def __init__(self, monitor_port=11611, domain=''):
'''..........................................................................
Initialize method of the local master.
@param monitor_port: The port of the RPC Server, used to get more information about the ROS master.
@type monitor_port: int
..........................................................................'''
if rospy.has_param('~rosmaster_hz'):
Discoverer.ROSMASTER_HZ = rospy.get_param('~rosmaster_hz')
self.master_monitor = MasterMonitor(monitor_port)
name = self.master_monitor.getMastername()
# create the txtArray for the zeroconf service of the ROS master
materuri = self.master_monitor.getMasteruri()
# test the host for local entry
masterhost, masterport = MasterInfo.MasteruriToAddr(materuri)
if (masterhost in ['localhost', '127.0.0.1']):
sys.exit("'%s' is not reachable for other systems. Change the ROS_MASTER_URI!", masterhost)
rpcuri = ''.join(['http://', socket.gethostname(), ':', str(monitor_port), '/'])
txtArray = ["timestamp=%s"%str(0), "master_uri=%s"%materuri, "zname=%s"%rospy.get_name(), "rpcuri=%s"%rpcuri]
# the Zeroconf class, which contains the QMainLoop to receive the signals from avahi
Zeroconf.__init__(self, name, '_ros-master._tcp', masterhost, masterport, domain, txtArray)
# the list with all ROS master neighbors with theirs SyncThread's and all Polling threads
self.masters = MasterList(self.masterInfo, self.requestResolve, self.checkLocalMaster)
# set the callback to finish all running threads
rospy.on_shutdown(self.finish)
def getDefaultRPCPort(zeroconf=False):
try:
masteruri = MasterMonitor._masteruri_from_ros()
rospy.loginfo("ROS Master URI: %s", masteruri)
from urlparse import urlparse
return urlparse(masteruri).port+(600 if zeroconf else 300)
except:
import traceback
print traceback.format_exc()
return 11911 if zeroconf else 11611
def getDefaultRPCPort(zeroconf=False):
try:
masteruri = MasterMonitor._masteruri_from_ros()
rospy.loginfo("ROS Master URI: %s", masteruri)
from urlparse import urlparse
return urlparse(masteruri).port+(600 if zeroconf else 300)
except:
import traceback
print traceback.format_exc()
return 11911 if zeroconf else 11611
class Discoverer(Zeroconf):
'''
This class is a subclass of Zeroconf to handle the callback of the avahi daemon.
Furthermore the informations of the local ROS master will be stored and a
method to check the state of the local ROS master and update it in avahi if
needed. A list with all remote ROS masters is managed by MasterList.
'''
ROSMASTER_HZ = 2 # the test rate of ROS master state in hz
def __init__(self, monitor_port=11611, domain=''):
'''..........................................................................
Initialize method of the local master.
@param monitor_port: The port of the RPC Server, used to get more information about the ROS master.
@type monitor_port: int
..........................................................................'''
if rospy.has_param('~rosmaster_hz'):
Discoverer.ROSMASTER_HZ = rospy.get_param('~rosmaster_hz')
self.master_monitor = MasterMonitor(monitor_port)
name = self.master_monitor.getMastername()
# create the txtArray for the zeroconf service of the ROS master
materuri = self.master_monitor.getMasteruri()
# test the host for local entry
masterhost, masterport = MasterInfo.MasteruriToAddr(materuri)
if (masterhost in ['localhost', '127.0.0.1']):
sys.exit("'%s' is not reachable for other systems. Change the ROS_MASTER_URI!", masterhost)
rpcuri = ''.join(['http://', socket.gethostname(), ':', str(monitor_port), '/'])
txtArray = ["timestamp=%s"%str(0), "master_uri=%s"%materuri, "zname=%s"%rospy.get_name(), "rpcuri=%s"%rpcuri]
# the Zeroconf class, which contains the QMainLoop to receive the signals from avahi
Zeroconf.__init__(self, name, '_ros-master._tcp', masterhost, masterport, domain, txtArray)
# the list with all ROS master neighbors with theirs SyncThread's and all Polling threads
self.masters = MasterList(self.masterInfo, self.requestResolve, self.checkLocalMaster)
# set the callback to finish all running threads
rospy.on_shutdown(self.finish)
# #start the signal main loop
# if (not rospy.is_shutdown()):
# self.start()
@property
def getName(self):
return self.masterInfo.name
def finish(self, *args):
'''..........................................................................
Removes all remote masters and unregister their topics and services. Stops
the QMainLoop of avahi.
..........................................................................'''
rospy.logdebug("Stop zeroconf DBusGMainLoop")
if hasattr(self.master_monitor, 'rpcServer'):
self.master_monitor.rpcServer.shutdown()
self.stop()
self.masters.removeAll()
def __repr__(self):
'''..........................................................................
String representation of local ros manager
..........................................................................'''
return ''.join(['Discoverer: ', repr(self.masterInfo)])
def on_server_running(self):
rospy.loginfo("Zeroconf server now running.")
def on_server_collision(self):
rospy.logfatal("Zeroconf server collision.")
self.collision = True
self.finish()
rospy.signal_shutdown("Zeroconf server collision.")
def on_server_failure(self):
rospy.logfatal("Zeroconf server error.")
self.finish()
rospy.signal_shutdown("on_server_failure")
def on_group_established(self):
rospy.logdebug("Service %s established.", self.masterInfo.name)
def on_group_collision(self):
if not self.isStopped():
rospy.logwarn("ERROR: Service name collision. %s already exists. Retry in 3 sec...", self.masterInfo.name)
self._removeService()
time.sleep(3)
self._registerService()
def on_group_failure(self, error):
rospy.logfatal("Error in group %s: %s", self.masterInfo.name, error)
self.finish()
rospy.signal_shutdown("Error in group")
def on_group_removed(self, name):
if (name != self.masterInfo.name):
rospy.loginfo("%s group removed from zeroconf.", name)
self.masters.removeMaster(name)
def on_resolve_reply(self, master_info):
rospy.logdebug("on_resolve_reply: %s", master_info.name)
self.masters.updateMaster(master_info)
def on_service_updated(self):
self.masters.updateMaster(self.masterInfo)
def on_resolve_error(self):
self.masters.checkMastersState()
def checkLocalMaster(self, master_info):
'''..........................................................................
Compares the current state of the local ROS master. If the state was changed
the avahi sevice will be updated
@param master_info: will not be used, is only for compatibility to the Polling class.
..........................................................................'''
# get the state of the local ROS master
try:
# compare the current system state of ROS master with stored one and update the timestamp if needed
if self.master_monitor.checkState():
# sets a new timestamp in zeroconf
# rospy.logdebug("state of local master changed")
rpcuri = self.masterInfo.getTXTValue('rpcuri', '')
masteruri = self.masterInfo.getTXTValue('master_uri', '')
self.masterInfo.txt = ["timestamp=%s"%str(self.master_monitor.getCurrentState().timestamp), "master_uri=%s"%masteruri, "zname=%s"%rospy.get_name(), "rpcuri=%s"%rpcuri]
self.updateService(self.masterInfo.txt)
return self.masterInfo
except:
import traceback
rospy.logerr("Error while check local master: %s", traceback.format_exc())
return None