def __init__(self, model, name, parent):
ServiceItem.__init__(self, model, name, parent)
try:
self.args = rosservice.get_service_args(self.fullname())
except rosservice.ROSServiceIOException:
self.args = "Error communication with service."
self.last_args = ""
def wait_service_ready(service_name, url):
remote_service_type = ""
while remote_service_type == "":
remote_service_type = get_remote_service_info(service_name, url)
if (remote_service_type == ""):
rospy.loginfo(
"Failed to get the remote type of service %s. Retrying...",
service_name)
time.sleep(1)
local_service_type = None
while local_service_type == None:
local_service_type = get_service_type(service_name)
if (local_service_type == None):
rospy.loginfo(
"Failed to get the local type of service %s. Retrying...",
service_name)
time.sleep(1)
if remote_service_type != local_service_type:
return None, None
local_service_args = None
while local_service_args == None:
local_service_args = get_service_args(service_name)
if (local_service_args == None):
rospy.loginfo(
"Failed to get the arguments list of service %s. Retrying...",
service_name)
time.sleep(1)
service_args = local_service_args.split()
return local_service_type, service_args
def response(req):
sentinel = False
x = req._connection_header
currentService = str(x['service']) + "_prime"
client = str(x['callerid'])
srv = subprocess.Popen("rosservice type " +currentService + " | rossrv show", shell=True, stdout=subprocess.PIPE).stdout.read()
serviceArguments = []
serviceArgumentsValues = []
serviceReturns = []
serviceReturnsValues = []
for line in srv.split('\n'):
if line == '---':
sentinel = True
continue
if sentinel == True and line != '':
if '/' in line.split(' ')[0]:
serviceExpeptions.append(currentService)
continue
serviceReturns.append(line.split(' ')[-1])
else:
if line != '':
serviceArguments.append(line.split(' ')[-1])
hasNoArguments = True
if str(rosservice.get_service_args(currentService)) != "":
hasNoArguments = False
for x in serviceArguments:
exec ('serviceArgumentsValues.append(req.'+ str(x) +')')
Response = rospy.ServiceProxy(currentService, rosservice.get_service_class_by_name(currentService))
toChange = ['.', ':', ' ']
time = str(datetime.now())
time = time.translate(None, '-'.join(toChange))
if hasNoArguments == False:
exec generateReturn(serviceArgumentsValues)
for x in serviceReturns:
if re.match("^[A-Za-z0-9_-]*$", x) and x != '':
if currentService in serviceExpeptions:
serviceReturnsValues.append(currentService)
break
exec('serviceReturnsValues.append(toReturn.'+ str(x) +')')
else:
toReturn = Response()
for x in serviceReturns:
if re.match("^[A-Za-z0-9_-]*$", x) and x != '':
if currentService in serviceExpeptions:
serviceReturnsValues.append(currentService)
break
exec('serviceReturnsValues.append(toReturn.'+ str(x) +')')
report = str(generateReportSrviceCalls(currentService,serviceArguments,serviceArgumentsValues,serviceReturns,serviceReturnsValues,client))
currentReported.append(report)
return toReturn
def response(req):
sentinel = False
x = req._connection_header
currentService = str(x['service']) + "_prime"
client = str(x['callerid'])
srv = subprocess.Popen("rosservice type " +currentService + " | rossrv show", shell=True, stdout=subprocess.PIPE).stdout.read()
serviceArguments = []
serviceArgumentsValues = []
serviceReturns = []
serviceReturnsValues = []
for line in srv.split('\n'):
if line == '---':
sentinel = True
continue
if sentinel == True and line != '':
if '/' in line.split(' ')[0]:
serviceExpeptions.append(currentService)
continue
serviceReturns.append(line.split(' ')[-1])
else:
if line != '':
serviceArguments.append(line.split(' ')[-1])
hasNoArguments = True
if str(rosservice.get_service_args(currentService)) != "":
hasNoArguments = False
for x in serviceArguments:
exec ('serviceArgumentsValues.append(req.'+ str(x) +')')
Response = rospy.ServiceProxy(currentService, rosservice.get_service_class_by_name(currentService))
toChange = ['.', ':', ' ']
time = str(datetime.now())
time = time.translate(None, '-'.join(toChange))
if hasNoArguments == False:
exec generateReturn(serviceArgumentsValues)
for x in serviceReturns:
if re.match("^[A-Za-z0-9_-]*$", x) and x != '':
if currentService in serviceExpeptions:
serviceReturnsValues.append(currentService)
break
exec('serviceReturnsValues.append(toReturn.'+ str(x) +')')
else:
toReturn = Response()
for x in serviceReturns:
if re.match("^[A-Za-z0-9_-]*$", x) and x != '':
if currentService in serviceExpeptions:
serviceReturnsValues.append(currentService)
break
exec('serviceReturnsValues.append(toReturn.'+ str(x) +')')
report = str(generateReportSrviceCalls(currentService,serviceArguments,serviceArgumentsValues,serviceReturns,serviceReturnsValues,client))
currentReported.append(report)
return toReturn
def get_service_info(service_name):
"""
GET /api/<version>/service/<service_name>
GET information about a ROS service.
"""
service_name = "/" + service_name
service_type = rosservice.get_service_type(service_name)
if not service_type:
return error("No such service exists")
return jsonify({
"request_type": service_type,
"node": rosservice.get_service_node(service_name),
"args": rosservice.get_service_args(service_name).split(" ")
})
def get_service_info(service_name):
"""
GET /api/<version>/service/<service_name>
GET information about a ROS service.
"""
service_name = "/" + service_name
service_type = rosservice.get_service_type(service_name)
if not service_type:
return error("No such service exists")
return jsonify({
"request_type": service_type,
"node": rosservice.get_service_node(service_name),
"args": rosservice.get_service_args(service_name).split(" ")
})
#! /usr/bin/env python
import rosservice
servList = rosservice.get_service_list()
maestorServs = []
serviceArgs = dict()
for serv in servList:
if "/get_loggers" not in serv and "/set_logger_level" not in serv:
maestorServs.append(serv)
for serv in maestorServs:
serviceArgs[serv] = rosservice.get_service_args(serv)
f = open("/opt/ros/fuerte/stacks/maestor/console/maestorapi.py", "w")
# Begin writing the console dynamically. WOO
f.write("#! /usr/bin/env python\n")
f.write("import rlcompleter\n")
f.write("import readline\n")
f.write("import rosservice\n\n")
f.write('readline.parse_and_bind("tab: complete")\n\n')
f.write("def ls():\n")
f.write(" return " + str(maestorServs) + "\n\n")
for serv in serviceArgs:
f.write("def " + serv.replace("/", "") + " (" + serviceArgs[serv].replace(" ", ", ") + "):\n")
def arch():
try:
rospy.init_node('handler', anonymous=True)
currentServices = []
loggerCount = 0
last_topics = []
last_nodes = []
last_publish = {}
last_publish1 = {}
currentTopics = []
loggerCount = 0
global currentReported
global serviceExpeptions
global noServiceIntermediator
global oldnoServiceIntermediator
service_dict = {}
old_service_dict = {}
length = 0
updated = False
oldReported = list()
while not rospy.is_shutdown():
new_topics = rospy.get_published_topics()
new_nodes = rosnode.get_node_names()
new_publish = {}
new_publish1 = {}
inc_topics = [
item for item in new_topics if item not in last_topics
]
inc_nodes = [item for item in new_nodes if item not in last_nodes]
inc_service_dict = {}
inc_publish = {}
inc_publish1 = {}
inc_service_dict = {}
inc_reported = {}
for topic, typ in new_topics:
info = rostopic.get_info_text(topic)
subscribers = parse_info_sub(info)
publishers = parse_info_pub(info)
new_publish[topic] = set(subscribers)
new_publish1[topic] = set(publishers)
if (topic not in last_publish.keys()
) or set(subscribers) != last_publish[topic]:
inc_publish[topic] = set(subscribers)
if (topic not in last_publish1.keys()
) or set(publishers) != last_publish1[topic]:
inc_publish1[topic] = set(publishers)
try:
for newService, Provider in get_current_services():
if not newService in currentServices:
currentServices.append(newService)
newServiceHandler(newService)
service_dict[newService] = [
rosservice.get_service_type(newService),
rosservice.get_service_args(newService)
]
if (newService not in old_service_dict.keys()
) or service_dict[newService] != old_service_dict[
newService]:
inc_service_dict[newService] = [
rosservice.get_service_type(newService),
rosservice.get_service_args(newService)
]
except Exception as e:
print e
pass
if old_service_dict != service_dict:
old_service_dict = dict(service_dict)
updated = True
inc_reported = [
item for item in currentReported if item not in oldReported
]
oldReported = list(currentReported)
if len(inc_reported) != 0:
updated = True
if noServiceIntermediator != oldnoServiceIntermediator:
oldnoServiceIntermediator = list(noServiceIntermediator)
print
print
print 'Services calls not being reported for these services: ' + str(
noServiceIntermediator)
if inc_topics or inc_nodes or inc_publish or inc_publish1 != inc_service_dict or inc_reported:
y = {}
y["topics"] = send_topics(inc_topics)
y["nodes"] = send_nodes(inc_nodes)
y["pub"] = sendPub(inc_publish)
y["sub"] = sendSub(inc_publish1)
y["service"] = inc_service_dict
y["calls"] = inc_reported
last_nodes = list(new_nodes)
last_topics = list(new_topics)
last_publish = dict(new_publish)
last_publish1 = dict(new_publish1)
updated = False
requests.get(URL, data=json.dumps(y))
except Exception as e:
print e
pass
def arch(filters):
try:
rospy.init_node('acme_data_collector')
filters.ignore_node.append('acme_data_collector') # Add this node to the set of things to ignore
currentServices = []
loggerCount = 0
last_topics = []
last_nodes = []
last_publish = {}
last_publish1 = {}
currentTopics = []
loggerCount = 0
global currentReported
global serviceExpeptions
global noServiceIntermediator
global oldnoServiceIntermediator
# append list to add / to every node
filters.ignore_node = map((lambda x : '/' + x), filters.ignore_node)
service_dict = {}
old_service_dict = {}
length = 0
updated = False
oldReported = list()
shortcircuit = False
rate = 1.0/float(filters.rate) #The Hz for the rate
r = rospy.Rate(rate)
while not rospy.is_shutdown() and not shortcircuit:
shortcircuit = filters.once
pubs, subs, srvs = get_current_state(filters.ignore_node, filters.ignore_service, filters.ignore_topic)
pubs = [pub[0] for pub in pubs]
subs = [sub[0] for sub in subs]
new_topics = [topic for topic in rospy.get_published_topics() if topic[0] in pubs or topic[0] in subs]
new_nodes = rosnode.get_node_names()
new_publish = {}
new_publish1 = {}
inc_topics = [item for item in new_topics if item not in last_topics and item not in filters.ignore_topic]
inc_nodes = [item for item in new_nodes if item not in last_nodes and item not in filters.ignore_node]
inc_service_dict = {}
inc_publish = {}
inc_publish1 = {}
inc_service_dict = {}
inc_reported = {}
for topic, typ in new_topics:
info = rostopic.get_info_text(topic)
subscribers = parse_info_sub(info, filters.ignore_topic, filters.ignore_node)
publishers = parse_info_pub(info, filters.ignore_topic, filters.ignore_node)
new_publish[topic] = set(subscribers)
new_publish1[topic] = set(publishers)
if (topic not in last_publish.keys()) or set(subscribers) != last_publish[topic]:
inc_publish[topic] = set(subscribers)
if (topic not in last_publish1.keys()) or set(publishers) != last_publish1[topic]:
inc_publish1[topic] = set(publishers)
try:
for newService, Provider in srvs:
if not newService in currentServices and not newService in filters.ignore_service:
currentServices.append(newService)
newServiceHandler(newService)
service_dict[newService] = [rosservice.get_service_type(newService), rosservice.get_service_args(newService)]
if (newService not in old_service_dict.keys()) or service_dict[newService] != old_service_dict[newService]:
inc_service_dict[newService] = [rosservice.get_service_type(newService), rosservice.get_service_args(newService)]
except Exception as e:
print e
pass
if old_service_dict != service_dict:
old_service_dict = dict(service_dict)
updated = True
inc_reported = [item for item in currentReported if item not in oldReported]
oldReported = list(currentReported)
if len(inc_reported) != 0:
updated = True
if noServiceIntermediator != oldnoServiceIntermediator:
oldnoServiceIntermediator = list(noServiceIntermediator)
print
print
print 'Services calls not being reported for these services: ' + str(noServiceIntermediator)
if inc_topics or inc_nodes or inc_publish or inc_publish1 != inc_service_dict or inc_reported:
y = {}
y["topics"] = send_topics(inc_topics)
y["nodes"] = send_nodes(inc_nodes)
y["pub"] = sendPub(inc_publish)
y["sub"] = sendSub(inc_publish1)
y["service"] = inc_service_dict
y["calls"] = inc_reported
last_nodes = list(new_nodes)
last_topics = list(new_topics)
last_publish = dict(new_publish)
last_publish1 = dict(new_publish1)
updated = False
if filters.file is not None:
output = open(filters.file, 'wb')
output.write(json.dumps(y, indent=4))
output.close()
else:
requests.get(URL, data=json.dumps(y))
r.sleep()
except Exception as e:
print e
pass
def args(self):
if self._args is None:
self._args = rosservice.get_service_args(self._name)
return self._args
def arch():
try:
rospy.init_node('handler', anonymous=True)
currentServices = []
loggerCount = 0
last_topics = []
last_nodes = []
last_publish = {}
last_publish1 = {}
currentTopics = []
loggerCount = 0
global currentReported
global serviceExpeptions
global noServiceIntermediator
global oldnoServiceIntermediator
service_dict = {}
old_service_dict = {}
length = 0
updated = False
oldReported = list()
while not rospy.is_shutdown():
new_topics = rospy.get_published_topics()
new_nodes = rosnode.get_node_names()
new_publish = {}
new_publish1 = {}
inc_topics = [item for item in new_topics if item not in last_topics]
inc_nodes = [item for item in new_nodes if item not in last_nodes]
inc_service_dict = {}
inc_publish = {}
inc_publish1 = {}
inc_service_dict = {}
inc_reported = {}
for topic, typ in new_topics:
info = rostopic.get_info_text(topic)
subscribers = parse_info_sub(info)
publishers = parse_info_pub(info)
new_publish[topic] = set(subscribers)
new_publish1[topic] = set(publishers)
if (topic not in last_publish.keys()) or set(subscribers) != last_publish[topic]:
inc_publish[topic] = set(subscribers)
if (topic not in last_publish1.keys()) or set(publishers) != last_publish1[topic]:
inc_publish1[topic] = set(publishers)
try:
for newService, Provider in get_current_services():
if not newService in currentServices:
currentServices.append(newService)
newServiceHandler(newService)
service_dict[newService] = [rosservice.get_service_type(newService), rosservice.get_service_args(newService)]
if (newService not in old_service_dict.keys()) or service_dict[newService] != old_service_dict[newService]:
inc_service_dict[newService] = [rosservice.get_service_type(newService), rosservice.get_service_args(newService)]
except Exception as e:
print e
pass
if old_service_dict != service_dict:
old_service_dict = dict(service_dict)
updated = True
inc_reported = [item for item in currentReported if item not in oldReported]
oldReported = list(currentReported)
if len(inc_reported) != 0:
updated = True
if noServiceIntermediator != oldnoServiceIntermediator:
oldnoServiceIntermediator = list(noServiceIntermediator)
print
print
print 'Services calls not being reported for these services: ' + str(noServiceIntermediator)
if inc_topics or inc_nodes or inc_publish or inc_publish1 != inc_service_dict or inc_reported:
y = {}
y["topics"] = send_topics(inc_topics)
y["nodes"] = send_nodes(inc_nodes)
y["pub"] = sendPub(inc_publish)
y["sub"] = sendSub(inc_publish1)
y["service"] = inc_service_dict
y["calls"] = inc_reported
last_nodes = list(new_nodes)
last_topics = list(new_topics)
last_publish = dict(new_publish)
last_publish1 = dict(new_publish1)
updated = False
requests.get(URL, data=json.dumps(y))
except Exception as e:
print e
pass
