def get_included_files(self, grpc_path='grpc://localhost:12321', recursive=True, include_args={}, include_pattern=[], search_in_ext=[]):
'''
:param str grpc_path: the root path to search for included files
:param bool recursive: True for recursive search
:param include_args: dictionary with arguments to override while include.
:type include_args: {str: str}
:param include_pattern: the list with regular expression patterns to find include files.
:type include_pattern: [str]
:param search_in_ext: file extensions to search in
:type search_in_ext: [str]
:return: Returns an iterator for tuple with root path, line number, path of included file, file exists or not, file size and dictionary with defined arguments.
:rtype: iterator (str, int, str, bool, int, {str: str})
'''
dorequest = False
try:
for entry in self._cache_file_includes[grpc_path]:
do_return = True
if not recursive and entry.rec_depth != 0:
do_return = False
if do_return:
rospy.logdebug("get_included_files from cache: %s, include_args: %s" % (entry.inc_path, entry.args))
yield entry
except KeyError:
dorequest = True
if dorequest:
current_path = grpc_path
try:
uri, path = nmdurl.split(current_path)
lm, channel = self.get_launch_manager(uri)
rospy.logdebug("get_included_files for %s, recursive: %s, include_args: %s, pattern: %s, search_in_ext: %s" % (grpc_path, recursive, include_args, include_pattern, search_in_ext))
reply = lm.get_included_files(path, recursive, include_args, include_pattern, search_in_ext)
url, _ = nmdurl.split(grpc_path, with_scheme=True)
# initialize requested path in cache
if recursive:
if grpc_path not in self._cache_file_includes:
self._cache_file_includes[grpc_path] = []
for inc_file in reply:
entry = inc_file
entry.path_or_str = nmdurl.join(url, inc_file.path_or_str)
entry.inc_path = nmdurl.join(url, inc_file.inc_path)
# initialize and add returned root path to cache, only on recursive
if recursive:
if current_path not in self._cache_file_includes:
self._cache_file_includes[current_path] = []
self._cache_file_includes[current_path].append(entry)
yield entry
except grpc._channel._Rendezvous as grpc_error:
self.clear_cache(grpc_path)
self.clear_cache(current_path)
if grpc_error.code() == grpc.StatusCode.DEADLINE_EXCEEDED:
raise exceptions.GrpcTimeout(grpc_path, grpc_error)
raise
finally:
self.close_channel(channel, uri)
def load_launch(self, grpc_path, masteruri='', host='', package='', launch='', args={}):
'''
Loads given file on remote grpc-server.
:return: Path of loaded file
:rtype: str
'''
uri, path = nmdurl.split(grpc_path)
lm, channel = self.get_launch_manager(uri)
myargs = args
request_args = True
nexttry = True
ok = False
launch_file = ''
args_res = {}
while nexttry:
try:
rospy.logdebug("load launch file on gRPC server: %s" % (grpc_path))
launch_file, args_res = lm.load_launch(package, launch, path=path, args=myargs, request_args=request_args, masteruri=masteruri, host=host)
nexttry = False
ok = True
except exceptions.LaunchSelectionRequest as lsr:
# TODO: selection dialog
rospy.logwarn("%s\n ...load the last one!" % lsr)
path = lsr.choices[-1]
except exceptions.ParamSelectionRequest as psr:
rospy.loginfo("Params requered for: %s" % ["%s:=%s" % (name, value) for name, value in psr.choices.items()])
request_args = False
myargs = psr.choices
# request the args: the dialog must run in the main thread of Qt
params = {}
for name, value in psr.choices.items():
params[name] = {':value': value, ':type': 'string'}
raise LaunchArgsSelectionRequest(grpc_path, params, 'Needs input for args')
except exceptions.AlreadyOpenException as aoe:
rospy.logwarn(aoe)
nexttry = False
ok = True
launch_file = aoe.path
except grpc._channel._Rendezvous as grpc_error:
if grpc_error.code() == grpc.StatusCode.DEADLINE_EXCEEDED:
raise exceptions.GrpcTimeout(grpc_path, grpc_error)
raise
finally:
self.close_channel(channel, uri)
launch_file = nmdurl.join("grpc://%s" % uri, launch_file)
rospy.logdebug(" load launch file result - %s: %s" % ('OK' if ok else "ERR", launch_file))
with self._args_lock:
rospy.logdebug("add args after load %s: %s" % (launch_file, args_res))
self._launch_args[launch_file] = args_res
return launch_file, args_res
def reload_launch(self, grpc_path, masteruri=''):
rospy.logdebug("reload launch %s" % grpc_path)
uri, path = nmdurl.split(grpc_path)
lm, channel = self.get_launch_manager(uri)
launch_file = ''
try:
launch_files, changed_nodes = lm.reload_launch(path, masteruri=masteruri)
if launch_files:
launch_file = launch_files[0]
return launch_file, [node for node in changed_nodes]
except grpc._channel._Rendezvous as grpc_error:
if grpc_error.code() == grpc.StatusCode.DEADLINE_EXCEEDED:
raise exceptions.GrpcTimeout(grpc_path, grpc_error)
raise
finally:
self.close_channel(channel, uri)