def ReloadLaunch(self, request, context):
rospy.logdebug('ReloadLaunch request:\n%s' % str(request))
result = lmsg.LoadLaunchReply()
result.path.append(request.path)
cfgid = CfgId(request.path, request.masteruri)
rospy.logdebug("reload launch file: %s, masteruri: %s", request.path, request.masteruri)
if cfgid in self._loaded_files:
try:
cfg = self._loaded_files[cfgid]
stored_roscfg = cfg.roscfg
argv = cfg.argv
cfg.load(argv)
result.status.code = OK
# detect files changes
if stored_roscfg and cfg.roscfg:
stored_values = [(name, utf8(p.value)) for name, p in stored_roscfg.params.items()]
new_values = [(name, utf8(p.value)) for name, p in cfg.roscfg.params.items()]
# detect changes parameter
paramset = set(name for name, _ in (set(new_values) - set(stored_values))) # _:=value
# detect new parameter
paramset |= (set(cfg.roscfg.params.keys()) - set(stored_roscfg.params.keys()))
# detect removed parameter
paramset |= (set(stored_roscfg.params.keys()) - set(cfg.roscfg.params.keys()))
# detect new nodes
stored_nodes = [roslib.names.ns_join(item.namespace, item.name) for item in stored_roscfg.nodes]
new_nodes = [roslib.names.ns_join(item.namespace, item.name) for item in cfg.roscfg.nodes]
nodes2start = set(new_nodes) - set(stored_nodes)
# determine the nodes of the changed parameter
for p in paramset:
for n in new_nodes:
if p.startswith(n):
nodes2start.add(n)
# detect changes in the arguments and remap
for n in stored_roscfg.nodes:
for new_n in cfg.roscfg.nodes:
if n.name == new_n.name and n.namespace == new_n.namespace:
if n.args != new_n.args or n.remap_args != new_n.remap_args:
nodes2start.add(roslib.names.ns_join(n.namespace, n.name))
# filter out anonymous nodes
for n in nodes2start:
if not re.search(r"\d{3,6}_\d{10,}", n):
result.changed_nodes.append(n)
# result.changed_nodes.extend([n for n in nodes2start if not re.search(r"\d{3,6}_\d{10,}", n)])
except Exception as e:
print(traceback.format_exc())
err_text = "%s loading failed!" % request.path
err_details = "%s: %s" % (err_text, utf8(e))
rospy.logwarn("Loading launch file: %s", err_details)
result.status.code = ERROR
result.status.error_msg = utf8(err_details)
return result
else:
result.status.code = FILE_NOT_FOUND
return result
return result
def UnloadLaunch(self, request, context):
result = lmsg.LoadLaunchReply()
result.path.append(request.path)
cfgid = CfgId(request.path, request.masteruri)
if cfgid in self._loaded_files:
try:
del self._loaded_files[cfgid]
result.status.code = OK
except Exception as e:
err_text = "%s unloading failed!" % request.path
err_details = "%s: %s" % (err_text, utf8(e))
rospy.logwarn("Unloading launch file: %s", err_details)
result.status.code = ERROR
result.status.error_msg = utf8(err_details)
return result
else:
result.status.code = FILE_NOT_FOUND
return result
return result
def LoadLaunch(self, request, context):
'''
Loads launch file
'''
result = lmsg.LoadLaunchReply()
launchfile = request.path
rospy.logdebug(
"Loading launch file: %s (package: %s, launch: %s), masteruri: %s, host: %s, args: %s"
% (launchfile, request.package, request.launch, request.masteruri,
request.host, request.args))
if not launchfile:
# determine path from package name and launch name
try:
paths = roslib.packages.find_resource(request.package,
request.launch)
if not paths:
result.status.code = FILE_NOT_FOUND
result.status.error_msg = utf8(
"Launch files %s in package %s found!" %
(request.launch, request.package))
return result
elif len(paths) > 1:
if request.force_first_file:
launchfile = paths[0]
else:
result.status.code = MULTIPLE_LAUNCHES
result.status.error_msg = utf8(
"Multiple launch files with name %s in package %s found!"
% (request.launch, request.package))
for mp in paths:
result.path.append(mp)
rospy.logdebug("..load aborted, MULTIPLE_LAUNCHES")
return result
else:
launchfile = paths[0]
except rospkg.ResourceNotFound as rnf:
result.status.code = FILE_NOT_FOUND
result.status.error_msg = utf8("Package %s not found: %s" %
(request.package, rnf))
rospy.logdebug("..load aborted, FILE_NOT_FOUND")
return result
result.path.append(launchfile)
# it is already loaded?
if (launchfile, request.masteruri) in self._loaded_files.keys():
result.status.code = ALREADY_OPEN
result.status.error_msg = utf8("Launch file %s already loaded!" %
(launchfile))
rospy.logdebug("..load aborted, ALREADY_OPEN")
return result
# load launch configuration
try:
# test for required args
provided_args = ["%s" % arg.name for arg in request.args]
launch_config = LaunchConfig(launchfile,
masteruri=request.masteruri,
host=request.host)
# get the list with needed launch args
req_args = launch_config.get_args()
req_args_dict = launch_config.argv2dict(req_args)
if request.request_args and req_args:
for arg, value in req_args_dict.items():
if arg not in provided_args:
result.args.extend([
lmsg.Argument(name=arg, value=value)
for arg, value in req_args_dict.items()
])
result.status.code = PARAMS_REQUIRED
rospy.logdebug("..load aborted, PARAMS_REQUIRED")
return result
argv = [
"%s:=%s" % (arg.name, arg.value) for arg in request.args
if arg.name in req_args_dict
]
_loaded, _res_argv = launch_config.load(argv)
# parse result args for reply
result.args.extend([
lmsg.Argument(name=name, value=value)
for name, value in launch_config.resolve_dict.items()
])
self._loaded_files[CfgId(launchfile,
request.masteruri)] = launch_config
rospy.logdebug("..load complete!")
except Exception as e:
err_text = "%s loading failed!" % launchfile
err_details = "%s: %s" % (err_text, utf8(e))
rospy.logwarn("Loading launch file: %s", err_details)
result.status.code = ERROR
result.status.error_msg = utf8(err_details)
return result
result.status.code = OK
return result
