def update_master(self, mastername, masteruri, timestamp, timestamp_local,
discoverer_name, monitoruri, online):
'''
Updates the timestamp of the given ROS master, or creates a new SyncThread to
synchronize the local master with given ROS master.
@param mastername: the name of the remote ROS master to update or synchronize.
@type mastername: C{str}
@param masteruri: the URI of the remote ROS master.
@type masteruri: C{str}
@param timestamp: the timestamp of the remote ROS master.
@type timestamp: L{float64}
@param timestamp_local: the timestamp of the remote ROS master. (only local changes)
@type timestamp_local: L{float64}
@param discoverer_name: the name of the remote master_discoverer node
@type discoverer_name: C{str}
@param monitoruri: the URI of the RPC interface of the remote master_discoverer node.
@type monitoruri: C{str}
@param online: the current state on the master.
@type online: C{bool}
'''
try:
with self.__lock:
if (masteruri != self.materuri):
if (is_empty_pattern(self._re_ignore_hosts)
or not self._re_ignore_hosts.match(mastername) or
(not is_empty_pattern(self._re_sync_hosts) and
self._re_sync_hosts.match(mastername) is not None)):
# do not sync to the master, if it is in ignore list
if self.__resync_on_reconnect and mastername in self.masters:
self.masters[mastername].set_online(
online, self.__resync_on_reconnect_timeout)
if online:
if mastername in self.masters:
# updates only, if local changes are occured
self.masters[mastername].update(
mastername, masteruri, discoverer_name,
monitoruri, timestamp_local)
else:
self.masters[mastername] = SyncThread(
mastername, masteruri, discoverer_name,
monitoruri, 0.0,
self.__sync_topics_on_demand)
if self.__own_state is not None:
self.masters[
mastername].set_own_masterstate(
MasterInfo.from_list(
self.__own_state))
self.masters[mastername].update(
mastername, masteruri, discoverer_name,
monitoruri, timestamp_local)
elif self.__timestamp_local != timestamp_local and self.__sync_topics_on_demand:
# get the master info from local discovery master and set it to all sync threads
self.own_state_getter = threading.Thread(
target=self.get_own_state, args=(monitoruri, ))
self.own_state_getter.start()
except:
import traceback
rospy.logwarn("ERROR while update master[%s]: %s", str(mastername),
traceback.format_exc())
def _can_sync(self, mastername):
result = False
if is_empty_pattern(self._re_ignore_hosts):
if is_empty_pattern(self._re_sync_hosts):
result = True
elif self._re_sync_hosts.match(mastername) is not None:
result = True
elif self._re_ignore_hosts.match(mastername) is None:
result = True
elif not is_empty_pattern(self._re_sync_hosts):
if self._re_sync_hosts.match(mastername) is not None:
result = True
return result
def _can_sync(self, mastername):
result = False
if is_empty_pattern(self._re_ignore_hosts):
if is_empty_pattern(self._re_sync_hosts):
result = True
elif self._re_sync_hosts.match(mastername) is not None:
result = True
elif self._re_ignore_hosts.match(mastername) is None:
result = True
elif not is_empty_pattern(self._re_sync_hosts):
if self._re_sync_hosts.match(mastername) is not None:
result = True
return result
def update_master(self, mastername, masteruri, timestamp, timestamp_local, discoverer_name, monitoruri, online):
'''
Updates the timestamp of the given ROS master, or creates a new SyncThread to
synchronize the local master with given ROS master.
@param mastername: the name of the remote ROS master to update or synchronize.
@type mastername: C{str}
@param masteruri: the URI of the remote ROS master.
@type masteruri: C{str}
@param timestamp: the timestamp of the remote ROS master.
@type timestamp: L{float64}
@param timestamp_local: the timestamp of the remote ROS master. (only local changes)
@type timestamp_local: L{float64}
@param discoverer_name: the name of the remote master_discoverer node
@type discoverer_name: C{str}
@param monitoruri: the URI of the RPC interface of the remote master_discoverer node.
@type monitoruri: C{str}
@param online: the current state on the master.
@type online: C{bool}
'''
try:
with self.__lock:
if (masteruri != self.materuri):
if (is_empty_pattern(self._re_ignore_hosts) or not self._re_ignore_hosts.match(mastername) or
(not is_empty_pattern(self._re_sync_hosts) and self._re_sync_hosts.match(mastername) is not None)):
# do not sync to the master, if it is in ignore list
if self.__resync_on_reconnect and mastername in self.masters:
self.masters[mastername].set_online(online, self.__resync_on_reconnect_timeout)
if online:
if mastername in self.masters:
# updates only, if local changes are occured
self.masters[mastername].update(mastername, masteruri, discoverer_name, monitoruri, timestamp_local)
else:
self.masters[mastername] = SyncThread(mastername, masteruri, discoverer_name, monitoruri, 0.0, self.__sync_topics_on_demand)
if self.__own_state is not None:
self.masters[mastername].set_own_masterstate(MasterInfo.from_list(self.__own_state))
self.masters[mastername].update(mastername, masteruri, discoverer_name, monitoruri, timestamp_local)
elif self.__timestamp_local != timestamp_local and self.__sync_topics_on_demand:
# get the master info from local discovery master and set it to all sync threads
self.own_state_getter = threading.Thread(target=self.get_own_state, args=(monitoruri,))
self.own_state_getter.start()
except:
import traceback
rospy.logwarn("ERROR while update master[%s]: %s", str(mastername), traceback.format_exc())