def getTopics(self):
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = scriptutil.get_master()
topic = None
state = succeed(master.getSystemState('/rostopic'))
pubs, subs, _ = state
pub_topics = succeed(scriptutil.get_master().getPublishedTopics('/rostopic', '/'))
pubtopics = [t for t,_ in pubs]
pubtopics.sort()
subtopics = [t for t,_ in subs]
subtopics.sort()
nodes = []
for s in state:
for t, l in s:
nodes.extend(l)
nodes = set(nodes)
nodes = list(nodes)
nodes.sort()
topics = (tuple(pubtopics), tuple(subtopics), tuple(nodes))
return topics
def get_node_names(namespace=None):
"""
@param namespace: optional namespace to scope return values by. Namespace must already be resolved.
@type namespace: str
@return: list of node caller IDs
@rtype: [str]
@raise ROSNodeIOException: if unable to communicate with master
"""
master = scriptutil.get_master()
try:
state = _succeed(master.getSystemState(ID))
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
nodes = []
import itertools
if namespace:
# canonicalize namespace with leading/trailing slash
import roslib.names
g_ns = roslib.names.make_global_ns(namespace)
for s in state:
for t, l in s:
nodes.extend(
[n for n in l if n.startswith(g_ns) or n == namespace])
else:
for s in state:
for t, l in s:
nodes.extend(l)
return list(set(nodes))
def node_info(node):
caller_id = make_caller_id('nodeutil-%s'%os.getpid())
node_name = node #scriptutil.script_resolve_name(caller_id, node)
master = scriptutil.get_master()
# go through the master system state first
try:
state = _remote_call(master.getSystemState(caller_id))
except socket.error:
raise Exception("Unable to communicate with master!")
pubs = [t for t, l in state[0] if node_name in l]
subs = [t for t, l in state[1] if node_name in l]
srvs = [t for t, l in state[2] if node_name in l]
results = {
"publications": pubs,
"subscriptions": subs,
"services": srvs
}
node_api = get_api_uri(master, node_name, caller_id)
if not node_api:
results["error"] = "cannot contact [%s]: unknown node"%node_name
return results
def rosnode_ping_all(verbose=False):
"""
Ping all running nodes
@return [str], [str]: pinged nodes, un-pingable nodes
@raise ROSNodeIOException: if unable to communicate with master
"""
master = scriptutil.get_master()
try:
state = _succeed(master.getSystemState(ID))
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
nodes = []
import itertools
for s in state:
for t, l in s:
nodes.extend(l)
nodes = list(set(nodes)) #uniq
if verbose:
print "Will ping the following nodes: \n" + ''.join(
[" * %s\n" % n for n in nodes])
pinged = []
unpinged = []
for node in nodes:
if rosnode_ping(node, max_count=1, verbose=verbose):
pinged.append(node)
else:
unpinged.append(node)
return pinged, unpinged
def _sub_rosnode_listnodes(namespace=None, list_uri=False, list_all=False):
"""
Subroutine for rosnode_listnodes(). Composes list of strings to print to screen.
@param namespace: (default None) namespace to scope list to.
@type namespace: str
@param list_uri: (default False) return uris of nodes instead of names.
@type list_uri: bool
@param list_all: (default False) return names and uris of nodes as combined strings
@type list_all: bool
@return: new-line separated string containing list of all nodes
@rtype: str
"""
master = scriptutil.get_master()
nodes = get_node_names(namespace)
nodes.sort()
if list_all:
return '\n'.join([
"%s \t%s" % (get_api_uri(master, n) or 'unknown address', n)
for n in nodes
])
elif list_uri:
return '\n'.join([(get_api_uri(master, n) or 'unknown address')
for n in nodes])
else:
return '\n'.join(nodes)
def rosnode_info(node_name):
"""
Print information about node, including subscriptions and other debugging information. This will query the node over the network.
@param node_name: name of ROS node
@type node_name: str
@raise ROSNodeIOException: if unable to communicate with master
"""
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = scriptutil.get_master()
node_name = scriptutil.script_resolve_name('rosnode', node_name)
print('-'*80)
print(get_node_info_description(node_name))
node_api = get_api_uri(master, node_name)
if not node_api:
print("cannot contact [%s]: unknown node"%node_name, file=sys.stderr)
return
print("\ncontacting node %s ..."%node_api)
print(get_node_connection_info_description(node_api))
def get_node_names(namespace=None):
"""
@param namespace: optional namespace to scope return values by. Namespace must already be resolved.
@type namespace: str
@return: list of node caller IDs
@rtype: [str]
@raise ROSNodeIOException: if unable to communicate with master
"""
master = scriptutil.get_master()
try:
state = _succeed(master.getSystemState(ID))
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
nodes = []
import itertools
if namespace:
# canonicalize namespace with leading/trailing slash
import roslib.names
g_ns = roslib.names.make_global_ns(namespace)
for s in state:
for t, l in s:
nodes.extend([n for n in l if n.startswith(g_ns) or n == namespace])
else:
for s in state:
for t, l in s:
nodes.extend(l)
return list(set(nodes))
def topic_info(topic):
caller_id = make_caller_id('nodeutil-%s'%os.getpid())
master = scriptutil.get_master()
# go through the master system state first
try:
state = _remote_call(master.getSystemState(caller_id))
except socket.error:
raise IOException("Unable to communicate with master!")
pubs, subs, _ = state
publists = [publist for t, publist in pubs if t == topic]
sublists = [sublist for t, sublist in subs if t == topic]
#pub_topics = _succeed(master.getPublishedTopics(caller_id, '/'))
if publists == []:
return {
"error": "This topic does not appear to be published yet."
}
elif sublists == []:
return {
"publishers": publists[0],
"subscribers": []
}
else:
return {
"publishers": publists[0],
"subscribers": sublists[0]
}
def rosnode_info(node_name):
"""
Print information about node, including subscriptions and other debugging information. This will query the node over the network.
@param node_name: name of ROS node
@type node_name: str
@raise ROSNodeIOException: if unable to communicate with master
"""
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = scriptutil.get_master()
node_name = scriptutil.script_resolve_name('rosnode', node_name)
print '-' * 80
print get_node_info_description(node_name)
node_api = get_api_uri(master, node_name)
if not node_api:
print >> sys.stderr, "cannot contact [%s]: unknown node" % node_name
return
print "\ncontacting node %s ..." % node_api
print get_node_connection_info_description(node_api)
def is_node_running(node):
"""
Return true if the given node is running.
"""
master = scriptutil.get_master()
node_info = master.lookupNode(rospy.get_name(), node)
return node_info[0] == 1
def rosnode_ping_all(verbose=False):
"""
Ping all running nodes
@return [str], [str]: pinged nodes, un-pingable nodes
@raise ROSNodeIOException: if unable to communicate with master
"""
master = scriptutil.get_master()
try:
state = _succeed(master.getSystemState(ID))
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
nodes = []
import itertools
for s in state:
for t, l in s:
nodes.extend(l)
nodes = list(set(nodes)) #uniq
if verbose:
print("Will ping the following nodes: \n"+''.join([" * %s\n"%n for n in nodes]))
pinged = []
unpinged = []
for node in nodes:
if rosnode_ping(node, max_count=1, verbose=verbose):
pinged.append(node)
else:
unpinged.append(node)
return pinged, unpinged
def kill_nodes(node_names):
"""
Call shutdown on the specified nodes
@return: list of nodes that shutdown was called on successfully and list of failures
@rtype: ([str], [str])
"""
master = scriptutil.get_master()
success = []
fail = []
tocall = []
try:
# lookup all nodes keeping track of lookup failures for return value
for n in node_names:
try:
uri = _succeed(master.lookupNode(ID, n))
tocall.append([n, uri])
except:
fail.append(n)
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
for n, uri in tocall:
# the shutdown call can sometimes fail to succeed if the node
# tears down during the request handling, so we assume success
try:
p = xmlrpclib.ServerProxy(uri)
_succeed(p.shutdown(ID, 'user request'))
except:
pass
success.append(n)
return success, fail
def kill_nodes(node_names):
"""
Call shutdown on the specified nodes
@return: list of nodes that shutdown was called on successfully and list of failures
@rtype: ([str], [str])
"""
master = scriptutil.get_master()
success = []
fail = []
tocall = []
try:
# lookup all nodes keeping track of lookup failures for return value
for n in node_names:
try:
uri = _succeed(master.lookupNode(ID, n))
tocall.append([n, uri])
except:
fail.append(n)
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
for n, uri in tocall:
# the shutdown call can sometimes fail to succeed if the node
# tears down during the request handling, so we assume success
try:
p = xmlrpclib.ServerProxy(uri)
_succeed(p.shutdown(ID, 'user request'))
except:
pass
success.append(n)
return success, fail
def is_node_running(node):
"""
Return true if the given node is running.
Note that a socket is created to query the master.
"""
master = scriptutil.get_master()
node_info = master.lookupNode(rospy.get_name(), node)
return node_info[0] == 1
def get_node_info_description(node_name):
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = scriptutil.get_master()
# go through the master system state first
try:
state = _succeed(master.getSystemState(ID))
pub_topics = _succeed(scriptutil.get_master().getPublishedTopics(
ID, '/'))
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
pubs = [t for t, l in state[0] if node_name in l]
subs = [t for t, l in state[1] if node_name in l]
srvs = [t for t, l in state[2] if node_name in l]
buff = "Node [%s]" % node_name
if pubs:
buff += "\nPublications: \n"
buff += '\n'.join(
[" * %s [%s]" % (l, topic_type(l, pub_topics))
for l in pubs]) + '\n'
else:
buff += "\nPublications: None\n"
if subs:
buff += "\nSubscriptions: \n"
buff += '\n'.join(
[" * %s [%s]" % (l, topic_type(l, pub_topics))
for l in subs]) + '\n'
else:
buff += "\nSubscriptions: None\n"
if srvs:
buff += "\nServices: \n"
buff += '\n'.join([" * %s" % l for l in srvs]) + '\n'
else:
buff += "\nServices: None\n"
return buff
def rosnode_ping(node_name, max_count=None, verbose=False):
"""
Test connectivity to node by calling its XMLRPC API
@param node_name: name of node to ping
@type node_name: str
@param max_count: number of ping requests to make
@type max_count: int
@param verbose: print ping information to screen
@type verbose: bool
@return: True if node pinged
@rtype: bool
"""
master = scriptutil.get_master()
node_api = get_api_uri(master, node_name)
if not node_api:
print >> sys.stderr, "cannot ping [%s]: unknown node" % node_name
return False
timeout = 3.
if verbose:
print "pinging %s with a timeout of %ss" % (node_name, timeout)
socket.setdefaulttimeout(timeout)
node = xmlrpclib.ServerProxy(node_api)
lastcall = 0.
count = 0
acc = 0.
try:
while True:
try:
start = time.time()
pid = _succeed(node.getPid(ID))
end = time.time()
dur = (end - start) * 1000.
acc += dur
count += 1
if verbose:
print "xmlrpc reply from %s\ttime=%fms" % (node_api, dur)
# 1s between pings
except socket.error:
print >> sys.stderr, "connection to [%s] timed out" % node_name
return False
if max_count and count >= max_count:
break
time.sleep(1.0)
except KeyboardInterrupt:
pass
if verbose and count > 1:
print "ping average: %fms" % (acc / count)
return True
def get_node_info_description(node_name):
def topic_type(t, pub_topics):
matches = [t_type for t_name, t_type in pub_topics if t_name == t]
if matches:
return matches[0]
return 'unknown type'
master = scriptutil.get_master()
# go through the master system state first
try:
state = _succeed(master.getSystemState(ID))
pub_topics = _succeed(scriptutil.get_master().getPublishedTopics(ID, '/'))
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
pubs = [t for t, l in state[0] if node_name in l]
subs = [t for t, l in state[1] if node_name in l]
srvs = [t for t, l in state[2] if node_name in l]
buff = "Node [%s]"%node_name
if pubs:
buff += "\nPublications: \n"
buff += '\n'.join([" * %s [%s]"%(l, topic_type(l, pub_topics)) for l in pubs]) + '\n'
else:
buff += "\nPublications: None\n"
if subs:
buff += "\nSubscriptions: \n"
buff += '\n'.join([" * %s [%s]"%(l, topic_type(l, pub_topics)) for l in subs]) + '\n'
else:
buff += "\nSubscriptions: None\n"
if srvs:
buff += "\nServices: \n"
buff += '\n'.join([" * %s"%l for l in srvs]) + '\n'
else:
buff += "\nServices: None\n"
return buff
def get_nodes_by_machine(machine):
"""
Find nodes by machine name. This is a very costly procedure as it
must do N lookups with the Master, where N is the number of nodes.
@return: list of nodes on the specified machine
@rtype: [str]
@raise ROSNodeException: if machine name cannot be resolved to an address
@raise ROSNodeIOException: if unable to communicate with master
"""
import urlparse
master = scriptutil.get_master()
try:
machine_actual = socket.gethostbyname(machine)
except:
raise ROSNodeException("cannot resolve machine name [%s] to address" %
machine)
# get all the node names, lookup their uris, parse the hostname
# from the uris, and then compare the resolved hostname against
# the requested machine name.
matches = [machine, machine_actual]
not_matches = [] # cache lookups
node_names = get_node_names()
retval = []
for n in node_names:
try:
code, msg, uri = master.lookupNode(ID, n)
# it's possible that the state changes as we are doing lookups. this is a soft-fail
if code != 1:
continue
h = urlparse.urlparse(uri).hostname
if h in matches:
retval.append(n)
elif h in not_matches:
continue
else:
r = socket.gethostbyname(h)
if r == machine_actual:
matches.append(r)
retval.append(n)
else:
not_matches.append(r)
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
return retval
def get_nodes_by_machine(machine):
"""
Find nodes by machine name. This is a very costly procedure as it
must do N lookups with the Master, where N is the number of nodes.
@return: list of nodes on the specified machine
@rtype: [str]
@raise ROSNodeException: if machine name cannot be resolved to an address
@raise ROSNodeIOException: if unable to communicate with master
"""
import urlparse
master = scriptutil.get_master()
try:
machine_actual = socket.gethostbyname(machine)
except:
raise ROSNodeException("cannot resolve machine name [%s] to address"%machine)
# get all the node names, lookup their uris, parse the hostname
# from the uris, and then compare the resolved hostname against
# the requested machine name.
matches = [machine, machine_actual]
not_matches = [] # cache lookups
node_names = get_node_names()
retval = []
for n in node_names:
try:
code, msg, uri = master.lookupNode(ID, n)
# it's possible that the state changes as we are doing lookups. this is a soft-fail
if code != 1:
continue
h = urlparse.urlparse(uri).hostname
if h in matches:
retval.append(n)
elif h in not_matches:
continue
else:
r = socket.gethostbyname(h)
if r == machine_actual:
matches.append(r)
retval.append(n)
else:
not_matches.append(r)
except socket.error:
raise ROSNodeIOException("Unable to communicate with master!")
return retval
def rosnode_ping(node_name):
max_count = 1
master = scriptutil.get_master()
node_api = get_api_uri(master, node_name)
if not node_api:
#print >> sys.stderr, "cannot ping [%s]: unknown node"%node_name
#print 'NODE IS DOWN'
return False
timeout = 3.
#print "pinging %s with a timeout of %ss"%(node_name, timeout)
socket.setdefaulttimeout(timeout)
node = xmlrpclib.ServerProxy(node_api)
lastcall = 0.
acc = 0.
count = 0
try:
while True:
try:
start = time.time()
pid = _succeed(node.getPid(ID))
end = time.time()
dur = (end - start) * 1000.
acc += dur
count += 1
#print 'NODE IS UP'
#print "xmlrpc reply from %s\ttime=%fms"%(node_api, dur)
# 1s between pings
except socket.error:
#print 'NODE IS DOWN'
#print >> sys.stderr, "connection to [%s] timed out"%node_name
return False
if max_count and count >= max_count:
break
#time.sleep(1.0)
except KeyboardInterrupt:
pass
return True
def stop_node(node):
"""
Stop the given node. Return true on success.
"""
master = scriptutil.get_master()
node_info = master.lookupNode(rospy.get_name(), node)
[code, msg, uri] = master.lookupNode(rospy.get_name(), node)
if code != 1:
if msg.startswith('unknown node'):
rospy.loginfo('Unknown node "%s"; ignored stop request.', node)
return True
else:
rospy.logwarn('Couldn\'t stop "%s", problem retrieving information: %s', node, msg)
return False
try:
proxy = xmlrpclib.ServerProxy(uri)
result = proxy.shutdown(rospy.get_name(), 'pal_common')
except Exception, e:
rospy.logwarn('Couldn\'t stop "%s": %s', node, str(e))
return False
def node_info(node):
caller_id = make_caller_id('nodeutil-%s' % os.getpid())
node_name = node #scriptutil.script_resolve_name(caller_id, node)
master = scriptutil.get_master()
# go through the master system state first
try:
state = _remote_call(master.getSystemState(caller_id))
except socket.error:
raise Exception("Unable to communicate with master!")
pubs = [t for t, l in state[0] if node_name in l]
subs = [t for t, l in state[1] if node_name in l]
srvs = [t for t, l in state[2] if node_name in l]
results = {"publications": pubs, "subscriptions": subs, "services": srvs}
node_api = get_api_uri(master, node_name, caller_id)
if not node_api:
results["error"] = "cannot contact [%s]: unknown node" % node_name
return results
def topic_info(topic):
caller_id = make_caller_id('nodeutil-%s' % os.getpid())
master = scriptutil.get_master()
# go through the master system state first
try:
state = _remote_call(master.getSystemState(caller_id))
except socket.error:
raise IOException("Unable to communicate with master!")
pubs, subs, _ = state
publists = [publist for t, publist in pubs if t == topic]
sublists = [sublist for t, sublist in subs if t == topic]
#pub_topics = _succeed(master.getPublishedTopics(caller_id, '/'))
if publists == []:
return {"error": "This topic does not appear to be published yet."}
elif sublists == []:
return {"publishers": publists[0], "subscribers": []}
else:
return {"publishers": publists[0], "subscribers": sublists[0]}
def _sub_rosnode_listnodes(namespace=None, list_uri=False, list_all=False):
"""
Subroutine for rosnode_listnodes(). Composes list of strings to print to screen.
@param namespace: (default None) namespace to scope list to.
@type namespace: str
@param list_uri: (default False) return uris of nodes instead of names.
@type list_uri: bool
@param list_all: (default False) return names and uris of nodes as combined strings
@type list_all: bool
@return: new-line separated string containing list of all nodes
@rtype: str
"""
master = scriptutil.get_master()
nodes = get_node_names(namespace)
nodes.sort()
if list_all:
return '\n'.join(["%s \t%s"%(get_api_uri(master, n) or 'unknown address', n) for n in nodes])
elif list_uri:
return '\n'.join([(get_api_uri(master, n) or 'unknown address') for n in nodes])
else:
return '\n'.join(nodes)
def rosnode_cleanup():
"""
This is a semi-hidden routine for cleaning up stale node
registration information on the ROS Master. The intent is to
remove this method once Master TTLs are properly implemented.
"""
pinged, unpinged = rosnode_ping_all()
if unpinged:
master = scriptutil.get_master()
print("Unable to contact the following nodes:")
print('\n'.join(' * %s'%n for n in unpinged))
print("cleanup will purge all information about these nodes from the master")
print("Please type y or n to continue")
input = sys.stdin.readline()
while not input.strip() in ['y', 'n']:
input = sys.stdin.readline()
if input.strip() == 'n':
print('aborting')
return
cleanup_master_blacklist(master, unpinged)
print("done")
def rosnode_cleanup():
"""
This is a semi-hidden routine for cleaning up stale node
registration information on the ROS Master. The intent is to
remove this method once Master TTLs are properly implemented.
"""
pinged, unpinged = rosnode_ping_all()
if unpinged:
master = scriptutil.get_master()
print "Unable to contact the following nodes:"
print '\n'.join(' * %s' % n for n in unpinged)
print "cleanup will purge all information about these nodes from the master"
print "Please type y or n to continue"
input = sys.stdin.readline()
while not input.strip() in ['y', 'n']:
input = sys.stdin.readline()
if input.strip() == 'n':
print 'aborting'
return
cleanup_master_blacklist(master, unpinged)
print "done"
def rosnode_ping(node_name, max_count=None, verbose=False):
"""
Test connectivity to node by calling its XMLRPC API
@param node_name: name of node to ping
@type node_name: str
@param max_count: number of ping requests to make
@type max_count: int
@param verbose: print ping information to screen
@type verbose: bool
@return: True if node pinged
@rtype: bool
"""
master = scriptutil.get_master()
node_api = get_api_uri(master,node_name)
if not node_api:
print("cannot ping [%s]: unknown node"%node_name, file=sys.stderr)
return False
timeout = 3.
if verbose:
print("pinging %s with a timeout of %ss"%(node_name, timeout))
socket.setdefaulttimeout(timeout)
node = xmlrpclib.ServerProxy(node_api)
lastcall = 0.
count = 0
acc = 0.
try:
while True:
try:
start = time.time()
pid = _succeed(node.getPid(ID))
end = time.time()
dur = (end-start)*1000.
acc += dur
count += 1
if verbose:
print("xmlrpc reply from %s\ttime=%fms"%(node_api, dur))
# 1s between pings
except socket.error as e:
# 3786: catch ValueError on unpack as socket.error is not always a tuple
try:
# #3659
errnum, msg = e
if errnum == -2: #name/service unknown
p = urlparse.urlparse(node_api)
print("ERROR: Unknown host [%s] for node [%s]"%(p.hostname, node_name), file=sys.stderr)
elif errnum == errno.ECONNREFUSED:
p = urlparse.urlparse(node_api)
print("ERROR: connection refused to [%s]"%(node_api), file=sys.stderr)
else:
print("connection to [%s] timed out"%node_name, file=sys.stderr)
return False
except ValueError:
print("unknown network error contacting node: %s"%(str(e)))
if max_count and count >= max_count:
break
time.sleep(1.0)
except KeyboardInterrupt:
pass
if verbose and count > 1:
print("ping average: %fms"%(acc/count))
return True