class OwnMasterMonitoring(QtCore.QObject):
'''
A class to monitor the state of the master. Will be used, if no master
discovering is available. On changes the 'state_signal' of type
L{master_discovery_fkie.msg.MasterState} will be emitted.
'''
state_signal = QtCore.Signal(MasterState)
'''@ivar: a signal to inform the receiver about new master state.
Parameter: L{master_discovery_fkie.msg.MasterState}'''
err_signal = QtCore.Signal(str)
'''@ivar: a signal to inform about an error.
Parameter: L{str}'''
ROSMASTER_HZ = 1
'''@ivar: the rate to test ROS master for changes.'''
def init(self, monitor_port):
'''
Creates the local monitoring. Call start() to run the local monitoring.
@param monitor_port: the port of the XML-RPC Server created by monitoring class.
@type monitor_port: C{int}
'''
self._master_monitor = MasterMonitor(monitor_port, False)
self._do_pause = True
self._do_finish = False
# self._local_addr = roslib.network.get_local_address()
# self._masteruri = roslib.rosenv.get_master_uri()
self._masteruri = self._master_monitor.getMasteruri()
self._local_addr = self._master_monitor.getMastername()
self._masterMonitorThread = threading.Thread(target = self.mastermonitor_loop)
self._masterMonitorThread.setDaemon(True)
self._masterMonitorThread.start()
def stop(self):
'''
Stop the local master monitoring
'''
print " Shutdown the local master monitoring..."
self._do_finish = True
self._masterMonitorThread.join(15)
self._master_monitor.shutdown()
print " Local master monitoring is off!"
def mastermonitor_loop(self):
'''
The method test periodically the state of the ROS master. The new state will
be published as 'state_signal'.
'''
import os
current_check_hz = OwnMasterMonitoring.ROSMASTER_HZ
while (not rospy.is_shutdown() and not self._do_finish):
try:
if not self._do_pause:
cputimes = os.times()
cputime_init = cputimes[0] + cputimes[1]
if self._master_monitor.checkState():
mon_state = self._master_monitor.getCurrentState()
# publish the new state
state = MasterState(MasterState.STATE_CHANGED,
ROSMaster(str(self._local_addr),
str(self._masteruri),
mon_state.timestamp,
mon_state.timestamp_local,
True,
rospy.get_name(),
''.join(['http://localhost:',str(self._master_monitor.rpcport)])))
self.state_signal.emit(state)
# adapt the check rate to the CPU usage time
cputimes = os.times()
cputime = cputimes[0] + cputimes[1] - cputime_init
if current_check_hz*cputime > 0.20:
current_check_hz = float(current_check_hz)/2.0
elif current_check_hz*cputime < 0.10 and current_check_hz < OwnMasterMonitoring.ROSMASTER_HZ:
current_check_hz = float(current_check_hz)*2.0
except MasterConnectionException, e:
rospy.logwarn("MasterConnectionError while master check loop: %s"%e)
self.err_signal.emit("Error while master check loop: %s"%e)
except RuntimeError, e:
# will thrown on exit of the app while try to emit the signal
rospy.logwarn("RuntimeError while master check loop: %s"%e)
self.err_signal.emit("Error while master check loop: %s"%e)
if not rospy.is_shutdown() and not self._do_finish:
time.sleep(1.0/current_check_hz)
class OwnMasterMonitoring(QtCore.QObject):
'''
A class to monitor the state of the master. Will be used, if no master
discovering is available. On changes the 'state_signal' of type
L{master_discovery_fkie.msg.MasterState} will be emitted.
'''
state_signal = QtCore.Signal(MasterState)
'''@ivar: a signal to inform the receiver about new master state.
Parameter: L{master_discovery_fkie.msg.MasterState}'''
err_signal = QtCore.Signal(str)
'''@ivar: a signal to inform about an error.
Parameter: L{str}'''
ROSMASTER_HZ = 1
'''@ivar: the rate to test ROS master for changes.'''
def init(self, monitor_port):
'''
Creates the local monitoring. Call start() to run the local monitoring.
@param monitor_port: the port of the XML-RPC Server created by monitoring class.
@type monitor_port: C{int}
'''
self._master_monitor = MasterMonitor(monitor_port, False)
self._do_pause = True
self._do_finish = False
# self._local_addr = roslib.network.get_local_address()
# self._masteruri = roslib.rosenv.get_master_uri()
self._masteruri = self._master_monitor.getMasteruri()
self._local_addr = self._master_monitor.getMastername()
self._masterMonitorThread = threading.Thread(
target=self.mastermonitor_loop)
self._masterMonitorThread.setDaemon(True)
self._masterMonitorThread.start()
self._last_error = (time.time(), None)
def stop(self):
'''
Stop the local master monitoring
'''
self._do_finish = True
if self._master_monitor.is_running():
print " Shutdown the local master monitoring..."
self._masterMonitorThread.join(15)
self._master_monitor.shutdown()
print " Local master monitoring is off!"
def mastermonitor_loop(self):
'''
The method test periodically the state of the ROS master. The new state will
be published as 'state_signal'.
'''
import os
current_check_hz = OwnMasterMonitoring.ROSMASTER_HZ
while (not rospy.is_shutdown() and not self._do_finish):
try:
if not self._do_pause:
cputimes = os.times()
cputime_init = cputimes[0] + cputimes[1]
if self._master_monitor.checkState():
mon_state = self._master_monitor.getCurrentState()
# publish the new state
state = MasterState(
MasterState.STATE_CHANGED,
ROSMaster(
str(self._local_addr), str(self._masteruri),
mon_state.timestamp, mon_state.timestamp_local,
True, rospy.get_name(), ''.join([
'http://localhost:',
str(self._master_monitor.rpcport)
])))
self.state_signal.emit(state)
# adapt the check rate to the CPU usage time
cputimes = os.times()
cputime = cputimes[0] + cputimes[1] - cputime_init
if current_check_hz * cputime > 0.20:
current_check_hz = float(current_check_hz) / 2.0
elif current_check_hz * cputime < 0.10 and current_check_hz < OwnMasterMonitoring.ROSMASTER_HZ:
current_check_hz = float(current_check_hz) * 2.0
except MasterConnectionException, mce:
self._handle_exception(
"MasterConnectionException while master check loop", mce)
except RuntimeError, ree:
# will thrown on exit of the app while try to emit the signal
self._handle_exception("RuntimeError while master check loop",
ree)
if not rospy.is_shutdown() and not self._do_finish:
time.sleep(1.0 / current_check_hz)
