def test_caller_id(self):
from rospy.names import get_caller_id, get_name, _set_caller_id, get_namespace
# test get_name, get_caller_id, and _set_caller_id
try:
self.assertEquals('/unnamed', get_name())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo')
self.assertEquals('/foo', get_name())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo/bar')
self.assertEquals('/foo/bar', get_name())
self.assertEquals('/foo/', get_namespace())
finally:
_set_caller_id('/unnamed')
# older get_caller_id usage
try:
self.assertEquals('/unnamed', get_caller_id())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo')
self.assertEquals('/foo', get_caller_id())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo/bar')
self.assertEquals('/foo/bar', get_caller_id())
self.assertEquals('/foo/', get_namespace())
finally:
_set_caller_id('/unnamed')
def test_caller_id(self):
from rospy.names import get_caller_id, get_name, _set_caller_id, get_namespace
# test get_name, get_caller_id, and _set_caller_id
try:
self.assertEquals('/unnamed', get_name())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo')
self.assertEquals('/foo', get_name())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo/bar')
self.assertEquals('/foo/bar', get_name())
self.assertEquals('/foo/', get_namespace())
finally:
_set_caller_id('/unnamed')
# older get_caller_id usage
try:
self.assertEquals('/unnamed', get_caller_id())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo')
self.assertEquals('/foo', get_caller_id())
self.assertEquals('/', get_namespace())
_set_caller_id('/foo/bar')
self.assertEquals('/foo/bar', get_caller_id())
self.assertEquals('/foo/', get_namespace())
finally:
_set_caller_id('/unnamed')
def test_caller_id(self):
from rospy.names import get_caller_id, get_name, _set_caller_id, get_namespace
# test get_name, get_caller_id, and _set_caller_id
try:
self.assertEquals("/unnamed", get_name())
self.assertEquals("/", get_namespace())
_set_caller_id("/foo")
self.assertEquals("/foo", get_name())
self.assertEquals("/", get_namespace())
_set_caller_id("/foo/bar")
self.assertEquals("/foo/bar", get_name())
self.assertEquals("/foo/", get_namespace())
finally:
_set_caller_id("/unnamed")
# older get_caller_id usage
try:
self.assertEquals("/unnamed", get_caller_id())
self.assertEquals("/", get_namespace())
_set_caller_id("/foo")
self.assertEquals("/foo", get_caller_id())
self.assertEquals("/", get_namespace())
_set_caller_id("/foo/bar")
self.assertEquals("/foo/bar", get_caller_id())
self.assertEquals("/foo/", get_namespace())
finally:
_set_caller_id("/unnamed")
def __init__(self, name, port=0, rpc_handler=None):
"""
Node constructor
@param name: name of this node
@type name: str
@param port: port to use for starting XML-RPC API. Set to 0 or omit to bind to any available port.
@type port: int
@param rpc_handler: XML-RPC API handler for node.
@type rpc_handler: roslib.xmlrpc.XmlRpcHandler
"""
super(ROSNode, self).__init__(port, rpc_handler)
self.name = scoped_name(get_namespace(), name) #use the de-contexted name
#TODO: move out of ROSNode
_set_caller_id(name) #update global name context
logging.getLogger('rospy.msnode').info("Node initialized: callerId[%s] local name[%s] port[%s]", get_caller_id(), self.name, self.port)
def start(self, uri, master_uri):
"""
Start the RegManager. This should be passed in as an argument to a thread
starter as the RegManager is designed to spin in its own thread
@param uri: URI of local node
@type uri: str
@param master_uri: Master URI
@type master_uri: str
"""
self.registered = False
self.master_uri = master_uri
self.uri = uri
first = True
tm = get_topic_manager()
sm = get_service_manager()
ns = get_namespace()
caller_id = get_caller_id()
if not master_uri or master_uri == uri:
registered = True
master = None
else:
registered = False
master = xmlrpcapi(master_uri)
self.logger.info("Registering with master node %s", master_uri)
while not registered and not is_shutdown():
try:
try:
# prevent TopicManager and ServiceManager from accepting registrations until we are done
tm.lock.acquire()
sm.lock.acquire()
pub, sub, srv = tm.get_publications(), tm.get_subscriptions(), sm.get_services()
for resolved_name, data_type in pub:
self.logger.info("Registering publisher topic [%s] type [%s] with master", resolved_name, data_type)
code, msg, val = master.registerPublisher(caller_id, resolved_name, data_type, uri)
if code != 1:
logfatal("cannot register publication topic [%s] with master: %s"%(resolved_name, msg))
signal_shutdown("master/node incompatibility with register publisher")
for resolved_name, data_type in sub:
self.logger.info("registering subscriber topic [%s] type [%s] with master", resolved_name, data_type)
code, msg, val = master.registerSubscriber(caller_id, resolved_name, data_type, uri)
if code != 1:
logfatal("cannot register subscription topic [%s] with master: %s"%(resolved_name, msg))
signal_shutdown("master/node incompatibility with register subscriber")
else:
self.publisher_update(resolved_name, val)
for resolved_name, service_uri in srv:
self.logger.info("registering service [%s] uri [%s] with master", resolved_name, service_uri)
code, msg, val = master.registerService(caller_id, resolved_name, service_uri, uri)
if code != 1:
logfatal("cannot register service [%s] with master: %s"%(resolved_name, msg))
signal_shutdown("master/node incompatibility with register service")
registered = True
# Subscribe to updates to our state
get_registration_listeners().add_listener(self)
finally:
sm.lock.release()
tm.lock.release()
if pub or sub:
logdebug("Registered [%s] with master node %s", caller_id, master_uri)
else:
logdebug("No topics to register with master node %s", master_uri)
except Exception as e:
if first:
# this use to print to console always, arguable whether or not this should be subjected to same configuration options as logging
logerr("Unable to immediately register with master node [%s]: master may not be running yet. Will keep trying."%master_uri)
first = False
time.sleep(0.2)
self.registered = True
self.run()
