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RTCが別プロセスで起動した実行コンテキストを関連付けた場合に、タイムアウト発生でプロセスが異常終了する問題の修正 #326

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Merged
n-ando merged 1 commit into from
Mar 25, 2026
Merged

RTCが別プロセスで起動した実行コンテキストを関連付けた場合に、タイムアウト発生でプロセスが異常終了する問題の修正 #326

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198 changes: 178 additions & 20 deletions OpenRTM_aist/RTObjectStateMachine.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@ class RTObjectStateMachine:
# RTC::LightweightRTObject_ptr comp);
def __init__(self, id, comp):
global NUM_OF_LIFECYCLESTATE

self._rtcout = OpenRTM_aist.Manager.instance().getLogbuf("RTObjectStateMachine")
self._id = id
self._rtobj = comp
self._sm = OpenRTM_aist.StateMachine(NUM_OF_LIFECYCLESTATE)
Expand Down Expand Up @@ -122,7 +124,20 @@ def onStartup(self):
return
if not self._ca:
return
self._caVar.on_startup(self._id)
try:
self._caVar.on_startup(self._id)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# void onShutdown(void);
Expand All @@ -133,7 +148,20 @@ def onShutdown(self):

if not self._ca:
return
self._caVar.on_shutdown(self._id)
try:
self._caVar.on_shutdown(self._id)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# void onActivated(const ExecContextStates& st);
Expand All @@ -145,8 +173,21 @@ def onActivated(self, st):

if not self._ca:
return
if self._caVar.on_activated(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
try:
if self._caVar.on_activated(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# void onDeactivated(const ExecContextStates& st);
Expand All @@ -157,7 +198,20 @@ def onDeactivated(self, st):

if not self._ca:
return
self._caVar.on_deactivated(self._id)
try:
self._caVar.on_deactivated(self._id)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# void onAborting(const ExecContextStates& st);
Expand All @@ -168,7 +222,20 @@ def onAborting(self, st):

if not self._ca:
return
self._caVar.on_aborting(self._id)
try:
self._caVar.on_aborting(self._id)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# void onError(const ExecContextStates& st);
Expand All @@ -179,7 +246,20 @@ def onError(self, st):

if not self._ca:
return
self._caVar.on_error(self._id)
try:
self._caVar.on_error(self._id)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# void onReset(const ExecContextStates& st);
Expand All @@ -191,8 +271,21 @@ def onReset(self, st):

if not self._ca:
return
if self._caVar.on_reset(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
try:
if self._caVar.on_reset(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# RTC::DataflowComponentAction
Expand All @@ -208,8 +301,21 @@ def onExecute(self, st):
if not self._dfc:
return

if self._dfcVar.on_execute(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
try:
if self._dfcVar.on_execute(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# void onStateUpdate(const ExecContextStates& st);
Expand All @@ -224,8 +330,21 @@ def onStateUpdate(self, st):
if not self._dfc:
return

if self._dfcVar.on_state_update(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
try:
if self._dfcVar.on_state_update(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# RTC::ReturnCode_t onRateChanged(void);
Expand All @@ -239,9 +358,22 @@ def onRateChanged(self):
if not self._dfc:
return RTC.RTC_ERROR

ret = self._dfcVar.on_rate_changed(self._id)
if ret != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
try:
ret = self._dfcVar.on_rate_changed(self._id)
if ret != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return RTC.RTC_ERROR
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return RTC.RTC_ERROR
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return RTC.RTC_ERROR
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return RTC.RTC_ERROR
return ret

# FsmParticipantAction
Expand All @@ -250,8 +382,21 @@ def onAction(self, st):
if not self._fsm:
return

if self._fsmVar.on_action(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
try:
if self._fsmVar.on_action(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# MultiModeComponentAction
Expand All @@ -260,8 +405,21 @@ def onModeChanged(self, st):
if not self._mode:
return

if self._modeVar.on_mode_changed(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
try:
if self._modeVar.on_mode_changed(self._id) != RTC.RTC_OK:
self._sm.goTo(RTC.ERROR_STATE)
except CORBA.TRANSIENT as e:
self._rtcout.RTC_ERROR(f"TRANSIENT: {e}")
return
except CORBA.COMM_FAILURE as e:
self._rtcout.RTC_ERROR(f"COMM_FAILURE: {e}")
return
except CORBA.SystemException as e:
self._rtcout.RTC_ERROR(f"CORBA SystemException: {e}")
return
except BaseException as e:
self._rtcout.RTC_ERROR(f"Unknown exception: {e}")
return
return

# Getting state of the context
Expand Down
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