def getRobotDescr(self):
'''
Parses the launch file for C{robots} parameter to get the description of the
robot.
@return: the robot description stored in the configuration
@rtype: C{dict(robot:dict('type' :str, 'name': str, 'images' : [str], 'description': str))}
'''
result = dict()
if not self.Roscfg is None:
for param, p in self.Roscfg.params.items():
if param.endswith('robots'):
if isinstance(p.value, list):
if len(p.value) > 0 and len(p.value[0]) != 5:
print "WRONG format, expected: ['host', 'type', 'name', 'images', 'description'] -> ignore", param
else:
for entry in p.value:
result[entry[0]] = {
'type':
entry[1],
'name':
entry[2],
'images':
resolve_paths(entry[3]).split(','),
'description':
resolve_paths(self._decode(entry[4]))
}
return result
def updateDescription(self, index, cfg, name, displayed_name, robot_type,
description, images):
'''
Sets the values of an existing item to the given items only if the current
value is empty.
'''
if index < len(self._data):
obj = self._data[index]
if not cfg in obj['cfgs']:
obj['cfgs'].append(cfg)
if not obj['name']:
obj['name'] = name
if not obj['displayed_name']:
obj['displayed_name'] = displayed_name
if not obj['type']:
obj['type'] = robot_type
if not obj['description']:
obj['description'] = resolve_paths(description)
if not obj['images']:
for image_path in images:
img = resolve_paths(image_path)
if img and img[0] != os.path.sep:
img = os.path.join(nm.settings().PACKAGE_DIR,
image_path)
if os.path.isfile(img):
obj['images'].append(QtGui.QPixmap(img))
def setDescription(self, index, cfg, name, displayed_name, robot_type, description, images):
'''
Sets the values of an existing item to the given items.
'''
if index < len(self._data):
obj = self._data[index]
if not cfg in obj['cfgs']:
obj['cfgs'].append(cfg)
obj['name'] = name
obj['displayed_name'] = displayed_name
obj['type'] = robot_type
obj['description'] = resolve_paths(description)
del obj['images'][:]
for image_path in images:
img = resolve_paths(image_path)
if img and img[0] != os.path.sep:
img = os.path.join(nm.settings().PACKAGE_DIR, image_path)
if os.path.isfile(img):
obj['images'].append(QtGui.QPixmap(img))
def getCapabilitiesDesrc(self):
'''
Parses the launch file for C{capabilities} and C{capability_group} parameter
and creates dictionary for grouping the nodes.
@return: the capabilities description stored in this configuration
@rtype: C{dict(machine : dict(namespace: dict(group:dict('type' : str, 'images' : [str], 'description' : str, 'nodes' : [str]))))}
'''
result = dict()
capabilies_descr = dict()
if not self.Roscfg is None:
# get the capabilities description
# use two separate loops, to create the description list first
# TODO read the group description depending on namespace
for param, p in self.Roscfg.params.items():
if param.endswith('capabilities'):
if isinstance(p.value, list):
if len(p.value) > 0 and len(p.value[0]) != 4:
print "WRONG format, expected: ['name', 'type', 'images', 'description'] -> ignore", param
else:
for entry in p.value:
capabilies_descr[entry[0]] = { 'type' : ''.join([entry[1]]), 'images' : resolve_paths(entry[2]).split(','), 'description' : resolve_paths(self._decode(entry[3]))}
# get the capability nodes
for item in self.Roscfg.nodes:
node_fullname = roslib.names.ns_join(item.namespace, item.name)
machine_name = item.machine_name if not item.machine_name is None and not item.machine_name == 'localhost' else ''
added = False
cap_param = roslib.names.ns_join(node_fullname, 'capability_group')
cap_ns = node_fullname
#find the capability group parameter in namespace
while not self.Roscfg.params.has_key(cap_param) and cap_param.count(roslib.names.SEP) > 1:
cap_ns = roslib.names.namespace(cap_ns).rstrip(roslib.names.SEP)
if not cap_ns:
cap_ns = roslib.names.SEP
cap_param = roslib.names.ns_join(cap_ns, 'capability_group')
if cap_ns == node_fullname:
cap_ns = item.namespace.rstrip(roslib.names.SEP)
if not cap_ns:
cap_ns = roslib.names.SEP
# if the 'capability_group' parameter found, assign node to the group
if self.Roscfg.params.has_key(cap_param) and self.Roscfg.params[cap_param].value:
p = self.Roscfg.params[cap_param]
if not result.has_key(machine_name):
result[machine_name] = dict()
for (ns, groups) in result[machine_name].items():
if ns == cap_ns and groups.has_key(p.value):
groups[p.value]['nodes'].append(node_fullname)
added = True
break
if not added:
ns = cap_ns
# add new group in the namespace of the node
if not result[machine_name].has_key(ns):
result[machine_name][ns] = dict()
if not result[machine_name][ns].has_key(p.value):
try:
result[machine_name][ns][p.value] = {'type' : capabilies_descr[p.value]['type'],
'images': capabilies_descr[p.value]['images'],
'description' : capabilies_descr[p.value]['description'],
'nodes' : [] }
except:
result[machine_name][ns][p.value] = { 'type' : '',
'images': [],
'description' : '',
'nodes' : [] }
result[machine_name][ns][p.value]['nodes'].append(node_fullname)
return result
def getRobotDescr(self):
'''
Parses the launch file for C{robots} parameter to get the description of the
robot.
@return: the robot description stored in the configuration
@rtype: C{dict(robot:dict('type' :str, 'name': str, 'images' : [str], 'description': str))}
'''
result = dict()
if not self.Roscfg is None:
for param, p in self.Roscfg.params.items():
if param.endswith('robots'):
if isinstance(p.value, list):
if len(p.value) > 0 and len(p.value[0]) != 5:
print "WRONG format, expected: ['host', 'type', 'name', 'images', 'description'] -> ignore", param
else:
for entry in p.value:
result[entry[0]] = { 'type' : entry[1], 'name' : entry[2], 'images' : resolve_paths(entry[3]).split(','), 'description' : resolve_paths(self._decode(entry[4])) }
return result
def getCapabilitiesDesrc(self):
'''
Parses the launch file for C{capabilities} and C{capability_group} parameter
and creates dictionary for grouping the nodes.
@return: the capabilities description stored in this configuration
@rtype: C{dict(machine : dict(namespace: dict(group:dict('type' : str, 'images' : [str], 'description' : str, 'nodes' : [str]))))}
'''
result = dict()
capabilies_descr = dict()
if not self.Roscfg is None:
# get the capabilities description
# use two separate loops, to create the description list first
# TODO read the group description depending on namespace
for param, p in self.Roscfg.params.items():
if param.endswith('capabilities'):
if isinstance(p.value, list):
if len(p.value) > 0 and len(p.value[0]) != 4:
print "WRONG format, expected: ['name', 'type', 'images', 'description'] -> ignore", param
else:
for entry in p.value:
capabilies_descr[entry[0]] = {
'type':
''.join([entry[1]]),
'images':
resolve_paths(entry[2]).split(','),
'description':
resolve_paths(self._decode(entry[3]))
}
# get the capability nodes
for item in self.Roscfg.nodes:
node_fullname = roslib.names.ns_join(item.namespace, item.name)
machine_name = item.machine_name if not item.machine_name is None and not item.machine_name == 'localhost' else ''
added = False
cap_param = roslib.names.ns_join(node_fullname,
'capability_group')
cap_ns = node_fullname
#find the capability group parameter in namespace
while not self.Roscfg.params.has_key(
cap_param) and cap_param.count(roslib.names.SEP) > 1:
cap_ns = roslib.names.namespace(cap_ns).rstrip(
roslib.names.SEP)
if not cap_ns:
cap_ns = roslib.names.SEP
cap_param = roslib.names.ns_join(cap_ns,
'capability_group')
if cap_ns == node_fullname:
cap_ns = item.namespace.rstrip(roslib.names.SEP)
if not cap_ns:
cap_ns = roslib.names.SEP
# if the 'capability_group' parameter found, assign node to the group
if self.Roscfg.params.has_key(
cap_param) and self.Roscfg.params[cap_param].value:
p = self.Roscfg.params[cap_param]
if not result.has_key(machine_name):
result[machine_name] = dict()
for (ns, groups) in result[machine_name].items():
if ns == cap_ns and groups.has_key(p.value):
groups[p.value]['nodes'].append(node_fullname)
added = True
break
if not added:
ns = cap_ns
# add new group in the namespace of the node
if not result[machine_name].has_key(ns):
result[machine_name][ns] = dict()
if not result[machine_name][ns].has_key(p.value):
try:
result[machine_name][ns][p.value] = {
'type':
capabilies_descr[p.value]['type'],
'images':
capabilies_descr[p.value]['images'],
'description':
capabilies_descr[p.value]['description'],
'nodes': []
}
except:
result[machine_name][ns][p.value] = {
'type': '',
'images': [],
'description': '',
'nodes': []
}
result[machine_name][ns][p.value]['nodes'].append(
node_fullname)
return result