def test_rosnode_list(self):
from ros import rosnode
cmd = 'rosnode'
nodes = ['/talker',
'/foo/talker',
'/bar/talker',
'/baz/talker1',
'/baz/talker2',
'/baz/talker3',
'/rosout',
]
l = rosnode.get_node_names()
for t in nodes:
self.assert_(t in l)
try:
rosnode._rosnode_cmd_list([cmd, 'list', 'one', 'two'])
self.fail("should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def test_rosnode_list(self):
from ros import rosnode
cmd = 'rosnode'
nodes = [
'/talker',
'/foo/talker',
'/bar/talker',
'/baz/talker1',
'/baz/talker2',
'/baz/talker3',
'/rosout',
]
l = rosnode.get_node_names()
for t in nodes:
self.assert_(t in l)
try:
rosnode._rosnode_cmd_list([cmd, 'list', 'one', 'two'])
self.fail("should have failed")
except SystemExit, e:
self.assertNotEquals(0, e.code)
def get_nodes():
""" Returns a list of all the nodes registered in the ROS system """
return rosnode.get_node_names()
def get_nodes():
""" Returns a list of all the nodes registered in the ROS system """
return rosnode.get_node_names()
def poll(self):
# Read the current system state from the ROS master
publishers, subscribers, _ = map(
dict,
rospy.get_master().getSystemState()[2])
node_names = set(rosnode.get_node_names())
topic_types = rospy.get_master().getPublishedTopics('')[2]
# Update the dictionary of topic types
for topic, type in topic_types:
if self.topic_types.get(topic, None) != type:
self.updates.set_topic_type(topic, type)
self.topic_types[topic] = type
# Create new nodes (needed for nodes without any pub/sub topics)
for name in node_names:
self.node(name)
# Link up published topics
for topic in publishers:
if topic in TOPIC_NAMES_TO_IGNORE:
continue
for name in publishers[topic]:
if name in NODE_NAMES_TO_IGNORE:
continue
node = self.node(name)
if node is not None:
node.output(topic)
node_names.add(name)
# Link up subscribed topics
for topic in subscribers:
if topic in TOPIC_NAMES_TO_IGNORE:
continue
for name in subscribers[topic]:
if name in NODE_NAMES_TO_IGNORE:
continue
node = self.node(name)
if node is not None:
node.input(topic)
node_names.add(name)
# Remove old node names
killed_names = self.names_to_stop_avoiding - node_names
self.names_to_stop_avoiding -= killed_names
self.names_to_avoid -= killed_names
# Remove old slots
for name, node in self.nodes.items() + self.owned_nodes.items():
for input in node.inputs.values():
if input.topic not in subscribers or node.name not in subscribers[
input.topic]:
del node.inputs[input.topic]
for output in node.outputs.values():
if output.topic not in publishers or node.name not in publishers[
output.topic]:
del node.outputs[output.topic]
# Remove old nodes
for name in self.nodes.keys():
if name not in node_names:
del self.nodes[name]
# Update owned nodes
for name in self.owned_nodes:
node = self.owned_nodes[name]
# Check on the process
if node.status == 'Starting...' and node.name in node_names:
node.status = ''
self.updates.update_owned_node(node)
node.poll()
# Remember all observed topics for when we restart this node in the future
if node.path not in self.db.topics:
self.db.topics[node.path] = set(), set()
published, subscribed = self.db.topics[node.path]
published |= set(topic for topic in node.outputs
if node.outputs[topic].original_topic is None)
subscribed |= set(topic for topic in node.inputs
if node.inputs[topic].original_topic is None)
# Save all observed topics
self.db.save()
# Keep polling killed child processes until they actually die
for process in list(self.killed_processes):
process.poll()
if process.returncode is not None:
self.killed_processes.remove(process)
# Update launch files
for launch_file in list(self.launch_files.values()):
launch_file.poll()
def poll(self):
# Read the current system state from the ROS master
publishers, subscribers, _ = map(dict, rospy.get_master().getSystemState()[2])
node_names = set(rosnode.get_node_names())
topic_types = rospy.get_master().getPublishedTopics('')[2]
# Update the dictionary of topic types
for topic, type in topic_types:
if self.topic_types.get(topic, None) != type:
self.updates.set_topic_type(topic, type)
self.topic_types[topic] = type
# Create new nodes (needed for nodes without any pub/sub topics)
for name in node_names:
self.node(name)
# Link up published topics
for topic in publishers:
if topic in TOPIC_NAMES_TO_IGNORE:
continue
for name in publishers[topic]:
if name in NODE_NAMES_TO_IGNORE:
continue
node = self.node(name)
if node is not None:
node.output(topic)
node_names.add(name)
# Link up subscribed topics
for topic in subscribers:
if topic in TOPIC_NAMES_TO_IGNORE:
continue
for name in subscribers[topic]:
if name in NODE_NAMES_TO_IGNORE:
continue
node = self.node(name)
if node is not None:
node.input(topic)
node_names.add(name)
# Remove old node names
killed_names = self.names_to_stop_avoiding - node_names
self.names_to_stop_avoiding -= killed_names
self.names_to_avoid -= killed_names
# Remove old slots
for name, node in self.nodes.items() + self.owned_nodes.items():
for input in node.inputs.values():
if input.topic not in subscribers or node.name not in subscribers[input.topic]:
del node.inputs[input.topic]
for output in node.outputs.values():
if output.topic not in publishers or node.name not in publishers[output.topic]:
del node.outputs[output.topic]
# Remove old nodes
for name in self.nodes.keys():
if name not in node_names:
del self.nodes[name]
# Update owned nodes
for name in self.owned_nodes:
node = self.owned_nodes[name]
# Check on the process
if node.status == 'Starting...' and node.name in node_names:
node.status = ''
self.updates.update_owned_node(node)
node.poll()
# Remember all observed topics for when we restart this node in the future
if node.path not in self.db.topics:
self.db.topics[node.path] = set(), set()
published, subscribed = self.db.topics[node.path]
published |= set(topic for topic in node.outputs if node.outputs[topic].original_topic is None)
subscribed |= set(topic for topic in node.inputs if node.inputs[topic].original_topic is None)
# Save all observed topics
self.db.save()
# Keep polling killed child processes until they actually die
for process in list(self.killed_processes):
process.poll()
if process.returncode is not None:
self.killed_processes.remove(process)
# Update launch files
for launch_file in list(self.launch_files.values()):
launch_file.poll()
