def compute_param_updates(subscribers, param_key, param_value):
"""
Compute subscribers that should be notified based on the parameter update
@param subscribers: parameter subscribers
@type subscribers: Registrations
@param param_key: parameter key
@type param_key: str
@param param_value: parameter value
@type param_value: str
"""
# logic correct for both updates and deletions
if not subscribers:
return []
# end with a trailing slash to optimize startswith check from
# needing an extra equals check
if param_key != SEP:
param_key = canonicalize_name(param_key) + SEP
# compute all the updated keys
if type(param_value) == dict:
all_keys = _compute_all_keys(param_key, param_value)
else:
all_keys = None
updates = []
# subscriber gets update if anything in the subscribed namespace is updated or if its deleted
for sub_key in subscribers.iterkeys():
ns_key = sub_key
if ns_key[-1] != SEP:
ns_key = sub_key + SEP
if param_key.startswith(ns_key):
node_apis = subscribers[sub_key]
updates.append((node_apis, param_key, param_value))
elif all_keys is not None and ns_key.startswith(param_key) \
and not sub_key in all_keys:
# parameter was deleted
node_apis = subscribers[sub_key]
updates.append((node_apis, sub_key, {}))
# add updates for exact matches within tree
if all_keys is not None:
# #586: iterate over parameter tree for notification
for key in all_keys:
if key in subscribers:
# compute actual update value
sub_key = key[len(param_key):]
namespaces = [x for x in sub_key.split(SEP) if x]
val = param_value
for ns in namespaces:
val = val[ns]
updates.append((subscribers[key], key, val))
return updates
def compute_param_updates(subscribers, param_key, param_value):
"""
Compute subscribers that should be notified based on the parameter update
@param subscribers: parameter subscribers
@type subscribers: Registrations
@param param_key: parameter key
@type param_key: str
@param param_value: parameter value
@type param_value: str
"""
# logic correct for both updates and deletions
if not subscribers:
return []
# end with a trailing slash to optimize startswith check from
# needing an extra equals check
if param_key != SEP:
param_key = canonicalize_name(param_key) + SEP
# compute all the updated keys
if type(param_value) == dict:
all_keys = _compute_all_keys(param_key, param_value)
else:
all_keys = None
updates = []
# subscriber gets update if anything in the subscribed namespace is updated or if its deleted
for sub_key in subscribers.iterkeys():
ns_key = sub_key
if ns_key[-1] != SEP:
ns_key = sub_key + SEP
if param_key.startswith(ns_key):
node_apis = subscribers[sub_key]
updates.append((node_apis, param_key, param_value))
elif all_keys is not None and ns_key.startswith(param_key) \
and not sub_key in all_keys:
# parameter was deleted
node_apis = subscribers[sub_key]
updates.append((node_apis, sub_key, {}))
# add updates for exact matches within tree
if all_keys is not None:
# #586: iterate over parameter tree for notification
for key in all_keys:
if key in subscribers:
# compute actual update value
sub_key = key[len(param_key):]
namespaces = [x for x in sub_key.split(SEP) if x]
val = param_value
for ns in namespaces:
val = val[ns]
updates.append((subscribers[key], key, val))
return updates
def unsubscribe_param(self, key, unregistration_args):
"""
@param key str: parameter key
@type key: str
@param unregistration_args: additional args to pass to
subscribers.unregister. i.e. unregister will be called with
(key, *unregistration_args)
@type unregistration_args: tuple
@return: return value of subscribers.unregister()
"""
if key != SEP:
key = canonicalize_name(key) + SEP
return self.reg_manager.unregister_param_subscriber(key, *unregistration_args)
def add_remap(self, remap):
"""
Add a new remap setting to the context. if a remap already
exists with the same from key, it will be removed
@param remap: remap setting
@type remap: (str, str)
"""
remap = [canonicalize_name(x) for x in remap]
if not remap[0] or not remap[1]:
raise RLException("remap from/to attributes cannot be empty")
if not is_legal_name(remap[0]):
raise RLException("remap from [%s] is not a valid ROS name"%remap[0])
if not is_legal_name(remap[1]):
raise RLException("remap to [%s] is not a valid ROS name"%remap[1])
matches = [r for r in self._remap_args if r[0] == remap[0]]
for m in matches:
self._remap_args.remove(m)
self._remap_args.append(remap)
def add_remap(self, remap):
"""
Add a new remap setting to the context. if a remap already
exists with the same from key, it will be removed
@param remap: remap setting
@type remap: (str, str)
"""
remap = [canonicalize_name(x) for x in remap]
if not remap[0] or not remap[1]:
raise RLException("remap from/to attributes cannot be empty")
if not is_legal_name(remap[0]):
raise RLException("remap from [%s] is not a valid ROS name"%remap[0])
if not is_legal_name(remap[1]):
raise RLException("remap to [%s] is not a valid ROS name"%remap[1])
matches = [r for r in self._remap_args if r[0] == remap[0]]
for m in matches:
self._remap_args.remove(m)
self._remap_args.append(remap)
def test_canonicalize_name():
from rosgraph.names import canonicalize_name
tests = [
('', ''),
('/', '/'),
('foo', 'foo'),
('/foo', '/foo'),
('/foo/', '/foo'),
('/foo/bar', '/foo/bar'),
('/foo/bar/', '/foo/bar'),
('/foo/bar//', '/foo/bar'),
('/foo//bar', '/foo/bar'),
('//foo/bar', '/foo/bar'),
('foo/bar', 'foo/bar'),
('foo//bar', 'foo/bar'),
('foo/bar/', 'foo/bar'),
('/foo/bar', '/foo/bar'),
]
for t, v in tests:
assert v == canonicalize_name(t)
def test_canonicalize_name():
from rosgraph.names import canonicalize_name
tests = [
('', ''),
('/', '/'),
('foo', 'foo'),
('/foo', '/foo'),
('/foo/', '/foo'),
('/foo/bar', '/foo/bar'),
('/foo/bar/', '/foo/bar'),
('/foo/bar//', '/foo/bar'),
('/foo//bar', '/foo/bar'),
('//foo/bar', '/foo/bar'),
('foo/bar', 'foo/bar'),
('foo//bar', 'foo/bar'),
('foo/bar/', 'foo/bar'),
('/foo/bar', '/foo/bar'),
]
for t, v in tests:
assert v == canonicalize_name(t)
def subscribe_param(self, key, registration_args):
"""
@param key: parameter key
@type key: str
@param registration_args: additional args to pass to
subscribers.register. First parameter is always the parameter
key.
@type registration_args: tuple
"""
if key != SEP:
key = canonicalize_name(key) + SEP
try:
self.lock.acquire()
# fetch parameter value
try:
val = self.get_param(key)
except KeyError:
# parameter not set yet
val = {}
self.reg_manager.register_param_subscriber(key, *registration_args)
return val
finally:
self.lock.release()