def reg_added(self, resolved_name, data_type_or_uri, reg_type):
"""
RegistrationListener callback
@param resolved_name: resolved name of topic or service
@type resolved_name: str
@param data_type_or_uri: either the data type (for topic regs) or the service URI (for service regs).
@type data_type_or_uri: str
@param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
@type reg_type: str
"""
#TODO: this needs to be made robust to master outages
master_uri = self.master_uri
if not master_uri:
self.logger.error(
"Registrar: master_uri is not set yet, cannot inform master of registration"
)
else:
master = xmlrpcapi(master_uri)
args = (get_caller_id(), resolved_name, data_type_or_uri, self.uri)
registered = False
first = True
while not registered and not is_shutdown():
try:
if reg_type == Registration.PUB:
self.logger.debug(
"master.registerPublisher(%s, %s, %s, %s)" % args)
code, msg, val = master.registerPublisher(*args)
if code != 1:
logfatal(
"unable to register publication [%s] with master: %s"
% (resolved_name, msg))
elif reg_type == Registration.SUB:
self.logger.debug(
"master.registerSubscriber(%s, %s, %s, %s)" % args)
code, msg, val = master.registerSubscriber(*args)
if code == 1:
self.publisher_update(resolved_name, val)
else:
# this is potentially worth exiting over. in the future may want to add a retry
# timer
logfatal(
"unable to register subscription [%s] with master: %s"
% (resolved_name, msg))
elif reg_type == Registration.SRV:
self.logger.debug(
"master.registerService(%s, %s, %s, %s)" % args)
code, msg, val = master.registerService(*args)
if code != 1:
logfatal(
"unable to register service [%s] with master: %s"
% (resolved_name, msg))
registered = True
except Exception as e:
if first:
msg = "Unable to register with master node [%s]: master may not be running yet. Will keep trying." % master_uri
self.logger.error(str(e) + "\n" + msg)
print(msg)
first = False
time.sleep(0.2)
def reg_removed(self, resolved_name, data_type_or_uri, reg_type):
"""
RegistrationListener callback
@param resolved_name: resolved name of topic or service
@type resolved_name: str
@param data_type_or_uri: either the data type (for topic regs) or the service URI (for service regs).
@type data_type_or_uri: str
@param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
@type reg_type: str
"""
master_uri = self.master_uri
if not master_uri:
self.logger.error("Registrar: master_uri is not set yet, cannot inform master of deregistration")
else:
try:
master = xmlrpcapi(master_uri)
if reg_type == Registration.PUB:
self.logger.debug("unregisterPublisher(%s, %s)", resolved_name, self.uri)
master.unregisterPublisher(get_caller_id(), resolved_name, self.uri)
elif reg_type == Registration.SUB:
self.logger.debug("unregisterSubscriber(%s, %s)", resolved_name, data_type_or_uri)
master.unregisterSubscriber(get_caller_id(), resolved_name, self.uri)
elif reg_type == Registration.SRV:
self.logger.debug("unregisterService(%s, %s)", resolved_name, data_type_or_uri)
master.unregisterService(get_caller_id(), resolved_name, data_type_or_uri)
except:
logwarn("unable to communicate with ROS Master, registrations are now out of sync")
self.logger.error(traceback.format_exc())
def reg_added(self, resolved_name, data_type_or_uri, reg_type):
"""
RegistrationListener callback
@param resolved_name: resolved name of topic or service
@type resolved_name: str
@param data_type_or_uri: either the data type (for topic regs) or the service URI (for service regs).
@type data_type_or_uri: str
@param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
@type reg_type: str
"""
# TODO: this needs to be made robust to master outages
master_uri = self.master_uri
if not master_uri:
self.logger.error("Registrar: master_uri is not set yet, cannot inform master of registration")
else:
master = xmlrpcapi(master_uri)
args = (get_caller_id(), resolved_name, data_type_or_uri, self.uri)
registered = False
first = True
while not registered and not is_shutdown():
try:
if reg_type == Registration.PUB:
self.logger.debug("master.registerPublisher(%s, %s, %s, %s)" % args)
code, msg, val = master.registerPublisher(*args)
if code != 1:
logfatal("unable to register publication [%s] with master: %s" % (resolved_name, msg))
elif reg_type == Registration.SUB:
self.logger.debug("master.registerSubscriber(%s, %s, %s, %s)" % args)
code, msg, val = master.registerSubscriber(*args)
if code == 1:
self.publisher_update(resolved_name, val)
else:
# this is potentially worth exiting over. in the future may want to add a retry
# timer
logfatal("unable to register subscription [%s] with master: %s" % (resolved_name, msg))
elif reg_type == Registration.SRV:
self.logger.debug("master.registerService(%s, %s, %s, %s)" % args)
code, msg, val = master.registerService(*args)
if code != 1:
logfatal("unable to register service [%s] with master: %s" % (resolved_name, msg))
registered = True
except Exception as e:
if first:
msg = (
"Unable to register with master node [%s]: master may not be running yet. Will keep trying."
% master_uri
)
self.logger.error(str(e) + "\n" + msg)
print(msg)
first = False
time.sleep(0.2)
def cleanup(self, reason):
"""
Cleans up registrations with master and releases topic and service resources
@param reason: human-reasonable debug string
@type reason: str
"""
self.logger.debug("registration cleanup starting")
try:
self.cond.acquire()
self.cond.notifyAll()
finally:
self.cond.release()
# we never successfully initialized master_uri
if not self.master_uri:
return
master = xmlrpcapi(self.master_uri)
# we never successfully initialized master
if master is None:
return
caller_id = get_caller_id()
tm = get_topic_manager()
sm = get_service_manager()
try:
if tm is not None:
for resolved_name, _ in tm.get_subscriptions():
self.logger.debug("unregisterSubscriber [%s]" %
resolved_name)
master.unregisterSubscriber(caller_id, resolved_name,
self.uri)
for resolved_name, _ in tm.get_publications():
self.logger.debug("unregisterPublisher [%s]" %
resolved_name)
master.unregisterPublisher(caller_id, resolved_name,
self.uri)
if sm is not None:
for resolved_name, service_uri in sm.get_services():
self.logger.debug("unregisterService [%s]" % resolved_name)
master.unregisterService(caller_id, resolved_name,
service_uri)
except socket.error, (errno, msg):
if errno == 111 or errno == 61: #can't talk to master, nothing we can do about it
self.logger.warn(
"cannot unregister with master due to network issues")
else:
self.logger.warn("unclean shutdown\n%s" %
traceback.format_exc())
def cleanup(self, reason):
"""
Cleans up registrations with master and releases topic and service resources
@param reason: human-reasonable debug string
@type reason: str
"""
self.logger.debug("registration cleanup starting")
try:
self.cond.acquire()
self.cond.notifyAll()
finally:
self.cond.release()
# we never successfully initialized master_uri
if not self.master_uri:
return
master = xmlrpcapi(self.master_uri)
# we never successfully initialized master
if master is None:
return
caller_id = get_caller_id()
# clear the registration listeners as we are going to do a quick unregister here
rl = get_registration_listeners()
if rl is not None:
rl.clear()
tm = get_topic_manager()
sm = get_service_manager()
try:
multi = xmlrpcclient.MultiCall(master)
if tm is not None:
for resolved_name, _ in tm.get_subscriptions():
self.logger.debug("unregisterSubscriber [%s]"%resolved_name)
multi.unregisterSubscriber(caller_id, resolved_name, self.uri)
for resolved_name, _ in tm.get_publications():
self.logger.debug("unregisterPublisher [%s]"%resolved_name)
multi.unregisterPublisher(caller_id, resolved_name, self.uri)
if sm is not None:
for resolved_name, service_uri in sm.get_services():
self.logger.debug("unregisterService [%s]"%resolved_name)
multi.unregisterService(caller_id, resolved_name, service_uri)
multi()
except socket.error as se:
(errno, msg) = se.args
if errno == 111 or errno == 61: #can't talk to master, nothing we can do about it
self.logger.warn("cannot unregister with master due to network issues")
else:
self.logger.warn("unclean shutdown\n%s"%traceback.format_exc())
except:
self.logger.warn("unclean shutdown\n%s"%traceback.format_exc())
self.logger.debug("registration cleanup: master calls complete")
#TODO: cleanup() should actually be orchestrated by a separate
#cleanup routine that calls the reg manager/sm/tm
if tm is not None:
tm.close_all()
if sm is not None:
sm.unregister_all()
def start(self, uri, master_uri):
"""
Start the RegManager. This should be passed in as an argument to a thread
starter as the RegManager is designed to spin in its own thread
@param uri: URI of local node
@type uri: str
@param master_uri: Master URI
@type master_uri: str
"""
self.registered = False
self.master_uri = master_uri
self.uri = uri
first = True
tm = get_topic_manager()
sm = get_service_manager()
ns = get_namespace()
caller_id = get_caller_id()
if not master_uri or master_uri == uri:
registered = True
master = None
else:
registered = False
master = xmlrpcapi(master_uri)
self.logger.info("Registering with master node %s", master_uri)
while not registered and not is_shutdown():
try:
try:
# prevent TopicManager and ServiceManager from accepting registrations until we are done
tm.lock.acquire()
sm.lock.acquire()
pub, sub, srv = tm.get_publications(), tm.get_subscriptions(), sm.get_services()
for resolved_name, data_type in pub:
self.logger.info("Registering publisher topic [%s] type [%s] with master", resolved_name, data_type)
code, msg, val = master.registerPublisher(caller_id, resolved_name, data_type, uri)
if code != 1:
logfatal("cannot register publication topic [%s] with master: %s"%(resolved_name, msg))
signal_shutdown("master/node incompatibility with register publisher")
for resolved_name, data_type in sub:
self.logger.info("registering subscriber topic [%s] type [%s] with master", resolved_name, data_type)
code, msg, val = master.registerSubscriber(caller_id, resolved_name, data_type, uri)
if code != 1:
logfatal("cannot register subscription topic [%s] with master: %s"%(resolved_name, msg))
signal_shutdown("master/node incompatibility with register subscriber")
else:
self.publisher_update(resolved_name, val)
for resolved_name, service_uri in srv:
self.logger.info("registering service [%s] uri [%s] with master", resolved_name, service_uri)
code, msg, val = master.registerService(caller_id, resolved_name, service_uri, uri)
if code != 1:
logfatal("cannot register service [%s] with master: %s"%(resolved_name, msg))
signal_shutdown("master/node incompatibility with register service")
registered = True
# Subscribe to updates to our state
get_registration_listeners().add_listener(self)
finally:
sm.lock.release()
tm.lock.release()
if pub or sub:
logdebug("Registered [%s] with master node %s", caller_id, master_uri)
else:
logdebug("No topics to register with master node %s", master_uri)
except Exception as e:
if first:
# this use to print to console always, arguable whether or not this should be subjected to same configuration options as logging
logerr("Unable to immediately register with master node [%s]: master may not be running yet. Will keep trying."%master_uri)
first = False
time.sleep(0.2)
self.registered = True
self.run()
def get_master_xmlrpcapi(uri):
return xmlrpcapi(uri)
