def load(self, argv):
'''
@param argv: the list with argv parameter needed to load the launch file.
The name and value are separated by C{:=}
@type argv: C{[str]}
@return: True, if the launch file was loaded
@rtype: boolean
@raise LaunchConfigException: on load errors
'''
try:
roscfg = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
self.argv = self.resolveArgs(argv)
loader.load(self.Filename, roscfg, verbose=False, argv=self.argv)
self.__roscfg = roscfg
nm.filewatcher().add_launch(self.__masteruri, self.__launchFile, self.__launch_id, self.included_files(self.Filename))
if not nm.is_local(get_hostname(self.__masteruri)):
files = self.included_files(self.Filename,
regexp_retruns=[QRegExp("\\bdefault\\b"),
QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QRegExp("\\bvalue=.*package:\/\/\\b"),
QRegExp("\\bvalue=.*\$\(find\\b"),
QRegExp("\\bargs=.*\$\(find\\b")])
nm.file_watcher_param().add_launch(self.__masteruri,
self.__launchFile,
self.__launch_id,
files)
except roslaunch.XmlParseException, e:
test = list(re.finditer(r"environment variable '\w+' is not set", utf8(e)))
message = utf8(e)
if test:
message = ''.join([message, '\n', 'environment substitution is not supported, use "arg" instead!'])
raise LaunchConfigException(message)
def load(self, argv):
'''
@param argv: the list with argv parameter needed to load the launch file.
The name and value are separated by C{:=}
@type argv: C{[str]}
@return: True, if the launch file was loaded
@rtype: boolean
@raise LaunchConfigException: on load errors
'''
try:
roscfg = roslaunch.ROSLaunchConfig()
loader = roslaunch.XmlLoader()
self.argv = self.resolveArgs(argv)
loader.load(self.Filename, roscfg, verbose=False, argv=self.argv)
self.__roscfg = roscfg
nm.filewatcher().add_launch(self.__masteruri, self.__launchFile, self.__launch_id, self.included_files(self.Filename))
if not nm.is_local(get_hostname(self.__masteruri)):
files = self.included_files(self.Filename)
# regexp_list=[QRegExp("\\bdefault\\b"),
# QRegExp("\\bvalue=.*pkg:\/\/\\b"),
# QRegExp("\\bvalue=.*package:\/\/\\b"),
# QRegExp("\\bvalue=.*\$\(find\\b")])
nm.file_watcher_param().add_launch(self.__masteruri,
self.__launchFile,
self.__launch_id,
files)
except roslaunch.XmlParseException, e:
test = list(re.finditer(r"environment variable '\w+' is not set", str(e)))
message = str(e)
if test:
message = ''.join([message, '\n', 'environment substitution is not supported, use "arg" instead!'])
raise LaunchConfigException(message)
def __init__(self, launch_file, package=None, masteruri=None, argv=[]):
'''
Creates the LaunchConfig object. The launch file will be not loaded on
creation, first on request of Roscfg value.
@param launch_file: The absolute or relative path with the launch file.
By using relative path a package must be valid for
remote launches.
@type launch_file: C{str}
@param package: the package containing the launch file. If None the
launch_file will be used to determine the launch file.
No remote launches a possible without a valid package.
@type package: C{str} or C{None}
@param masteruri: The URL of the ROS master.
@type masteruri: C{str} or C{None}
@param argv: the list the arguments needed for loading the given launch file
@type argv: C{[str]}
@raise roslaunch.XmlParseException: if the launch file can't be found.
'''
QObject.__init__(self)
self.__launchFile = launch_file
self.__package = package_name(os.path.dirname(
self.__launchFile))[0] if package is None else package
self.__masteruri = masteruri if masteruri is not None else 'localhost'
self.__roscfg = None
self.argv = argv
self.__reqTested = False
self.__argv_values = dict()
self.global_param_done = [
] # masteruri's where the global parameters are registered
self.hostname = get_hostname(self.__masteruri)
self.__launch_id = '%.9f' % time.time()
nm.filewatcher().add_launch(self.__masteruri, self.__launchFile,
self.__launch_id, [self.__launchFile])
def __init__(self, launch_file, package=None, masteruri=None, argv=[]):
'''
Creates the LaunchConfig object. The launch file will be not loaded on
creation, first on request of Roscfg value.
@param launch_file: The absolute or relative path with the launch file.
By using relative path a package must be valid for
remote launches.
@type launch_file: C{str}
@param package: the package containing the launch file. If None the
launch_file will be used to determine the launch file.
No remote launches a possible without a valid package.
@type package: C{str} or C{None}
@param masteruri: The URL of the ROS master.
@type masteruri: C{str} or C{None}
@param argv: the list the arguments needed for loading the given launch file
@type argv: C{[str]}
@raise roslaunch.XmlParseException: if the launch file can't be found.
'''
QObject.__init__(self)
self.__launchFile = launch_file
self.__package = package_name(os.path.dirname(self.__launchFile))[0] if package is None else package
self.__masteruri = masteruri if masteruri is not None else 'localhost'
self.__roscfg = None
self.argv = argv
self.__reqTested = False
self.__argv_values = dict()
self.global_param_done = [] # masteruri's where the global parameters are registered
self.hostname = get_hostname(self.__masteruri)
self.__launch_id = '%.9f' % time.time()
nm.filewatcher().add_launch(self.__masteruri, self.__launchFile, self.__launch_id, [self.__launchFile])
def updateTypeView(cls, service, item):
'''
Updates the representation of the column contains the type of the service.
@param service: the service data
@type service: U{master_discovery_fkie.ServiceInfo<http://docs.ros.org/kinetic/api/master_discovery_fkie/html/modules.html#master_discovery_fkie.master_info.ServiceInfo>}
@param item: corresponding item in the model
@type item: L{ServiceItem}
'''
try:
if service.isLocal and service.type:
service_class = service.get_service_class(nm.is_local(get_hostname(service.uri)))
item.setText(service_class._type)
elif service.type:
item.setText(service.type)
else:
item.setText('unknown type')
# removed tooltip for clarity !!!
# tooltip = ''
# tooltip = ''.join([tooltip, '<h4>', service_class._type, '</h4>'])
# tooltip = ''.join([tooltip, '<b><u>', 'Request', ':</u></b>'])
# tooltip = ''.join([tooltip, '<dl><dt>', utf8(service_class._request_class.__slots__), '</dt></dl>'])
#
# tooltip = ''.join([tooltip, '<b><u>', 'Response', ':</u></b>'])
# tooltip = ''.join([tooltip, '<dl><dt>', utf8(service_class._response_class.__slots__), '</dt></dl>'])
#
# item.setToolTip(''.join(['<div>', tooltip, '</div>']))
item.setToolTip('')
except:
if not service.isLocal:
tooltip = ''.join(['<h4>', 'Service type is not available due to he running on another host.', '</h4>'])
item.setToolTip(''.join(['<div>', tooltip, '</div>']))
def mastername(self, masteruri, address=None):
with self.mutex:
for m in self._masters:
if m.masteruri == masteruri:
if address is not None:
if m.has_address(address):
return m.get_mastername()
else:
return m.get_mastername()
return get_hostname(masteruri)
def _prepareROSMaster(cls, masteruri):
if masteruri is None:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(nm.ScreenHandler.LOG_PATH):
os.makedirs(nm.ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
# restart ROSCORE on different masteruri?, not now...
# master_uri = master.getUri(rospy.get_name())
# if masteruri != master_uri[2]:
# # kill the local roscore...
# raise
except:
# run a roscore
master_host = get_hostname(masteruri)
if nm.is_local(master_host, True):
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (nm.ScreenHandler.getSceenCmd('/roscore--%d' % master_port), master_port)
for n in [1, 2, 3, 4]:
try:
if n == 1:
print("Launch ROS Master in screen ...")
SupervisedPopen(shlex.split(cmd_args), env=new_env, object_id="ROSCORE", description="Start roscore")
elif n == 2:
print("ROS Master takes too long for start, wait for next 10 sec ...")
elif n == 3:
print("A really slow start, wait for last 10 sec ...")
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name()) # _:=uri, msg
return
except Exception:
time.sleep(1)
count += 1
if n == 4 and count >= 11:
raise StartException('Cannot connect to ROS-Master: %s\n--> please run "roscore" manually!' % utf8(masteruri))
except Exception as e:
raise Exception("Error while call '%s': %s" % (cmd_args, utf8(e)))
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
def _prepareROSMaster(cls, masteruri):
if masteruri is None:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(nm.ScreenHandler.LOG_PATH):
os.makedirs(nm.ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
# restart ROSCORE on different masteruri?, not now...
# master_uri = master.getUri(rospy.get_name())
# if masteruri != master_uri[2]:
# # kill the local roscore...
# raise
except:
# run a roscore
master_host = get_hostname(masteruri)
if nm.is_local(master_host, True):
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = NameResolution.get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (nm.ScreenHandler.getSceenCmd('/roscore--%d' % master_port), master_port)
for n in [1, 2, 3, 4]:
try:
if n == 1:
print("Launch ROS Master in screen ...")
SupervisedPopen(shlex.split(cmd_args), env=new_env, object_id="ROSCORE", description="Start roscore")
elif n == 2:
print("ROS Master takes too long for start, wait for next 10 sec ...")
elif n == 3:
print("A really slow start, wait for last 10 sec ...")
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name()) # _:=uri, msg
return
except Exception:
time.sleep(1)
count += 1
if n == 4 and count >= 11:
raise StartException('Cannot connect to ROS-Master: %s\n--> please run "roscore" manually!' % utf8(masteruri))
except Exception as e:
raise Exception("Error while call '%s': %s" % (cmd_args, utf8(e)))
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
def _prepareROSMaster(cls, masteruri):
if not masteruri:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(ScreenHandler.LOG_PATH):
os.makedirs(ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
except:
# run a roscore
master_host = get_hostname(masteruri)
if cls.is_local(master_host, True):
print "Start ROS-Master with", masteruri, "..."
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (ScreenHandler.getSceenCmd(
'/roscore--%d' % master_port), master_port)
try:
subprocess.Popen(shlex.split(cmd_args), env=new_env)
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
print " retry connect to ROS master", count, '/', 10
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(
rospy.get_name()) # _:=uri, msg
except:
time.sleep(1)
count += 1
if count >= 11:
raise StartException(
'Cannot connect to the ROS-Master: ' +
str(masteruri))
except Exception as e:
import sys
print >> sys.stderr, e
raise
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
def _prepareROSMaster(cls, masteruri):
if not masteruri:
masteruri = masteruri_from_ros()
# start roscore, if needed
try:
if not os.path.isdir(ScreenHandler.LOG_PATH):
os.makedirs(ScreenHandler.LOG_PATH)
socket.setdefaulttimeout(3)
master = xmlrpclib.ServerProxy(masteruri)
master.getUri(rospy.get_name())
except:
# run a roscore
master_host = get_hostname(masteruri)
if cls.is_local(master_host, True):
print "Start ROS-Master with", masteruri, "..."
master_port = get_port(masteruri)
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = masteruri
ros_hostname = get_ros_hostname(masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
cmd_args = '%s roscore --port %d' % (ScreenHandler.getSceenCmd('/roscore--%d' % master_port), master_port)
try:
subprocess.Popen(shlex.split(cmd_args), env=new_env)
# wait for roscore to avoid connection problems while init_node
result = -1
count = 1
while result == -1 and count < 11:
try:
print " retry connect to ROS master", count, '/', 10
master = xmlrpclib.ServerProxy(masteruri)
result, _, _ = master.getUri(rospy.get_name()) # _:=uri, msg
except:
time.sleep(1)
count += 1
if count >= 11:
raise StartException('Cannot connect to the ROS-Master: ' + str(masteruri))
except Exception as e:
import sys
print >> sys.stderr, e
raise
else:
raise Exception("ROS master '%s' is not reachable" % masteruri)
finally:
socket.setdefaulttimeout(None)
def __get_ip(self):
try:
# get the IP of the master uri
result = getaddrinfo(get_hostname(self.master.uri), None)
ips = []
for r in result:
if r[0] == AF_INET6:
(_family, _socktype, _proto, _canonname, (ip, _port, _flow, _scope)) = r
else:
(_family, _socktype, _proto, _canonname, (ip, _port)) = r
if self.master_ip is None and ip:
self.master_ip = ''
if ip and ip not in ips:
self.master_ip = ' '.join([self.master_ip, ip])
ips.append(ip)
# self.updateNameView(self.master, self.quality, self)
except:
import traceback
print traceback.format_exc(1)
def get_ros_hostname(url):
'''
Returns the host name used in a url, if it is a name. If it is an IP an
empty string will be returned.
@return: host or '' if url is an IP or invalid
@rtype: C{str}
'''
hostname = get_hostname(url)
if hostname is not None:
if hostname != 'localhost':
if '.' not in hostname and ':' not in hostname:
# ROS resolves the 'localhost' to local hostname
local_hostname = 'localhost'
try:
local_hostname = socket.gethostname()
except:
pass
if hostname != local_hostname:
return hostname
return ''
def get_ros_hostname(cls, url):
'''
Returns the host name used in a url, if it is a name. If it is an IP an
empty string will be returned.
@return: host or '' if url is an IP or invalid
@rtype: C{str}
'''
hostname = get_hostname(url)
if hostname is not None:
if hostname != 'localhost':
if '.' not in hostname and ':' not in hostname:
local_hostname = 'localhost'
try:
# ROS resolves the 'localhost' to local hostname
local_hostname = socket.gethostname()
except:
pass
if hostname != local_hostname:
return hostname
return ''
def __get_ip(self):
try:
# get the IP of the master uri
result = getaddrinfo(get_hostname(self.master.uri), None)
ips = []
for r in result:
if r[0] == AF_INET6:
(_family, _socktype, _proto, _canonname, (ip, _port, _flow,
_scope)) = r
else:
(_family, _socktype, _proto, _canonname, (ip, _port)) = r
if self.master_ip is None and ip:
self.master_ip = ''
if ip and ip not in ips:
self.master_ip = ' '.join([self.master_ip, ip])
ips.append(ip)
# self.updateNameView(self.master, self.quality, self)
except:
import traceback
print traceback.format_exc(1)
def updateMaster(self, master):
'''
Updates the information of the ros master. If the ROS master not exists, it
will be added.
@param master: the ROS master to update
@type master: U{master_discovery_fkie.msg.ROSMaster<http://docs.ros.org/api/multimaster_msgs_fkie/html/msg/ROSMaster.html>}
'''
# remove master, if his name was changed but not the ROS master URI
root = self.invisibleRootItem()
for i in reversed(range(root.rowCount())):
masterItem = root.child(i)
if masterItem.master.uri == master.uri and masterItem.master.name != master.name:
root.removeRow(i)
try:
del self.pyqt_workaround[masterItem.master.name]
except:
pass
break
# update or add a the item
root = self.invisibleRootItem()
doAddItem = True
is_local = nm.is_local(get_hostname(master.uri))
for index in range(root.rowCount()):
masterItem = root.child(index, self.COL_NAME)
if (masterItem == master.name):
# update item
masterItem.master = master
masterItem.updateMasterView(root)
doAddItem = False
break
elif (masterItem > master.name):
self.addRow(master, is_local, root, index)
doAddItem = False
break
if doAddItem:
self.addRow(master, is_local, root, -1)
def updateMaster(self, master):
'''
Updates the information of the ros master. If the ROS master not exists, it
will be added.
@param master: the ROS master to update
@type master: U{master_discovery_fkie.msg.ROSMaster<http://docs.ros.org/api/multimaster_msgs_fkie/html/msg/ROSMaster.html>}
'''
# remove master, if his name was changed but not the ROS master URI
root = self.invisibleRootItem()
for i in reversed(range(root.rowCount())):
masterItem = root.child(i)
if masterItem.master.uri == master.uri and masterItem.master.name != master.name:
root.removeRow(i)
try:
del self.pyqt_workaround[masterItem.master.name]
except:
pass
break
# update or add a the item
root = self.invisibleRootItem()
doAddItem = True
is_local = nm.is_local(get_hostname(master.uri))
for index in range(root.rowCount()):
masterItem = root.child(index, self.COL_NAME)
if (masterItem == master.name):
# update item
masterItem.master = master
masterItem.updateMasterView(root)
doAddItem = False
break
elif (masterItem > master.name):
self.addRow(master, is_local, root, index)
doAddItem = False
break
if doAddItem:
self.addRow(master, is_local, root, -1)
def updateTypeView(cls, service, item):
'''
Updates the representation of the column contains the type of the service.
@param service: the service data
@type service: U{master_discovery_fkie.ServiceInfo<http://docs.ros.org/kinetic/api/master_discovery_fkie/html/modules.html#master_discovery_fkie.master_info.ServiceInfo>}
@param item: corresponding item in the model
@type item: L{ServiceItem}
'''
try:
if service.isLocal and service.type:
service_class = service.get_service_class(
nm.is_local(get_hostname(service.uri)))
item.setText(service_class._type)
elif service.type:
item.setText(service.type)
else:
item.setText('unknown type')
# removed tooltip for clarity !!!
# tooltip = ''
# tooltip = ''.join([tooltip, '<h4>', service_class._type, '</h4>'])
# tooltip = ''.join([tooltip, '<b><u>', 'Request', ':</u></b>'])
# tooltip = ''.join([tooltip, '<dl><dt>', str(service_class._request_class.__slots__), '</dt></dl>'])
#
# tooltip = ''.join([tooltip, '<b><u>', 'Response', ':</u></b>'])
# tooltip = ''.join([tooltip, '<dl><dt>', str(service_class._response_class.__slots__), '</dt></dl>'])
#
# item.setToolTip(''.join(['<div>', tooltip, '</div>']))
item.setToolTip('')
except:
if not service.isLocal:
tooltip = ''.join([
'<h4>',
'Service type is not available due to he running on another host.',
'</h4>'
])
item.setToolTip(''.join(['<div>', tooltip, '</div>']))
def init_globals(masteruri):
'''
:return: True if the masteruri referred to localhost
:rtype: bool
'''
# initialize the global handler
global _SSH_HANDLER
global _SCREEN_HANDLER
global _START_HANDLER
global _NAME_RESOLUTION
global _HISTORY
global _FILE_WATCHER
global _FILE_WATCHER_PARAM
_SSH_HANDLER = SSHhandler()
_SCREEN_HANDLER = ScreenHandler()
_START_HANDLER = StartHandler()
_NAME_RESOLUTION = NameResolution()
_HISTORY = History()
_FILE_WATCHER = FileWatcher()
_FILE_WATCHER_PARAM = FileWatcher()
# test where the roscore is running (local or remote)
__is_local('localhost') # fill cache
return __is_local(get_hostname(masteruri)) # fill cache
def init_globals(masteruri):
'''
:return: True if the masteruri referred to localhost
:rtype: bool
'''
# initialize the global handler
global _SSH_HANDLER
global _SCREEN_HANDLER
global _START_HANDLER
global _NAME_RESOLUTION
global _HISTORY
global _FILE_WATCHER
global _FILE_WATCHER_PARAM
_SSH_HANDLER = SSHhandler()
_SCREEN_HANDLER = ScreenHandler()
_START_HANDLER = StartHandler()
_NAME_RESOLUTION = NameResolution()
_HISTORY = History()
_FILE_WATCHER = FileWatcher()
_FILE_WATCHER_PARAM = FileWatcher()
# test where the roscore is running (local or remote)
__is_local('localhost') # fill cache
return __is_local(get_hostname(masteruri)) # fill cache
def on_save_profile(self, masteruri='', path=None):
'''
Saves the current environment to a node manager profile.
:param path: the pach the file to save
:type path: str
:param masteruri: If not empty, save the profile only for given master
:type masteruri: str
'''
try:
if path is None:
path = self.get_profile_file()
if path is None:
return
rospy.loginfo("Save profile %s" % path)
import yaml
content = {}
for muri, master in self._main_window.masters.items():
if not masteruri or masteruri == muri:
running_nodes = master.getRunningNodesIfLocal()
configs = {}
md_param = {}
ms_param = {}
zc_param = {}
smuri = muri
addr = nm.nameres().address(smuri)
hostname = get_hostname(smuri)
mastername = ''
if nm.is_local(addr):
smuri = smuri.replace(hostname, '$LOCAL$')
addr = '$LOCAL$'
else:
mastername = nm.nameres().mastername(smuri, nm.nameres().address(smuri))
for node_name in running_nodes.keys():
node_items = master.getNode(node_name)
for node in node_items:
if node.is_running() and node.launched_cfg is not None: # node.has_launch_cfgs(node.cfgs):
cfg = node.launched_cfg
if isinstance(node.launched_cfg, (str, unicode)):
# it is default config
cfg = node.launched_cfg.replace("/%s" % hostname, '/$LOCAL$').rstrip('/run')
else:
# it is a loaded launch file, get the filename
cfg = to_url(node.launched_cfg.Filename)
if cfg not in configs:
configs[cfg] = {'nodes': []}
configs[cfg]['nodes'].append(node_name)
elif node_name.endswith('master_discovery'):
md_param = get_rosparam('master_discovery', muri)
elif node_name.endswith('master_sync'):
ms_param = get_rosparam('master_sync', muri)
elif node_name.endswith('zeroconf'):
zc_param = get_rosparam('zeroconf', muri)
elif node_name.endswith('default_cfg'):
# store parameter for default configuration
nn = node_name.replace("/%s" % hostname, '/$LOCAL$')
if nn not in configs:
configs[nn] = {'nodes': []}
configs[nn]['params'] = get_rosparam(node_name, muri)
configs[nn]['default'] = True
# store arguments for launchfiles
for a, b in master.launchfiles.items():
resolved_a = to_url(a)
if resolved_a not in configs:
if resolved_a.endswith('default_cfg/run'):
pass
else:
configs[resolved_a] = {}
configs[resolved_a]['default'] = False
configs[resolved_a]['argv'] = b.argv
# fill the configuration content for yaml as dictionary
content[smuri] = {'mastername': mastername,
'address': addr,
'configs': configs}
if md_param:
content[smuri]['master_discovery'] = md_param
if ms_param:
content[smuri]['master_sync'] = ms_param
if zc_param:
content[smuri]['zeroconf'] = zc_param
text = yaml.dump(content, default_flow_style=False)
with open(path, 'w+') as f:
f.write(text)
except Exception as e:
import traceback
print utf8(traceback.format_exc(3))
MessageBox.warning(self, "Save profile Error",
'Error while save profile',
utf8(e))
def on_save_profile(self, masteruri='', path=None):
'''
Saves the current environment to a node manager profile.
:param path: the pach the file to save
:type path: str
:param masteruri: If not empty, save the profile only for given master
:type masteruri: str
'''
try:
if path is None:
path = self.get_profile_file()
if path is None:
return
rospy.loginfo("Save profile %s" % path)
import yaml
content = {}
for muri, master in self._main_window.masters.items():
if not masteruri or masteruri == muri:
running_nodes = master.getRunningNodesIfLocal()
configs = {}
md_param = {}
ms_param = {}
zc_param = {}
smuri = muri
addr = nm.nameres().address(smuri)
hostname = get_hostname(smuri)
mastername = ''
if nm.is_local(addr):
smuri = smuri.replace(hostname, '$LOCAL$')
addr = '$LOCAL$'
else:
mastername = nm.nameres().mastername(
smuri,
nm.nameres().address(smuri))
for node_name in running_nodes.keys():
node_items = master.getNode(node_name)
for node in node_items:
if node.is_running(
) and node.launched_cfg is not None: # node.has_launch_cfgs(node.cfgs):
cfg = node.launched_cfg
if isinstance(node.launched_cfg,
(str, unicode)):
# it is default config
cfg = node.launched_cfg.replace(
"/%s" % hostname,
'/$LOCAL$').rstrip('/run')
else:
# it is a loaded launch file, get the filename
cfg = to_url(node.launched_cfg.Filename)
if cfg not in configs:
configs[cfg] = {'nodes': []}
configs[cfg]['nodes'].append(node_name)
elif node_name.endswith('master_discovery'):
md_param = get_rosparam(
'master_discovery', muri)
elif node_name.endswith('master_sync'):
ms_param = get_rosparam('master_sync', muri)
elif node_name.endswith('zeroconf'):
zc_param = get_rosparam('zeroconf', muri)
elif node_name.endswith('default_cfg'):
# store parameter for default configuration
nn = node_name.replace("/%s" % hostname,
'/$LOCAL$')
if nn not in configs:
configs[nn] = {'nodes': []}
configs[nn]['params'] = get_rosparam(
node_name, muri)
configs[nn]['default'] = True
# store arguments for launchfiles
for a, b in master.launchfiles.items():
resolved_a = to_url(a)
if resolved_a not in configs:
if resolved_a.endswith('default_cfg/run'):
pass
else:
configs[resolved_a] = {}
configs[resolved_a]['default'] = False
configs[resolved_a]['argv'] = b.argv
# fill the configuration content for yaml as dictionary
content[smuri] = {
'mastername': mastername,
'address': addr,
'configs': configs
}
if md_param:
content[smuri]['master_discovery'] = md_param
if ms_param:
content[smuri]['master_sync'] = ms_param
if zc_param:
content[smuri]['zeroconf'] = zc_param
text = yaml.dump(content, default_flow_style=False)
with open(path, 'w+') as f:
f.write(text)
except Exception as e:
import traceback
print traceback.format_exc(3)
WarningMessageBox(QMessageBox.Warning, "Save profile Error",
'Error while save profile', str(e)).exec_()
def on_load_profile_file(self, path):
'''
Load the profile file.
:param path: the path of the profile file.
:type path: str
'''
rospy.loginfo("Load profile %s" % path)
self.progressBar.setValue(0)
self.setVisible(True)
self.setWindowTitle("%s profile started" %
os.path.basename(path).rstrip('.nmprofile'))
hasstart = False
if path:
try:
import yaml
with open(path, 'r') as f:
# print yaml.load(f.read())
content = yaml.load(f.read())
if not isinstance(content, dict):
raise Exception("Mailformed profile: %s" %
os.path.basename(path))
for muri, master_dict in content.items():
local_hostname = get_hostname(
self._main_window.getMasteruri())
rmuri = muri.replace('$LOCAL$', local_hostname)
master = self._main_window.getMaster(rmuri)
running_nodes = master.getRunningNodesIfLocal()
usr = None
self._current_profile[rmuri] = set()
if 'user' in master_dict:
usr = master_dict['user']
if master_dict['mastername'] and master_dict[
'mastername']:
nm.nameres().add_master_entry(
master.masteruri, master_dict['mastername'],
master_dict['address'])
hostname = master_dict['address'].replace(
'$LOCAL$', local_hostname)
if 'master_discovery' in master_dict:
self._start_node_from_profile(
master,
hostname,
'master_discovery_fkie',
'master_discovery',
usr,
cfg=master_dict['master_discovery'])
self._current_profile[rmuri].add(
'/master_discovery')
if 'master_sync' in master_dict:
self._start_node_from_profile(
master,
hostname,
'master_sync_fkie',
'master_sync',
usr,
cfg=master_dict['master_sync'])
self._current_profile[rmuri].add('/master_sync')
if 'zeroconf' in master_dict:
self._start_node_from_profile(
master,
hostname,
'master_discovery_fkie',
'zeroconf',
usr,
cfg=master_dict['zeroconf'])
self._current_profile[rmuri].add('/zeroconf')
try:
do_start = []
do_not_stop = {
'/rosout',
rospy.get_name(), '/node_manager',
'/master_discovery', '/master_sync',
'*default_cfg', '/zeroconf'
}
configs = master_dict['configs']
conf_set = set()
for cfg_name, cmdict in configs.items():
cfg_name = cfg_name.replace(
'$LOCAL$', local_hostname)
if cfg_name.startswith("pkg://"):
cfg_name = os.path.abspath(
resolve_url(cfg_name))
conf_set.add(cfg_name)
reload_launch = True
argv = []
is_default = False
if 'default' in cmdict:
if cmdict['default']:
# it is a default configuration, test for load or not
is_default = True
if 'argv_used' in cmdict['params']:
argv = cmdict['params'][
'argv_used']
if cfg_name in master.default_cfgs:
reload_launch = False
if argv:
params = get_rosparam(
cfg_name, rmuri)
if 'argv_used' in params:
reload_launch = set(
params['argv_used']
) != set(argv)
if reload_launch:
self._main_window.on_load_launch_as_default_bypkg(
cmdict['params']['package'],
cmdict['params']
['launch_file'], master, argv,
local_hostname)
else:
do_not_stop.add(cfg_name)
elif 'argv' in cmdict:
if 'argv' in cmdict:
argv = cmdict['argv']
# do we need to load to load/reload launch file
if cfg_name in master.launchfiles:
reload_launch = set(
master.launchfiles[cfg_name].argv
) != set(argv)
if reload_launch:
self._main_window.launch_dock.load_file(
cfg_name, argv, master.masteruri)
if 'nodes' in cmdict:
self._current_profile[rmuri].update(
cmdict['nodes'])
force_start = True
cfg = cfg_name if not is_default else roslib.names.ns_join(
cfg_name, 'run')
if not reload_launch:
force_start = False
do_not_stop.update(set(
cmdict['nodes']))
do_start.append(
(reload_launch, cfg,
cmdict['nodes'], force_start))
else:
do_start.append(
(reload_launch, cfg,
cmdict['nodes'], force_start))
# close unused configurations
for lfile in set(
master.launchfiles.keys()) - conf_set:
master._close_cfg(lfile)
master.stop_nodes_by_name(running_nodes.keys(),
True, do_not_stop)
for reload_launch, cfg, nodes, force_start in do_start:
if nodes:
hasstart = True
if reload_launch:
master.start_nodes_after_load_cfg(
cfg.rstrip('/run'), list(nodes),
force_start)
else:
master.start_nodes_by_name(
list(nodes), cfg, force_start)
except Exception as ml:
import traceback
print traceback.format_exc(1)
rospy.logwarn(
"Can not load launch file for %s: %s" %
(muri, ml))
except Exception as e:
import traceback
print traceback.format_exc(1)
WarningMessageBox(QMessageBox.Warning, "Load profile error",
'Error while load profile', str(e)).exec_()
if not hasstart:
self.update_progress()
else:
QTimer.singleShot(1000, self.update_progress)
def address(self, masteruri):
with self.mutex:
for m in self._masters:
if m.masteruri == masteruri or m.has_mastername(masteruri):
return m.get_address()
return get_hostname(masteruri)
def on_load_profile_file(self, path):
'''
Load the profile file.
:param path: the path of the profile file.
:type path: str
'''
rospy.loginfo("Load profile %s" % path)
self.progressBar.setValue(0)
self.setVisible(True)
self.setWindowTitle("%s profile started" % os.path.basename(path).rstrip('.nmprofile'))
hasstart = False
if path:
try:
import yaml
with open(path, 'r') as f:
# print yaml.load(f.read())
content = yaml.load(f.read())
if not isinstance(content, dict):
raise Exception("Mailformed profile: %s" % os.path.basename(path))
for muri, master_dict in content.items():
local_hostname = get_hostname(self._main_window.getMasteruri())
rmuri = muri.replace('$LOCAL$', local_hostname)
master = self._main_window.getMaster(rmuri)
running_nodes = master.getRunningNodesIfLocal()
usr = None
self._current_profile[rmuri] = set()
if 'user' in master_dict:
usr = master_dict['user']
if master_dict['mastername'] and master_dict['mastername']:
nm.nameres().add_master_entry(master.masteruri, master_dict['mastername'], master_dict['address'])
hostname = master_dict['address'].replace('$LOCAL$', local_hostname)
if 'master_discovery' in master_dict:
self._start_node_from_profile(master, hostname, 'master_discovery_fkie', 'master_discovery', usr, cfg=master_dict['master_discovery'])
self._current_profile[rmuri].add('/master_discovery')
if 'master_sync' in master_dict:
self._start_node_from_profile(master, hostname, 'master_sync_fkie', 'master_sync', usr, cfg=master_dict['master_sync'])
self._current_profile[rmuri].add('/master_sync')
if 'zeroconf' in master_dict:
self._start_node_from_profile(master, hostname, 'master_discovery_fkie', 'zeroconf', usr, cfg=master_dict['zeroconf'])
self._current_profile[rmuri].add('/zeroconf')
try:
do_start = []
do_not_stop = {'/rosout', rospy.get_name(), '/node_manager', '/master_discovery', '/master_sync', '*default_cfg', '/zeroconf'}
configs = master_dict['configs']
conf_set = set()
for cfg_name, cmdict in configs.items():
cfg_name = cfg_name.replace('$LOCAL$', local_hostname)
if cfg_name.startswith("pkg://"):
cfg_name = os.path.abspath(resolve_url(cfg_name))
conf_set.add(cfg_name)
reload_launch = True
argv = []
is_default = False
if 'default' in cmdict:
if cmdict['default']:
# it is a default configuration, test for load or not
is_default = True
if 'argv_used' in cmdict['params']:
argv = cmdict['params']['argv_used']
if cfg_name in master.default_cfgs:
reload_launch = False
if argv:
params = get_rosparam(cfg_name, rmuri)
if 'argv_used' in params:
reload_launch = set(params['argv_used']) != set(argv)
if reload_launch:
self._main_window.on_load_launch_as_default_bypkg(cmdict['params']['package'], cmdict['params']['launch_file'], master, argv, local_hostname)
else:
do_not_stop.add(cfg_name)
elif 'argv' in cmdict:
if 'argv' in cmdict:
argv = cmdict['argv']
# do we need to load to load/reload launch file
if cfg_name in master.launchfiles:
reload_launch = set(master.launchfiles[cfg_name].argv) != set(argv)
if reload_launch:
self._main_window.launch_dock.load_file(cfg_name, argv, master.masteruri)
if 'nodes' in cmdict:
self._current_profile[rmuri].update(cmdict['nodes'])
force_start = True
cfg = cfg_name if not is_default else roslib.names.ns_join(cfg_name, 'run')
if not reload_launch:
force_start = False
do_not_stop.update(set(cmdict['nodes']))
do_start.append((reload_launch, cfg, cmdict['nodes'], force_start))
else:
do_start.append((reload_launch, cfg, cmdict['nodes'], force_start))
# close unused configurations
for lfile in set(master.launchfiles.keys()) - conf_set:
master._close_cfg(lfile)
master.stop_nodes_by_name(running_nodes.keys(), True, do_not_stop)
for reload_launch, cfg, nodes, force_start in do_start:
if nodes:
hasstart = True
if reload_launch:
master.start_nodes_after_load_cfg(cfg.rstrip('/run'), list(nodes), force_start)
else:
master.start_nodes_by_name(list(nodes), cfg, force_start)
except Exception as ml:
import traceback
print utf8(traceback.format_exc(1))
rospy.logwarn("Can not load launch file for %s: %s" % (muri, utf8(ml)))
except Exception as e:
import traceback
print traceback.format_exc(1)
MessageBox.warning(self, "Load profile error",
'Error while load profile',
utf8(e))
if not hasstart:
self.update_progress()
else:
QTimer.singleShot(1000, self.update_progress)
