def start_logging_cb(self):
master.addMachine('default', rospy.getRosRoot(), 'localhost', 22, '','')
#print self.nodes
#print self.flows
for i in range(0, len(self.cb)):
# print self.cbval[i].get()
if self.cbval[i].get() == 1:
master.setParam('logging_node%s.name'%i,'hello_world')
master.addNode('', 'logging_node%s'%i,'roslogger', 'logging_node','default',0)
master.connectFlow(self.flows[i][0], 'logging_node%s.input'%i, 1)
print "This will eventually start up nodes as specified and all"
def start_logging_cb(self):
master.addMachine('default', rospy.getRosRoot(), 'localhost', 22, '',
'')
#print self.nodes
#print self.flows
for i in range(0, len(self.cb)):
# print self.cbval[i].get()
if self.cbval[i].get() == 1:
master.setParam('logging_node%s.name' % i, 'hello_world')
master.addNode('', 'logging_node%s' % i, 'roslogger',
'logging_node', 'default', 0)
master.connectFlow(self.flows[i][0],
'logging_node%s.input' % i, 1)
print "This will eventually start up nodes as specified and all"
def renderGraphMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:",
["help", "port=", "server=", "test"])
for o, a in optlist:
if o in ("-h", "-?", "--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/' % (server, server_port)
print "Looking for server at %s" % serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
out_FlowImageString = OutflowpyImageString(".imageOut")
require(
master.addMachine('default', rospy.getRosRoot(), 'localhost', 22, '',
''))
require(
master.addNode('', 'imageViewer', 'pyImageViewer', 'imageViewer',
'default', 0))
rospy.ready()
require(
master.connectFlow(out_FlowImageString.locator, "imageViewer:imageIn",
1))
while not rospy.isShutdown():
status_code, statusMessage, [nodes, flows] = master.getGraph()
# print 'nodes' + str(nodes)
# print 'flows ' + str(flows)
print '--------------------------------------------'
print 'This is the graph:'
print 'refreshing every ' + str(sleep_time) + ' seconds'
print '--------------------------------------------'
for anode in nodes:
status_code, statusMessage, [machine, address,
port] = master.getNodeAddress(anode)
print 'NODE: ' + str(anode) + ' on ' + str(machine) + ' at ' + str(
address) + ' on port: ' + str(port)
for aflow in flows:
aflow_split = str(aflow[1]).split('.')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split('.')
source = aflow_split_source[0]
if destination == anode:
print '\tINFLOW: ' + str(aflow_split[1]) + ' from: ' + str(
aflow[0])
if source == anode:
print '\tOUTFLOW: ' + str(
aflow_split_source[1]) + ' to: ' + str(aflow[1])
output_file = 'ROSGraph.jpeg'
pid = os.fork(
) # This is a hack to get around an underlying memory leak in
# the agraph library.
if pid == 0:
#print "starting yapgvb process"
try:
print '--------------------------------------------'
ygraph = yapgvb.Digraph('ROSGraph')
gnodes = {}
for anode in nodes:
gnodes[anode] = ygraph.add_node(label=anode)
#print "added allnodes"
#print flows
for aflow in flows:
aflow_split = str(aflow[1]).split(':')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split(':')
source = aflow_split_source[0]
gnodes[source] >> gnodes[destination]
#print "done setting up graph for rendering"
ygraph.layout(yapgvb.engines.dot)
ygraph.render(output_file)
finally:
mpid = os.getpid()
os.kill(mpid, 9)
else:
os.wait()
# Wrap up the image and send it out over a flow
imToSend = Image.open(output_file)
future_packet = pyImageString()
future_packet.imageString = imToSend.tostring()
future_packet.imageFormat = "RGB"
future_packet.width, future_packet.height = imToSend.size
out_FlowImageString.publish(future_packet)
# don't loop too fast
time.sleep(sleep_time)
def renderGraphMain(argv, stdout, env):
# default arguments
server = "http://localhost"
server_port = rospy.DEFAULT_TEST_PORT
#check arguments for a help flag
optlist, args = getopt.getopt(argv[1:], "h?p:s:", ["help","port=","server=","test"])
for o, a in optlist:
if o in ("-h","-?","--help"):
usage(stdout, argv[0])
return
elif o in ("--test"):
server_port = rospy.DEFAULT_TEST_PORT
elif o in ("-p", "--port"):
server_port = a
elif o in ("-s", "--server"):
server = a
serverUri = '%s:%s/'%(server,server_port)
print "Looking for server at %s"%serverUri
os.environ[rospy.ROS_MASTER_URI] = serverUri
os.environ[rospy.ROS_NODE] = NAME
os.environ[rospy.ROS_PORT] = str(0) # any
master = rospy.getMaster()
out_FlowImageString = OutflowpyImageString(".imageOut")
require(master.addMachine('default', rospy.getRosRoot(), 'localhost', 22, '', ''))
require(master.addNode('','imageViewer','pyImageViewer','imageViewer','default',0))
rospy.ready()
require(master.connectFlow(out_FlowImageString.locator, "imageViewer:imageIn",1))
while not rospy.isShutdown():
status_code, statusMessage, [nodes,flows] = master.getGraph()
# print 'nodes' + str(nodes)
# print 'flows ' + str(flows)
print '--------------------------------------------'
print 'This is the graph:'
print 'refreshing every '+str(sleep_time)+' seconds'
print '--------------------------------------------'
for anode in nodes:
status_code, statusMessage, [machine, address, port] = master.getNodeAddress(anode)
print 'NODE: ' + str(anode) + ' on ' + str(machine) + ' at ' + str(address) + ' on port: ' + str(port)
for aflow in flows:
aflow_split= str(aflow[1]).split('.')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split('.')
source = aflow_split_source[0]
if destination == anode:
print '\tINFLOW: ' + str(aflow_split[1]) + ' from: ' + str(aflow[0])
if source == anode:
print '\tOUTFLOW: ' + str(aflow_split_source[1]) + ' to: ' + str(aflow[1])
output_file = 'ROSGraph.jpeg'
pid = os.fork() # This is a hack to get around an underlying memory leak in
# the agraph library.
if pid == 0:
#print "starting yapgvb process"
try:
print '--------------------------------------------'
ygraph = yapgvb.Digraph('ROSGraph');
gnodes = {}
for anode in nodes:
gnodes[anode] = ygraph.add_node(label = anode)
#print "added allnodes"
#print flows
for aflow in flows:
aflow_split= str(aflow[1]).split(':')
destination = aflow_split[0]
aflow_split_source = str(aflow[0]).split(':')
source = aflow_split_source[0]
gnodes[source] >> gnodes[destination]
#print "done setting up graph for rendering"
ygraph.layout(yapgvb.engines.dot)
ygraph.render(output_file)
finally:
mpid = os.getpid()
os.kill(mpid,9)
else:
os.wait()
# Wrap up the image and send it out over a flow
imToSend = Image.open(output_file)
future_packet = pyImageString()
future_packet.imageString = imToSend.tostring()
future_packet.imageFormat = "RGB"
future_packet.width, future_packet.height = imToSend.size
out_FlowImageString.publish(future_packet)
# don't loop too fast
time.sleep(sleep_time)
