread._ticked is False:
  self._worker.updateComponentList()
  return RTC.RTC_OK
 

OpenRTM_aist/FiniteStateMachineComponent.py

@@ -14,8 +14,8 @@
 # Advanced Industrial Science and Technology (AIST), Japan
 # All rights reserved.
 
-
 import OpenRTM_aist
+import RTC
 import OpenRTM
 import OpenRTM__POA
 

OpenRTM_aist/FiniteStateMachineComponentBase.py

@@ -282,38 +282,6 @@ def get_owned_contexts(self):
  # @endif
  # virtual ExecutionContext_ptr get_context(UniqueId exec_handle)
 
- def get_owned_contexts(self):
- return OpenRTM_aist.RTObject_impl.get_owned_contexts(self)
-
- ##
- # @if jp
- # @brief [CORBA interface] ExecutionContextを取得する
- #
- # 指定したハンドルの ExecutionContext を取得する。
- # ハンドルから ExecutionContext へのマッピングは、特定の RTC インスタンスに
- # 固有である。ハンドルはこの RTC を attach_context した際に取得できる。
- #
- # @param self
- # @param ec_id 取得対象 ExecutionContext ハンドル
- #
- # @return ExecutionContext
- #
- # @else
- # @brief [CORBA interface] Get ExecutionContext.
- #
- # Obtain a reference to the execution context represented by the given
- # handle.
- # The mapping from handle to context is specific to a particular RTC
- # instance. The given handle must have been obtained by a previous call to
- # attach_context on this RTC.
- #
- # @param ec_id ExecutionContext handle
- #
- # @return ExecutionContext
- #
- # @endif
- # virtual ExecutionContext_ptr get_context(UniqueId exec_handle)
-
  def get_context(self, ec_id):
  return OpenRTM_aist.RTObject_impl.get_context(self, ec_id)
 

OpenRTM_aist/GlobalFactory.py

@@ -34,7 +34,7 @@ def __init__(self):
  # bool hasFactory(const Identifier& id)
 
  def hasFactory(self, id):
- if not id in self._creators:
+ if id not in self._creators:
  return False
  return True
 
@@ -51,7 +51,7 @@ def getIdentifiers(self):
  # ReturnCode addFactory(const Identifier& id,
  # Creator creator)
 
- def addFactory(self, id, creator):
+ def addFactory(self, id, creator, prop=None):
  if not creator:
  return self.INVALID_ARG
 
@@ -64,7 +64,7 @@ def addFactory(self, id, creator):
  # ReturnCode removeFactory(const Identifier& id)
 
  def removeFactory(self, id):
- if not id in self._creators:
+ if id not in self._creators:
  return self.NOT_FOUND
 
  del self._creators[id]
@@ -73,7 +73,7 @@ def removeFactory(self, id):
  # AbstractClass* createObject(const Identifier& id)
 
  def createObject(self, id):
- if not id in self._creators:
+ if id not in self._creators:
  print("Factory.createObject return None id: ", id)
  return None
  obj_ = self._creators[id]()

OpenRTM_aist/InPort.py

@@ -95,8 +95,8 @@ def __init__(self, name, value):
  self._valueMutex = threading.RLock()
 
  marshaling_types = OpenRTM_aist.SerializerFactories.instance().getSerializerList(value)
- marshaling_types = OpenRTM_aist.flatten(marshaling_types).lstrip()
- self.addProperty("dataport.marshaling_types", marshaling_types)
+ marshaling_types_str = ",".join([x.strip() for x in marshaling_types])
+ self.addProperty("dataport.marshaling_types", marshaling_types_str)
 
  self._listeners.setDataType(copy.deepcopy(value))
  self._listeners.setPortType(OpenRTM_aist.PortType.InPortType)
@@ -152,7 +152,7 @@ def isNew(self, names=None):
  self._rtcout.RTC_TRACE("isNew()")
 
  guard = OpenRTM_aist.ScopedLock(self._valueMutex)
- if self._directNewData == True:
+ if self._directNewData is True:
  self._rtcout.RTC_TRACE(
  "isNew() returns true because of direct write.")
  return True
@@ -226,7 +226,7 @@ def isNew(self, names=None):
 
  def isEmpty(self, names=None):
  self._rtcout.RTC_TRACE("isEmpty()")
- if self._directNewData == True:
+ if self._directNewData is True:
  return False
  if not self._connectors:
  self._rtcout.RTC_DEBUG("no connectors")
@@ -347,7 +347,7 @@ def read(self, name=None):
  self._rtcout.RTC_TRACE("OnRead called")
 
  guard = OpenRTM_aist.ScopedLock(self._valueMutex)
- if self._directNewData == True:
+ if self._directNewData is True:
 
  self._rtcout.RTC_TRACE("Direct data transfer")
  if self._OnReadConvert is not None:

OpenRTM_aist/InPortBase.py

@@ -898,7 +898,7 @@ def publishInterfaces(self, cprof):
  # marge ConnectorProfile for buffer property.
  prop.mergeProperties(conn_prop.getNode("dataport.inport"))
 
- if not self.isExistingMarshalingType(prop):
+ if self._value is not None and not self.isExistingMarshalingType(prop):
  return RTC.RTC_ERROR
 
  #
@@ -1008,7 +1008,7 @@ def subscribeInterfaces(self, cprof):
  # marge ConnectorProfile for buffer property.
  prop.mergeProperties(conn_prop.getNode("dataport.inport"))
 
- if not self.isExistingMarshalingType(prop):
+ if self._value is not None and not self.isExistingMarshalingType(prop):
  return RTC.RTC_ERROR
 
  #

OpenRTM_aist/InPortPushConnector.py

@@ -346,7 +346,7 @@ def disconnect(self):
  self._provider = None
 
  # delete buffer
- if self._buffer and self._deleteBuffer == True:
+ if self._buffer and self._deleteBuffer is True:
  bfactory = OpenRTM_aist.CdrBufferFactory.instance()
 
  self._buffer = None