def __init__(self, name, uri, discoverer_name, monitoruri, timestamp, sync_on_demand=False):
'''
Initialization method for the SyncThread.
@param name: the name of the ROS master synchronized with.
@type name: C{str}
@param uri: the URI of the ROS master synchronized with
@type uri: C{str}
@param discoverer_name: the name of the discovery node running on ROS master synchronized with.
@type discoverer_name: C{str}
@param monitoruri: The URI of RPC server of the discovery node to get the ROS master state by calling a method only once.
@type monitoruri: C{str}
@param timestamp: The timestamp of the current state of the ROS master info.
@type timestamp: C{float64}
@param sync_on_demand: Synchronize topics on demand
@type sync_on_demand: bool
'''
self.name = name
self.uri = uri
self.discoverer_name = discoverer_name
self.monitoruri = monitoruri
self.timestamp = timestamp
self.timestamp_local = 0.
self.timestamp_remote = 0.
self.localMasteruri = masteruri_from_ros()
rospy.logdebug("SyncThread[%s]: create this sync thread", self.name)
# synchronization variables
self.__lock_info = threading.RLock()
self.__lock_intern = threading.RLock()
self._use_filtered_method = None
# SyncMasterInfo with currently synchronized nodes, publisher (topic, node, nodeuri), subscriber(topic, node, nodeuri) and services
self.__sync_info = None
self.__unregistered = False
# a list with published topics as a tuple of (topic name, node name, node URL)
self.__publisher = []
# a list with subscribed topics as a tuple of (topic name, node name, node URL)
self.__subscriber = []
# a list with services as a tuple of (service name, service URL, node name, node URL)
self.__services = []
# the state of the own ROS master is used if `sync_on_demand` is enabled or
# to determine the type of topic subscribed remote with `Empty` type
self.__own_state = None
#setup the filter
self._filter = FilterInterface()
self._filter.load(self.name,
['/rosout', rospy.get_name().replace('/', '/*')+'*', self.discoverer_name.replace('/', '/*')+'*', '/*node_manager', '/*zeroconf'], [],
['/rosout', '/rosout_agg'], ['/'] if sync_on_demand else [],
['/*get_loggers', '/*set_logger_level'], [],
# do not sync the bond message of the nodelets!!
['bond/Status'],
[], [])
# congestion avoidance: wait for random.random*2 sec. If an update request
# is received try to cancel and restart the current timer. The timer can be
# canceled for maximal MAX_UPDATE_DELAY times.
self._update_timer = None
self._delayed_update = 0
self.__on_update = False
def get_default_rtcp_port(zeroconf=False):
try:
from master_discovery_fkie.common import masteruri_from_ros
masteruri = masteruri_from_ros()
rospy.loginfo("ROS Master URI: %s", masteruri)
from urlparse import urlparse
return urlparse(masteruri).port + (600 if zeroconf else 300)
except:
import traceback
print traceback.format_exc()
return 11911 if zeroconf else 11611
def getMasteruri(self):
'''
Requests the ROS master URI from the ROS master through the RPC interface and
returns it. The 'materuri' attribute will be set to the requested value.
@return: ROS master URI
@rtype: C{str} or C{None}
'''
if not hasattr(self, 'materuri') or self.materuri is None:
masteruri = masteruri_from_ros()
master = xmlrpclib.ServerProxy(masteruri)
code, message, self.materuri = master.getUri(rospy.get_name())
return self.materuri
def getMasteruri(self):
'''
Requests the ROS master URI from the ROS master through the RPC interface and
returns it. The 'materuri' attribute will be set to the requested value.
@return: ROS master URI
@rtype: C{str} or C{None}
'''
if not hasattr(self, 'materuri') or self.materuri is None:
masteruri = masteruri_from_ros()
master = xmlrpclib.ServerProxy(masteruri)
code, message, self.materuri = master.getUri(rospy.get_name())
return self.materuri
def __init__(self, name, uri, discoverer_name, monitoruri, timestamp, sync_on_demand=False):
'''
Initialization method for the SyncThread.
@param name: the name of the ROS master synchronized with.
@type name: C{str}
@param uri: the URI of the ROS master synchronized with
@type uri: C{str}
@param discoverer_name: the name of the discovery node running on ROS master synchronized with.
@type discoverer_name: C{str}
@param monitoruri: The URI of RPC server of the discovery node to get the ROS master state by calling a method only once.
@type monitoruri: C{str}
@param timestamp: The timestamp of the current state of the ROS master info.
@type timestamp: C{float64}
@param sync_on_demand: Synchronize topics on demand
@type sync_on_demand: bool
'''
# init thread
threading.Thread.__init__(self)
self.masterInfo = MasterInfo(name, uri, discoverer_name, monitoruri, timestamp)
self.localMasteruri = masteruri_from_ros()
rospy.logdebug("SyncThread[%s]: create this sync thread", self.masterInfo.name)
# synchronization variables
self.__cv = threading.Condition()
self.__lock_info = threading.RLock()
self.__sync_info = None #SyncMasterInfo with currently synchronized nodes, publisher (topic, node, nodeuri), subscriber(topic, node, nodeuri) and services
self.__stop = False
# a list with published topics as a tuple of (topic name, node name, node URL)
self.__publisher = []
# a list with subscribed topics as a tuple of (topic name, node name, node URL)
self.__subscriber = []
# a list with services as a tuple of (service name, service URL, node name, node URL)
self.__services = []
self.__own_state = None
#setup the filter
self._filter = FilterInterface()
self._filter.load(self.masterInfo.name,
['/rosout', rospy.get_name().replace('/', '/*')+'*', self.masterInfo.discoverer_name.replace('/', '/*')+'*', '/*node_manager', '/*zeroconf'], [],
['/rosout', '/rosout_agg'], ['/'] if sync_on_demand else [],
['/*get_loggers', '/*set_logger_level'], [],
# do not sync the bond message of the nodelets!!
['bond/Status'])
# congestion avoidance: wait for minimum 1 sec. If an update request is received wait
# for next 1 second. Force update after maximum 5 sec since first update request.
self._ts_first_update_request = None
self._ts_last_update_request = None
self._use_filtered_method = None
self.start()
def __init__(self, name, uri, discoverer_name, monitoruri, timestamp, sync_on_demand=False):
'''
Initialization method for the SyncThread.
@param name: the name of the ROS master synchronized with.
@type name: C{str}
@param uri: the URI of the ROS master synchronized with
@type uri: C{str}
@param discoverer_name: the name of the discovery node running on ROS master synchronized with.
@type discoverer_name: C{str}
@param monitoruri: The URI of RPC server of the discovery node to get the ROS master state by calling a method only once.
@type monitoruri: C{str}
@param timestamp: The timestamp of the current state of the ROS master info.
@type timestamp: C{float64}
@param sync_on_demand: Synchronize topics on demand
@type sync_on_demand: bool
'''
self.name = name
self.uri = uri
self.discoverer_name = discoverer_name
self.monitoruri = monitoruri
self.timestamp = timestamp
self.timestamp_local = 0.
self.timestamp_remote = 0.
self._online = True
self._offline_ts = 0
self.masteruri_local = masteruri_from_ros()
rospy.logdebug("SyncThread[%s]: create this sync thread", self.name)
# synchronization variables
self.__lock_info = threading.RLock()
self.__lock_intern = threading.RLock()
self._use_filtered_method = None
# SyncMasterInfo with currently synchronized nodes, publisher (topic, node, nodeuri), subscriber(topic, node, nodeuri) and services
self.__sync_info = None
self.__unregistered = False
# a list with published topics as a tuple of (topic name, node name, node URL)
self.__publisher = []
# a list with subscribed topics as a tuple of (topic name, node name, node URL)
self.__subscriber = []
# a list with services as a tuple of (service name, service URL, node name, node URL)
self.__services = []
# the state of the own ROS master is used if `sync_on_demand` is enabled or
# to determine the type of topic subscribed remote with `Empty` type
self.__own_state = None
# setup the filter
self._filter = FilterInterface()
self._filter.load(self.name,
['/rosout', rospy.get_name(), self.discoverer_name, '/node_manager', '/zeroconf'], [],
['/rosout', '/rosout_agg'], ['/'] if sync_on_demand else [],
['/*get_loggers', '/*set_logger_level'], [],
# do not sync the bond message of the nodelets!!
['bond/Status'],
[], [],
[])
# congestion avoidance: wait for random.random*2 sec. If an update request
# is received try to cancel and restart the current timer. The timer can be
# canceled for maximal MAX_UPDATE_DELAY times.
self._update_timer = None
self._delayed_update = 0
self.__on_update = False
