def __init__(self, owner, name, value):
""" Add the Parameter to the parameter server.
@param owner: Environment in which the node will be created.
@type owner: rce.environment.Environment
@param name: Name of the parameter which should be added.
@type name: str
@param value: Value of the parameter which should be added.
Top-level string values can contain the
directives $(find PKG) and/or $(env VAR).
@type value: str, int, float, bool, list
"""
self._registered = False
ArgumentMixin.__init__(self, owner.loader)
owner.registerParameter(self)
self._owner = owner
if isinstance(value, basestring):
value = self.processArgument(value)
self._name = name
try:
if rospy.has_param(name):
log.msg("Warning: Parameter already exists.")
rospy.set_param(name, value)
self._registered = True
except rospy.ROSException as e:
raise InternalError("ROS Parameter Server reported an error: " "{0}".format(e))
def __init__(self, owner, status, pkg, exe, args, name, namespace):
""" Initialize and start the Node.
@param owner: Environment in which the node will be created.
@type owner: rce.environment.Environment
@param status: Status observer which is used to inform the
Master of the node's status.
@type status: twisted.spread.pb.RemoteReference
@param pkg: Name of ROS package where the node can be
found.
@type pkg: str
@param exe: Name of executable (node) which should be
launched.
@type exe: str
@param args: Additional arguments which should be used for
the launch. Can contain the directives
$(find PKG) and/or $(env VAR). Other special
characters such as '$' or ';' are not allowed.
@type args: str
@param name: Name of the node under which the node should be
launched.
@type name: str
@param namespace: Namespace in which the node should be started
in the environment.
@type namespace: str
"""
ArgumentMixin.__init__(self, owner.loader)
owner.registerNode(self)
self._owner = owner
self._status = status
self._reactor = owner.reactor
self._call = None
# Find and validate executable
try:
cmd = [self._loader.findNode(pkg, exe)]
except ResourceNotFound as e:
raise InvalidRequest('Could not identify which node to launch: '
'{0}'.format(e))
# Add arguments
args = self.processArgument(args)
# TODO: Is it necessary to limit the possible characters here?
# for char in '$;':
# if char in args:
# raise InvalidRequest('Argument can not contain special '
# "character '{0}'.".format(char))
cmd += shlex.split(args)
# Process name and namespace argument
if name:
cmd.append('__name:={0}'.format(name))
else:
name = exe
if namespace:
cmd.append('__ns:={0}'.format(namespace))
# Create protocol instance
uid = uuid4().hex
out = os.path.join(self._LOG_DIR,
'{0}-{1}-out.log'.format(uid, name or exe))
err = os.path.join(self._LOG_DIR,
'{0}-{1}-err.log'.format(uid, name or exe))
self._protocol = NodeProtocol(self, out, err)
# Start node
log.msg('Start Node {0}/{1} [pkg: {2}, exe: '
'{3}].'.format(namespace, name, pkg, exe))
self._reactor.spawnProcess(self._protocol, cmd[0], cmd, env=os.environ)
self._name = '{0}/{1}'.format(pkg, exe)
def __init__(self, owner, pkg, exe, args, name, namespace):
""" Initialize and start the Node.
@param owner: Environment in which the node will be created.
@type owner: rce.environment.Environment
@param pkg: Name of ROS package where the node can be
found.
@type pkg: str
@param exe: Name of executable (node) which should be
launched.
@type exe: str
@param args: Additional arguments which should be used for
the launch. Can contain the directives
$(find PKG) and/or $(env VAR). Other special
characters such as '$' or ';' are not allowed.
@type args: str
@param name: Name of the node under which the node should be
launched.
@type name: str
@param namespace: Namespace in which the node should be started
in the environment.
@type namespace: str
@raise: rce.util.loader.ResourceNotFound
"""
ArgumentMixin.__init__(self, owner.loader)
owner.registerNode(self)
self._owner = owner
self._reactor = owner.reactor
self._call = None
self._protocol = None
# Find and validate executable
cmd = [self._loader.findNode(pkg, exe)] # raises ResourceNotFound
# Add arguments
args = self.processArgument(args)
# TODO: Is it necessary to limit the possible characters here?
# for char in '$;':
# if char in args:
# raise ValueError('Argument can not contain special '
# "character '{0}'.".format(char))
cmd += shlex.split(args)
# Process name and namespace argument
if name:
cmd.append('__name:={0}'.format(name))
if namespace:
cmd.append('__ns:={0}'.format(namespace))
# Create protocol instance
uid = uuid4().hex
out = os.path.join(self._LOG_DIR,
'{0}-{1}-out.log'.format(uid, name or exe))
err = os.path.join(self._LOG_DIR,
'{0}-{1}-err.log'.format(uid, name or exe))
self._protocol = NodeProtocol(self, out, err)
# Start node
log.msg('Start Node {0}/{1} [pkg: {2}, exe: '
'{3}].'.format(namespace, name or exe, pkg, exe))
self._reactor.spawnProcess(self._protocol, cmd[0], cmd, env=os.environ)
self._name = '{0}/{1}'.format(pkg, exe)
