ネームサーバー、マスターマネージャにIIOP以外でアクセスできるようにする

OpenRTM_aist/CORBA_RTCUtil.py

@@ -1536,3 +1536,236 @@ def set_configuration_parameter(conf, confset, value_name, value):
  confset.configuration_data = confData
  conf.set_configuration_set_values(confset)
  return True
+
+
+##
+# @if jp
+# @class CorbaURI
+# @brief 指定のCORBAオブジェクト参照用URLから参照形式、ホスト名、ポート番号、
+# パス、オブジェクトキーを取得する機能を提供するクラス
+#
+# @since 2.0.0
+#
+# @else
+# @class CorbaURI
+# @brief
+#
+# @since 2.0.0
+#
+# @endif
+class CorbaURI:
+ ##
+ # @if jp
+ #
+ # @brief コンストラクタ
+ #
+ # uriには以下の形式のURLを指定できる
+ # - corbaloc形式(例：corbaloc:iiop:192.168.11.1:2809/Nameservice)
+ # - corbaname形式(例：corbaname::192.168.11.1:2809#ConsoleOut0.rtc)
+ # - HTTP(例：http://192.168.11.1:2809/call#Nameservice)
+ # - HTTPS(例：https://192.168.11.1:2809/call#Nameservice)
+ # - WS(例：ws://192.168.11.1:2809/ws#Nameservice)
+ # - WSS(例：wss://192.168.11.1:2809/ws#Nameservice)
+ #
+ # また、giop:ではじまるエンドポイントを指定することもできる
+ # この場合は上記のcorbaloc形式、corbaname形式、HTTP、HTTPS、WS、WSSのURLに変換する
+ # - giop::192.168.11.1:2809 -> corbaloc:iiop:192.168.11.1:2809
+ # - giop:tcp:192.168.11.1:2809 -> corbaloc:iiop:192.168.11.1:2809
+ # - giop:ssl:192.168.11.1:2809 -> corbaloc:ssliop:192.168.11.1:2809
+ # - giop:http:http://192.168.11.1:2809/call ->
+ # http://192.168.11.1:2809/call
+ #
+ # アドレス、ポート番号を指定した場合はcorbaloc形式URLに変換する。
+ # - 192.168.11.1:2809 -> corbaloc:iiop:192.168.11.1:2809
+ #
+ # objkeyを指定した場合はURIの末尾に追加する。
+ # - corbaloc:iiop:192.168.11.1:2809 ->
+ # corbaloc:iiop:192.168.11.1:2809/Nameservice
+ # - corbaname::192.168.11.1:2809 ->
+ # corbaloc:iiop:192.168.11.1:2809#ConsoleOut0.rtc
+ # - http://192.168.11.1:2809/call ->
+ # http://192.168.11.1:2809/call#Nameservice
+ #
+ # @param self
+ # @param uri CORBAオブジェクト参照用URL
+ # @param objkey オブジェクト名
+ #
+ # @else
+ #
+ # @brief Consructor
+ #
+ #
+ # @param self
+ # @param uri
+ # @param objkey
+ #
+ # @endif
+ def __init__(self, uri, objkey=""):
+ import urllib.parse
+ protocols_str = {"giop:tcp:": "corbaloc:iiop:",
+ "giop:ssl:": "corbaloc:ssliop:",
+ "giop:http:": "",
+ "giop::": "corbaloc:iiop:",
+ "iiop://": "corbaloc:iiop:",
+ "diop://": "corbaloc:diop:",
+ "uiop://": "corbaloc:uiop:",
+ "ssliop://": "corbaloc:ssliop:",
+ "shmiop://": "corbaloc:shmiop:",
+ "htiop://": "corbaloc:htiop:",
+ "inet:": "corbaloc:iiop:"}
+
+ converted = False
+ for k, v in protocols_str.items():
+ if uri.find(k) == 0:
+ uri = uri.replace(k, v)
+ converted = True
+ break
+
+ protocols_o_str = {"iiop:": "corbaloc:iiop:",
+ "ssliop:": "corbaloc:ssliop:",
+ "diop:": "corbaloc:diop:",
+ "shmiop:": "corbaloc:shmiop:",
+ "htiop:": "corbaloc:htiop:"}
+
+ if not converted:
+ for k, v in protocols_o_str.items():
+ if uri.find(k) == 0:
+ uri = uri.replace(k, v)
+ break
+
+ self._uri = ""
+ self._port = None
+ self._addressonly = False
+ ret = urllib.parse.urlparse(uri)
+ self._protocol = ret.scheme
+
+ loc = [s.strip() for s in ret.netloc.split(":")]
+ if len(loc) >= 2:
+ self._host = loc[0]
+ self._port = int(loc[1])
+ else:
+ self._host = ret.netloc
+ self._path = ret.path
+ self._fragment = ret.fragment
+
+ if self._fragment:
+ self._uri = uri
+ return
+ else:
+ self._fragment = objkey
+ if self._protocol == "corbaloc":
+ self._uri = uri + "/"
+ self._uri += self._fragment
+ elif self._protocol:
+ self._uri = uri + "#"
+ self._uri += self._fragment
+ else:
+ self._uri = "corbaloc:iiop:"
+ self._uri += uri + "/"
+ self._uri += self._fragment
+ self._protocol = "corbaloc"
+ self._addressonly = True
+ host_port = [s.strip() for s in uri.split(":")]
+ if len(host_port) == 2:
+ self._host = host_port[0]
+ try:
+ self._port = int(host_port[1])
+ except BaseException:
+ pass
+ ##
+ # @if jp
+ #
+ # @brief CORBAオブジェクト参照用URLを取得する
+ #
+ # @param self
+ # @return CORBAオブジェクト参照用URL
+ #
+ # @else
+ #
+ # @brief Consructor
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+
+ def toString(self):
+ return self._uri
+
+ ##
+ # @if jp
+ #
+ # @brief 参照形式を取得する
+ # 例：corbaloc、corbaname、http、https、ws、wss
+ #
+ # @param self
+ # @return 参照形式
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def getProtocol(self):
+ return self._protocol
+
+ ##
+ # @if jp
+ #
+ # @brief ホスト名を取得する
+ #
+ # @param self
+ # @return ホスト名
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def getHost(self):
+ return self._host
+
+ ##
+ # @if jp
+ #
+ # @brief ポート番号を取得する
+ #
+ # @param self
+ # @return ポート番号
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def getPort(self):
+ return self._port
+
+ ##
+ # @if jp
+ #
+ # @brief 初期化時にCORBAオブジェクト参照用URLを指定した場合はfalse、
+ # ホスト名、ポート番号のみを指定した場合はtrueを返す。
+ #
+ # @param self
+ # @return 参照先の指定方法
+ #
+ # @else
+ #
+ # @brief
+ #
+ # @param self
+ # @return
+ #
+ # @endif
+ def isAddressOnly(self):
+ return self._addressonly

OpenRTM_aist/CorbaNaming.py

@@ -17,6 +17,7 @@
 
 import omniORB.CORBA as CORBA
 import CosNaming
+import OpenRTM_aist.CORBA_RTCUtil
 import string
 import sys
 import traceback
@@ -85,12 +86,16 @@ def __init__(self, orb, name_server=None):
  self._blLength = 100
 
  if name_server:
- self._nameServer = "corbaloc::" + name_server + "/NameService"
- obj = orb.string_to_object(self._nameServer)
- self._rootContext = obj._narrow(CosNaming.NamingContext)
- if CORBA.is_nil(self._rootContext):
- print("CorbaNaming: Failed to narrow the root naming context.")
- raise MemoryError
+ self._nameServer = OpenRTM_aist.CORBA_RTCUtil.CorbaURI(name_server, "NameService").toString()
+ try:
+ obj = orb.string_to_object(self._nameServer)
+ self._rootContext = obj._narrow(CosNaming.NamingContext)
+ if CORBA.is_nil(self._rootContext):
+ print("CorbaNaming: Failed to narrow the root naming context.")
+
+ except CORBA.ORB.InvalidName:
+ self.__print_exception()
+ print("Service required is invalid [does not exist].")
 
  return
 
@@ -125,7 +130,7 @@ def __del__(self):
  # @endif
 
  def init(self, name_server):
- self._nameServer = "corbaloc::" + name_server + "/NameService"
+ self._nameServer = OpenRTM_aist.CORBA_RTCUtil.CorbaURI(name_server, "NameService").toString()
  obj = self._orb.string_to_object(self._nameServer)
  self._rootContext = obj._narrow(CosNaming.NamingContext)
  if CORBA.is_nil(self._rootContext):

OpenRTM_aist/Manager.py

@@ -1789,6 +1789,38 @@ def createORBOptions(self):
 
  return opt
 
+ ##
+ # @if jp
+ # @brief giopからはじまるORBエンドポイントでの指定した場合にtrue、
+ # それ以外(例えばホスト名:ポート番号の指定)の場合はfalseを返す。
+ # 
+ #
+ # @param endpoint エンドポイント
+ # @return エンドポイントの指定方法
+ #
+ # @else
+ # @brief 
+ #
+ # @param endpoint 
+ # @return 
+ #
+ # @endif
+ #
+ # static bool isORBEndPoint(const std::string& endpoint);
+
+ @staticmethod
+ def isORBEndPoint(endpoint):
+ headers = ["giop:", "iiop://",
+ "diop://", "uiop://",
+ "ssliop://", "shmiop://",
+ "htiop://", "inet:"]
+
+ for header in headers:
+ if header in endpoint:
+ return True
+
+ return False
+
  ##
  # @if jp
  # @brief エンドポイントの生成
@@ -1839,11 +1871,14 @@ def createORBEndpoints(self):
  if OpenRTM_aist.toBool(self._config.getProperty(
  "manager.is_master"), "YES", "NO", False):
  mm = self._config.getProperty("corba.master_manager", ":2810")
- mmm = [s.strip() for s in mm.split(":")]
- if len(mmm) == 2:
- endpoints.insert(0, ":" + mmm[1])
+ if not Manager.isORBEndPoint(mm):
+ mmm = [s.strip() for s in mm.split(":")]
+ if len(mmm) == 2:
+ endpoints.insert(0, ":" + mmm[1])
+ else:
+ endpoints.insert(0, ":2810")
  else:
- endpoints.insert(0, ":2810")
+ endpoints.insert(0, mm)
 
  endpoints = OpenRTM_aist.unique_sv(endpoints)
 
@@ -1882,12 +1917,21 @@ def createORBEndpointOption(self, opt, endpoints):
  if endpoint == "all:":
  opt += " -ORBendPointPublish all(addr)"
  else:
- opt += " -ORBendPoint giop:tcp:" + endpoint
+ if not Manager.isORBEndPoint(endpoint):
+ opt += " -ORBendPoint giop:tcp:" + endpoint
+ else:
+ opt += " -ORBendPoint " + endpoint
 
  elif corba == "TAO":
- opt += "-ORBEndPoint iiop://" + endpoint
+ if not Manager.isORBEndPoint(endpoint):
+ opt += "-ORBEndPoint iiop://" + endpoint
+ else:
+ opt += "-ORBEndPoint " + endpoint
  elif corba == "MICO":
- opt += "-ORBIIOPAddr inet:" + endpoint
+ if not Manager.isORBEndPoint(endpoint):
+ opt += "-ORBIIOPAddr inet:" + endpoint
+ else:
+ opt += "-ORBIIOPAddr " + endpoint
 
  endpoints[i] = endpoint
 

OpenRTM_aist/ManagerServant.py

@@ -20,6 +20,7 @@
 import time
 from omniORB import CORBA
 import OpenRTM_aist
+import OpenRTM_aist.CORBA_RTCUtil
 import RTC
 import RTM
 import RTM__POA
@@ -1172,9 +1173,7 @@ def findManager(self, host_port):
  self._rtcout.RTC_TRACE("findManager(host_port = %s)", host_port)
  try:
  config = copy.deepcopy(self._mgr.getConfig())
- mgrloc = "corbaloc:iiop:"
- mgrloc += host_port
- mgrloc += "/" + config.getProperty("manager.name")
+ mgrloc = OpenRTM_aist.CORBA_RTCUtil.CorbaURI(host_port, config.getProperty("manager.name")).toString()
 
  self._rtcout.RTC_DEBUG("corbaloc: %s", mgrloc)