def wtf_check(ctx):
"""Check implementation function for roswtf"""
from roswtf.rules import warning_rule, error_rule
for r in warnings:
warning_rule(r, r[0](ctx), ctx)
for r in errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check(ctx):
"""Check implementation function for roswtf"""
from roswtf.rules import warning_rule, error_rule
for r in warnings:
warning_rule(r, r[0](ctx), ctx)
for r in errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check_online(ctx):
_load_online_ctx(ctx)
if not ctx.roslaunch_uris:
return
for r in online_roslaunch_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in online_roslaunch_errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check(ctx):
# no package in context to verify
if not ctx.pkgs:
return
for r in warnings:
warning_rule(r, r[0](ctx), ctx)
for r in errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check(ctx):
# no package in context to verify
if not ctx.pkgs:
return
for r in warnings:
warning_rule(r, r[0](ctx), ctx)
for r in errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check_graph(ctx, names=None):
master_uri = ctx.ros_master_uri
#TODO: master rules
# - check for stale master state
# TODO: get the type for each topic from each publisher and see if they match up
master = rosgraph.Master('/roswtf')
try:
master.getPid()
except rospkg.MasterException:
warning_rule(
(True, "Cannot communicate with master, ignoring online checks"),
True, ctx)
return
# fill in ctx info so we only have to compute once
print("analyzing graph...")
_compute_online_context(ctx)
print("... done analyzing graph")
if names:
check_topics = [t for t in names if t in ctx.topics]
check_services = [t for t in names if t in ctx.services]
check_nodes = [t for t in names if t in ctx.nodes]
unknown = [
t for t in names
if t not in check_topics + check_services + check_nodes
]
if unknown:
raise WtfException(
"The following names were not found in the list of nodes, topics, or services:\n%s"
% (''.join([" * %s\n" % t for t in unknown])))
for t in check_topics:
for r in topic_warnings:
warning_rule(r, r[0](ctx, t), ctx)
for r in topic_errors:
error_rule(r, r[0](ctx, t), ctx)
for s in check_services:
for r in service_warnings:
warning_rule(r, r[0](ctx, s), ctx)
for r in service_errors:
error_rule(r, r[0](ctx, s), ctx)
for n in check_nodes:
for r in node_warnings:
warning_rule(r, r[0](ctx, n), ctx)
for r in node_errors:
error_rule(r, r[0](ctx, n), ctx)
print("running graph rules...")
for r in graph_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in graph_errors:
error_rule(r, r[0](ctx), ctx)
print("... done running graph rules")
def wtf_check_static(ctx):
if not ctx.launch_files:
return
#NOTE: roslaunch files are already loaded separately into context
#TODO: check each machine name
#TODO: bidirectional ping for each machine
for r in static_roslaunch_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in static_roslaunch_errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check_graph(ctx, names=None):
master_uri = ctx.ros_master_uri
#TODO: master rules
# - check for stale master state
# TODO: get the type for each topic from each publisher and see if they match up
master = rosgraph.Master('/roswtf')
try:
master.getPid()
except rospkg.MasterException:
warning_rule((True, "Cannot communicate with master, ignoring online checks"), True, ctx)
return
# fill in ctx info so we only have to compute once
print "analyzing graph..."
_compute_online_context(ctx)
print "... done analyzing graph"
if names:
check_topics = [t for t in names if t in ctx.topics]
check_services = [t for t in names if t in ctx.services]
check_nodes = [t for t in names if t in ctx.nodes]
unknown = [t for t in names if t not in check_topics + check_services + check_nodes]
if unknown:
raise WtfException("The following names were not found in the list of nodes, topics, or services:\n%s"%(''.join([" * %s\n"%t for t in unknown])))
for t in check_topics:
for r in topic_warnings:
warning_rule(r, r[0](ctx, t), ctx)
for r in topic_errors:
error_rule(r, r[0](ctx, t), ctx)
for s in check_services:
for r in service_warnings:
warning_rule(r, r[0](ctx, s), ctx)
for r in service_errors:
error_rule(r, r[0](ctx, s), ctx)
for n in check_nodes:
for r in node_warnings:
warning_rule(r, r[0](ctx, n), ctx)
for r in node_errors:
error_rule(r, r[0](ctx, n), ctx)
print "running graph rules..."
for r in graph_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in graph_errors:
error_rule(r, r[0](ctx), ctx)
print "... done running graph rules"
def roswtf_plugin_online(ctx):
# don't run plugin if tf isn't active as these checks take awhile
if not is_tf_active():
return
print("running tf checks, this will take a second...")
sub1 = rospy.Subscriber('/tf', tf.msg.tfMessage, _tf_handle)
time.sleep(1.0)
sub1.unregister()
print("... tf checks complete")
for r in tf_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in tf_errors:
error_rule(r, r[0](ctx), ctx)
def roswtf_plugin_online(ctx):
# don't run plugin if tf isn't active as these checks take awhile
if not is_tf_active():
return
print "running tf checks, this will take a second..."
sub1 = rospy.Subscriber('/tf', tf.msg.tfMessage, _tf_handle)
time.sleep(1.0)
sub1.unregister()
print "... tf checks complete"
for r in tf_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in tf_errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check_online(ctx):
_load_online_ctx(ctx)
for r in online_roslaunch_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in online_roslaunch_errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check_environment(ctx):
# TODO: check ROS_BOOST_ROOT
for r in environment_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in environment_errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check(ctx):
for r in warnings:
warning_rule(r, r[0](ctx), ctx)
for r in errors:
error_rule(r, r[0](ctx), ctx)
def wtf_check(ctx):
for r in warnings:
warning_rule(r, r[0](ctx), ctx)
for r in errors:
error_rule(r, r[0](ctx), ctx)
def roswtf_plugin_static(ctx):
for r in app_warnings_static:
warning_rule(r, r[0](ctx), ctx)
for r in app_errors_static:
error_rule(r, r[0](ctx), ctx)
def roswtf_plugin_online(ctx):
for r in app_warnings_online:
warning_rule(r, r[0](ctx), ctx)
for r in app_errors_online:
error_rule(r, r[0](ctx), ctx)
def wtf_check_environment(ctx):
#TODO: check ROS_BOOST_ROOT
for r in environment_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in environment_errors:
error_rule(r, r[0](ctx), ctx)
