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