def _save_data_from_remote(self, get_timeline_response):
inv = Invalidations()
if get_timeline_response.success:
inv.situation_ids_deleted = self.data.reset(
get_timeline_response.origin.data)
inv.situation_ids_updated = self.data.update(
get_timeline_response.situations)
else:
#TODO: error ?
pass
return inv
def _save_data_from_remote(self, get_scene_response):
inv = Invalidations()
if get_scene_response.success:
inv.node_ids_deleted = self.data.reset(get_scene_response.root_id)
for node in get_scene_response.nodes:
for property in node.properties:
if property.name == 'meshes' and property.data != '':
for mesh_id in property.data.split(','):
if self.__meshes.get_mesh_from_remote(mesh_id):
inv.mesh_ids_updated.append(mesh_id)
inv.node_ids_updated.append(self.data.update([node]))
return inv
def reasoningCallback(self, timer):
header = Header()
header.stamp = rospy.Time.now()
if len(self.input_worlds) > 0:
world_name = self.input_worlds[0]
invalidations = Invalidations()
changes = self.filter(world_name, header, invalidations)
self.ctx.worlds()[world_name + "_stable"].update(changes, header)
def get_data_from_remote(self, *param):
returns = Invalidations()
'''
try:
print 'trying'
returns = self._save_data_from_remote(self.call(*param))
except Exception as e:
print 'exeception!!'
rospy.logerr("[%s::dataProxy] Error occured when saving '%s' data into local data-structure: %s" % (self.client.name, self.service_name, e.message))
'''
returns = self._save_data_from_remote(self.call(*param))
return returns
def changes_callback(self, msg):
inv = Invalidations()
inv.node_ids_deleted = self.scene().remove(msg.changes.nodes_to_delete)
inv.node_ids_updated = self.scene().update(msg.changes.nodes_to_update)
inv.situation_ids_deleted = self.timeline().remove(
msg.changes.situations_to_delete)
inv.situation_ids_updated = self.timeline().update(
msg.changes.situations_to_update)
inv.mesh_ids_deleted = msg.changes.meshes_to_delete
self.meshes().remove(msg.changes.meshes_to_delete)
u = self.meshes().update(msg.changes.meshes_to_update)
inv.mesh_ids_updated = u
if self.__ever_connected:
self.__on_changes(self.__world_name, msg.header, inv)
def changes_callback(self, msg):
inv = Invalidations()
inv.node_ids_deleted = self.scene().remove(msg.changes.nodes_to_delete)
inv.node_ids_updated = self.scene().update(msg.changes.nodes_to_update)
inv.situation_ids_updated = self.timeline().update(
msg.changes.situations_to_update)
for sit in self.timeline().situations():
if sit.end.data != rospy.Time(0):
msg.changes.situations_to_delete.append(sit.id)
inv.situation_ids_deleted = self.timeline().remove(
msg.changes.situations_to_delete)
inv.mesh_ids_deleted = msg.changes.meshes_to_delete
self.meshes().remove(msg.changes.meshes_to_delete)
u = self.meshes().update(msg.changes.meshes_to_update)
inv.mesh_ids_updated = u
if self.__ever_connected:
self.__on_changes(self.__world_name, msg.header, inv)
def reconfigure(self, inputs):
if len(inputs) > 1 and self.__use_single_input:
raise RuntimeError("Multiple inputs provided while 'use_single_input' activated.")
self.ctx.worlds().close()
self.onReconfigure(inputs)
for input in inputs:
self.ctx.worlds()[input].connect(self.onChanges)
invalidations = Invalidations()
scene = self.ctx.worlds()[input].scene()
timeline = self.ctx.worlds()[input].timeline()
meshes = self.ctx.worlds()[input].meshes()
for node in scene.nodes():
invalidations.node_ids_updated.append(node.id)
for situation in timeline.situations():
invalidations.situation_ids_updated.append(situation.id)
for mesh in meshes:
invalidations.mesh_ids_updated.append(mesh.id)
header = Header()
header.stamp = rospy.Time.now()
self.onChanges(input, header, invalidations)
self.inputs_worlds = inputs
def apply_changes(self, header, changes):
invalidations = Invalidations()
invalidations.node_ids_deleted = self.__scene.remove(
changes.nodes_to_delete)
invalidations.node_ids_updated = self.__scene.update(
changes.nodes_to_update)
invalidations.situation_ids_deleted = self.__timeline.remove(
changes.situations_to_delete)
invalidations.situation_ids_updated = self.__timeline.update(
changes.situations_to_update)
for mesh_id in changes.meshes_to_delete:
del self.__meshes[mesh_id]
invalidations.mesh_ids_deleted.append(mesh_id)
for mesh in changes.meshes_to_update:
self.__meshes[mesh.id] = mesh
invalidations.mesh_ids_updated.append(mesh.id)
return invalidations