def _load_interface(self):
interface_file = resolve_url(rospy.get_param('~interface_url', ''))
if interface_file:
rospy.loginfo("interface_url: %s", interface_file)
try:
data = read_interface(interface_file) if interface_file else {}
# set the ignore hosts list
self._re_ignore_hosts = create_pattern('ignore_hosts', data, interface_file, [])
# set the sync hosts list
self._re_sync_hosts = create_pattern('sync_hosts', data, interface_file, [])
self.__sync_topics_on_demand = False
if interface_file:
if 'sync_topics_on_demand' in data:
self.__sync_topics_on_demand = data['sync_topics_on_demand']
elif rospy.has_param('~sync_topics_on_demand'):
self.__sync_topics_on_demand = rospy.get_param('~sync_topics_on_demand')
rospy.loginfo("sync_topics_on_demand: %s", self.__sync_topics_on_demand)
self.__resync_on_reconnect = rospy.get_param('~resync_on_reconnect', True)
rospy.loginfo("resync_on_reconnect: %s", self.__resync_on_reconnect)
self.__resync_on_reconnect_timeout = rospy.get_param('~resync_on_reconnect_timeout', 0)
rospy.loginfo("resync_on_reconnect_timeout: %s", self.__resync_on_reconnect_timeout)
except:
import traceback
# kill the ros node, to notify the user about the error
rospy.logerr("Error on load interface: %s", traceback.format_exc())
import os
import signal
os.kill(os.getpid(), signal.SIGKILL)
def interpretPath(self, path):
'''
Tries to determine the path of the included file. The statement of
C{$(find 'package')} will be resolved.
@param path: the sting which contains the included path
@type path: C{str}
@return: if no leading C{os.sep} is detected, the path setted by L{setCurrentPath()}
will be prepend. C{$(find 'package')} will be resolved. Otherwise the parameter
itself will be returned
@rtype: C{str}
'''
path = path.strip()
index = path.find('$')
if index > -1:
startIndex = path.find('(', index)
if startIndex > -1:
endIndex = path.find(')', startIndex+1)
script = path[startIndex+1:endIndex].split()
if len(script) == 2 and (script[0] == 'find'):
try:
pkg = roslib.packages.get_pkg_dir(script[1])
return os.path.normpath(''.join([pkg, '/', path[endIndex+1:]]))
except Exception as e:
rospy.logwarn(str(e))
else:
try:
return resolve_url(path)
except ValueError, e:
if len(path) > 0 and path[0] != '/':
return os.path.normpath(''.join([self.path, '/', path]))
def interpretPath(cls, path, pwd='.'):
'''
Tries to determine the path of the included file. The statement of
$(find 'package') will be resolved.
The supported URL begins with `file:///`, `package://` or `pkg://`.
The package URL will be resolved to a valid file path. If the file is in a
subdirectory, you can replace the subdirectory by `///`.
@param path: the sting which contains the included path
@type path: C{str}
@param pwd: current working path
@type pwd: C{str}
@return: if no leading L{os.sep} is detected, the path set by L{setCurrentPath()}
will be prepend. C{$(find 'package')} will be resolved. Otherwise the parameter
itself will be returned
@rtype: C{str}
'''
path = path.strip()
startIndex = path.find('$(')
if startIndex > -1:
endIndex = path.find(')', startIndex + 2)
script = path[startIndex + 2:endIndex].split()
if len(script) == 2 and (script[0] == 'find'):
pkg = roslib.packages.get_pkg_dir(script[1])
return os.path.join(pkg, path[endIndex + 2:].strip(os.path.sep))
elif len(path) > 0 and path[0] != os.path.sep:
try:
return resolve_url(path)
except ValueError, _:
if len(path) > 0 and path[0] != os.path.sep:
return os.path.normpath(''.join([pwd, os.path.sep, path]))
def interpretPath(cls, path, pwd='.'):
'''
Tries to determine the path of the included file. The statement of
$(find 'package') will be resolved.
The supported URL begins with `file:///`, `package://` or `pkg://`.
The package URL will be resolved to a valid file path. If the file is in a
subdirectory, you can replace the subdirectory by `///`.
@param path: the sting which contains the included path
@type path: C{str}
@param pwd: current working path
@type pwd: C{str}
@return: C{$(find 'package')} will be resolved. The prefixes `file:///`,
`package://` or `pkg://` are also resolved. Otherwise the parameter
itself will be returned.
@rtype: C{str}
'''
path = path.strip()
startIndex = path.find('$(')
if startIndex > -1:
endIndex = path.find(')', startIndex + 2)
script = path[startIndex + 2:endIndex].split()
if len(script) == 2 and (script[0] == 'find'):
pkg = roslib.packages.get_pkg_dir(script[1])
return os.path.join(pkg,
path[endIndex + 2:].strip(os.path.sep))
elif len(path) > 0 and path[0] != os.path.sep:
try:
return resolve_url(path)
except ValueError, _:
if len(path) > 0 and path[0] != os.path.sep:
return os.path.normpath(''.join([pwd, os.path.sep, path]))
def _loadInterface(self):
interface_file = resolve_url(rospy.get_param('~interface_url', ''))
if interface_file:
rospy.loginfo("interface_url: %s", interface_file)
try:
data = read_interface(interface_file) if interface_file else {}
# set the ignore hosts list
self._re_ignore_hosts = create_pattern('ignore_hosts', data,
interface_file, [])
# set the sync hosts list
self._re_sync_hosts = create_pattern('sync_hosts', data,
interface_file, [])
self.__sync_topics_on_demand = False
if interface_file:
if data.has_key('sync_topics_on_demand'):
self.__sync_topics_on_demand = data[
'sync_topics_on_demand']
elif rospy.has_param('~sync_topics_on_demand'):
self.__sync_topics_on_demand = rospy.get_param(
'~sync_topics_on_demand')
rospy.loginfo("sync_topics_on_demand: %s",
self.__sync_topics_on_demand)
except:
import traceback
# kill the ros node, to notify the user about the error
rospy.logerr("Error on load interface: %s", traceback.format_exc())
import os, signal
os.kill(os.getpid(), signal.SIGKILL)
def interpret_path(path):
'''
Tries to determine the path of the included file. The statement of
C{$(find 'package')} will be resolved.
@param path: the sting which contains the included path
@type path: C{str}
@return: if no leading C{os.sep} is detected, the path setted by
L{setCurrentPath()} will be prepend. C{$(find 'package')} will be resolved.
Otherwise the parameter itself will be returned
@rtype: C{str}
'''
path = path.strip()
index = path.find('$')
if index > -1:
startIndex = path.find('(', index)
if startIndex > -1:
endIndex = path.find(')', startIndex + 1)
script = path[startIndex + 1:endIndex].split()
if len(script) == 2 and (script[0] == 'find'):
try:
pkg = roslib.packages.get_pkg_dir(script[1])
return os.path.normpath('%s/%s' % (pkg, path[endIndex + 1:]))
except Exception as e:
rospy.logwarn(str(e))
else:
try:
return resolve_url(path)
except ValueError, e:
pass
def interpret_path(path):
'''
Tries to determine the path of the included file. The statement of
C{$(find 'package')} will be resolved.
@param path: the sting which contains the included path
@type path: C{str}
@return: C{$(find 'package')} will be resolved. The prefixes `file:///`, `package://` or `pkg://` are also resolved.
Otherwise the parameter itself normalized by `os.path.normpath` will be returned.
@rtype: C{str}
'''
path = path.strip()
index = path.find('$')
if index > -1:
startIndex = path.find('(', index)
if startIndex > -1:
endIndex = path.find(')', startIndex + 1)
script = path[startIndex + 1:endIndex].split()
if len(script) == 2 and (script[0] == 'find'):
try:
pkg = roslib.packages.get_pkg_dir(script[1])
return os.path.normpath('%s/%s' %
(pkg, path[endIndex + 1:]))
except Exception as e:
rospy.logwarn(str(e))
else:
try:
return resolve_url(path)
except ValueError, e:
pass
def interpret_path(path):
'''
Tries to determine the path of the included file. The statement of
C{$(find 'package')} will be resolved.
@param path: the sting which contains the included path
@type path: C{str}
@return: C{$(find 'package')} will be resolved. The prefixes `file:///`, `package://` or `pkg://` are also resolved.
Otherwise the parameter itself normalized by `os.path.normpath` will be returned.
@rtype: C{str}
'''
path = path.strip()
index = path.find('$')
if index > -1:
startIndex = path.find('(', index)
if startIndex > -1:
endIndex = path.find(')', startIndex + 1)
script = path[startIndex + 1:endIndex].split()
if len(script) == 2 and (script[0] == 'find'):
try:
pkg = roslib.packages.get_pkg_dir(script[1])
return os.path.normpath('%s/%s' % (pkg, path[endIndex + 1:]))
except Exception as e:
rospy.logwarn(utf8(e))
else:
try:
return resolve_url(path)
except ValueError, e:
pass
def __init__(self, script):
'''
@param masteruri: the URI of the remote ROS master
@type masteruri: C{str}
'''
threading.Thread.__init__(self)
self._script = script
self._cmd = shlex.split(script)
if self._cmd[0].startswith("pkg://"):
resolved = resolve_url(self._cmd.pop(0))
self._cmd.insert(0, resolved)
self.setDaemon(True)
self.spopen = None
self.stop = False
def index(self, text):
'''
Searches in the given text for key indicates the including of a file and
return their index.
@param text: text to find
@type text: C{str}
@return: the index of the including key or -1
@rtype: C{int}
'''
for pattern in self.regexp_list:
index = pattern.indexIn(text)
if index > -1:
return index
try:
return resolve_url(path)
except:
pass
return -1
def __init__(self, script):
'''
@param masteruri: the URI of the remote ROS master
@type masteruri: C{str}
'''
threading.Thread.__init__(self)
self._script = script
cmd_list = shlex.split(script)
self._cmd = []
for cmd in cmd_list:
if cmd.startswith("pkg://"):
resolved = resolve_url(cmd)
self._cmd.append(resolved)
else:
self._cmd.append(cmd)
self.setDaemon(True)
self.spopen = None
self.stop = False
def index(self, text):
'''
Searches in the given text for key indicates the including of a file and
return their index.
@param text: text to find
@type text: C{str}
@return: the index of the including key or -1
@rtype: C{int}
'''
for pattern in self.regexp_list:
index = pattern.indexIn(text)
if index > -1:
return index
try:
return resolve_url(text)
except:
pass
return -1
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 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)
