def master_changed(msg, cb_args):
param_cache, local_master = cb_args
local_name = ''
if local_master:
local_name = local_master[0]
if msg.master.uri != masteruri_from_master() and local_name in param_cache:
master_to = rospy.MasterProxy(masteruri_from_master())
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from {}...".format(msg.master.uri))
params_from = master_from['/']
rospy.logdebug("Got {} params.".format(len(msg.master.uri)))
if local_name in params_from:
del params_from[local_name]
if '/' + local_name in params_from:
del params_from['/' + local_name]
rospy.logdebug("Syncing params from {} to {}...".format(
msg.master.name, local_name))
if param_cache.get(msg.master.name, None) != params_from:
param_cache[msg.master.name] = params_from
master_to['/' + msg.master.name] = params_from
rospy.logdebug("Done syncing params from {} to {}.".format(
msg.master.name, local_name))
else:
rospy.logdebug("Params have not changed from {} to {}.".format(
msg.master.name, local_name))
else:
local_name = msg.master.name
local_master.append(local_name)
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from local {}...".format(
msg.master.uri))
param_cache[local_name] = master_from['/']
rospy.logdebug("Got {} params.".format(len(msg.master.uri)))
def master_changed(msg, cb_args):
master_proxies, param_cache, __add_ns = cb_args
master_proxies[msg.master.name] = rospy.MasterProxy(msg.master.uri)
for name_from, master_from in master_proxies.items():
for name_to, master_to in master_proxies.items():
if name_to != name_from:
rospy.logdebug("Getting params from...".format(name_from))
params_from = master_from['/']
rospy.logdebug("Got {} params.".format(len(params_from)))
if name_to in params_from:
del params_from[name_to]
if '/'+name_to in params_from:
del params_from['/'+name_to]
rospy.logdebug("Syncing params from {} to {}...".format(name_from, name_to))
if __add_ns:
_ns = name_from
else:
_ns = ''
if param_cache.get(_ns, None) != params_from:
param_cache[_ns] = params_from
master_to['/'+_ns] = params_from
rospy.logdebug("Done syncing params from {} to {}.".format(name_from, name_to))
else:
rospy.logdebug("Params have not changed from {} to {}.".format(name_from, name_to))
def master_changed(msg, cb_args):
param_cache, local_master, __add_ns, __ignore, __only = cb_args
local_name = ''
if local_master:
local_name = local_master[0]
if msg.master.uri != masteruri_from_master() and local_name in param_cache:
master_to = rospy.MasterProxy(masteruri_from_master())
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from {}...".format(msg.master.uri))
params_from = master_from.getParam('/')[2]
if not __add_ns:
for key in ['run_id', 'rosversion', 'roslaunch', 'rosdistro', 'master_sync', 'master_discovery', 'capabilities', 'mastername', 'robots']:
try:
del params_from[key]
except Exception:
pass
for key in __ignore + [local_name, '/'+local_name]:
try:
del params_from[key]
except Exception:
pass
if __only:
for key in params_from.keys():
if key not in __only:
del params_from[key]
rospy.logdebug("Syncing params from {} to {}...".format(msg.master.name, local_name))
if __add_ns:
_ns = msg.master.name
else:
_ns = ''
rospy.logdebug("Got {} params.".format(len(params_from)))
if param_cache.get(_ns, None) != params_from:
param_cache[_ns] = params_from
for key, value in params_from.items():
master_to.setParam('/'+_ns+key, value)
rospy.logdebug("Done syncing params from {} to {}.".format(msg.master.name, local_name))
else:
rospy.logdebug("Params have not changed from {} to {}.".format(msg.master.name, local_name))
else:
local_name = msg.master.name
local_master.append(local_name)
master_from = rospy.MasterProxy(msg.master.uri)
rospy.logdebug("Getting params from local {}...".format(msg.master.uri))
param_cache[local_name] = master_from.getParam('/')[2]
rospy.logdebug("Got {} local params.".format(len(param_cache[local_name])))