def updateSyncInfo(self):
'''
This method can be called to update the origin ROS master URI of the nodes
and services in new ``master_state``. This is only need, if a synchronization is
running. The synchronization service will be detect automatically by searching
for the service ending with ``get_sync_info``. The method will be called by
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.checkState()`.
'''
#'print "updateSyncInfo _create_access_lock try...", threading.current_thread()
with self._create_access_lock:
#'print " updateSyncInfo _create_access_lock locked", threading.current_thread()
master_state = self.__new_master_state
sync_info = None
# get synchronization info, if sync node is running
# to determine the origin ROS MASTER URI of the nodes
for name, service in master_state.services.items():
if service.name.endswith('get_sync_info'):
if interface_finder.hostFromUri(self.getMasteruri()) == interface_finder.hostFromUri(service.uri):
socket.setdefaulttimeout(3)
get_sync_info = rospy.ServiceProxy(service.name, GetSyncInfo)
try:
sync_info = get_sync_info()
except rospy.ServiceException, e:
rospy.logwarn("ERROR Service call 'get_sync_info' failed: %s", str(e))
finally:
socket.setdefaulttimeout(None)
def updateSyncInfo(self):
'''
This method can be called to update the origin ROS master URI of the nodes
and services in new master_state. This is only need, if a synchronization is
running. The synchronization service will be detect automatically by searching
for the service ending with C{get_sync_info}. The method will be called by
C{checkState()}.
'''
#'print "updateSyncInfo _create_access_lock try...", threading.current_thread()
with self._create_access_lock:
#'print " updateSyncInfo _create_access_lock locked", threading.current_thread()
master_state = self.__new_master_state
sync_info = None
# get synchronization info, if sync node is running
# to determine the origin ROS MASTER URI of the nodes
for name, service in master_state.services.items():
if service.name.endswith('get_sync_info'):
if interface_finder.hostFromUri(self.getMasteruri(
)) == interface_finder.hostFromUri(service.uri):
socket.setdefaulttimeout(3)
get_sync_info = rospy.ServiceProxy(
service.name, GetSyncInfo)
try:
sync_info = get_sync_info()
except rospy.ServiceException, e:
rospy.logwarn(
"ERROR Service call 'get_sync_info' failed: %s",
str(e))
finally:
socket.setdefaulttimeout(None)
def getMastername(self):
'''
Returns the name of the master. If no name is set, the hostname of the
ROS master URI will be extracted.
:return: the name of the ROS master
:rtype: str or ``None``
'''
if self.__mastername is None:
try:
self.__mastername = interface_finder.hostFromUri(
self.getMasteruri())
try:
from urlparse import urlparse
master_port = urlparse(self.__masteruri).port
if master_port != 11311:
self.__mastername = '--'.join(
[self.__mastername,
str(master_port)])
except:
pass
except:
pass
return self.__mastername
def updateSyncInfo(self):
'''
This method can be called to update the origin ROS master URI of the nodes
and services in new ``master_state``. This is only need, if a synchronization is
running. The synchronization service will be detect automatically by searching
for the service ending with ``get_sync_info``. The method will be called by
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.checkState()`.
'''
#'print "updateSyncInfo _create_access_lock try...", threading.current_thread()
def getNodeuri(nodename, publisher, subscriber, services):
for p in publisher:
if nodename == p.node:
return p.nodeuri
for p in subscriber:
if nodename == p.node:
return p.nodeuri
for s in services:
if nodename == s.node:
return s.nodeuri
return None
with self._create_access_lock:
#'print " updateSyncInfo _create_access_lock locked", threading.current_thread()
master_state = self.__new_master_state
sync_info = None
# get synchronization info, if sync node is running
# to determine the origin ROS MASTER URI of the nodes
for name, service in master_state.services.items():
if service.name.endswith('get_sync_info'):
if interface_finder.hostFromUri(self.getMasteruri(
)) == interface_finder.hostFromUri(service.uri):
socket.setdefaulttimeout(3)
get_sync_info = rospy.ServiceProxy(
service.name, GetSyncInfo)
try:
sync_info = get_sync_info()
except rospy.ServiceException, e:
rospy.logwarn(
"ERROR Service call 'get_sync_info' failed: %s",
str(e))
finally:
socket.setdefaulttimeout(None)
def getMastername(self):
'''
Returns the name of the master. If no name is set, the hostname of the
ROS master URI will be extracted.
@return: the name of the ROS master
@rtype: C{str} or C{None}
'''
if self.__mastername is None:
try:
self.__mastername = interface_finder.hostFromUri(self.getMasteruri())
except:
pass
return self.__mastername
def getMastername(self):
'''
Returns the name of the master. If no name is set, the hostname of the
ROS master URI will be extracted.
@return: the name of the ROS master
@rtype: C{str} or C{None}
'''
if self.__mastername is None:
try:
self.__mastername = interface_finder.hostFromUri(
self.getMasteruri())
except:
pass
return self.__mastername
def updateSyncInfo(self):
'''
This method can be called to update the origin ROS master URI of the nodes
and services in new master_state. This is only need, if a synchronization is
running. The synchronization service will be detect automatically by searching
for the service ending with C{get_sync_info}. The method will be called by
C{checkState()}.
'''
with self._create_access_lock:
master_state = self.__new_master_state
sync_info = None
# get synchronization info, if sync node is running
# to determine the origin ROS MASTER URI of the nodes
for name, service in master_state.services.items():
if service.name.endswith('get_sync_info'):
if interface_finder.hostFromUri(self.getMasteruri()) == interface_finder.hostFromUri(service.uri):
socket.setdefaulttimeout(2)
get_sync_info = rospy.ServiceProxy(service.name, GetSyncInfo)
try:
sync_info = get_sync_info()
except rospy.ServiceException, e:
rospy.logwarn("ERROR Service call 'get_sync_info' failed: %s", str(e))
finally:
socket.setdefaulttimeout(None)
def getMastername(self):
'''
Returns the name of the master. If no name is set, the hostname of the
ROS master URI will be extracted.
@return: the name of the ROS master
@rtype: C{str} or C{None}
'''
if self.__mastername is None:
try:
self.__mastername = interface_finder.hostFromUri(self.getMasteruri())
try:
from urlparse import urlparse
master_port = urlparse(self.__masteruri).port
if master_port != 11311:
self.__mastername = '--'.join([self.__mastername, str(master_port)])
except:
pass
except:
pass
return self.__mastername
def getMastername(self):
'''
Returns the name of the master. If no name is set, the hostname of the
ROS master URI will be extracted.
:return: the name of the ROS master
:rtype: str or ``None``
'''
if self.__mastername is None:
try:
self.__mastername = interface_finder.hostFromUri(self.getMasteruri())
try:
from urlparse import urlparse
master_port = urlparse(self.__masteruri).port
if master_port != 11311:
self.__mastername = '%s_%d' % (self.__mastername, master_port)
except:
pass
except:
pass
return self.__mastername
