マネージャ起動時のポート接続、アクティベート失敗時に異常終了しないようにする

OpenRTM_aist/InPortBase.py

@@ -1290,7 +1290,11 @@ def createProvider(self, cprof, prop):
 
         if provider is not None:
             self._rtcout.RTC_DEBUG("provider created")
-            provider.init(prop.getNode("provider"))
+            try:
+                provider.init(prop.getNode("provider"))
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                return None
 
             if not provider.publishInterface(cprof.properties):
                 self._rtcout.RTC_ERROR(
@@ -1334,7 +1338,11 @@ def createConsumer(self, cprof, prop):
 
         if consumer is not None:
             self._rtcout.RTC_DEBUG("consumer created")
-            consumer.init(prop.getNode("consumer"))
+            try:
+                consumer.init(prop.getNode("consumer"))
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                return None
 
             if not consumer.subscribeInterface(cprof.properties):
                 self._rtcout.RTC_ERROR("interface subscription failed.")

OpenRTM_aist/InPortPullConnector.py

@@ -133,7 +133,7 @@ def __init__(self, info, consumer, listeners, buffer=None):
             self._buffer = self.createBuffer(self._profile)
 
         if not self._buffer or not self._consumer:
-            raise
+            raise MemoryError("InPortPullConnector creation failed")
 
         self._buffer.init(info.properties.getNode("buffer"))
         self._consumer.init(info.properties)
@@ -414,4 +414,5 @@ def unsubscribeInterface(self, prop):
 
     def setDataType(self, data):
         OpenRTM_aist.InPortConnector.setDataType(self, data)
-        self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
+        self._serializer = OpenRTM_aist.SerializerFactories.instance(
+        ).createSerializer(self._marshaling_type, data)

OpenRTM_aist/InPortPushConnector.py

@@ -131,7 +131,7 @@ def __init__(self, info, provider, listeners, buffer=None):
             self._buffer = self.createBuffer(info)
 
         if self._buffer is None or not self._provider:
-            raise
+            raise MemoryError("InPortPushConnector creation failed")
 
         self._buffer.init(info.properties.getNode("buffer"))
         self._provider.init(info.properties)

OpenRTM_aist/Manager.py

@@ -3128,9 +3128,13 @@ def connectDataPorts(self, port, target_ports):
             con_name += ":"
             con_name += p1.name
             prop = OpenRTM_aist.Properties()
-            if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                    con_name, prop, port, p):
-                self._rtcout.RTC_ERROR("Connection error in topic connection.")
+            try:
+                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                        con_name, prop, port, p):
+                    self._rtcout.RTC_ERROR(
+                        "Connection error in topic connection.")
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
 
     ##
     # @if jp
@@ -3159,9 +3163,13 @@ def connectServicePorts(self, port, target_ports):
             con_name += ":"
             con_name += p1.name
             prop = OpenRTM_aist.Properties()
-            if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                    con_name, prop, port, p):
-                self._rtcout.RTC_ERROR("Connection error in topic connection.")
+            try:
+                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                        con_name, prop, port, p):
+                    self._rtcout.RTC_ERROR(
+                        "Connection error in topic connection.")
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
 
     ##
     # @if jp
@@ -3239,8 +3247,13 @@ def initPreConnection(self):
                 comp0_ref = rtcs[0]
                 port0_name = port0_str.split("/")[-1]
 
-            port0_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
-                comp0_ref, port0_name)
+            port0_var = None
+            try:
+                port0_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
+                    comp0_ref, port0_name)
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                continue
 
             if CORBA.is_nil(port0_var):
                 self._rtcout.RTC_DEBUG("port %s not found: " % port0_str)
@@ -3254,9 +3267,14 @@ def initPreConnection(self):
                     v = v.strip()
                     prop.setProperty("dataport." + k, v)
 
-                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                        c, prop, port0_var, RTC.PortService._nil):
-                    self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                try:
+                    if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                            c, prop, port0_var, RTC.PortService._nil):
+                        self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
+                    continue
 
             for port_str in ports:
 
@@ -3284,8 +3302,14 @@ def initPreConnection(self):
                     comp_ref = rtcs[0]
                     port_name = port_str.split("/")[-1]
 
-                port_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
-                    comp_ref, port_name)
+                port_var = None
+                try:
+                    port_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
+                        comp_ref, port_name)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
+                    continue
 
                 if CORBA.is_nil(port_var):
                     self._rtcout.RTC_DEBUG("port %s not found: " % port_str)
@@ -3297,10 +3321,13 @@ def initPreConnection(self):
                     k = k.strip()
                     v = v.strip()
                     prop.setProperty("dataport." + k, v)
-
-                if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
-                        c, prop, port0_var, port_var):
-                    self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                try:
+                    if RTC.RTC_OK != OpenRTM_aist.CORBA_RTCUtil.connect(
+                            c, prop, port0_var, port_var):
+                        self._rtcout.RTC_ERROR("Connection error: %s" % c)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
 
     ##
     # @if jp
@@ -3336,7 +3363,14 @@ def initPreActivation(self):
                         self._rtcout.RTC_ERROR("%s not found." % c)
                         continue
                     comp_ref = rtcs[0]
-                ret = OpenRTM_aist.CORBA_RTCUtil.activate(comp_ref)
+                ret = RTC.RTC_OK
+                try:
+                    ret = OpenRTM_aist.CORBA_RTCUtil.activate(comp_ref)
+                except BaseException:
+                    self._rtcout.RTC_ERROR(
+                        OpenRTM_aist.Logger.print_exception())
+                    continue
+
                 if ret != RTC.RTC_OK:
                     self._rtcout.RTC_ERROR("%s activation failed." % c)
                 else:

OpenRTM_aist/OutPortBase.py

@@ -1297,7 +1297,11 @@ def createProvider(self, cprof, prop):
 
         if provider is not None:
             self._rtcout.RTC_DEBUG("provider created")
-            provider.init(prop.getNode("provider"))
+            try:
+                provider.init(prop.getNode("provider"))
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                return None
 
             if not provider.publishInterface(cprof.properties):
                 self._rtcout.RTC_ERROR(
@@ -1339,7 +1343,11 @@ def createConsumer(self, cprof, prop):
         if consumer is not None:
             self._rtcout.RTC_DEBUG("consumer created")
 
-            consumer.init(prop.getNode("consumer"))
+            try:
+                consumer.init(prop.getNode("consumer"))
+            except BaseException:
+                self._rtcout.RTC_ERROR(OpenRTM_aist.Logger.print_exception())
+                return None
 
             if not consumer.subscribeInterface(cprof.properties):
                 self._rtcout.RTC_ERROR("interface subscription failed.")

OpenRTM_aist/OutPortPullConnector.py

@@ -134,7 +134,7 @@ def __init__(self, info, provider, listeners, buffer=None):
         if not self._provider or not self._buffer:
             self._rtcout.RTC_ERROR(
                 "Exeption: in OutPortPullConnector.__init__().")
-            raise
+            raise MemoryError("OutPortPullConnector creation failed")
 
         self._buffer.init(info.properties.getNode("buffer"))
         self._provider.init(info.properties)
@@ -417,7 +417,8 @@ def setDirectMode(self):
 
     def setDataType(self, data):
         OpenRTM_aist.OutPortConnector.setDataType(self, data)
-        self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
+        self._serializer = OpenRTM_aist.SerializerFactories.instance(
+        ).createSerializer(self._marshaling_type, data)
 
     class WorkerThreadCtrl:
         def __init__(self):

OpenRTM_aist/OutPortPushConnector.py

@@ -139,17 +139,17 @@ def __init__(self, info, consumer, listeners, buffer=None):
             self._buffer = self.createBuffer(info)
 
         if not self._publisher or not self._buffer or not self._consumer:
-            raise
+            raise MemoryError("OutPortPushConnector creation failed")
 
         if self._publisher.init(info.properties) != self.PORT_OK:
-            raise
+            raise MemoryError("OutPortPushConnector creation failed")
 
         if self._profile.properties.hasKey("serializer"):
             endian = self._profile.properties.getProperty(
                 "serializer.cdr.endian")
             if not endian:
                 self._rtcout.RTC_ERROR("write(): endian is not set.")
-                raise
+                raise MemoryError("OutPortPushConnector creation failed")
 
             # Maybe endian is ["little","big"]
             endian = OpenRTM_aist.split(endian, ",")
@@ -517,4 +517,5 @@ def unsubscribeInterface(self, prop):
 
     def setDataType(self, data):
         OpenRTM_aist.OutPortConnector.setDataType(self, data)
-        self._serializer = OpenRTM_aist.SerializerFactories.instance().createSerializer(self._marshaling_type, data)
+        self._serializer = OpenRTM_aist.SerializerFactories.instance(
+        ).createSerializer(self._marshaling_type, data)