def getRobots(refresh=False, withJson=True):
## \brief Get robots managed by firos
# \param Refresh the robot list
# \param Merge the robots with the configurtation JSON
try:
robots = copy.deepcopy(RosConfigurator.systemTopics(refresh))
if withJson:
robots_json = getRobotsByJson()
for robot_name in robots_json:
robot_name = str(robot_name)
if robot_name not in robots:
robots[robot_name] = {"topics": {}}
for topic_name in robots_json[robot_name]["topics"]:
topic = robots_json[robot_name]["topics"][topic_name]
robots[robot_name]["topics"][str(topic_name)] = {
"msg":
str(topic["msg"])
if type(topic["msg"]) is str else topic["msg"],
"type":
str(topic["type"])
}
return robots
except Exception as e:
traceback.print_exc()
Log("ERROR", e)
return {}
def onConnect(request, action):
## \brief Launch robot search and connection
# \param client request
# \param action
Log("INFO", "Connecting robots")
loadMsgHandlers(RosConfigurator.systemTopics(True))
request.send_response(200)
request.end_headers()
request.wfile.write("")
def getRobots(refresh=False):
''' This retrieves the current configuration from FIROS.
Here we load the `robots.json` and the 'whitelist.json'
In case the `whitelist.json` is Empty: We do get the current robots
from ROS and are adding them as subscribers (by default). In a small
ROS-World this usually is no problem. But in an environment with many
robots we might send a lot of data.
'''
try:
# Retrieves the whitelist.json. If it does not exists, it returns all topics.
topics_regex = copy.deepcopy(RosConfigurator.systemTopics(refresh))
# Retrieves the robots.json.
topics_json = getTopicsByJson()
if len(topics_json) == 0:
Log(
"ERROR",
"The file 'topics.json' is either empty or does not exist!\n\nExiting"
)
sys.exit(1)
# check if structure is as needed
for key in topics_json.keys():
if len(topics_json[key]) != 2:
Log(
"ERROR",
"The topic: '{}', does not have a list of length 2 (topics.json)! \n\nExiting"
.format(key))
sys.exit(1)
if not key.startswith("/"):
Log(
"ERROR",
"The topic: '{}', does not start with '/' (topics.json)! \n\nExiting"
.format(key))
sys.exit(1)
if topics_json[key][1] not in ["publisher", "subscriber"]:
Log(
"ERROR",
"The topic: '{}', does not specify publisher or subscriber (topics.json)! \n\nExiting"
.format(key))
sys.exit(1)
# Merge both dictionaties:
# Here topics_json overrides entries in topics_regex:
topics_regex.update(topics_json)
topics = topics_regex
return topics
except Exception as e:
traceback.print_exc()
Log("ERROR", e)
return {}
def onConnect(request, action):
''' This resets firos into its original state
TODO DL reset, instead of connect?
TODO DL Add real connect for only one Robot?
'''
Log("INFO", "Connecting topics")
loadMsgHandlers(RosConfigurator.systemTopics(True))
# Return Success
end_request(request, None, 200, "")
def getRobots(refresh=False):
''' This retrieves the current configuration from FIROS.
Here we load the `robots.json` and the 'whitelist.json'
In case the `whitelist.json` is Empty: We do get the current robots
from ROS and are adding them as subscribers (by default). In a small
ROS-World this usually is no problem. But in an environment with many
robots we might send a lot of data.
'''
try:
# Retrieves the whitelist.json. If it does not exists, it returns all topics.
robots = copy.deepcopy(RosConfigurator.systemTopics(refresh))
# Retrieves the robots.json.
robots_json = getRobotsByJson()
if len(robots_json) == 0:
Log(
"ERROR",
"The file 'robots.json' is either empty or does not exist!\n\nExiting"
)
sys.exit(1)
# Merge robots.json into whitelist.json (overwrite if neccessary)
for robot_name in robots_json:
robot_name = str(robot_name)
if robot_name not in robots:
robots[robot_name] = {"topics": {}}
for topic_name in robots_json[robot_name]["topics"]:
topic = robots_json[robot_name]["topics"][topic_name]
# Overwrite or add!
robots[robot_name]["topics"][str(topic_name)] = {
"msg": str(topic["msg"]),
"type": str(topic["type"])
}
return robots
except Exception as e:
traceback.print_exc()
Log("ERROR", e)
return {}
def _robotConnection(data):
## \brief Handle robot connection
# \param robot data (Not neccessary)
robot_name = data.data
Log("INFO", "Connected robot: " + robot_name)
loadMsgHandlers(RosConfigurator.systemTopics(True))