From 0287db420055016cf9fbb3787449cf1cc7eed814 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Mon, 21 Nov 2016 18:37:01 +0900 Subject: [PATCH] wait for nameserver's startup --- openrtm_tools/src/openrtm_tools/rtmstart.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/openrtm_tools/src/openrtm_tools/rtmstart.py b/openrtm_tools/src/openrtm_tools/rtmstart.py index 25f09586d..06e33d838 100644 --- a/openrtm_tools/src/openrtm_tools/rtmstart.py +++ b/openrtm_tools/src/openrtm_tools/rtmstart.py @@ -3,6 +3,7 @@ import os,psutil,subprocess,socket,sys from omniORB import CORBA import CosNaming +from time import sleep def start_cosname(cosnames, port_number): p = None @@ -52,6 +53,18 @@ def findObject(name, kind="", rnc=None) : p = subprocess.Popen([cosnames,"-start", str(port_number), "-always", "-logdir", logdir]) + while start_naming: + try: + orb = CORBA.ORB_init(sys.argv + ['-ORBInitRef', 'NameService=corbaloc:iiop:localhost:'+str(port_number)+'/NameService'], CORBA.ORB_ID) + nameserver = orb.resolve_initial_references("NameService") + rootnc = nameserver._narrow(CosNaming.NamingContext) + start_naming = False + except Exception as e: + print(e) + print "\033[33m[rtmlaunch] name server is unreachable so wait for a seconds...\033[0m" + sleep(1) + print "\033[32m[rtmlaunch] name server is ready\033[0m" + return p