def _check_haros_name_is_complete(self, haros_name, context=''):
"""
Check if the HAROS name does not hint at an incomplete model (does not
contain `?` as the last token if it contains `/` or is not `?`)
:param haros_name: the HAROS string name to check
:type haros_name: str
:param context: optional context string for logging, defaults to ''
:type context: str, optional
:return: boolean to indicate if most likely complete model (`True`)
or not (`False`)
:rtype: boolean
"""
# VALIDATION AND ERROR HANDLING: Handle HAROS Issue where Models may be Incomplete and thus,
# Have Incomplete Names and Even Types.
if '/' in haros_name:
complete = (haros_name.strip().split('/')[-1] != '?')
else:
complete = (haros_name.strip() != '?')
if not complete:
if context:
context = '. [In {}]'.format(context)
Logger.get_logger().log(LoggerLevel.ERROR, '[{}] INCOMPLETE HAROS Model Information Encountered for "{}"{}.'.format(
self.__class__.TYPE, haros_name, context))
return complete
def _haros_model_instances(self):
"""
Returns the appropriate HAROS Model Instances
:return: A set of HAROS Service Specifications
:rtype: set(ServicePrimitive)
"""
encountered_haros_service_spec_ids = set()
haros_service_specs = set()
for haros_service_instance in self._haros_configuration.services:
haros_service_spec = haros_service_instance.server
# Handle Error Case Where Service Spec was a `NoneType` - from Acceptance Testing
# with `chris_rrbot_modeling` demo.
if haros_service_spec:
haros_service_spec_id = haros_service_spec.type
if (haros_service_spec_id not in encountered_haros_service_spec_ids):
# Add Required Fields to Allow HAROS Primitive to be Used in Remodeler Structure.
haros_service_spec.id = haros_service_spec_id
haros_service_spec.name = haros_service_spec_id
haros_service_specs.add(haros_service_spec)
encountered_haros_service_spec_ids.add(haros_service_spec_id)
else:
Logger.get_logger().log(LoggerLevel.ERROR, '[{}] Cannot Locate Service Spec for Service "{}".'.format(
self.__class__.TYPE, haros_service_instance.id))
return haros_service_specs
def _merge_haros_parameter_links_with_chris_parameter_nodes(self, haros_parameter_model, chris_parameter_model):
"""
Helper merging method to merge the HAROS Parameter Node Links with the
CHRIS Parameter Nodes
:param haros_parameter_model: the HAROS Parameter model
:type haros_parameter_model: Parameter
:param chris_parameter_model: the CHRIS Parameter model
:type chris_parameter_model: Parameter
:return: boolean indicating if the model was updated (`True`) or not (`False`)
:rtype: boolean
"""
model_updated = False
for link in haros_parameter_model.writes:
haros_node_instance_name = link.node.id
if self._check_haros_name_is_complete(haros_node_instance_name, 'Check for Parameter Nodes'):
if haros_node_instance_name not in chris_parameter_model.setting_node_names:
Logger.get_logger().log(LoggerLevel.INFO, '[{}] Adding HAROS Param\'s Setting Node "{}" to CHRIS Param Instance.'.format(
self.__class__.TYPE, haros_node_instance_name))
chris_parameter_model.setting_node_names.add(
haros_node_instance_name)
model_updated = True
for link in haros_parameter_model.reads:
haros_node_instance_name = link.node.id
if self._check_haros_name_is_complete(haros_node_instance_name, 'Check for Parameter Nodes'):
if haros_node_instance_name not in chris_parameter_model.reading_node_names:
Logger.get_logger().log(LoggerLevel.INFO, '[{}] Adding HAROS Param\'s Reading Node "{}" to CHRIS Param Instance.'.format(
self.__class__.TYPE, haros_node_instance_name))
chris_parameter_model.reading_node_names.add(
haros_node_instance_name)
model_updated = True
return model_updated
def read_model_from_pickle(directory_path,
base_file_name,
spec_only=False):
"""
Read model banks from directory containing YAML files
:param directory_path: file path to YAML files
:param base_file_name: base file name used in YAML files
:return : instance of ROSModel
"""
bank_dict = {}
Logger.get_logger().log(LoggerLevel.INFO,
'Reading ROS model from pickle files ...')
# ROSModel.get_yaml_processor()
for bank_type, bank_output_name in ROSModel.BANK_TYPES_TO_OUTPUT_NAMES.items(
):
if spec_only and bank_type not in ROSModel.SPECIFICATION_TYPES:
print "Specifications only - skipping ", bank_output_name
continue
file_name = '{}/{}_{}.pkl'.format(directory_path, base_file_name,
bank_output_name)
try:
with open(file_name, 'rb') as fin:
bank_data = pickle.load(fin)
bank_dict[bank_type] = bank_data
except IOError:
Logger.get_logger().log(
LoggerLevel.ERROR,
'Failed to read Pickle data for {} : {}'.format(
bank_output_name, file_name))
bank_dict[bank_type] = ROSModel.BANK_TYPES_TO_BANK_CLASS[
bank_type]()
# Create instance of the model class
return ROSModel(bank_dict)
def load_model(input_directory, spec_only=False):
"""
Load model from folder
:param input_directory: the input directory pointing to either yaml or pickle files (e.g. output/yaml)
:return: ROSModel instance with models stored in dictionary by type
"""
try:
input_type, input_base_file_name = get_input_file_type(
input_directory)
except IOError as e:
Logger.get_logger().log(
LoggerLevel.ERROR,
'Failed to deduce type from ' + input_directory + ' ...')
print " Did you specify input folder with yaml or pickle files?"
print " " + e
return None
if input_type == 'yaml':
return ROSModel.read_model_from_yaml(input_directory,
input_base_file_name,
spec_only)
elif input_type == 'pkl':
return ROSModel.read_model_from_pickle(input_directory,
input_base_file_name,
spec_only)
else:
Logger.get_logger().log(
LoggerLevel.ERROR, 'Unknown ROS model input type from ' +
input_directory + ' ...')
return None
def save_model_yaml_files(self, directory_path, base_file_name):
"""
Save the ROS bank metamodel instances to yaml files
:param directory_path : directory to store files
:param base_file_name:
:return: None
"""
try:
Logger.get_logger().log(
LoggerLevel.INFO,
'Saving YAML files for ROS Computation Graph.')
# ROSModel.get_yaml_processor()
create_directory_path(directory_path)
for bank_type, bank in self._bank_dictionary.items():
bank_output_name = ROSModel.BANK_TYPES_TO_OUTPUT_NAMES[
bank_type]
file_name = '{}/{}_{}.yaml'.format(directory_path,
base_file_name,
bank_output_name)
yaml_file = open(file_name, 'w')
yaml.dump(bank, yaml_file, sort_keys=True)
yaml_file.close()
except IOError as ex:
Logger.get_logger().log(
LoggerLevel.ERROR,
'Failed to save YAML files for ROS Computation Graph.')
print " ", ex
def _helper_merge_haros_model_with_chris_model(self, bank_type,
haros_model, chris_model):
"""
Main merging helper method that handles specific details regarding the
merging of a specific Service HAROS model with a specific Service
CHRIS model
:param bank_type: the corresponding CHRIS Model Bank Type
:type bank_type: BankType
:param haros_model: the specific HAROS model to obtain data from
:type haros_model: Service
:param chris_model: the specific CHRIS Model to merge data into
:type chris_model: Service
"""
model_updated = False
# VALIDATE Service Types to Alert the User of INCONSISTENT / INACCURATE DATA.
haros_service_type = haros_model.type
chris_service_type = chris_model.construct_type
if (haros_service_type != chris_service_type):
Logger.get_logger().log(
LoggerLevel.ERROR,
'[{}] HAROS Service\'s Type "{}" does NOT Match CHRIS Service\'s Type "{}".'
.format(self.__class__.TYPE, haros_service_type,
chris_service_type))
model_updated |= self._helper_merge_haros_services_with_chris_model(
[haros_model.server], chris_model.service_provider_node_names,
'Provided')
chris_model_service_clients = set()
if self._helper_merge_haros_services_with_chris_model(
haros_model.clients, chris_model_service_clients, 'Client'):
chris_model.service_client_node_names = chris_model_service_clients
model_updated = True
return model_updated
def update_bank(self, bank_type, bank_dictionary):
"""
Add a new bank data to ROS model
:param bank_type: a BankType
:param bank_dictionary: dictionary of name to entity instances
"""
if bank_type not in BankType:
raise ValueError("Invalid bank type " + str(bank_type))
if bank_type not in self._bank_dictionary:
self._bank_dictionary[bank_type] = {}
# Validate the inputs
for key, value in bank_dictionary.items():
if not isinstance(key, str):
raise KeyError(
"ROSModel.update_bank: All keys must be strings - not " +
str(type(key)))
if not isinstance(value,
self._bank_dictionary[bank_type].entity_class):
raise ValueError(
"ROSModel.update_bank: All values must be {} - not {}".
format(
self._bank_dictionary[bank_type].entity_class.__name__,
value.__class__.__name__))
# Merge dictionarys
Logger.get_logger().log(
LoggerLevel.INFO,
"Update {}".format(self.BANK_TYPES_TO_OUTPUT_NAMES[bank_type]))
self._bank_dictionary[bank_type].update(bank_dictionary)
def save_model_info_files(self, directory_path, base_file_name):
"""
Save the ROS model to human-readable files
:param directory_path : directory to store files
:param base_file_name: file name string
:return:
"""
try:
Logger.get_logger().log(
LoggerLevel.INFO,
'Saving human-readable files for ROS Computation Graph.')
create_directory_path(directory_path)
for bank_type, bank in self._bank_dictionary.items():
rows = []
rows.append(str(bank))
bank_output_name = ROSModel.BANK_TYPES_TO_OUTPUT_NAMES[
bank_type]
file_name = '{}/{}_{}.txt'.format(directory_path,
base_file_name,
bank_output_name)
with open(file_name, 'w') as fout:
fout.write('\n'.join(rows))
except IOError as ex:
Logger.get_logger().log(
LoggerLevel.ERROR,
'Failed to save human-readable files for ROS Computation Graph.'
)
print " ", ex
def machine(self):
"""
Extracts the machine ID from the uri information
:return: machine ID as string
"""
if self._machine is None:
self._machine = "UNKNOWN MACHINE" # initialize
if "UNKNOWN" in self._uri:
# Abandon if uri is unknown
return self._machine
tokens = self.uri.split("/")
if len(tokens) < 2:
# expect at least one / in uri
Logger.get_logger().log(
LoggerLevel.ERROR,
'{}: {}.'.format("UNKNOWN MACHINE", tokens))
else:
if tokens[-1] == "":
# Assumes last token is empty after trailing /
address = tokens[-2]
else:
address = tokens[-1]
# Assumes machine : pid format of uri
self._machine = address.split(":")[0]
return self._machine
def _helper_merge_haros_model_with_chris_model(self, bank_type,
haros_model, chris_model):
"""
Main merging helper method that handles specific details regarding the
merging of a specific Topic HAROS model with a specific Topic
CHRIS model
:param bank_type: the corresponding CHRIS Model Bank Type
:type bank_type: BankType
:param haros_model: the specific HAROS model to obtain data from
:type haros_model: Topic
:param chris_model: the specific CHRIS Model to merge data into
:type chris_model: Topic
"""
model_updated = False
haros_topic_type = haros_model.type
chris_topic_type = chris_model.construct_type
# VALIDATE Topic Types to Alert the User of INCONSISTENT / INACCURATE DATA.
if haros_topic_type != chris_topic_type:
Logger.get_logger().log(
LoggerLevel.ERROR,
'[{}] HAROS Topic\'s Type "{}" does NOT Match CHRIS Topic\'s Type "{}".'
.format(self.__class__.TYPE, haros_topic_type,
chris_topic_type))
model_updated |= self._merge_haros_topic_links_with_chris_topic_nodes(
haros_model, chris_model)
return model_updated
def _collect_parameters_info(self):
"""
Helper method to create ParameterBuilders within the
ROSModelBuilder's ParameterBankBuilder and to map parameters to
associated NodeBuilders (obtained from the ROS Master API)
"""
for parameter_name in self._master.getParamNames():
# Initialize parameter bank for each parameter name
self.parameter_bank[parameter_name] # pylint: disable=W0104
try:
for parameter_name, node_names in self._master.getParamsToSettingCallers().items():
for node_name in node_names:
if (node_name == '/roslaunch') or (not filters.NodeFilter.get_filter().should_filter_out(node_name)):
self.parameter_bank[parameter_name].add_setting_node_name(node_name)
if not filters.NodeFilter.get_filter().should_filter_out(node_name):
self.node_bank[node_name].add_parameter_name(parameter_name, 'set', None)
for parameter_name, node_names in self._master.getParamsToReadingCallers().items():
for node_name in node_names:
if (node_name == '/roslaunch') or not filters.NodeFilter.get_filter().should_filter_out(node_name):
self.parameter_bank[parameter_name].add_reading_node_name(node_name)
if not filters.NodeFilter.get_filter().should_filter_out(node_name):
self.node_bank[node_name].add_parameter_name(parameter_name, 'read', None)
except AttributeError:
msg = '\n Standard roscore does NOT provide parameter setting/reading information!\n' + \
' Use custom roscore if desired.\n' + \
' See chris_ros_snapshot README for more info!'
Logger.get_logger().log(LoggerLevel.WARNING, msg)
def _create_new_chris_model(self, instance_name, haros_instance):
"""
Creates a new Node CHRIS model with the instance name and based on the
corresponding HAROS instance
:param instance_name: the HAROS instance name
:type instance_name: str
:param haros_instance: the corresponding HAROS model
:type haros_instance: NodeInstance
:return: a tuple containing the Bank Type and new CHRIS model
:rtype: Tuple(BankType, Node)
"""
# DECISION: If HAROS cannot provide the ability to distinguish between a Nodelet and a Nodelet Manager, we will
# just attempt to populate the newly created model into a Nodelet Bank (if we can tell if the HAROS
# model represents a Nodelet) or just the Node Bank otherwise (which will catch Nodelet Managers
# since there is no easy way to tell if it is a Manager). Besides, we should be able to gather all
# Nodes using our CHRIS ROS Snapshot tool.
if haros_instance.node.nodelet_class:
Logger.get_logger().log(
LoggerLevel.ERROR,
'[{}] Create new chris nodelet model"{}".'.format(
self.__class__.TYPE, instance_name))
return (BankType.NODELET,
self._chris_model_banks[BankType.NODELET][instance_name])
Logger.get_logger().log(
LoggerLevel.ERROR, '[{}] Create new chris node model"{}".'.format(
self.__class__.TYPE, instance_name))
return (BankType.NODE,
self._chris_model_banks[BankType.NODE][instance_name])
def _update_chris_model_version(cls, chris_model, model_updated):
"""
Increments the version and updates the source list for the CHRIS model,
if it has been updated
:param chris_model: the CHRIS model to update version and source for
:type chris_model: _EntityMetamodel
:param model_updated: `True` if model has been updated; `False` if not
:type model_updated: boolean
"""
if model_updated:
chris_model.version = chris_model.version + 1
new_sources = set()
if isinstance(chris_model.source, list):
for source in chris_model.source:
new_sources.add(source)
new_sources.add(cls.REMODELER_SOURCE_NAME)
chris_model.source = sorted(new_sources)
elif isinstance(chris_model.source, str):
for source in chris_model.source.split(','):
new_sources.add(source.strip())
new_sources.add(cls.REMODELER_SOURCE_NAME)
chris_model.source = ', '.join(sorted(new_sources))
else:
Logger.get_logger().log(LoggerLevel.ERROR,
'[{}] Error Setting Source(s) for CHRIS Model "{}".'.format(cls.TYPE, chris_model.name))
def __init__(self):
"""
Instantiates an instance of the PackageModeler
"""
self._package_bank = PackageSpecificationBank()
self._node_bank = NodeSpecificationBank()
self._action_bank = TypeSpecificationBank()
self._message_bank = TypeSpecificationBank()
self._service_bank = TypeSpecificationBank()
self._ros_model = None
self._rospack = rospkg.RosPack()
self._packages = None
self._package_paths = None
self._message_paths = None
self._service_paths = None
self._action_paths = None
self._installed_deb_cache = None
try:
cache = apt.Cache()
self._installed_deb_cache = {
pkg.name: pkg
for pkg in cache if pkg.is_installed
}
except:
Logger.get_logger().log(
LoggerLevel.ERROR,
'Cannot get installed package version (is this Ubuntu?) ...')
def _match_token_types(node_name, io_names, io_builders, spec_types):
"""
Look for matched tokens and/or data types between node and spec
:param node_name:
:param io_names: relevant names to process (dict)
:param io_builders: builder for relevant type
:param spec_types: corresponding data in specification
:return: True if all valid, False otherwise
"""
try:
if spec_types is None:
if len(io_names) > 0:
# Nothing defined for spec
return False
else:
# We have action clients to match up in the spec
available_tokens = set(spec_types)
io_is_valid = True
for io_name in sorted(io_names):
builder = io_builders[io_name]
io_type = builder.construct_type
token = io_name.split("/")[-1]
if token not in available_tokens or io_type != spec_types[token]:
# look from matching item remaining tokens
# prefer substring match
potential = set([ss for ss in available_tokens if token in ss])
remaining = available_tokens - potential
for test in sorted(potential):
if spec_types[test] == io_type:
# found match
io_names[io_name] = test
available_tokens.remove(test)
break
if io_names[io_name] is None:
for test in sorted(remaining):
if spec_types[test] == io_type:
# found match
io_names[io_name] = test
available_tokens.remove(test)
break
if io_names[io_name] is None:
# If still None, then no match found
Logger.get_logger().log(LoggerLevel.WARNING, ' Node {} unmatched data {} !'.format(node_name, io_name))
io_is_valid = False
else:
# Found valid match
io_names[io_name] = token
available_tokens.remove(token)
return io_is_valid
except Exception as ex:
print type(ex)
print ex
track = traceback.format_exc()
print track
sys.exit(-1)
def create_directory_path(directory_path):
"""
Create directory path if required
:param directory_path:
:return: None
"""
if not os.path.exists(directory_path):
Logger.get_logger().log(
LoggerLevel.DEBUG,
'Creating directory path {}.'.format(directory_path))
os.makedirs(directory_path)
def _collect_packages(self):
"""
Dictionary of packages to location
"""
# Retrieve the package information
self._packages = self._rospack.list()
self._package_paths = {
package: self._rospack.get_path(package)
for package in self._packages
}
self._message_paths = {
package: [os.path.join(self._rospack.get_path(package), 'msg')]
for package in self._packages
}
self._service_paths = {
package: [os.path.join(self._rospack.get_path(package), 'srv')]
for package in self._packages
}
self._action_paths = {
package: [os.path.join(self._rospack.get_path(package), 'action')]
for package in self._packages
}
for package_name in self._packages:
try:
try:
path = self._package_paths[package_name]
except ValueError:
path = "UNKNOWN PATH"
try:
package_dependencies = self._rospack.get_depends(
package_name)
except rospkg.common.ResourceNotFound:
#pylint: disable=redefined-variable-type
package_dependencies = "NO DEPENDENCIES DEFINED"
installed_version = self._get_installed_version(package_name)
package = self._package_bank[package_name]
package.update_attributes(directory_path=path,
dependencies=package_dependencies,
source=PackageModeler.source_name,
installed_version=installed_version)
except Exception as ex:
Logger.get_logger().log(
LoggerLevel.ERROR,
"Processing {} {} : {}".format(package_name, type(ex), ex))
raise ex # kill for now to debug
def _extract_action_names_and_remove_corresponding_topics(
self, topic_bank_builder, action_bank_builder):
"""
Associates the ROS Node with Action Server / Client related
Action names from the ActionBankBuilder and removes the
Action-related Topics from the ROS Node's Topic store
:param topic_bank_builder: the TopicBankBuilder to use for
Action-related Topic name removal
:type topic_bank_builder: TopicBankBuilder
:param action_bank_builder: the ActionBankBuilder to use for
Action-related Topic name removal and Action Server / Client
reference
:type action_bank_builder: ActionBankBuilder
:return: the mapping of Action Server / Client roles ('server'
or 'client') to extracted Action names
:rtype: dict{str: dict{str:str}}
"""
extracted_action_names = {'server': dict(), 'client': dict()}
valid_topic_names = [
topic_name for topic_name in
topic_bank_builder.names_to_entity_builders.keys()
]
for status, topic_name_dict in {
'published': self.published_topic_names,
'subscribed': self.subscribed_topic_names
}.items():
#Logger.get_logger().log(LoggerLevel.INFO,
# 'Searching for {} action topics for node {}.'.format(status, self.name))
for topic_name in set(topic_name_dict.keys()):
if topic_name not in valid_topic_names:
topic_builder = TopicBuilder(topic_name)
name_base, name_suffix = topic_builder.name_base, topic_builder.name_suffix
if (name_base in action_bank_builder.names_to_entity_builders) and \
(name_suffix in ActionBuilder.TOPIC_SUFFIXES):
action_builder = action_bank_builder[name_base]
log_message = 'Found action {}. Removing topic {} from node {}.'.format(
name_base, topic_name, self.name)
if self.name in action_builder.client_node_names:
extracted_action_names['client'][name_base] = None
self.remove_topic_name(topic_name, status)
elif self.name in action_builder.server_node_names:
extracted_action_names['server'][name_base] = None
self.remove_topic_name(topic_name, status)
else:
log_message = 'Failed to find action {}. Will NOT remove topic {} from node {}.'.format(
name_base, topic_name, self.name)
Logger.get_logger().log(LoggerLevel.INFO, log_message)
return extracted_action_names
def _helper_populate_new_chris_model(self, bank_type, instance_name, haros_model, new_chris_model_instance):
"""
Helper method to help populate the new CHRIS model based on the corresponding HAROS model
:param bank_type: the Bank Type used to create the new CHRIS model
:type bank_type: BankType
:param instance_name: the HAROS instance name
:type instance_name: str
:param haros_model: the corresponding HAROS model
:type haros_model: MetamodelObject
:param new_chris_model_instance: the new CHRIS model to update/populate
:type new_chris_model_instance: _EntityMetamodel
"""
Logger.get_logger().log(LoggerLevel.INFO, '[{}] Not Populating New Model "{}".'.format(
self.__class__.TYPE, instance_name))
def check_for_version_request(options):
"""
Checks the command line options for a version request; if present and true,
shows the version and exits; else, does nothing
:param options: argparse command line options with `version` boolean present
:type options: argparse.Namespace
"""
if options.version:
file_name = os.path.join(os.path.dirname(
__file__), '..', '..', 'VERSION')
with open(file_name) as input_file:
version = input_file.read().strip()
Logger.get_logger().log(LoggerLevel.INFO,
'chris_haros_model_merger version: {}.'.format(version))
sys.exit(0)
def _gather_uri(self):
"""
Helper method to gather the ROS Node URI from the ROS Master
:return: the gathered ROS Node URI from the ROS Master
:rtype: str
"""
try:
return ROSUtilities.get_ros_utilities().master.lookupNode(
self.name)
except rosgraph.masterapi.MasterError as ex:
error_message = 'URI for node {} cannot be retrieved from ROS Master'.format(
self.name)
Logger.get_logger().log(LoggerLevel.ERROR,
'{}: {}.'.format(error_message, ex))
return "UNKNOWN URI FOR {}".format(self.name)
def _helper_populate_new_chris_model(self, bank_type, instance_name, haros_model, new_chris_model_instance):
"""
Helper method to help populate the new Service Specification CHRIS model
based on the corresponding HAROS model
:param bank_type: the Bank Type used to create the new CHRIS model
:type bank_type: BankType
:param instance_name: the HAROS instance name
:type instance_name: str
:param haros_model: the corresponding HAROS model
:type haros_model: ServicePrimitive
:param new_chris_model_instance: the new CHRIS model to update/populate
:type new_chris_model_instance: ServiceSpecification
"""
Logger.get_logger().log(LoggerLevel.INFO, '[{}] No Additional Population is Possible for Service Spec "{}".'.format(
self.__class__.TYPE, instance_name))
def _create_new_chris_model(self, instance_name, haros_instance):
"""
Creates a new CHRIS model with the instance name and based on the
corresponding HAROS instance
:param instance_name: the HAROS instance name
:type instance_name: str
:param haros_instance: the corresponding HAROS model
:type haros_instance: MetamodelObject
:return: a tuple containing the Bank Type and new CHRIS model
:rtype: Tuple(BankType, _EntityMetamodel)
"""
chosen_chris_model_bank_type = self._chris_model_banks.keys()[0]
Logger.get_logger().log(LoggerLevel.INFO, '[{}] Create new chris model from base_remodeler type={} "{}"...'.format(
self.__class__.TYPE, chosen_chris_model_bank_type, instance_name))
return (chosen_chris_model_bank_type, self._chris_model_banks[chosen_chris_model_bank_type][instance_name])
def get_yaml_processor():
"""
Return YAML handler
"""
Logger.get_logger().log(LoggerLevel.INFO,
" Set up YAML processing for meta models ...")
for sub_class in _BankMetamodel.__subclasses__():
# print "adding representor and constructor for ", sub_class.yaml_tag
yaml.add_representer(sub_class.yaml_tag, sub_class.__repr__)
partial_func = partial(ROSModel.yaml_constructor, sub_class)
yaml.add_constructor(sub_class.yaml_tag, partial_func)
for sub_class in _EntityMetamodel.__subclasses__():
# print "adding representor and constructor for ", sub_class.yaml_tag
yaml.add_representer(sub_class.yaml_tag, sub_class.__repr__)
partial_func = partial(ROSModel.yaml_constructor, sub_class)
yaml.add_constructor(sub_class.yaml_tag, partial_func)
def _merge_haros_node_links_with_chris_node_parameters(
self, haros_node_model_links, chris_node_model_parameters,
link_type):
"""
Helper merging method to merge the HAROS Node Parameters Links with the
CHRIS Node Parameters
:param haros_node_model_links: HAROS Read or Written Parameter Links
:type haros_node_model_links: list[ParameterPrimitive]
:param chris_node_model_parameters: CHRIS Written or Read Parameter Names to Types
:type chris_node_model_parameters: dict{str: str}
:param link_type: Read or Written Link Types (`Read` or `Set`) for logging
:type link_type: str
:return: boolean indicating if the model was updated (`True`) or not (`False`)
:rtype: boolean
"""
model_updated = False
for haros_link in haros_node_model_links:
haros_parameter_instance_name = haros_link.param_name
if self._check_haros_name_is_complete(
haros_parameter_instance_name,
'Check for Node Parameters'):
# VALIDATE Parameter Parent Types to Alert the User of INCONSISTENT / INACCURATE DATA.
if haros_parameter_instance_name in chris_node_model_parameters:
haros_parameter_parent_type = haros_link.parameter.name
chris_parameter_parent_type = chris_node_model_parameters[
haros_parameter_instance_name]
if haros_parameter_parent_type != chris_parameter_parent_type:
Logger.get_logger().log(
LoggerLevel.ERROR,
'[{}] HAROS "{}" Parameter Parent\'s Type "{}" for Parameter "{}" does NOT Match CHRIS Parameter Parent\'s Type "{}".'
.format(self.__class__.TYPE, link_type,
haros_parameter_parent_type,
haros_parameter_instance_name,
chris_parameter_parent_type))
# elif haros_parameter_instance_name not in chris_node_model_parameters:
else:
Logger.get_logger().log(
LoggerLevel.INFO,
'[{}] Adding HAROS Node\'s {} Parameter "{}" to CHRIS Node Instance.'
.format(self.__class__.TYPE, link_type,
haros_parameter_instance_name))
chris_node_model_parameters[
haros_parameter_instance_name] = haros_link.parameter.name
model_updated = True
return model_updated
def _merge_haros_node_links_with_chris_node_services(
self, haros_node_model_links, chris_node_model_services,
link_type):
"""
Helper merging method to merge the HAROS Node Service Links with the
CHRIS Node Services
:param haros_node_model_links: HAROS Service Server or Client Links
:type haros_node_model_links: list[ServicePrimitive]
:param chris_node_model_services: CHRIS Provided or Client Service Names to Types
:type chris_node_model_services: dict{str: str}
:param link_type: Server or Client Link Types (`Provided` or `Client`) for logging
:type link_type: str
:return: boolean indicating if the model was updated (`True`) or not (`False`)
:rtype: boolean
"""
model_updated = False
for haros_link in haros_node_model_links:
haros_service_instance_name = haros_link.service.id
if self._check_haros_name_is_complete(haros_service_instance_name,
'Check for Node Services'):
# VALIDATE Service Parent Types to Alert the User of INCONSISTENT / INACCURATE DATA.
if haros_service_instance_name in chris_node_model_services:
haros_service_parent_type = haros_link.service.name
chris_service_parent_type = chris_node_model_services[
haros_service_instance_name]
if haros_service_parent_type != chris_service_parent_type:
Logger.get_logger().log(
LoggerLevel.ERROR,
'[{}] HAROS "{}" Service Parent\'s Type "{}" for Service "{}" does NOT Match CHRIS Service Parent\'s Type "{}".'
.format(self.__class__.TYPE, link_type,
haros_service_parent_type,
haros_service_instance_name,
chris_service_parent_type))
# elif haros_service_instance_name not in chris_node_model_services:
else:
Logger.get_logger().log(
LoggerLevel.INFO,
'[{}] Adding HAROS Node\'s {} Service "{}" to CHRIS Node Instance.'
.format(self.__class__.TYPE, link_type,
haros_service_instance_name))
chris_node_model_services[
haros_service_instance_name] = haros_link.service.name
model_updated = True
return model_updated
def _merge_haros_model_with_chris_model(self, bank_type, haros_instance_name, haros_model, chris_model):
"""
Method that handles merging of a specific HAROS model with a specific
CHRIS model
:param bank_type: the corresponding CHRIS Model Bank Type
:type bank_type: BankType
:param haros_instance_name: the string HAROS model instance name
:type haros_instance_name: str
:param haros_model: the specific HAROS model to obtain data from
:type haros_model: MetamodelObject
:param chris_model: the specific CHRIS Model to merge data into
:type chris_model: _EntityMetamodel
"""
Logger.get_logger().log(LoggerLevel.INFO, '[{}] Merging HAROS Instance with CHRIS Instance "{}".'.format(
self.__class__.TYPE, haros_instance_name))
model_updated = self._helper_merge_haros_model_with_chris_model(
bank_type, haros_model, chris_model)
self.__class__._update_chris_model_version(chris_model, model_updated)
def _helper_merge_haros_model_with_chris_model(self, bank_type, haros_model, chris_model):
"""
Main merging helper method that handles specific details regarding the
merging of a specific Package Specification HAROS model with a specific
Package Specification CHRIS model
:param bank_type: the corresponding CHRIS Model Bank Type
:type bank_type: BankType
:param haros_model: the specific HAROS model to obtain data from
:type haros_model: Package
:param chris_model: the specific CHRIS Model to merge data into
:type chris_model: PackageSpecification
"""
model_updated = False
haros_package_name = haros_model.name
# VALIDATE Package Directory Path to Alert the User of INCONSISTENT / INACCURATE DATA.
haros_directory_path = haros_model.path
chris_directory_path = chris_model.directory_path
if (haros_directory_path and (haros_directory_path != chris_directory_path)):
Logger.get_logger().log(LoggerLevel.ERROR, '[{}] HAROS Package Directory Path "{}" for Package "{}" does NOT Match CHRIS Package Directory Path "{}".'.format(
self.__class__.TYPE, haros_directory_path, haros_package_name, chris_directory_path))
# VALIDATE Package Version to Alert the User of INCONSISTENT / INACCURATE DATA.
haros_version = haros_model.version
chris_installed_version = chris_model.installed_version
if (haros_version and (haros_version != chris_installed_version)):
Logger.get_logger().log(LoggerLevel.ERROR, '[{}] HAROS Package Version "{}" for Package "{}" does NOT Match CHRIS Package Installed Version "{}".'.format(
self.__class__.TYPE, haros_version, haros_package_name, chris_installed_version))
# VALIDATE Package Metapackage Status to Alert the User of INCONSISTENT / INACCURATE DATA.
haros_is_metapackage = haros_model.is_metapackage
chris_is_metapackage = chris_model.is_metapackage
if (haros_is_metapackage != chris_is_metapackage):
Logger.get_logger().log(LoggerLevel.ERROR, '[{}] HAROS Package Metapackage Status "{}" for Package "{}" does NOT Match CHRIS Package Metapackage Status "{}".'.format(
self.__class__.TYPE, haros_is_metapackage, haros_package_name, chris_is_metapackage))
# VALIDATE Package URL to Alert the User of INCONSISTENT / INACCURATE DATA.
haros_vcs_url = haros_model.vcs_url
chris_url = chris_model.url
if haros_vcs_url:
if (chris_url and (haros_vcs_url != chris_url)):
Logger.get_logger().log(LoggerLevel.ERROR, '[{}] HAROS Package URL "{}" for Package "{}" does NOT Match CHRIS Package URL "{}".'.format(
self.__class__.TYPE, haros_vcs_url, haros_package_name, chris_url))
else:
chris_model.url = haros_vcs_url
model_updated = True
model_updated |= self._helper_merge_haros_dependencies_with_chris_model(
haros_model, chris_model)
model_updated |= self._helper_merge_haros_nodes_with_chris_model(
haros_model, chris_model)
haros_description = haros_model.description
if (haros_description):
chris_model.description = haros_description.strip()
model_updated = True
return model_updated
def _helper_merge_haros_dependencies_with_chris_model(self, haros_model, chris_model):
"""
Helper merging method to merge the HAROS Package Specification Dependencies
with the CHRIS Package Specification Dependencies
:param haros_node_model: the HAROS Package Specification model
:type haros_node_model: Package
:param chris_node_model: the CHRIS Package Specification model
:type chris_node_model: PackageSpecification
:return: boolean indicating if the model was updated (`True`) or not (`False`)
:rtype: boolean
"""
model_updated = False
for haros_dependency_name in haros_model.dependencies.packages:
if self._check_haros_name_is_complete(haros_dependency_name, 'Check for Node Spec Dependency'):
if haros_dependency_name not in chris_model.dependencies:
Logger.get_logger().log(LoggerLevel.INFO, '[{}] Adding HAROS Package Spec\'s Dependency "{}" to CHRIS Package Spec.'.format(
self.__class__.TYPE, haros_dependency_name))
chris_model.dependencies.append(haros_dependency_name)
model_updated = True
return model_updated
