def is_compatible(concert_client, resource):
'''
Checks to see if a client is compatible for the implementation's node rule.
:param scheduler_msgs.Resource resource:
:param concert_msgs.ConcertClient: concert_client
:returns: true if compatible, false otherwise
:rtype: bool
'''
if not rocon_uri.is_compatible(resource.uri, concert_client.platform_info.uri):
return False
for client_rapp in concert_client.rapps:
if resource.rapp == client_rapp.name:
return True
return False
def is_compatible(concert_client, resource):
'''
Checks to see if a client is compatible for the implementation's node rule.
@param resource
@type scheduler_msgs.Resource
@param concert_client
@type concert_msgs.ConcertClient
'''
if not rocon_uri.is_compatible(resource.uri,
concert_client.platform_info.uri):
return False
for client_app in concert_client.apps:
if resource.rapp == client_app.name:
return True
return False
def is_compatible(self, uri):
'''
it compares its compatibility with given uri. and returns true if it is compatible.
If it is virtual rapp which does not have compatibility field, return True always
:param uri: rocon_uri
:type uri: rocon_uri.RoconURI
:returns: true if compatible
:rtype: bool
'''
my_uri = self.raw_data['compatibility'] if 'compatibility' in self.raw_data else None
if my_uri:
return rocon_uri.is_compatible(my_uri, uri)
else:
return True
def match_pattern(self, pattern, rapp):
""" Match this resource to a ROCON name and application.
:param pattern: Canonical ROCON name to match, maybe a regular
expression.
:type pattern: str
:param rapp: ROCON application name.
:type rapp: str
:returns: ``True`` if this specific resource matches.
:raises: :class:`.RoconURIValueError` if *pattern* invalid.
The *rapp* must be one of those advertised by this ROCON
resource. The *pattern* may be a ROCON pattern matching
multiple resource names.
"""
if rapp not in self.rapps: # rapp not advertised here?
return False
return rocon_uri.is_compatible(self.uri, pattern)
def match_pattern(self, pattern, rapp):
""" Match this resource to a ROCON name and application.
:param pattern: Canonical ROCON name to match, maybe a regular
expression.
:type pattern: str
:param rapp: ROCON application name.
:type rapp: str
:returns: ``True`` if this specific resource matches.
:raises: :class:`.RoconURIValueError` if *pattern* invalid.
The *rapp* must be one of those advertised by this ROCON
resource. The *pattern* may be a ROCON pattern matching
multiple resource names.
"""
if rapp not in self.rapps: # rapp not advertised here?
return False
return rocon_uri.is_compatible(self.uri, pattern)
def filter(self, roles=None, compatibility_uri='rocon:/'):
'''
Filter the interactions in the table according to role and/or compatibility uri.
:param roles: a list of roles to filter against, use all roles if None
:type roles: str []
:param str compatibility_uri: compatibility rocon_uri_, eliminates interactions that don't match this uri.
:returns interactions: subset of all interactions that survived the filter
:rtype: :class:`.Interaction` []
:raises: rocon_uri.RoconURIValueError if provided compatibility_uri is invalid.
'''
if roles: # works for classifying non-empty list vs either of None or empty list
role_filtered_interactions = [i for i in self.interactions if i.role in roles]
else:
role_filtered_interactions = list(self.interactions)
filtered_interactions = [i for i in role_filtered_interactions
if rocon_uri.is_compatible(i.compatibility, compatibility_uri)]
return filtered_interactions
def filter(self, roles=None, compatibility_uri='rocon:/'):
'''
Filter the interactions in the table according to role and/or compatibility uri.
:param roles: a list of roles to filter against, use all roles if None
:type roles: str []
:param str compatibility_uri: compatibility rocon_uri_, eliminates interactions that don't match this uri.
:returns interactions: subset of all interactions that survived the filter
:rtype: :class:`.Interaction` []
:raises: rocon_uri.RoconURIValueError if provided compatibility_uri is invalid.
'''
if roles: # works for classifying non-empty list vs either of None or empty list
role_filtered_interactions = [
i for i in self.interactions if i.role in roles
]
else:
role_filtered_interactions = list(self.interactions)
filtered_interactions = [
i for i in role_filtered_interactions
if rocon_uri.is_compatible(i.compatibility, compatibility_uri)
]
return filtered_interactions
def filter(self, roles=None, compatibility_uri='rocon:/'):
'''
Filter the interactions in the table according to role and/or compatibility uri.
@param roles : a list of roles to filter against, use all roles if None
@type str[]
@param compatibility_uri : compatibility rocon uri, eliminates interactions that don't match this uri.
@type str (rocon_uri)
@return interactions : subset of all interactions that survived the filter
@rtype interactions.Interactions[]
'''
if roles: # works for classifying non-empty list vs either of None or empty list
role_filtered_interactions = [
i for i in self.interactions if i.role in roles
]
else:
role_filtered_interactions = list(self.interactions)
filtered_interactions = [
i for i in role_filtered_interactions
if rocon_uri.is_compatible(i.compatibility, compatibility_uri)
]
return filtered_interactions
def _determine_runnable_rapps(self, rapps):
'''
Prune unsupported apps due to incompatibilities in platform information or lack of
support for required capabilities.
@param rapps: an index of rapps to check
@type dic name : Rapp
@return incompatible app list dictionaries for platform and capability incompatibilities respectively
@type 2-tuple of app list dictionaries
'''
# First try initialise the list of available capabilities
no_caps_available = False
try:
self.caps_list = CapsList()
except IOError as e:
if 'timeout' in str(e):
rospy.loginfo(
"App Manager : disabling apps requiring capabilities [timed out looking for the capability server]"
)
else:
rospy.logwarn(
"App Manager : disabling apps requiring capabilities [%s]"
% str(e))
no_caps_available = True
# Then add runable apps to list
self.apps['runnable'] = {}
platform_compatible_apps = {}
platform_filtered_apps = {}
capabilities_filtered_apps = {}
for app_name in rapps:
app = rapps[app_name]
# Platform check
if rocon_uri.is_compatible(self._rocon_uri,
app.data['compatibility']):
platform_compatible_apps[app.data['name']] = app
else:
platform_filtered_apps[app.data['name']] = app
rospy.logwarn("App : '" + str(app.data['name']) +
"' is incompatible [" +
app.data['compatibility'] + '][' +
self._rocon_uri + ']')
for app_name in platform_compatible_apps:
app = platform_compatible_apps[app_name]
if no_caps_available:
if 'required_capabilities' in app.data:
capabilities_filtered_apps[app.data['name']] = app
rospy.logwarn(
"App : '" + str(app.data['name']) +
"' cannot be run, since capabilities are not available."
+
" App will be excluded from the list of runnable apps."
)
else:
self.apps['runnable'][app.data['name']] = app
rospy.loginfo("App : '" + str(app.data['name']) +
"' added to the list of runnable apps.")
else:
try:
self.caps_list.compatibility_check(app)
self.apps['runnable'][app.data['name']] = app
rospy.loginfo("App : '" + str(app.data['name']) +
"' added to the list of runnable apps.")
except exceptions.MissingCapabilitiesException as e:
capabilities_filtered_apps[app.data['name']] = app
rospy.logwarn(
"App : '" + str(app.data['name']) +
"' cannot be run, since some required capabilities (" +
str(e.missing_caps) +
") are not installed. App will be excluded from the list of runnable apps."
)
return (platform_filtered_apps, capabilities_filtered_apps)
def test_compatibility():
print(
console.bold +
"\n****************************************************************************************"
+ console.reset)
print(console.bold + "* Compatibility" + console.reset)
print(
console.bold +
"****************************************************************************************"
+ console.reset)
rocon_uri_string = 'rocon:/turtlebot2/dude/hydro/precise'
print(console.cyan + " - %s ~ %s" % (rocon_uri_string, rocon_uri_string) +
console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
rocon_uri_string) == True)
# Missing operating system
modified_rocon_uri_string = 'rocon:/turtlebot2/dude/hydro'
print(console.cyan + " - %s ~ %s" %
(rocon_uri_string, modified_rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
modified_rocon_uri_string) == True)
# Missing application_framework/operating system
modified_rocon_uri_string = 'rocon:/turtlebot2/dude'
print(console.cyan + " - %s ~ %s" %
(rocon_uri_string, modified_rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
modified_rocon_uri_string) == True)
# Missing everything
modified_rocon_uri_string = 'rocon:/'
print(console.cyan + " - %s ~ %s" %
(rocon_uri_string, modified_rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
modified_rocon_uri_string) == True)
# Wildcards
modified_rocon_uri_string = 'rocon:/*/*/*/*'
print(console.cyan + " - %s ~ %s" %
(rocon_uri_string, modified_rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
modified_rocon_uri_string) == True)
# Regex names
modified_rocon_uri_string = 'rocon:/turtlebot2/dud*/hydro/precise'
print(console.cyan + " - %s ~ %s" %
(rocon_uri_string, modified_rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
modified_rocon_uri_string) == True)
modified_rocon_uri_string = 'rocon:/turtlebot2/dud*/hydro/precise'
print(console.cyan + " - %s ~ %s" %
(modified_rocon_uri_string, rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(modified_rocon_uri_string,
rocon_uri_string) == True)
doubly_modified_rocon_uri_string = 'rocon:/turtlebot2/dudette*/hydro/precise'
print(console.cyan + " - %s ~ %s" %
(modified_rocon_uri_string, doubly_modified_rocon_uri_string) +
console.reset)
assert (rocon_uri.is_compatible(modified_rocon_uri_string,
doubly_modified_rocon_uri_string) == True)
# No matching hardware platform
modified_rocon_uri_string = 'rocon:/pr2|waiterbot/dude'
print(console.cyan + " - %s !~ %s" %
(rocon_uri_string, modified_rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
modified_rocon_uri_string) == False)
# Modified field
modified_rocon_uri_string = 'rocon:/turtlebot2/dudette/hydro/precise'
print(console.cyan + " - %s !~ %s" %
(rocon_uri_string, modified_rocon_uri_string) + console.reset)
assert (rocon_uri.is_compatible(rocon_uri_string,
modified_rocon_uri_string) == False)
invalid_rocon_uri = 'rocon:/lala|turtlebot2'
try:
rocon_uri.is_compatible(rocon_uri_string, invalid_rocon_uri)
except rocon_uri.RoconURIValueError as e:
print(console.cyan + " - %s FAILS %s [%s]" %
(rocon_uri_string, invalid_rocon_uri, str(e)) + console.reset)
assert_raises(rocon_uri.RoconURIValueError, rocon_uri.is_compatible,
rocon_uri_string, invalid_rocon_uri)
