Merge pull request #316 from Nobu19800/bugs/managerconf

スレーブマネージャ起動時にrtc.confを指定できるようにする
OpenRTM · Aug 19, 2024 · 6fd9d88 · 6fd9d88
2 parents d4d02f4 + 0231073
commit 6fd9d88
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/OpenRTM_aist/ManagerServant.py b/OpenRTM_aist/ManagerServant.py
@@ -1368,6 +1368,7 @@ def createComponentByManagerName(self, module_name):
         arg = module_name
 
         mgrstr, arg = self.getParameterByModulename("manager_name", arg)
+        param = OpenRTM_aist.urlparam2map(arg)
 
         if not mgrstr:
             return RTC.RTObject._nil, arg, mgrstr
@@ -1404,6 +1405,11 @@ def createComponentByManagerName(self, module_name):
                 load_path = load_path.replace("\\", "\\\\")
             else:
                 cmd = rtcd_cmd
+            if "config_file" in param.keys():
+                cmd += " -f \"" + param["config_file"] + "\""
+            elif config.findNode("config_file"):
+                cmd += " -f \"" + config.getProperty("config_file") + "\""
+
             cmd += " -o " + "manager.is_master:NO"
             cmd += " -o " + "manager.corba_servant:YES"
             cmd += " -o " + "corba.master_manager:" + \
@@ -1521,6 +1527,7 @@ def createComponentByAddress(self, module_name):
 
         arg = module_name
         mgrstr, arg = self.getParameterByModulename("manager_address", arg)
+        param = OpenRTM_aist.urlparam2map(arg)
 
         if not mgrstr:
             return RTC.RTObject._nil, arg, mgrstr
@@ -1558,6 +1565,10 @@ def createComponentByAddress(self, module_name):
                 load_path = load_path.replace("\\", "\\\\")
             else:
                 cmd = rtcd_cmd
+            if "config_file" in param.keys():
+                cmd += " -f \"" + param["config_file"] + "\""
+            elif config.findNode("config_file"):
+                cmd += " -f \"" + config.getProperty("config_file") + "\""
             cmd += " -o corba.master_manager:"
             cmd += mgrstr  # port number
             cmd += " -o \"manager.modules.load_path:"