def __init__(self):
'''
Creates a new instance. Find the topic of the master_discovery node using
U{master_discovery_fkie.interface_finder.get_changes_topic()
<http://docs.ros.org/api/master_discovery_fkie/html/modules.html#interface-finder-module>}.
Also the parameter C{~ignore_hosts} will be analyzed to exclude hosts from sync.
'''
self.masters = {}
# the connection to the local service master
self.materuri = masteruri_from_master()
'''@ivar: the ROS master URI of the C{local} ROS master. '''
self.__lock = threading.RLock()
# load interface
self._load_interface()
# subscribe to changes notifier topics
topic_names = interface_finder.get_changes_topic(masteruri_from_master())
self.sub_changes = dict()
'''@ivar: `dict` with topics {name: U{rospy.Subscriber<http://docs.ros.org/api/rospy/html/rospy.topics.Subscriber-class.html>}} publishes the changes of the discovered ROS masters.'''
for topic_name in topic_names:
rospy.loginfo("listen for updates on %s", topic_name)
self.sub_changes[topic_name] = rospy.Subscriber(topic_name, MasterState, self._rosmsg_callback_master_state)
self.__timestamp_local = None
self.__own_state = None
self.update_timer = None
self.own_state_getter = None
self._join_threads = dict() # threads waiting for stopping the sync thread
# initialize the ROS services
rospy.Service('~get_sync_info', GetSyncInfo, self._rosservice_get_sync_info)
rospy.on_shutdown(self.finish)
self.obtain_masters()
def __init__(self):
'''
Creates a new instance. Find the topic of the master_discovery node using
L{master_discovery_fkie.interface_finder.get_changes_topic()}. Also the
parameter C{~ignore_hosts} will be analyzed to exclude hosts from sync.
'''
self.masters = {}
# the connection to the local service master
self.materuri = masteruri_from_master()
'''@ivar: the ROS master URI of the C{local} ROS master. '''
self.__lock = threading.RLock()
# load interface
self._load_interface()
# subscribe to changes notifier topics
topic_names = interface_finder.get_changes_topic(
masteruri_from_master())
self.sub_changes = dict()
'''@ivar: {dict} with topics C{(name: L{rospy.Subscriber})} publishes the changes of the discovered ROS masters.'''
for topic_name in topic_names:
rospy.loginfo("listen for updates on %s", topic_name)
self.sub_changes[topic_name] = rospy.Subscriber(
topic_name, MasterState, self._rosmsg_callback_master_state)
self.__timestamp_local = None
self.__own_state = None
self.update_timer = None
self.own_state_getter = None
self._join_threads = dict(
) # threads waiting for stopping the sync thread
# initialize the ROS services
rospy.Service('~get_sync_info', GetSyncInfo,
self._rosservice_get_sync_info)
rospy.on_shutdown(self.finish)
self.obtain_masters()
def obtain_masters(self):
'''
This method use the service 'list_masters' of the master_discoverer to get
the list of discovered ROS master. Based on this list the L{SyncThread} for
synchronization will be created.
@see: U{master_discovery_fkie.interface_finder.get_listmaster_service()
<http://docs.ros.org/api/master_discovery_fkie/html/modules.html#interface-finder-module>}
'''
if not rospy.is_shutdown():
service_names = interface_finder.get_listmaster_service(masteruri_from_master(), False)
for service_name in service_names:
try:
with self.__lock:
try:
socket.setdefaulttimeout(5)
discoverMasters = rospy.ServiceProxy(service_name, DiscoverMasters)
resp = discoverMasters()
masters = []
master_names = [m.name for m in resp.masters]
rospy.loginfo("ROS masters obtained from '%s': %s", service_name, master_names)
for m in resp.masters:
if self._can_sync(m.name): # do not sync to the master, if it is in ignore list or not in filled sync list
masters.append(m.name)
self.update_master(m.name, m.uri, m.timestamp, m.timestamp_local, m.discoverer_name, m.monitoruri, m.online)
for key in set(self.masters.keys()) - set(masters):
self.remove_master(self.masters[key].name)
except rospy.ServiceException, e:
rospy.logwarn("ERROR Service call 'list_masters' failed: %s", str(e))
except:
import traceback
rospy.logwarn("ERROR while initial list masters: %s", traceback.format_exc())
finally:
socket.setdefaulttimeout(None)
self.update_timer = threading.Timer(self.UPDATE_INTERVALL, self.obtain_masters)
self.update_timer.start()
def obtain_masters(self):
'''
This method use the service 'list_masters' of the master_discoverer to get
the list of discovered ROS master. Based on this list the L{SyncThread} for
synchronization will be created.
@see: U{master_discovery_fkie.interface_finder.get_listmaster_service()
<http://docs.ros.org/api/master_discovery_fkie/html/modules.html#interface-finder-module>}
'''
if not rospy.is_shutdown():
service_names = interface_finder.get_listmaster_service(
masteruri_from_master(), False)
for service_name in service_names:
try:
with self.__lock:
try:
socket.setdefaulttimeout(5)
discoverMasters = rospy.ServiceProxy(
service_name, DiscoverMasters)
resp = discoverMasters()
masters = []
master_names = [m.name for m in resp.masters]
rospy.loginfo("ROS masters obtained from '%s': %s",
service_name, master_names)
for m in resp.masters:
if not self._re_ignore_hosts.match(
m.name
) or self._re_sync_hosts.match(
m.name
): # do not sync to the master, if it is in ignore list
masters.append(m.name)
self.update_master(m.name, m.uri, m.timestamp,
m.timestamp_local,
m.discoverer_name,
m.monitoruri, m.online)
for key in set(self.masters.keys()) - set(masters):
self.remove_master(self.masters[key].name)
except rospy.ServiceException, e:
rospy.logwarn(
"ERROR Service call 'list_masters' failed: %s",
str(e))
except:
import traceback
rospy.logwarn("ERROR while initial list masters: %s",
traceback.format_exc())
finally:
socket.setdefaulttimeout(None)
self.update_timer = threading.Timer(self.UPDATE_INTERVALL,
self.obtain_masters)
self.update_timer.start()
