def run(self):
'''
'''
if self._masteruri:
found = False
service_names = interface_finder.get_listmaster_service(self._masteruri, self._wait, check_host=self._check_host)
err_msg = ''
for service_name in service_names:
rospy.logdebug("service 'list_masters' found on %s as %s", self._masteruri, service_name)
if self._wait:
rospy.wait_for_service(service_name)
socket.setdefaulttimeout(3)
discoverMasters = rospy.ServiceProxy(service_name, DiscoverMasters)
try:
resp = discoverMasters()
except rospy.ServiceException as e:
err_msg = "Service call 'list_masters' failed: %s" % utf8(e)
rospy.logwarn(err_msg)
self.err_signal.emit(self._masteruri, "Service call '%s' failed: %s" % (service_name, err_msg), False)
else:
if resp.masters:
self.master_list_signal.emit(self._masteruri, service_name, resp.masters)
found = True
else:
self.err_signal.emit(self._masteruri, "local 'master_discovery' reports empty master list, it seems he has a problem", False)
finally:
socket.setdefaulttimeout(None)
if not found:
self.err_signal.emit(self._masteruri, "no service 'list_masters' found on %s" % self._masteruri, False)
def obtain_masters(self):
'''
This method use the service 'list_masters' of the master_discoverer to get
the list of discovered ROS master. Based on this list the L{SyncThread} for
synchronization will be created.
@see: U{fkie_master_discovery.interface_finder.get_listmaster_service()
<http://docs.ros.org/api/fkie_master_discovery/html/modules.html#interface-finder-module>}
'''
if not rospy.is_shutdown():
service_names = interface_finder.get_listmaster_service(masteruri_from_master(), False, check_host=self._check_host)
for service_name in service_names:
try:
with self.__lock:
try:
socket.setdefaulttimeout(5)
discoverMasters = rospy.ServiceProxy(service_name, DiscoverMasters)
resp = discoverMasters()
masters = []
master_names = [m.name for m in resp.masters]
rospy.loginfo("ROS masters obtained from '%s': %s", service_name, master_names)
for m in resp.masters:
if self._can_sync(m.name): # do not sync to the master, if it is in ignore list or not in filled sync list
masters.append(m.name)
self.update_master(m.name, m.uri, m.last_change.to_sec(), m.last_change_local.to_sec(), m.discoverer_name, m.monitoruri, m.online)
for key in set(self.masters.keys()) - set(masters):
self.remove_master(self.masters[key].name)
except rospy.ServiceException as e:
rospy.logwarn("ERROR Service call 'list_masters' failed: %s", str(e))
except:
import traceback
rospy.logwarn("ERROR while initial list masters: %s", traceback.format_exc())
finally:
socket.setdefaulttimeout(None)
self.update_timer = threading.Timer(self.UPDATE_INTERVALL, self.obtain_masters)
self.update_timer.start()
