def onDisConnect(request, action):
''' Removes the robot specified via url like
'/disconnect/ROBOT_ID' from ROS-Publisher and
Ros-Subscriber
We only are here when the URl is like:
'/robot/disconnect/ROBOT_ID'
TODO DL RosConfigurator is here used?
'''
partURL = request.path
# If at the end is a slash we remove it simply
if "/" is partURL[-1]:
partURL = partURL[:-1]
# Get ROBOT_ID, which is the last element
robotID = partURL.split("/")[-1]
Log("INFO", "Disconnecting robot '{}'".format(robotID))
# Iterate through every topic and unregister, then delete it
if robotID in ROS_PUBLISHER:
for topic in ROS_PUBLISHER[robotID]:
ROS_PUBLISHER[robotID][topic].unregister()
del ROS_PUBLISHER[robotID]
RosConfigurator.removeRobot(robotID)
if robotID in ROS_SUBSCRIBER:
for topic in ROS_SUBSCRIBER[robotID]:
ROS_SUBSCRIBER[robotID][topic].unregister()
del ROS_SUBSCRIBER[robotID]
RosConfigurator.removeRobot(robotID)
# Return success
end_request(request, None, 200, "")
def onDisConnect(request, action):
''' Removes the robot specified via url like
'/disconnect/ROBOT_ID' from ROS-Publisher and
Ros-Subscriber
We only are here when the URl is like:
'/disconnect/ROBOT_ID'
'''
partURL = request.path
# If at the end is a slash we remove it simply
if "/" is partURL[-1]:
partURL = partURL[:-1]
# Get ROBOT_ID, which is the last element
topic = partURL[11:] # Get everything after "/disconnect"
# Iterate through every topic and unregister, then delete it
if topic in ROS_PUBLISHER:
ROS_PUBLISHER[topic].unregister()
del ROS_PUBLISHER[topic]
Log("INFO", "Disconnecting publisher on '{}'".format(topic))
RosConfigurator.removeTopic(topic)
if topic in ROS_SUBSCRIBER:
ROS_SUBSCRIBER[topic].unregister()
del ROS_SUBSCRIBER[topic]
Log("INFO", "Disconnecting subscriber on '{}'".format(topic))
RosConfigurator.removeTopic(topic)
# Return success
end_request(request, None, 200, "")
def robotDisconnection(data):
## \brief Handle robot diconnection
# \param robot data dict (name)
robot_name = data.data
Log("INFO", "Disconnected robot: " + robot_name)
if robot_name in ROBOT_TOPICS:
CloudSubscriber.deleteEntity(robot_name, DEFAULT_CONTEXT_TYPE)
CloudSubscriber.disconnect(robot_name, True)
for topic in ROBOT_TOPICS[robot_name]["publisher"]:
ROBOT_TOPICS[robot_name]["publisher"][topic]["publisher"].unregister()
for topic in ROBOT_TOPICS[robot_name]["subscriber"]:
ROBOT_TOPICS[robot_name]["subscriber"][topic]["subscriber"].unregister()
RosConfigurator.removeRobot(robot_name)
def getRobots(refresh=False, withJson=True):
## \brief Get robots managed by firos
# \param Refresh the robot list
# \param Merge the robots with the configurtation JSON
try:
robots = copy.deepcopy(RosConfigurator.systemTopics(refresh))
if withJson:
robots_json = getRobotsByJson()
for robot_name in robots_json:
robot_name = str(robot_name)
if robot_name not in robots:
robots[robot_name] = {"topics": {}}
for topic_name in robots_json[robot_name]["topics"]:
topic = robots_json[robot_name]["topics"][topic_name]
robots[robot_name]["topics"][str(topic_name)] = {
"msg":
str(topic["msg"])
if type(topic["msg"]) is str else topic["msg"],
"type":
str(topic["type"])
}
return robots
except Exception as e:
traceback.print_exc()
Log("ERROR", e)
return {}
def onConnect(request, action):
## \brief Launch robot search and connection
# \param client request
# \param action
Log("INFO", "Connecting robots")
loadMsgHandlers(RosConfigurator.systemTopics(True))
request.send_response(200)
request.end_headers()
request.wfile.write("")
def getRobots(refresh=False):
''' This retrieves the current configuration from FIROS.
Here we load the `robots.json` and the 'whitelist.json'
In case the `whitelist.json` is Empty: We do get the current robots
from ROS and are adding them as subscribers (by default). In a small
ROS-World this usually is no problem. But in an environment with many
robots we might send a lot of data.
'''
try:
# Retrieves the whitelist.json. If it does not exists, it returns all topics.
topics_regex = copy.deepcopy(RosConfigurator.systemTopics(refresh))
# Retrieves the robots.json.
topics_json = getTopicsByJson()
if len(topics_json) == 0:
Log(
"ERROR",
"The file 'topics.json' is either empty or does not exist!\n\nExiting"
)
sys.exit(1)
# check if structure is as needed
for key in topics_json.keys():
if len(topics_json[key]) != 2:
Log(
"ERROR",
"The topic: '{}', does not have a list of length 2 (topics.json)! \n\nExiting"
.format(key))
sys.exit(1)
if not key.startswith("/"):
Log(
"ERROR",
"The topic: '{}', does not start with '/' (topics.json)! \n\nExiting"
.format(key))
sys.exit(1)
if topics_json[key][1] not in ["publisher", "subscriber"]:
Log(
"ERROR",
"The topic: '{}', does not specify publisher or subscriber (topics.json)! \n\nExiting"
.format(key))
sys.exit(1)
# Merge both dictionaties:
# Here topics_json overrides entries in topics_regex:
topics_regex.update(topics_json)
topics = topics_regex
return topics
except Exception as e:
traceback.print_exc()
Log("ERROR", e)
return {}
def onDisConnect(request, action):
## \brief Disconnect robot
# \param client request
# \param action
robot_name = pathParams(request, action["regexp"])[0]
Log("INFO", "Disconnecting robot" + robot_name)
if robot_name in ROBOT_TOPICS:
CloudSubscriber.deleteEntity(robot_name, DEFAULT_CONTEXT_TYPE)
CloudSubscriber.disconnect(robot_name, True)
for topic in ROBOT_TOPICS[robot_name]["publisher"]:
ROBOT_TOPICS[robot_name]["publisher"][topic][
"publisher"].unregister()
for topic in ROBOT_TOPICS[robot_name]["subscriber"]:
ROBOT_TOPICS[robot_name]["subscriber"][topic][
"subscriber"].unregister()
RosConfigurator.removeRobot(robot_name)
request.send_response(200)
request.end_headers()
request.wfile.write("")
def onConnect(request, action):
''' This resets firos into its original state
TODO DL reset, instead of connect?
TODO DL Add real connect for only one Robot?
'''
Log("INFO", "Connecting topics")
loadMsgHandlers(RosConfigurator.systemTopics(True))
# Return Success
end_request(request, None, 200, "")
def mapPublisher():
## \brief Obtain map topics and publsh their link into context broker
maps = RosConfigurator.getMapTopics()
cb_maps = [
{
"name": "websocket",
"type": "connection",
"value": "ws://{}:{}".format(IP, ROSBRIDGE_PORT)
}
]
if(MAP_SERVER_PORT):
cb_maps.append({
"name": "socketio",
"type": "connection",
"value": "http://{}:{}".format(IP, MAP_SERVER_PORT)
})
for map_topic in maps:
CloudPublisher.publishMap(map_topic, cb_maps)
def getRobots(refresh=False):
''' This retrieves the current configuration from FIROS.
Here we load the `robots.json` and the 'whitelist.json'
In case the `whitelist.json` is Empty: We do get the current robots
from ROS and are adding them as subscribers (by default). In a small
ROS-World this usually is no problem. But in an environment with many
robots we might send a lot of data.
'''
try:
# Retrieves the whitelist.json. If it does not exists, it returns all topics.
robots = copy.deepcopy(RosConfigurator.systemTopics(refresh))
# Retrieves the robots.json.
robots_json = getRobotsByJson()
if len(robots_json) == 0:
Log(
"ERROR",
"The file 'robots.json' is either empty or does not exist!\n\nExiting"
)
sys.exit(1)
# Merge robots.json into whitelist.json (overwrite if neccessary)
for robot_name in robots_json:
robot_name = str(robot_name)
if robot_name not in robots:
robots[robot_name] = {"topics": {}}
for topic_name in robots_json[robot_name]["topics"]:
topic = robots_json[robot_name]["topics"][topic_name]
# Overwrite or add!
robots[robot_name]["topics"][str(topic_name)] = {
"msg": str(topic["msg"]),
"type": str(topic["type"])
}
return robots
except Exception as e:
traceback.print_exc()
Log("ERROR", e)
return {}
def _robotConnection(data):
## \brief Handle robot connection
# \param robot data (Not neccessary)
robot_name = data.data
Log("INFO", "Connected robot: " + robot_name)
loadMsgHandlers(RosConfigurator.systemTopics(True))
def mapRemover():
## \brief Delete map topics from context broker
maps = RosConfigurator.getMapTopics()
for map_topic in maps:
CloudSubscriber.deleteEntity(map_topic, "MAP", False)
def onWhitelistRestore(request, action):
RosConfigurator.setWhiteList(None, None, True)
end_request(request, None, 200, "")
def onWhitelistRemove(request, action):
data = getPostParams(request)
RosConfigurator.setWhiteList(None, data)
end_request(request, None, 200, "")
def onWhitelistWrite(request, action):
data = getPostParams(request)
RosConfigurator.setWhiteList(data, None)
end_request(request, None, 200, "")
