def generate_rules(param):
'''
Converts a param of the suitable type (see default_blacklist.yaml)
into a dictionary of Rule types.
@return all rules as gateway_msgs.msg.Rule objects in our usual keyed dictionary format
@rtype type keyed dictionary of Rule lists
'''
rules = utils.create_empty_connection_type_dictionary()
for value in param:
rule = Rule()
rule.name = value['name']
# maybe also check for '' here?
pattern = re.compile("None", re.IGNORECASE)
if pattern.match(value['node']):
rule.node = '' # ROS Message fields should not be None, maybe not a problem here though, see below
else:
rule.node = value['node']
rule.type = value['type']
rules[rule.type].append(rule)
return rules
def generate_rules(param):
'''
Converts a param of the suitable type (see default_blacklist.yaml)
into a dictionary of Rule types.
@return all rules as gateway_msgs.msg.Rule objects in our usual keyed dictionary format
@rtype type keyed dictionary of Rule lists
'''
rules = utils.create_empty_connection_type_dictionary()
for value in param:
rule = Rule()
rule.name = value['name']
# maybe also check for '' here?
pattern = re.compile("None", re.IGNORECASE)
if pattern.match(value['node']):
rule.node = '' # ROS Message fields should not be None, maybe not a problem here though, see below
else:
rule.node = value['node']
rule.type = value['type']
rules[rule.type].append(rule)
return rules
def advertise_all(self, blacklist):
'''
Allow all rules apart from the ones in the provided blacklist +
default blacklist
@param blacklist : list of Rule objects
@type list : list of Rule objects
@return failure if already advertising all, success otherwise
@rtype bool
'''
rospy.loginfo("Gateway : received a request advertise everything!")
self.lock.acquire()
# Check if advertise all already enabled
if self.advertise_all_enabled:
self.lock.release()
return False
self.advertise_all_enabled = True
# generate watchlist
self.watchlist = utils.create_empty_connection_type_dictionary(
) # easy hack for getting a clean watchlist
for connection_type in utils.connection_types:
allow_all_rule = Rule()
allow_all_rule.name = '.*'
allow_all_rule.type = connection_type
allow_all_rule.node = '.*'
self.watchlist[connection_type].append(allow_all_rule)
# generate blacklist (while making sure only unique rules get added)
self.blacklist = copy.deepcopy(self._default_blacklist)
for rule in blacklist:
if not publicRuleExists(rule, self.blacklist[rule.type]):
self.blacklist[rule.type].append(rule)
self.lock.release()
return True
def advertise_all(self, blacklist):
'''
Allow all rules apart from the ones in the provided blacklist +
default blacklist
@param blacklist : list of Rule objects
@type list : list of Rule objects
@return failure if already advertising all, success otherwise
@rtype bool
'''
rospy.loginfo("Gateway : received a request advertise everything!")
self.lock.acquire()
# Check if advertise all already enabled
if self.advertise_all_enabled:
self.lock.release()
return False
self.advertise_all_enabled = True
# generate watchlist
self.watchlist = utils.create_empty_connection_type_dictionary() # easy hack for getting a clean watchlist
for connection_type in utils.connection_types:
allow_all_rule = Rule()
allow_all_rule.name = '.*'
allow_all_rule.type = connection_type
allow_all_rule.node = '.*'
self.watchlist[connection_type].append(allow_all_rule)
# generate blacklist (while making sure only unique rules get added)
self.blacklist = copy.deepcopy(self._default_blacklist)
for rule in blacklist:
if not publicRuleExists(rule, self.blacklist[rule.type]):
self.blacklist[rule.type].append(rule)
self.lock.release()
return True
