def unregister(self):
"""
unpublish/unsubscribe from topic. Topic instance is no longer
valid after this call. Additional calls to unregister() have no effect.
"""
# as we don't guard unregister, have to protect value of
# resolved_name for release_impl call
resolved_name = self.resolved_name
if resolved_name and self.impl:
get_topic_manager().release_impl(self.reg_type, resolved_name)
self.impl = self.resolved_name = self.type = self.md5sum = self.data_class = None
def unregister(self):
"""
unpublish/unsubscribe from topic. Topic instance is no longer
valid after this call. Additional calls to unregister() have no effect.
"""
# as we don't guard unregister, have to protect value of
# resolved_name for release_impl call
resolved_name = self.resolved_name
if resolved_name and self.impl:
get_topic_manager().release_impl(self.reg_type, resolved_name)
self.impl = self.resolved_name = self.type = self.md5sum = self.data_class = None
def getBusInfo(self, caller_id):
"""
Retrieve transport/topic connection information
@param caller_id: ROS caller id
@type caller_id: str
"""
return 1, "bus info", get_topic_manager().get_pub_sub_info()
def requestTopic(self, caller_id, topic, protocols):
"""
Publisher node API method called by a subscriber node.
Request that source allocate a channel for communication. Subscriber provides
a list of desired protocols for communication. Publisher returns the
selected protocol along with any additional params required for
establishing connection. For example, for a TCP/IP-based connection,
the source node may return a port number of TCP/IP server.
@param caller_id str: ROS caller id
@type caller_id: str
@param topic: topic name
@type topic: str
@param protocols: list of desired
protocols for communication in order of preference. Each
protocol is a list of the form [ProtocolName,
ProtocolParam1, ProtocolParam2...N]
@type protocols: [[str, XmlRpcLegalValue*]]
@return: [code, msg, protocolParams]. protocolParams may be an
empty list if there are no compatible protocols.
@rtype: [int, str, [str, XmlRpcLegalValue*]]
"""
if not get_topic_manager().has_publication(topic):
return -1, "Not a publisher of [%s]" % topic, []
for protocol in protocols: #simple for now: select first implementation
protocol_id = protocol[0]
for h in self.protocol_handlers:
if h.supports(protocol_id):
_logger.debug("requestTopic[%s]: choosing protocol %s",
topic, protocol_id)
return h.init_publisher(topic, protocol)
return 0, "no supported protocol implementations", []
def requestTopic(self, caller_id, topic, protocols):
"""
Publisher node API method called by a subscriber node.
Request that source allocate a channel for communication. Subscriber provides
a list of desired protocols for communication. Publisher returns the
selected protocol along with any additional params required for
establishing connection. For example, for a TCP/IP-based connection,
the source node may return a port number of TCP/IP server.
@param caller_id str: ROS caller id
@type caller_id: str
@param topic: topic name
@type topic: str
@param protocols: list of desired
protocols for communication in order of preference. Each
protocol is a list of the form [ProtocolName,
ProtocolParam1, ProtocolParam2...N]
@type protocols: [[str, XmlRpcLegalValue*]]
@return: [code, msg, protocolParams]. protocolParams may be an
empty list if there are no compatible protocols.
@rtype: [int, str, [str, XmlRpcLegalValue*]]
"""
if not get_topic_manager().has_publication(topic):
return -1, "Not a publisher of [%s]"%topic, []
for protocol in protocols: #simple for now: select first implementation
protocol_id = protocol[0]
for h in self.protocol_handlers:
if h.supports(protocol_id):
_logger.debug("requestTopic[%s]: choosing protocol %s", topic, protocol_id)
return h.init_publisher(topic, protocol)
return 0, "no supported protocol implementations", []
def _rosout(level, msg, fname, line, func):
global _in_rosout
try:
if _rosout_pub is not None:
# protect against infinite recursion
if not _in_rosout:
try:
_in_rosout = True
msg = str(msg)
# check parameter server/cache for omit_topics flag
# the same parameter is checked in rosout_appender.cpp for the same purpose
# parameter accesses are cached automatically in python
if rospy.has_param("/rosout_disable_topics_generation"):
disable_topics_ = rospy.get_param("/rosout_disable_topics_generation")
else:
disable_topics_ = False
if not disable_topics_:
topics = get_topic_manager().get_topics()
else:
topics = ""
l = Log(level=level, name=str(rospy.names.get_caller_id()), msg=str(msg), topics=topics, file=fname, line=line, function=func)
l.header.stamp = Time.now()
_rosout_pub.publish(l)
finally:
_in_rosout = False
except Exception as e:
#traceback.print_exc()
# don't use logerr in this case as that is recursive here
logger = logging.getLogger("rospy.rosout")
logger.error("Unable to report rosout: %s\n%s", e, traceback.format_exc())
return False
def getSubscriptions(self, caller_id):
"""Retrieve a list of topics that this node subscribes to
@param caller_id: ROS caller id
@type caller_id: str
@return [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]: list of topics this node subscribes to
"""
return 1, "subscriptions", get_topic_manager().get_subscriptions()
def _unregisterPublisherCallback(self, data):
name = data[NODE_NAME]
topic = data[TOPIC_NAME]
uri = data[XMLRPC_URI]
uri_list = [uri]
tm = get_topic_manager()
try:
tm.lock.acquire()
if tm.has_subscription(topic):
self._logger.debug("I has sub topic, recv unregisSub: %s" % topic)
get_node_handler().reg_man.reg_removed(topic, uri_list, Registration.SUB)
except Exception as e:
self._logger.error(
"unregisterPublisherCallback error is %s" % e)
self._logger.error(traceback.format_exc())
finally:
tm.lock.release()
try:
self._pubs[topic].remove(uri)
except KeyError:
pass
try:
self._pub_history[topic].remove(self._encode(data))
except KeyError:
pass
def _registerSubscriberCallback(self, data):
name = data[NODE_NAME]
topic = data[TOPIC_NAME]
datatype = data[TOPIC_TYPE]
uri = data[XMLRPC_URI]
url_data = [uri]
tmp = [topic, [name]]
if tmp not in self._stat_info[1]:
self._stat_info[1].append(tmp)
tm = get_topic_manager()
try:
tm.lock.acquire()
if tm.has_publication(topic):
self._logger.debug("I has pub topic :%s" % topic)
self.registerPublisher(
get_node_handler().name, topic, datatype, get_node_handler().uri)
except Exception as e:
self._logger.error(
"_registerSubscriberCallback error is %s" % e)
self._logger.error(traceback.format_exc())
finally:
tm.lock.release()
def _rosout(level, msg):
global _in_rosout
try:
if _rosout_pub is not None:
# protect against infinite recursion
if not _in_rosout:
try:
_in_rosout = True
msg = str(msg)
topics = get_topic_manager().get_topics()
l = Log(level=level,
name=str(rospy.names.get_caller_id()),
msg=str(msg),
topics=topics)
l.header.stamp = Time.now()
_rosout_pub.publish(l)
finally:
_in_rosout = False
except Exception as e:
#traceback.print_exc()
# don't use logerr in this case as that is recursive here
logger = logging.getLogger("rospy.rosout")
logger.error("Unable to report rosout: %s\n%s", e,
traceback.format_exc())
return False
def getSubscriptions(self, caller_id):
"""Retrieve a list of topics that this node subscribes to
@param caller_id: ROS caller id
@type caller_id: str
@return [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]: list of topics this node subscribes to
"""
return 1, "subscriptions", get_topic_manager().get_subscriptions()
def _registerPublisherCallback(self, data):
name = data[NODE_NAME]
topic = data[TOPIC_NAME]
topic_type = data[TOPIC_TYPE]
topic_uri = data[XMLRPC_URI]
url_data = [topic_uri]
tmp = [topic, [name]]
if tmp not in self._stat_info[0]:
self._stat_info[0].append(tmp)
topic_info = [x for x in self._topic_info if x[0] == topic]
if topic_info:
topic_info[0][1] = topic_type
else:
self._topic_info.append([topic, topic_type])
tm = get_topic_manager()
try:
tm.lock.acquire()
if tm.has_subscription(topic):
self._logger.debug("I has sub topic : %s" % topic)
get_node_handler().publisherUpdate(name, topic, url_data)
except Exception as e:
self._logger.error(
"registerPublisherCallback error is %s" % e)
self._logger.error(traceback.format_exc())
finally:
tm.lock.release()
def getBusInfo(self, caller_id):
"""
Retrieve transport/topic connection information
@param caller_id: ROS caller id
@type caller_id: str
"""
return 1, "bus info", get_topic_manager().get_pub_sub_info()
def reregister(self):
"""
Resets some of the attributes in order to restore the state of the object before
the `unregister` method was called
Reversing the `Topic.unregister()` and `Subscriber.unregister()` methods from
`here <http://docs.ros.org/api/rospy/html/rospy.topics-pysrc.html>`_.
"""
# Restore what was removed by the Topic.unregister() method
self.impl = get_topic_manager().acquire_impl(
self.reg_type, self._attributres_keeper['resolved_name'],
self._attributres_keeper['data_class'])
self.resolved_name = self._attributres_keeper['resolved_name']
self.data_class = self._attributres_keeper['data_class']
self.type = self.data_class._type
self.md5sum = self.data_class._md5sum
# Restore what was removed by the Subscriber.unregister() method
if self._attributres_keeper['queue_size'] is not None:
self.impl.set_queue_size(self._attributres_keeper['queue_size'])
if self._attributres_keeper['buff_size'] != DEFAULT_BUFF_SIZE:
self.impl.set_buff_size(self._attributres_keeper['buff_size'])
if self._attributres_keeper['callback'] is not None:
self.impl.add_callback(self._attributres_keeper['callback'],
self._attributres_keeper['callback_args'])
self.callback = self._attributres_keeper['callback']
self.callback_args = self._attributres_keeper['callback_args']
else:
self.callback = self.callback_args = None
if self._attributres_keeper['tcp_nodelay']:
self.impl.set_tcp_nodelay(self._attributres_keeper['tcp_nodelay'])
def test_get_set_topic_manager(self):
from rospy.impl.registration import get_topic_manager, set_topic_manager
# rospy initialization sets this, but it is out of scope of
# rospy.impl.registrations to test its value
orig = get_topic_manager()
try:
self.assert_(orig is not None)
class TopicManager(object): pass
x = TopicManager()
# currently untyped
set_topic_manager(x)
self.assertEquals(x, get_topic_manager())
set_topic_manager(None)
self.assert_(get_topic_manager() is None)
finally:
set_topic_manager(orig)
def _connect_topic(self, topic, pub_uri):
"""
Connect subscriber to topic
@param topic: topic name to connect
@type topic: str
@param pub_uri: API URI of topic publisher
@type pub_uri: str
@return: [code, msg, numConnects]. numConnects is the number
of subscribers connected to the topic
@rtype: [int, str, int]
"""
caller_id = rospy.names.get_caller_id()
sub = get_topic_manager().get_subscriber_impl(topic)
if not sub:
return -1, "No subscriber for topic [%s]" % topic, 0
elif sub.has_connection(pub_uri):
return 1, "_connect_topic[%s]: subscriber already connected to publisher [%s]" % (
topic, pub_uri), 0
#Negotiate with source for connection
# - collect supported protocols
protocols = []
for h in self.protocol_handlers: #currently only TCPROS
protocols.extend(h.get_supported())
if not protocols:
return 0, "ERROR: no available protocol handlers", 0
_logger.debug("connect[%s]: calling requestTopic(%s, %s, %s)", topic,
caller_id, topic, str(protocols))
# 1) have to preserve original (unresolved) params as this may
# go outside our graph
# 2) xmlrpclib doesn't give us any way of affecting the
# timeout other than affecting the global timeout. We need
# to set a timeout to prevent infinite hangs. 60 seconds is
# a *very* long time. All of the rospy code right now sets
# individual socket timeouts, but this could potentially
# affect user code.
socket.setdefaulttimeout(60.)
try:
code, msg, result = \
xmlrpcapi(pub_uri).requestTopic(caller_id, topic, protocols)
except Exception as e:
return 0, "unable to requestTopic: %s" % str(e), 0
#Create the connection (if possible)
if code <= 0:
_logger.debug("connect[%s]: requestTopic did not succeed %s, %s",
pub_uri, code, msg)
return code, msg, 0
elif not result or type(protocols) != list:
return 0, "ERROR: publisher returned invalid protocol choice: %s" % (
str(result)), 0
_logger.debug("connect[%s]: requestTopic returned protocol list %s",
topic, result)
protocol = result[0]
for h in self.protocol_handlers:
if h.supports(protocol):
return h.create_transport(topic, pub_uri, result)
return 0, "ERROR: publisher returned unsupported protocol choice: %s" % result, 0
def getPublications(self, caller_id):
"""
Retrieve a list of topics that this node publishes.
@param caller_id: ROS caller id
@type caller_id: str
@return: list of topics published by this node.
@rtype: [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]
"""
return 1, "publications", get_topic_manager().get_publications()
def getPublications(self, caller_id):
"""
Retrieve a list of topics that this node publishes.
@param caller_id: ROS caller id
@type caller_id: str
@return: list of topics published by this node.
@rtype: [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]
"""
return 1, "publications", get_topic_manager().get_publications()
def test_get_set_topic_manager(self):
from rospy.impl.registration import get_topic_manager, set_topic_manager
# rospy initialization sets this, but it is out of scope of
# rospy.impl.registrations to test its value
orig = get_topic_manager()
try:
self.assert_(orig is not None)
class TopicManager(object):
pass
x = TopicManager()
# currently untyped
set_topic_manager(x)
self.assertEquals(x, get_topic_manager())
set_topic_manager(None)
self.assert_(get_topic_manager() is None)
finally:
set_topic_manager(orig)
def _connect_topic(self, topic, pub_uri):
"""
Connect subscriber to topic
@param topic: topic name to connect
@type topic: str
@param pub_uri: API URI of topic publisher
@type pub_uri: str
@return: [code, msg, numConnects]. numConnects is the number
of subscribers connected to the topic
@rtype: [int, str, int]
"""
caller_id = rospy.names.get_caller_id()
sub = get_topic_manager().get_subscriber_impl(topic)
if not sub:
return -1, "No subscriber for topic [%s]"%topic, 0
elif sub.has_connection(pub_uri):
return 1, "_connect_topic[%s]: subscriber already connected to publisher [%s]"%(topic, pub_uri), 0
#Negotiate with source for connection
# - collect supported protocols
protocols = []
for h in self.protocol_handlers: #currently only TCPROS
protocols.extend(h.get_supported())
if not protocols:
return 0, "ERROR: no available protocol handlers", 0
_logger.debug("connect[%s]: calling requestTopic(%s, %s, %s)", topic, caller_id, topic, str(protocols))
# 1) have to preserve original (unresolved) params as this may
# go outside our graph
# 2) xmlrpclib doesn't give us any way of affecting the
# timeout other than affecting the global timeout. We need
# to set a timeout to prevent infinite hangs. 60 seconds is
# a *very* long time. All of the rospy code right now sets
# individual socket timeouts, but this could potentially
# affect user code.
socket.setdefaulttimeout(60.)
try:
code, msg, result = \
xmlrpcapi(pub_uri).requestTopic(caller_id, topic, protocols)
except Exception as e:
return 0, "unable to requestTopic: %s"%str(e), 0
#Create the connection (if possible)
if code <= 0:
_logger.debug("connect[%s]: requestTopic did not succeed %s, %s", pub_uri, code, msg)
return code, msg, 0
elif not result or type(protocols) != list:
return 0, "ERROR: publisher returned invalid protocol choice: %s"%(str(result)), 0
_logger.debug("connect[%s]: requestTopic returned protocol list %s", topic, result)
protocol = result[0]
for h in self.protocol_handlers:
if h.supports(protocol):
return h.create_transport(topic, pub_uri, result)
return 0, "ERROR: publisher returned unsupported protocol choice: %s"%result, 0
def __init__(self, name, data_class, reg_type):
"""
@param name: graph resource name of topic, e.g. 'laser'.
@type name: str
@param data_class: message class for serialization
@type data_class: L{Message}
@param reg_type Registration.PUB or Registration.SUB
@type reg_type: str
@raise ValueError: if parameters are invalid
"""
if not name or not isstring(name):
raise ValueError("topic name is not a non-empty string")
try:
if python3 == 1:
name.encode("utf-8")
else:
name = name.encode("utf-8")
except UnicodeError:
raise ValueError("topic name must be ascii/utf-8 compatible")
if data_class is None:
raise ValueError("topic parameter 'data_class' is not initialized")
if not type(data_class) == type:
raise ValueError("data_class [%s] is not a class" % data_class)
if not issubclass(data_class, genpy.Message):
raise ValueError("data_class [%s] is not a message data class" %
data_class.__class__.__name__)
# #2202
if not rosgraph.names.is_legal_name(name):
import warnings
warnings.warn(
"'%s' is not a legal ROS graph resource name. This may cause problems with other ROS tools"
% name,
stacklevel=2)
# this is a bit ugly, but necessary due to the fact that we allow
# topics and services to be initialized before the node
if not rospy.core.is_initialized():
self.resolved_name = rospy.names.resolve_name_without_node_name(
name)
else:
# init_node() has been called, so we can do normal resolution
self.resolved_name = resolve_name(name)
self.name = self.resolved_name # #1810 for backwards compatibility
self.data_class = data_class
self.type = data_class._type
self.md5sum = data_class._md5sum
self.reg_type = reg_type
self.impl = get_topic_manager().acquire_impl(reg_type,
self.resolved_name,
data_class)
def getBusInfo(self, caller_id, client_ip_address):
"""
Retrieve transport/topic connection information
@param caller_id: ROS caller id
@type caller_id: str
"""
""" Only master is authorized to call this method """
if is_uri_match(self.masterUri, client_ip_address):
auth_logger.warn("getBusInfo( %s, %s ) method not authorized" %
(caller_id, client_ip_address))
return 1, "bus info", get_topic_manager().get_pub_sub_info()
else:
return -1, "method not authorized", []
def getPublications(self, caller_id, client_ip_address):
"""
Retrieve a list of topics that this node publishes.
@param caller_id: ROS caller id
@type caller_id: str
@return: list of topics published by this node.
@rtype: [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]
"""
if not is_uri_match(self.masterUri, client_ip_address):
auth_logger.warn(
"getPublications( %s, %s ) method not authorized" %
(caller_id, client_ip_address))
return -1, "method not authorized", []
return 1, "publications", get_topic_manager().get_publications()
def __init__(self, name, data_class, reg_type):
"""
@param name: graph resource name of topic, e.g. 'laser'.
@type name: str
@param data_class: message class for serialization
@type data_class: L{Message}
@param reg_type Registration.PUB or Registration.SUB
@type reg_type: str
@raise ValueError: if parameters are invalid
"""
if not name or not isstring(name):
raise ValueError("topic name is not a non-empty string")
try:
if python3 == 1:
name.encode("utf-8")
else:
name = name.encode("utf-8")
except UnicodeError:
raise ValueError("topic name must be ascii/utf-8 compatible")
if data_class is None:
raise ValueError("topic parameter 'data_class' is not initialized")
if not type(data_class) == type:
raise ValueError("data_class [%s] is not a class" % data_class)
if not issubclass(data_class, genpy.Message):
raise ValueError("data_class [%s] is not a message data class" % data_class.__class__.__name__)
# #2202
if not rosgraph.names.is_legal_name(name):
import warnings
warnings.warn(
"'%s' is not a legal ROS graph resource name. This may cause problems with other ROS tools" % name,
stacklevel=2,
)
# this is a bit ugly, but necessary due to the fact that we allow
# topics and services to be initialized before the node
if not rospy.core.is_initialized():
self.resolved_name = rospy.names.resolve_name_without_node_name(name)
else:
# init_node() has been called, so we can do normal resolution
self.resolved_name = resolve_name(name)
self.name = self.resolved_name # #1810 for backwards compatibility
self.data_class = data_class
self.type = data_class._type
self.md5sum = data_class._md5sum
self.reg_type = reg_type
self.impl = get_topic_manager().acquire_impl(reg_type, self.resolved_name, data_class)
def getBusStats(self, caller_id):
"""
Retrieve transport/topic statistics
@param caller_id: ROS caller id
@type caller_id: str
@return: [publishStats, subscribeStats, serviceStats]::
publishStats: [[topicName, messageDataSent, pubConnectionData]...[topicNameN, messageDataSentN, pubConnectionDataN]]
pubConnectionData: [connectionId, bytesSent, numSent, connected]* .
subscribeStats: [[topicName, subConnectionData]...[topicNameN, subConnectionDataN]]
subConnectionData: [connectionId, bytesReceived, dropEstimate, connected]* . dropEstimate is -1 if no estimate.
serviceStats: not sure yet, probably akin to [numRequests, bytesReceived, bytesSent]
"""
pub_stats, sub_stats = get_topic_manager().get_pub_sub_stats()
#TODO: serviceStats
return 1, '', [pub_stats, sub_stats, []]
def getBusStats(self, caller_id):
"""
Retrieve transport/topic statistics
@param caller_id: ROS caller id
@type caller_id: str
@return: [publishStats, subscribeStats, serviceStats]::
publishStats: [[topicName, messageDataSent, pubConnectionData]...[topicNameN, messageDataSentN, pubConnectionDataN]]
pubConnectionData: [connectionId, bytesSent, numSent, connected]* .
subscribeStats: [[topicName, subConnectionData]...[topicNameN, subConnectionDataN]]
subConnectionData: [connectionId, bytesReceived, dropEstimate, connected]* . dropEstimate is -1 if no estimate.
serviceStats: not sure yet, probably akin to [numRequests, bytesReceived, bytesSent]
"""
pub_stats, sub_stats = get_topic_manager().get_pub_sub_stats()
#TODO: serviceStats
return 1, '', [pub_stats, sub_stats, []]
def getBusStats(self, caller_id, client_ip_address):
"""
Retrieve transport/topic statistics
@param caller_id: ROS caller id
@type caller_id: str
@return: [publishStats, subscribeStats, serviceStats]::
publishStats: [[topicName, messageDataSent, pubConnectionData]...[topicNameN, messageDataSentN, pubConnectionDataN]]
pubConnectionData: [connectionId, bytesSent, numSent, connected]* .
subscribeStats: [[topicName, subConnectionData]...[topicNameN, subConnectionDataN]]
subConnectionData: [connectionId, bytesReceived, dropEstimate, connected]* . dropEstimate is -1 if no estimate.
serviceStats: not sure yet, probably akin to [numRequests, bytesReceived, bytesSent]
"""
is_master = is_uri_match(self.masterUri, client_ip_address)
pub_stats, sub_stats = get_topic_manager().get_pub_sub_stats()
#TODO: serviceStats
if is_master:
return 1, '', [pub_stats, sub_stats, []]
else:
return -1, "Only master authorized to call getBusStats()", []
def _rosout(level, msg):
global _in_rosout
try:
if _rosout_pub is not None:
# protect against infinite recursion
if not _in_rosout:
try:
_in_rosout = True
msg = str(msg)
topics = get_topic_manager().get_topics()
l = Log(level=level, name=str(rospy.names.get_caller_id()), msg=str(msg), topics=topics)
l.header.stamp = Time.now()
_rosout_pub.publish(l)
finally:
_in_rosout = False
except Exception as e:
#traceback.print_exc()
# don't use logerr in this case as that is recursive here
logger = logging.getLogger("rospy.rosout")
logger.error("Unable to report rosout: %s\n%s", e, traceback.format_exc())
return False
def _connect_topic(self, topic, pub_uri):
"""
Connect subscriber to topic.
@param topic: Topic name to connect.
@type topic: str
@param pub_uri: API URI of topic publisher.
@type pub_uri: str
@return: [code, msg, numConnects]. numConnects is the number
of subscribers connected to the topic.
@rtype: [int, str, int]
"""
caller_id = rospy.names.get_caller_id()
sub = get_topic_manager().get_subscriber_impl(topic)
if not sub:
return -1, "No subscriber for topic [%s]" % topic, 0
elif sub.has_connection(pub_uri):
return 1, "_connect_topic[%s]: subscriber already connected to publisher [%s]" % (
topic, pub_uri), 0
#Negotiate with source for connection
# - collect supported protocols
protocols = []
for h in self.protocol_handlers: #currently only TCPROS
protocols.extend(h.get_supported())
if not protocols:
return 0, "ERROR: no available protocol handlers", 0
_logger.debug("connect[%s]: calling requestTopic(%s, %s, %s)", topic,
caller_id, topic, str(protocols))
# 1) have to preserve original (unresolved) params as this may
# go outside our graph
# 2) xmlrpclib doesn't give us any way of affecting the
# timeout other than affecting the global timeout. We need
# to set a timeout to prevent infinite hangs. 60 seconds is
# a *very* long time. All of the rospy code right now sets
# individual socket timeouts, but this could potentially
# affect user code.
socket.setdefaulttimeout(60.)
success = False
interval = 0.5 # seconds
# while the ROS node is not shutdown try to get the topic information
# and retry on connections problems after some wait
# Abort the retry if the we get a Connection Refused since at that point
# we know for sure the URI is invalid
while not success and not is_shutdown():
try:
code, msg, result = \
xmlrpcapi(pub_uri, cache=False).requestTopic(caller_id, topic, protocols)
success = True
except Exception as e:
if getattr(e, 'errno', None) == errno.ECONNREFUSED:
code = -errno.ECONNREFUSED
msg = str(e)
break
elif not is_shutdown():
_logger.debug("Retrying for %s" % topic)
if interval < 30.0:
# exponential backoff (maximum 32 seconds)
interval = interval * 2
time.sleep(interval)
#Create the connection (if possible)
if code <= 0:
_logger.debug("connect[%s]: requestTopic did not succeed %s, %s",
pub_uri, code, msg)
return code, msg, 0
elif not result or type(protocols) != list:
return 0, "ERROR: publisher returned invalid protocol choice: %s" % (
str(result)), 0
_logger.debug("connect[%s]: requestTopic returned protocol list %s",
topic, result)
protocol = result[0]
for h in self.protocol_handlers:
if h.supports(protocol):
return h.create_transport(topic, pub_uri, result)
return 0, "ERROR: publisher returned unsupported protocol choice: %s" % result, 0
def _connect_topic(self, topic, pub_uri):
"""
Connect subscriber to topic.
@param topic: Topic name to connect.
@type topic: str
@param pub_uri: API URI of topic publisher.
@type pub_uri: str
@return: [code, msg, numConnects]. numConnects is the number
of subscribers connected to the topic.
@rtype: [int, str, int]
"""
caller_id = rospy.names.get_caller_id()
sub = get_topic_manager().get_subscriber_impl(topic)
if not sub:
return -1, "No subscriber for topic [%s]"%topic, 0
elif sub.has_connection(pub_uri):
return 1, "_connect_topic[%s]: subscriber already connected to publisher [%s]"%(topic, pub_uri), 0
#Negotiate with source for connection
# - collect supported protocols
protocols = []
for h in self.protocol_handlers: #currently only TCPROS
protocols.extend(h.get_supported())
if not protocols:
return 0, "ERROR: no available protocol handlers", 0
_logger.debug("connect[%s]: calling requestTopic(%s, %s, %s)", topic, caller_id, topic, str(protocols))
# 1) have to preserve original (unresolved) params as this may
# go outside our graph
# 2) xmlrpclib doesn't give us any way of affecting the
# timeout other than affecting the global timeout. We need
# to set a timeout to prevent infinite hangs. 60 seconds is
# a *very* long time. All of the rospy code right now sets
# individual socket timeouts, but this could potentially
# affect user code.
socket.setdefaulttimeout(60.)
success = False
interval = 0.5 # seconds
# while the ROS node is not shutdown try to get the topic information
# and retry on connections problems after some wait
# Abort the retry if the we get a Connection Refused since at that point
# we know for sure the URI is invalid
while not success and not is_shutdown():
try:
code, msg, result = \
xmlrpcapi(pub_uri).requestTopic(caller_id, topic, protocols)
success = True
except Exception as e:
if getattr(e, 'errno', None) == errno.ECONNREFUSED:
code = -errno.ECONNREFUSED
msg = str(e)
break
elif not is_shutdown():
_logger.debug("Retrying for %s" % topic)
if interval < 30.0:
# exponential backoff (maximum 32 seconds)
interval = interval * 2
time.sleep(interval)
#Create the connection (if possible)
if code <= 0:
_logger.debug("connect[%s]: requestTopic did not succeed %s, %s", pub_uri, code, msg)
return code, msg, 0
elif not result or type(protocols) != list:
return 0, "ERROR: publisher returned invalid protocol choice: %s"%(str(result)), 0
_logger.debug("connect[%s]: requestTopic returned protocol list %s", topic, result)
protocol = result[0]
for h in self.protocol_handlers:
if h.supports(protocol):
return h.create_transport(topic, pub_uri, result)
return 0, "ERROR: publisher returned unsupported protocol choice: %s"%result, 0
def test_Subscriber_unregister(self):
# regression test for #3029 (unregistering a Subcriber with no
# callback) plus other unregistration tests
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Subscriber, DEFAULT_BUFF_SIZE
#Subscriber: name, data_class, callback=None, callback_args=None,
#queue_size=None, buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
name = 'unregistertest'
rname = rospy.resolve_name(name)
data_class = test_rospy.msg.Val
sub = Subscriber(name, data_class)
self.assertEquals(None, sub.callback)
# verify impl (test_Subscriber handles more verification, we
# just care about callbacks and ref_count state here)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == sub.impl)
self.assertEquals(1, impl.ref_count)
self.assertEquals([], impl.callbacks)
# unregister should release the underlying impl
sub.unregister()
self.assertEquals(None, get_topic_manager().get_impl(Registration.SUB, rname))
# create two subs
sub2 = Subscriber(name, data_class)
sub3 = Subscriber(name, data_class)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
# - test that they share the same impl
self.assert_(impl == sub2.impl)
self.assert_(impl == sub3.impl)
# - test basic impl state
self.assertEquals([], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - make sure double unregister is safe
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - clean it up
sub3.unregister()
self.assertEquals(0, impl.ref_count)
self.assertEquals(None, get_topic_manager().get_impl(Registration.SUB, rname))
# CALLBACKS
cb_args5 = 5
cb_args6 = 6
cb_args7 = 7
sub4 = Subscriber(name, data_class, callback1)
# - use should be allowed to subcribe using the same callback
# and it shouldn't interfere on unregister
sub5 = Subscriber(name, data_class, callback2, cb_args5)
sub6 = Subscriber(name, data_class, callback2, cb_args6)
sub7 = Subscriber(name, data_class, callback2, cb_args7)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals(4, impl.ref_count)
self.assertEquals([(callback1, None), (callback2, cb_args5), (callback2, cb_args6), (callback2, cb_args7)], impl.callbacks)
# unregister sub6 first to as it is most likely to confuse any callback-finding logic
sub6.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args5), (callback2, cb_args7)], impl.callbacks)
self.assertEquals(3, impl.ref_count)
sub5.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args7)], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub4.unregister()
self.assertEquals([(callback2, cb_args7)], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub7.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)
self.assertEquals(None, get_topic_manager().get_impl(Registration.SUB, rname))
# one final condition: two identical subscribers
sub8 = Subscriber(name, data_class, callback1, 'hello')
sub9 = Subscriber(name, data_class, callback1, 'hello')
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals([(callback1, 'hello'), (callback1, 'hello')], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub8.unregister()
self.assertEquals([(callback1, 'hello')], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub9.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)
def test_Subscriber(self):
#TODO: test callback args
#TODO: negative buff_size
#TODO: negative queue_size
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Subscriber, DEFAULT_BUFF_SIZE
#Subscriber: name, data_class, callback=None, callback_args=None,
#queue_size=None, buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
name = 'foo'
rname = rospy.resolve_name('foo')
data_class = test_rospy.msg.Val
# test invalid params
for n in [None, '', 1]:
try:
Subscriber(n, data_class)
self.fail("should not allow invalid name")
except ValueError: pass
for d in [None, 1, TestRospyTopics]:
try:
Subscriber(name, d)
self.fail("should now allow invalid data_class")
except ValueError: pass
try:
Subscriber(name, None)
self.fail("None should not be allowed for data_class")
except ValueError: pass
sub = Subscriber(name, data_class)
self.assertEquals(rname, sub.resolved_name)
self.assertEquals(data_class, sub.data_class)
self.assertEquals('test_rospy/Val', sub.type)
self.assertEquals(data_class._md5sum, sub.md5sum)
self.assertEquals(Registration.SUB, sub.reg_type)
# verify impl as well
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == sub.impl)
self.assertEquals([], impl.callbacks)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.assertEquals(None, impl.queue_size)
self.assertEquals(DEFAULT_BUFF_SIZE, impl.buff_size)
self.failIf(impl.tcp_nodelay)
self.assertEquals(1, impl.ref_count)
self.failIf(impl.closed)
# round 2, now start setting options and make sure underlying impl is reconfigured
name = 'foo'
data_class = test_rospy.msg.Val
queue_size = 1
buff_size = 1
sub = Subscriber(name, data_class, callback=callback1,
queue_size=queue_size, buff_size=buff_size, tcp_nodelay=True)
self.assertEquals(rname, sub.resolved_name)
# - sub.name is a backwards-compat field as it is public API
self.assertEquals(rname, sub.name)
self.assertEquals(data_class, sub.data_class)
# verify impl
impl2 = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == impl2) # should be same instance
self.assertEquals([(callback1, None)], impl.callbacks)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.assertEquals(queue_size, impl.queue_size)
self.assertEquals(buff_size, impl.buff_size)
self.assert_(impl.tcp_nodelay)
self.assertEquals(2, impl.ref_count)
self.failIf(impl.closed)
# round 3, make sure that options continue to reconfigure
# underlying impl also test that tcp_nodelay is sticky. this
# is technically undefined, but this is how rospy chose to
# implement.
name = 'foo'
data_class = test_rospy.msg.Val
queue_size = 2
buff_size = 2
sub = Subscriber(name, data_class, callback=callback2,
queue_size=queue_size, buff_size=buff_size, tcp_nodelay=False)
# verify impl
impl2 = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == impl2) # should be same instance
self.assertEquals(set([(callback1, None), (callback2, None)]), set(impl.callbacks))
self.assertEquals(queue_size, impl.queue_size)
self.assertEquals(buff_size, impl.buff_size)
self.assert_(impl.tcp_nodelay)
self.assertEquals(3, impl.ref_count)
self.failIf(impl.closed)
def test_Publisher(self):
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Publisher, DEFAULT_BUFF_SIZE
# Publisher(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None)
name = 'foo'
rname = rospy.resolve_name('foo')
data_class = test_rospy.msg.Val
# test invalid params
for n in [None, '', 1]:
try:
Publisher(n, data_class)
self.fail("should not allow invalid name")
except ValueError: pass
for d in [None, 1, TestRospyTopics]:
try:
Publisher(name, d)
self.fail("should now allow invalid data_class")
except ValueError: pass
try:
Publisher(name, None)
self.fail("None should not be allowed for data_class")
except ValueError: pass
# round 1: test basic params
pub = Publisher(name, data_class)
self.assertEquals(rname, pub.resolved_name)
# - pub.name is left in for backwards compatiblity, but resolved_name is preferred
self.assertEquals(rname, pub.name)
self.assertEquals(data_class, pub.data_class)
self.assertEquals('test_rospy/Val', pub.type)
self.assertEquals(data_class._md5sum, pub.md5sum)
self.assertEquals(Registration.PUB, pub.reg_type)
# verify impl as well
impl = get_topic_manager().get_impl(Registration.PUB, rname)
self.assert_(impl == pub.impl)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.failIf(impl.is_latch)
self.assertEquals(None, impl.latch)
self.assertEquals(0, impl.seq)
self.assertEquals(1, impl.ref_count)
self.assertEquals('', impl.buff.getvalue())
self.failIf(impl.closed)
self.failIf(impl.has_connections())
# check publish() fall-through
from test_rospy.msg import Val
impl.publish(Val('hello world-1'))
# check stats
self.assertEquals(0, impl.message_data_sent)
# check acquire/release don't bomb
impl.acquire()
impl.release()
# do a single publish with connection override. The connection
# override is a major cheat as the object isn't even an actual
# connection. I will need to add more integrated tests later
co1 = ConnectionOverride('co1')
self.failIf(impl.has_connection('co1'))
impl.add_connection(co1)
self.assert_(impl.has_connection('co1'))
self.assert_(impl.has_connections())
impl.publish(Val('hello world-1'), connection_override=co1)
import cStringIO
buff = cStringIO.StringIO()
Val('hello world-1').serialize(buff)
# - check equals, but strip length field first
self.assertEquals(co1.data[4:], buff.getvalue())
self.assertEquals(None, impl.latch)
# Now enable latch
pub = Publisher(name, data_class, latch=True)
impl = get_topic_manager().get_impl(Registration.PUB, rname)
# have to verify latching in pub impl
self.assert_(impl == pub.impl)
self.assertEquals(True, impl.is_latch)
self.assertEquals(None, impl.latch)
self.assertEquals(2, impl.ref_count)
co2 = ConnectionOverride('co2')
self.failIf(impl.has_connection('co2'))
impl.add_connection(co2)
for n in ['co1', 'co2']:
self.assert_(impl.has_connection(n))
self.assert_(impl.has_connections())
v = Val('hello world-2')
impl.publish(v, connection_override=co2)
self.assert_(v == impl.latch)
buff = cStringIO.StringIO()
Val('hello world-2').serialize(buff)
# - strip length and check value
self.assertEquals(co2.data[4:], buff.getvalue())
# test that latched value is sent to connections on connect
co3 = ConnectionOverride('co3')
self.failIf(impl.has_connection('co3'))
impl.add_connection(co3)
for n in ['co1', 'co2', 'co3']:
self.assert_(impl.has_connection(n))
self.assert_(impl.has_connections())
self.assertEquals(co3.data[4:], buff.getvalue())
# TODO: tcp_nodelay
# TODO: suscribe listener
self.assert_(impl.has_connection('co1'))
impl.remove_connection(co1)
self.failIf(impl.has_connection('co1'))
self.assert_(impl.has_connections())
self.assert_(impl.has_connection('co3'))
impl.remove_connection(co3)
self.failIf(impl.has_connection('co3'))
self.assert_(impl.has_connections())
self.assert_(impl.has_connection('co2'))
impl.remove_connection(co2)
self.failIf(impl.has_connection('co2'))
self.failIf(impl.has_connections())
# test publish() latch on a new Publisher object (this was encountered in testing, so I want a test case for it)
pub = Publisher('bar', data_class, latch=True)
v = Val('no connection test')
pub.impl.publish(v)
self.assert_(v == pub.impl.latch)
# test connection header
h = {'foo': 'bar', 'fuga': 'hoge'}
pub = Publisher('header_test', data_class, headers=h)
self.assertEquals(h, pub.impl.headers)
def test_Publisher(self):
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Publisher, DEFAULT_BUFF_SIZE
# Publisher(self, name, data_class, subscriber_listener=None, tcp_nodelay=False, latch=False, headers=None)
name = 'foo'
rname = rospy.resolve_name('foo')
data_class = test_rospy.msg.Val
# test invalid params
for n in [None, '', 1]:
try:
Publisher(n, data_class)
self.fail("should not allow invalid name")
except ValueError:
pass
for d in [None, 1, TestRospyTopics]:
try:
Publisher(name, d)
self.fail("should now allow invalid data_class")
except ValueError:
pass
try:
Publisher(name, None)
self.fail("None should not be allowed for data_class")
except ValueError:
pass
# round 1: test basic params
pub = Publisher(name, data_class)
self.assertEquals(rname, pub.resolved_name)
# - pub.name is left in for backwards compatiblity, but resolved_name is preferred
self.assertEquals(rname, pub.name)
self.assertEquals(data_class, pub.data_class)
self.assertEquals('test_rospy/Val', pub.type)
self.assertEquals(data_class._md5sum, pub.md5sum)
self.assertEquals(Registration.PUB, pub.reg_type)
# verify impl as well
impl = get_topic_manager().get_impl(Registration.PUB, rname)
self.assert_(impl == pub.impl)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.failIf(impl.is_latch)
self.assertEquals(None, impl.latch)
self.assertEquals(0, impl.seq)
self.assertEquals(1, impl.ref_count)
self.assertEquals('', impl.buff.getvalue())
self.failIf(impl.closed)
self.failIf(impl.has_connections())
# check publish() fall-through
from test_rospy.msg import Val
impl.publish(Val('hello world-1'))
# check stats
self.assertEquals(0, impl.message_data_sent)
# check acquire/release don't bomb
impl.acquire()
impl.release()
# do a single publish with connection override. The connection
# override is a major cheat as the object isn't even an actual
# connection. I will need to add more integrated tests later
co1 = ConnectionOverride('co1')
self.failIf(impl.has_connection('co1'))
impl.add_connection(co1)
self.assert_(impl.has_connection('co1'))
self.assert_(impl.has_connections())
impl.publish(Val('hello world-1'), connection_override=co1)
import cStringIO
buff = cStringIO.StringIO()
Val('hello world-1').serialize(buff)
# - check equals, but strip length field first
self.assertEquals(co1.data[4:], buff.getvalue())
self.assertEquals(None, impl.latch)
# Now enable latch
pub = Publisher(name, data_class, latch=True)
impl = get_topic_manager().get_impl(Registration.PUB, rname)
# have to verify latching in pub impl
self.assert_(impl == pub.impl)
self.assertEquals(True, impl.is_latch)
self.assertEquals(None, impl.latch)
self.assertEquals(2, impl.ref_count)
co2 = ConnectionOverride('co2')
self.failIf(impl.has_connection('co2'))
impl.add_connection(co2)
for n in ['co1', 'co2']:
self.assert_(impl.has_connection(n))
self.assert_(impl.has_connections())
v = Val('hello world-2')
impl.publish(v, connection_override=co2)
self.assert_(v == impl.latch)
buff = cStringIO.StringIO()
Val('hello world-2').serialize(buff)
# - strip length and check value
self.assertEquals(co2.data[4:], buff.getvalue())
# test that latched value is sent to connections on connect
co3 = ConnectionOverride('co3')
self.failIf(impl.has_connection('co3'))
impl.add_connection(co3)
for n in ['co1', 'co2', 'co3']:
self.assert_(impl.has_connection(n))
self.assert_(impl.has_connections())
self.assertEquals(co3.data[4:], buff.getvalue())
# TODO: tcp_nodelay
# TODO: suscribe listener
self.assert_(impl.has_connection('co1'))
impl.remove_connection(co1)
self.failIf(impl.has_connection('co1'))
self.assert_(impl.has_connections())
# TODO: need to validate DeadTransport better
self.assert_(
[d for d in impl.dead_connections if d.endpoint_id == 'co1'])
self.assert_(impl.has_connection('co3'))
impl.remove_connection(co3)
self.failIf(impl.has_connection('co3'))
self.assert_(impl.has_connections())
for id in ['co1', 'co3']:
self.assert_(
[d for d in impl.dead_connections if d.endpoint_id == id])
self.assert_(impl.has_connection('co2'))
impl.remove_connection(co2)
self.failIf(impl.has_connection('co2'))
self.failIf(impl.has_connections())
for id in ['co1', 'co2', 'co3']:
self.assert_(
[d for d in impl.dead_connections if d.endpoint_id == id])
# test publish() latch on a new Publisher object (this was encountered in testing, so I want a test case for it)
pub = Publisher('bar', data_class, latch=True)
v = Val('no connection test')
pub.impl.publish(v)
self.assert_(v == pub.impl.latch)
# test connection header
h = {'foo': 'bar', 'fuga': 'hoge'}
pub = Publisher('header_test', data_class, headers=h)
self.assertEquals(h, pub.impl.headers)
def test_Subscriber(self):
#TODO: test callback args
#TODO: negative buff_size
#TODO: negative queue_size
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Subscriber, DEFAULT_BUFF_SIZE
#Subscriber: name, data_class, callback=None, callback_args=None,
#queue_size=None, buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
name = 'foo'
rname = rospy.resolve_name('foo')
data_class = test_rospy.msg.Val
# test invalid params
for n in [None, '', 1]:
try:
Subscriber(n, data_class)
self.fail("should not allow invalid name")
except ValueError:
pass
for d in [None, 1, TestRospyTopics]:
try:
Subscriber(name, d)
self.fail("should now allow invalid data_class")
except ValueError:
pass
try:
Subscriber(name, None)
self.fail("None should not be allowed for data_class")
except ValueError:
pass
sub = Subscriber(name, data_class)
self.assertEquals(rname, sub.resolved_name)
self.assertEquals(data_class, sub.data_class)
self.assertEquals('test_rospy/Val', sub.type)
self.assertEquals(data_class._md5sum, sub.md5sum)
self.assertEquals(Registration.SUB, sub.reg_type)
# verify impl as well
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == sub.impl)
self.assertEquals([], impl.callbacks)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.assertEquals(None, impl.queue_size)
self.assertEquals(DEFAULT_BUFF_SIZE, impl.buff_size)
self.failIf(impl.tcp_nodelay)
self.assertEquals(1, impl.ref_count)
self.failIf(impl.closed)
# round 2, now start setting options and make sure underlying impl is reconfigured
name = 'foo'
data_class = test_rospy.msg.Val
queue_size = 1
buff_size = 1
sub = Subscriber(name,
data_class,
callback=callback1,
queue_size=queue_size,
buff_size=buff_size,
tcp_nodelay=True)
self.assertEquals(rname, sub.resolved_name)
# - sub.name is a backwards-compat field as it is public API
self.assertEquals(rname, sub.name)
self.assertEquals(data_class, sub.data_class)
# verify impl
impl2 = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == impl2) # should be same instance
self.assertEquals([(callback1, None)], impl.callbacks)
self.assertEquals(rname, impl.resolved_name)
self.assertEquals(data_class, impl.data_class)
self.assertEquals(queue_size, impl.queue_size)
self.assertEquals(buff_size, impl.buff_size)
self.assert_(impl.tcp_nodelay)
self.assertEquals(2, impl.ref_count)
self.failIf(impl.closed)
# round 3, make sure that options continue to reconfigure
# underlying impl also test that tcp_nodelay is sticky. this
# is technically undefined, but this is how rospy chose to
# implement.
name = 'foo'
data_class = test_rospy.msg.Val
queue_size = 2
buff_size = 2
sub = Subscriber(name,
data_class,
callback=callback2,
queue_size=queue_size,
buff_size=buff_size,
tcp_nodelay=False)
# verify impl
impl2 = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == impl2) # should be same instance
self.assertEquals(set([(callback1, None), (callback2, None)]),
set(impl.callbacks))
self.assertEquals(queue_size, impl.queue_size)
self.assertEquals(buff_size, impl.buff_size)
self.assert_(impl.tcp_nodelay)
self.assertEquals(3, impl.ref_count)
self.failIf(impl.closed)
def test_Subscriber_unregister(self):
# regression test for #3029 (unregistering a Subcriber with no
# callback) plus other unregistration tests
import rospy
from rospy.impl.registration import get_topic_manager, Registration
from rospy.topics import Subscriber, DEFAULT_BUFF_SIZE
#Subscriber: name, data_class, callback=None, callback_args=None,
#queue_size=None, buff_size=DEFAULT_BUFF_SIZE, tcp_nodelay=False):
name = 'unregistertest'
rname = rospy.resolve_name(name)
data_class = test_rospy.msg.Val
sub = Subscriber(name, data_class)
self.assertEquals(None, sub.callback)
# verify impl (test_Subscriber handles more verification, we
# just care about callbacks and ref_count state here)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assert_(impl == sub.impl)
self.assertEquals(1, impl.ref_count)
self.assertEquals([], impl.callbacks)
# unregister should release the underlying impl
sub.unregister()
self.assertEquals(
None,
get_topic_manager().get_impl(Registration.SUB, rname))
# create two subs
sub2 = Subscriber(name, data_class)
sub3 = Subscriber(name, data_class)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
# - test that they share the same impl
self.assert_(impl == sub2.impl)
self.assert_(impl == sub3.impl)
# - test basic impl state
self.assertEquals([], impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - make sure double unregister is safe
sub2.unregister()
self.assertEquals(1, impl.ref_count)
# - clean it up
sub3.unregister()
self.assertEquals(0, impl.ref_count)
self.assertEquals(
None,
get_topic_manager().get_impl(Registration.SUB, rname))
# CALLBACKS
cb_args5 = 5
cb_args6 = 6
cb_args7 = 7
sub4 = Subscriber(name, data_class, callback1)
# - use should be allowed to subcribe using the same callback
# and it shouldn't interfere on unregister
sub5 = Subscriber(name, data_class, callback2, cb_args5)
sub6 = Subscriber(name, data_class, callback2, cb_args6)
sub7 = Subscriber(name, data_class, callback2, cb_args7)
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals(4, impl.ref_count)
self.assertEquals([(callback1, None), (callback2, cb_args5),
(callback2, cb_args6), (callback2, cb_args7)],
impl.callbacks)
# unregister sub6 first to as it is most likely to confuse any callback-finding logic
sub6.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args5),
(callback2, cb_args7)], impl.callbacks)
self.assertEquals(3, impl.ref_count)
sub5.unregister()
self.assertEquals([(callback1, None), (callback2, cb_args7)],
impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub4.unregister()
self.assertEquals([(callback2, cb_args7)], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub7.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)
self.assertEquals(
None,
get_topic_manager().get_impl(Registration.SUB, rname))
# one final condition: two identical subscribers
sub8 = Subscriber(name, data_class, callback1, 'hello')
sub9 = Subscriber(name, data_class, callback1, 'hello')
impl = get_topic_manager().get_impl(Registration.SUB, rname)
self.assertEquals([(callback1, 'hello'), (callback1, 'hello')],
impl.callbacks)
self.assertEquals(2, impl.ref_count)
sub8.unregister()
self.assertEquals([(callback1, 'hello')], impl.callbacks)
self.assertEquals(1, impl.ref_count)
sub9.unregister()
self.assertEquals([], impl.callbacks)
self.assertEquals(0, impl.ref_count)
