def __init__(self):
'''
Creates a new instance. Find the topic of the master_discovery node using
U{fkie_master_discovery.interface_finder.get_changes_topic()
<http://docs.ros.org/api/fkie_master_discovery/html/modules.html#interface-finder-module>}.
Also the parameter C{~ignore_hosts} will be analyzed to exclude hosts from sync.
'''
self.masters = {}
# the connection to the local service master
self.materuri = masteruri_from_master()
'''@ivar: the ROS master URI of the C{local} ROS master. '''
self.__lock = threading.RLock()
# load interface
self._load_interface()
# subscribe to changes notifier topics
topic_names = interface_finder.get_changes_topic(
masteruri_from_master())
self.sub_changes = dict()
'''@ivar: `dict` with topics {name: U{rospy.Subscriber<http://docs.ros.org/api/rospy/html/rospy.topics.Subscriber-class.html>}} publishes the changes of the discovered ROS masters.'''
for topic_name in topic_names:
rospy.loginfo("listen for updates on %s", topic_name)
self.sub_changes[topic_name] = rospy.Subscriber(
topic_name, MasterState, self._rosmsg_callback_master_state)
self.__timestamp_local = None
self.__own_state = None
self.update_timer = None
self.own_state_getter = None
self._join_threads = dict(
) # threads waiting for stopping the sync thread
# initialize the ROS services
rospy.Service('~get_sync_info', GetSyncInfo,
self._rosservice_get_sync_info)
rospy.on_shutdown(self.finish)
self.obtain_masters()
def master_changed(msg, cb_args):
param_cache, local_master = cb_args
local_name = ''
if local_master:
local_name = local_master[0]
if msg.master.uri != masteruri_from_master() and local_name in param_cache:
master_to = rospy.MasterProxy(masteruri_from_master())
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from {}...".format(msg.master.uri))
params_from = master_from['/']
rospy.logdebug("Got {} params.".format(len(msg.master.uri)))
if local_name in params_from:
del params_from[local_name]
if '/' + local_name in params_from:
del params_from['/' + local_name]
rospy.logdebug("Syncing params from {} to {}...".format(
msg.master.name, local_name))
if param_cache.get(msg.master.name, None) != params_from:
param_cache[msg.master.name] = params_from
master_to['/' + msg.master.name] = params_from
rospy.logdebug("Done syncing params from {} to {}.".format(
msg.master.name, local_name))
else:
rospy.logdebug("Params have not changed from {} to {}.".format(
msg.master.name, local_name))
else:
local_name = msg.master.name
local_master.append(local_name)
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from local {}...".format(
msg.master.uri))
param_cache[local_name] = master_from['/']
rospy.logdebug("Got {} params.".format(len(msg.master.uri)))
def __init__(self, path, masteruri=''):
'''
:param str path: absolute path of the launch file.
:param str masteruri: ROS-Masteruri if empty the masteruri will be determine by :meth:`fkie_master_discovery.common.masteruri_from_master`
'''
self.path = path
self.masteruri = masteruri
self._local = False
if not masteruri:
self.masteruri = masteruri_from_master(True)
self._local = True
elif url.equal_uri(self.masteruri, masteruri_from_master(True)):
self._local = True
def main():
rospy.init_node('param_sync', log_level=rospy.DEBUG)
param_cache = dict()
local_master = list()
masteruri_from_master()
__add_ns = rospy.get_param('~add_ns', True)
__ignore = rospy.get_param('~ignore', [])
__only = rospy.get_param('~only', [])
sub = rospy.Subscriber('master_discovery/changes', MasterState, master_changed, callback_args=(param_cache, local_master, __add_ns, __ignore, __only))
rospy.spin()
def main():
rospy.init_node('param_sync', log_level=rospy.DEBUG)
param_cache = dict()
local_master = list()
masteruri_from_master()
sub = rospy.Subscriber('master_discovery/changes',
MasterState,
master_changed,
callback_args=(param_cache, local_master))
rospy.spin()
def __init__(self, parent=None, progress_queue=None, viewobj=None):
'''
Creates a new list model.
'''
QStandardItemModel.__init__(self, parent)
self.viewobj = viewobj
self.setColumnCount(len(LaunchListModel.header))
self.setHorizontalHeaderLabels(
[label for label, _width in LaunchListModel.header])
self.pyqt_workaround = dict(
) # workaround for using with PyQt: store the python object to keep the defined attributes in the TopicItem subclass
self.items = []
self._roots = {}
self._current_path = nmdurl.nmduri()
self._current_master = masteruri_from_master()
self._current_master_name = ''
self.ros_root_paths = {} # {url: [root pasth(str)]}
self.ros_root_paths[self._current_path] = [
os.path.normpath(p)
for p in os.getenv("ROS_PACKAGE_PATH").split(':')
]
self._progress_queue = progress_queue
nm.nmd().file.listed_path.connect(self._listed_path)
nm.nmd().file.packages_available.connect(self._on_new_packages)
nm.nmd().file.error.connect(self._nmd_error)
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()
def nmduri(uri='', prefix='grpc://'):
'''
Determine for given url a gRPC-URI with `grpc://` scheme. If the
given URI is a ROS-Master URI the method calculate new port by adding
`NMD_SERVER_PORT_OFFSET`. If the given URI is empty we try to determine
the ROS-Master URI from environment or from ROS-Master.
:param str uri: empty or ROS-Master uri
:param str prefix: the scheme can be replaced
:return: URI with `grpc`-scheme.
:rtype: str
:raise ValueError: if uri is not empty and contains no scheme ('http', 'grpc')
'''
muri = uri
if not muri:
muri = masteruri_from_master(True)
o = urlparse(muri)
port = o.port
if o.scheme not in ['http', 'grpc']:
raise ValueError(
"uri parameter does not contain a scheme of ['http', ''grpc']: %s"
% uri)
if o.scheme == 'http':
port += NMD_SERVER_PORT_OFFSET
return "%s%s:%d" % (prefix, o.hostname, port)
def __init__(self, launch_file, package=None, masteruri='', host='', argv=None):
'''
Creates the LaunchConfig object. The launch file will be not loaded on
creation, first on request of roscfg value.
:param str launch_file: The absolute or relative path with the launch file.
By using relative path a package must be valid for
remote launches.
:param package: the package containing the launch file. If None the
launch_file will be used to determine the launch file.
No remote launches a possible without a valid package.
:type package: str or None
:param str masteruri: The URL of the ROS master.
:param argv: the list the arguments needed for loading the given launch file
:type argv: list(str)
:raise roslaunch.XmlParseException: if the launch file can't be found.
'''
self.__launchfile = launch_file
self.__package = package_name(os.path.dirname(self.__launchfile))[0] if package is None else package
self.__masteruri = masteruri if masteruri else masteruri_from_master(True)
self.__roscfg = None
self.argv = argv
if self.argv is None:
self.argv = []
self.__reqTested = False
self.__argv_values = dict()
self.global_param_done = [] # masteruri's where the global parameters are registered
self.__launch_id = '%.9f' % time.time()
self._robot_description = None
self._capabilities = None
self.host = host if host else None
self.resolve_dict = {}
self.changed = True
def master_changed(msg, cb_args):
param_cache, local_master, __add_ns, __ignore, __only = cb_args
local_name = ''
if local_master:
local_name = local_master[0]
if msg.master.uri != masteruri_from_master() and local_name in param_cache:
master_to = rospy.MasterProxy(masteruri_from_master())
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from {}...".format(msg.master.uri))
params_from = master_from.getParam('/')[2]
if not __add_ns:
for key in ['run_id', 'rosversion', 'roslaunch', 'rosdistro', 'master_sync', 'master_discovery', 'capabilities', 'mastername', 'robots']:
try:
del params_from[key]
except Exception:
pass
for key in __ignore + [local_name, '/'+local_name]:
try:
del params_from[key]
except Exception:
pass
if __only:
for key in params_from.keys():
if key not in __only:
del params_from[key]
rospy.logdebug("Syncing params from {} to {}...".format(msg.master.name, local_name))
if __add_ns:
_ns = msg.master.name
else:
_ns = ''
rospy.logdebug("Got {} params.".format(len(params_from)))
if param_cache.get(_ns, None) != params_from:
param_cache[_ns] = params_from
for key, value in params_from.items():
master_to.setParam('/'+_ns+key, value)
rospy.logdebug("Done syncing params from {} to {}.".format(msg.master.name, local_name))
else:
rospy.logdebug("Params have not changed from {} to {}.".format(msg.master.name, local_name))
else:
local_name = msg.master.name
local_master.append(local_name)
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from local {}...".format(msg.master.uri))
param_cache[local_name] = master_from.getParam('/')[2]
rospy.logdebug("Got {} local params.".format(len(param_cache[local_name])))
def set_current_master(self, masteruri, mastername):
self._current_master = masteruri.rstrip(os.path.sep)
self._current_master_name = mastername
if self._is_root(self._current_path):
nm.nmd().file.list_path_threaded(self._current_path)
if nmdurl.equal_uri(self._current_path, masteruri_from_master()):
self._add_path(nmdurl.nmduri(self._current_master),
PathItem.REMOTE_DAEMON, 0, 0,
get_hostname(self._current_master_name))
def nmdport(uri=''):
'''
Determine the port for GRPC-server from given URI. If empty try to get the ROS-Master URI.
'''
muri = uri
if not muri:
muri = masteruri_from_master(True)
o = urlparse(muri)
port = o.port
if o.scheme == 'http':
port += NMD_SERVER_PORT_OFFSET
return port
def _listed_path(self, url, path, result):
if not self.is_current_nmd(url):
return
root = self.invisibleRootItem()
while root.rowCount():
root.removeRow(0)
self.pyqt_workaround.clear()
# test for ROS root paths and add these if it is in ROS_PACKAGE_PATH
isroot = path in ['', os.path.sep]
if isroot:
self.ros_root_paths[url] = []
# append path items to the list model
result_list = []
for path_item in result:
if isroot and path_item.type in [FileItem.DIR, FileItem.PACKAGE]:
self.ros_root_paths[url].append(path_item.path)
item = os.path.normpath(os.path.join(path, path_item.path))
gpath = nmdurl.join(url, item)
path_id = PathItem.NOT_FOUND
if FileItem.FILE == path_item.type:
_, ext = os.path.splitext(path_item.path)
if ext in nm.settings(
).launch_view_file_ext or path_item.path.find('.launch.') > 0:
path_id = PathItem.FILE
elif FileItem.DIR == path_item.type:
path_id = PathItem.FOLDER
elif FileItem.SYMLINK == path_item.type:
pass
elif FileItem.PACKAGE == path_item.type:
path_id = PathItem.PACKAGE
if path_id != PathItem.NOT_FOUND and not os.path.basename(
path_item.path).startswith('.'):
# TODO: create filter for files
result_list.append(
(gpath, path_id, path_item.mtime, path_item.size,
os.path.basename(path_item.path)))
root_path = nmdurl.join(url, path)
self._set_new_list(root_path, result_list)
isroot = self._is_root(self._current_path)
if isroot and not nmdurl.equal_uri(self._current_master,
masteruri_from_master()):
self._add_path(nmdurl.nmduri(self._current_master),
PathItem.REMOTE_DAEMON, 0, 0,
get_hostname(self._current_master_name))
self.pathlist_handled.emit(root_path)
def masteruri(grpc_path):
'''
Determine ROS-Master uri from gRPC-URI by replacing the scheme and reducing the
port by :const:`NMD_SERVER_PORT_OFFSET`.
:param str grpc_path: an URI with `grpc://` scheme.
:return: ROS-Master URI
:rtype: str
:raise ValueError: if uri is not empty and does not start with 'grpc://'.
'''
if not grpc_path:
return masteruri_from_master(True)
if not grpc_path.startswith('grpc://'):
raise ValueError("Invalid grpc path to get masteruri: %s; `grpc` scheme missed!" % grpc_path)
o = urlparse(grpc_path)
port = o.port
if o.scheme == 'grpc':
port -= NMD_SERVER_PORT_OFFSET
return "http://%s:%d/" % (o.hostname, port)
