def _custom_validate(self, validation, param_name, param_value, caller_id):
"""
Implements validation rules that require access to internal ROSHandler state.
@param validation: name of validation rule to use
@type validation: str
@param param_name: name of parameter being validated
@type param_name: str
@param param_value str: value of parameter
@type param_value: str
@param caller_id: value of caller_id parameter to API method
@type caller_id: str
@raise ParameterInvalid: if the parameter does not meet validation
@return: new value for parameter, after validation
"""
if validation == 'is_publishers_list':
if not type(param_value) == list:
raise ParameterInvalid("ERROR: param [%s] must be a list" %
param_name)
for v in param_value:
if not isinstance(v, str):
raise ParameterInvalid(
"ERROR: param [%s] must be a list of strings" %
param_name)
parsed = urlparse.urlparse(v)
if not parsed[0] or not parsed[1]: #protocol and host
raise ParameterInvalid(
"ERROR: param [%s] does not contain valid URLs [%s]" %
(param_name, v))
return param_value
else:
raise ParameterInvalid(
"ERROR: param [%s] has an unknown validation type [%s]" %
(param_name, validation))
def validator(param_value, caller_id):
if not param_value or not isstring(param_value):
raise ParameterInvalid("ERROR: parameter [%s] must be a non-empty string"%param_name)
#TODO: actual validation of chars
if not is_global(param_value):
raise ParameterInvalid("ERROR: parameter [%s] must be a globally referenced name"%param_name)
return param_value
def valid_name_validator_unresolved(param_name, param_value, caller_id):
if not param_value or not isstring(param_value):
raise ParameterInvalid("ERROR: parameter [%s] must be a non-empty string"%param_name)
#TODO: actual validation of chars
# I added the colon check as the common error will be to send an URI instead of name
if ':' in param_value or ' ' in param_value:
raise ParameterInvalid("ERROR: parameter [%s] contains illegal chars"%param_name)
return param_value
def valid_name_validator_resolved(param_name, param_value, caller_id):
if not param_value or not isstring(param_value):
raise ParameterInvalid("ERROR: parameter [%s] must be a non-empty string"%param_name)
#TODO: actual validation of chars
# I added the colon check as the common error will be to send an URI instead of name
if ':' in param_value or ' ' in param_value:
raise ParameterInvalid("ERROR: parameter [%s] contains illegal chars"%param_name)
#don't use our own resolve_name because we do not want to remap
return rosgraph.names.resolve_name(param_value, caller_id, remappings=None)
def _custom_validate(self, validation, param_name, param_value, caller_id):
if validation == 'is_publishers_list':
if not type(param_value) == list:
raise ParameterInvalid("ERROR: param [%s] must be a list"%param_name)
for v in param_value:
if not isinstance(v, basestring):
raise ParameterInvalid("ERROR: param [%s] must be a list of strings"%param_name)
parsed = urlparse.urlparse(v)
if not parsed[0] or not parsed[1]: #protocol and host
raise ParameterInvalid("ERROR: param [%s] does not contain valid URLs [%s]"%(param_name, v))
return param_value
else:
raise ParameterInvalid("ERROR: param [%s] has an unknown validation type [%s]"%(param_name, validation))
def validator(param_value, caller_id):
v = valid_name_validator_resolved(param_name, param_value, caller_id)
if param_value == '/':
raise ParameterInvalid(
"ERROR: parameter [%s] cannot be the global namespace" %
param_name)
return v
def parse_rosrpc_uri(uri):
"""
utility function for parsing ROS-RPC URIs
@param uri: ROSRPC URI
@type uri: str
@return: address, port
@rtype: (str, int)
@raise ParameterInvalid: if uri is not a valid ROSRPC URI
"""
if uri.startswith(ROSRPC):
dest_addr = uri[len(ROSRPC):]
else:
raise ParameterInvalid("Invalid protocol for ROS service URL: %s"%uri)
try:
if '/' in dest_addr:
dest_addr = dest_addr[:dest_addr.find('/')]
dest_addr, dest_port = dest_addr.split(':')
dest_port = int(dest_port)
except:
raise ParameterInvalid("ROS service URL is invalid: %s"%uri)
return dest_addr, dest_port
def test_ParameterInvalid(self):
# not really testing anything here other than typos
from rospy.impl.validators import ParameterInvalid
self.assert_(isinstance(ParameterInvalid('param'), Exception))