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wait for nameserver's startup #987

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13 changes: 13 additions & 0 deletions openrtm_tools/src/openrtm_tools/rtmstart.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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


Expand Down