def __init__(self):
self._param = rocon_gateway.setup_ros_parameters()
if self._param['disable_uuids']:
self._unique_name = self._param['name']
rospy.logwarn(
"Gateway : uuid's disabled, using possibly non-unique name [%s]"
% self._unique_name)
else: # append a unique hex string
# random 16 byte string, alternatively uuid.getnode() returns a hash based
# on the mac address, uuid.uid1() based on localhost and time
key = uuid.uuid4()
self._unique_name = self._param['name'] + key.hex
rospy.loginfo("Gateway : generated unique hash name [%s]" %
self._unique_name)
self._hub_manager = hub_manager.HubManager(
hub_whitelist=self._param['hub_whitelist'],
hub_blacklist=self._param['hub_blacklist'])
# Be careful of the construction sequence here, parts depend on others.
self._gateway_publishers = self._setup_ros_publishers()
# self._publish_gateway_info needs self._gateway_publishers
self._gateway = gateway.Gateway(self._hub_manager, self._param,
self._unique_name,
self._publish_gateway_info)
self._gateway_services = self._setup_ros_services(
) # Needs self._gateway
self._gateway_subscribers = self._setup_ros_subscribers(
) # Needs self._gateway
# 'ip:port' : (error_code, error_code_str) dictionary of hubs that this gateway has tried to register,
# but not been permitted (hub is not in whitelist, or is blacklisted)
self._disallowed_hubs = {}
self._disallowed_hubs_error_codes = [
gateway_msgs.ErrorCodes.HUB_CONNECTION_NOT_IN_NONEMPTY_WHITELIST,
gateway_msgs.ErrorCodes.HUB_CONNECTION_BLACKLISTED,
gateway_msgs.ErrorCodes.HUB_NAME_NOT_FOUND,
# this now has to be permitted as we will often have zeroconf failing for gateways
# that have dropped out of wireless range.
# gateway_msgs.ErrorCodes.HUB_CONNECTION_UNRESOLVABLE
]
direct_hub_uri_list = [self._param['hub_uri']
] if self._param['hub_uri'] != '' else []
self._hub_discovery_thread = rocon_hub_client.HubDiscovery(
self._register_gateway, direct_hub_uri_list,
self._param['disable_zeroconf'], self._disallowed_hubs)
# Shutdown hooks - allowing external triggers for shutting down
if self._param['external_shutdown']:
rospy.on_shutdown(self._wait_for_shutdown)
unused_shutdown_service = rospy.Service('~shutdown',
std_srvs.Empty,
self.ros_service_shutdown)
# Make local gateway information immediately available
self._publish_gateway_info()
def __init__(self):
self._param = rocon_gateway.setup_ros_parameters()
if self._param['disable_uuids']:
self._unique_name = self._param['name']
rospy.logwarn("Gateway : uuid's disabled, using possibly non-unique name [%s]" % self._unique_name)
else: # append a unique hex string
# random 16 byte string, alternatively uuid.getnode() returns a hash based
# on the mac address, uuid.uid1() based on localhost and time
key = uuid.uuid4()
self._unique_name = self._param['name'] + key.hex
rospy.loginfo("Gateway : generated unique hash name [%s]" % self._unique_name)
self._hub_manager = hub_manager.HubManager(
hub_whitelist=self._param['hub_whitelist'],
hub_blacklist=self._param['hub_blacklist']
)
# Be careful of the construction sequence here, parts depend on others.
self._gateway_publishers = self._setup_ros_publishers()
# self._publish_gateway_info needs self._gateway_publishers
self._gateway = gateway.Gateway(self._hub_manager, self._param, self._unique_name, self._publish_gateway_info)
self._gateway_services = self._setup_ros_services() # Needs self._gateway
self._gateway_subscribers = self._setup_ros_subscribers() # Needs self._gateway
# 'ip:port' : (error_code, error_code_str) dictionary of hubs that this gateway has tried to register,
# but not been permitted (hub is not in whitelist, or is blacklisted)
self._disallowed_hubs = {}
self._disallowed_hubs_error_codes = [gateway_msgs.ErrorCodes.HUB_CONNECTION_NOT_IN_NONEMPTY_WHITELIST,
gateway_msgs.ErrorCodes.HUB_CONNECTION_BLACKLISTED,
gateway_msgs.ErrorCodes.HUB_NAME_NOT_FOUND,
# this now has to be permitted as we will often have zeroconf failing for gateways
# that have dropped out of wireless range.
# gateway_msgs.ErrorCodes.HUB_CONNECTION_UNRESOLVABLE
]
direct_hub_uri_list = [self._param['hub_uri']] if self._param['hub_uri'] != '' else []
self._hub_discovery_thread = rocon_hub_client.HubDiscovery(
self._register_gateway, direct_hub_uri_list, self._param['disable_zeroconf'], self._disallowed_hubs)
# Shutdown hooks - allowing external triggers for shutting down
if self._param['external_shutdown']:
rospy.on_shutdown(self._wait_for_shutdown)
unused_shutdown_service = rospy.Service('~shutdown', std_srvs.Empty, self.ros_service_shutdown)
# Make local gateway information immediately available
self._publish_gateway_info()
def __init__(self):
self._param = rocon_gateway.setup_ros_parameters()
key = uuid.uuid4(
) # random 16 byte string, alternatively uuid.getnode() returns a hash based on the mac address, uuid.uid1() based on localhost and time
self._unique_name = self._param[
'name'] + key.hex # append a unique hex string
rospy.loginfo("Gateway : generated unique hash name [%s]" %
self._unique_name)
self._hub_manager = hub_manager.HubManager(
hub_whitelist=self._param['hub_whitelist'],
hub_blacklist=self._param['hub_blacklist'])
self._gateway = gateway.Gateway(self._hub_manager, self._param,
self._unique_name,
self._publish_gateway_info)
self._gateway_services = self._setup_ros_services()
self._gateway_publishers = self._setup_ros_publishers()
direct_hub_uri_list = [self._param['hub_uri']
] if self._param['hub_uri'] != '' else []
self._hub_discovery_thread = rocon_hub_client.HubDiscovery(
self._register_gateway, direct_hub_uri_list,
self._param['disable_zeroconf'])
# aliases
self.spin = self._gateway.spin