def generate_advertisement_connection_details(self, connection_type, name,
node):
'''
Creates all the extra details to create a connection object from an
advertisement rule. This is a bit different to the previous one - we just need
the type and single node uri that everything originates from (don't need to generate all
the pub/sub connections themselves.
Probably flips could be merged into this sometime, but it'd be a bit gnarly.
@param connection_type : the connection type (one of gateway_msgs.msg.ConnectionType)
@type string
@param name : the name of the connection
@type string
@param node : the master node name it comes from
@param string
@return the utils.Connection object complete with type_info and xmlrpc_uri
@type utils.Connection
'''
# Very important here to check for the results of xmlrpc_uri and especially topic_type
# https://github.com/robotics-in-concert/rocon_multimaster/issues/173
# In the watcher thread, we get the local connection index (whereby the arguments of this function
# come from) via master.get_connection_state. That means there is a small amount of time from
# getting the topic name, to checking for hte xmlrpc_uri and especially topic_type here in which
# the topic could have disappeared. When this happens, it returns None.
connection = None
xmlrpc_uri = self.lookupNode(node)
if xmlrpc_uri is None:
return connection
if connection_type == PUBLISHER or connection_type == SUBSCRIBER:
type_info = rostopic.get_topic_type(name)[0] # message type
if type_info is not None:
connection = utils.Connection(
Rule(connection_type, name, node), type_info, xmlrpc_uri)
elif connection_type == SERVICE:
type_info = rosservice.get_service_uri(name)
if type_info is not None:
connection = utils.Connection(
Rule(connection_type, name, node), type_info, xmlrpc_uri)
elif connection_type == ACTION_SERVER or connection_type == ACTION_CLIENT:
goal_topic = name + '/goal'
goal_topic_type = rostopic.get_topic_type(goal_topic)
type_info = re.sub('ActionGoal$', '',
goal_topic_type[0]) # Base type for action
if type_info is not None:
connection = utils.Connection(
Rule(connection_type, name, node), type_info, xmlrpc_uri)
return connection
def deserialize_connection(connection_str):
deserialized_list = deserialize(connection_str)
rule = Rule(deserialized_list[0],
deserialized_list[1],
deserialized_list[2]
)
return Connection(rule, deserialized_list[3], deserialized_list[4])
def generate_remote_rules(param):
'''
Converts a param of the suitable type (default_flips, default_pulls) into
a list of RemoteRule objects and a list of target gateways for flip_all/pull_all.
@param yaml object
@type complicated
@return list of remote rules
@return RemoteRule[]
'''
remote_rules = []
all_targets = []
pattern = re.compile("None", re.IGNORECASE)
for remote_rule in param:
if 'rule' in remote_rule:
# maybe also check for '' here?
node = None if pattern.match(
remote_rule['rule']['node']) else remote_rule['rule']['node']
remote_rules.append(
RemoteRule(
remote_rule['gateway'],
Rule(remote_rule['rule']['type'],
remote_rule['rule']['name'], node)))
else:
all_targets.append(remote_rule['gateway'])
return remote_rules, all_targets
def generate_rules(param):
'''
Converts a param of the suitable type (see default_blacklist.yaml)
into a dictionary of Rule types.
@return all rules as gateway_msgs.msg.Rule objects in our usual keyed dictionary format
@rtype type keyed dictionary of Rule lists
'''
rules = utils.create_empty_connection_type_dictionary()
for value in param:
rule = Rule()
rule.name = value['name']
# maybe also check for '' here?
pattern = re.compile("None", re.IGNORECASE)
if pattern.match(value['node']):
rule.node = '' # ROS Message fields should not be None, maybe not a problem here though, see below
else:
rule.node = value['node']
rule.type = value['type']
rules[rule.type].append(rule)
return rules
def _generatePublic(self, rule):
'''
Given a rule, determines if the rule is allowed. If it is
allowed, then returns the corresponding Rule object
@param rules : the given rules to match
@type Rule
@return The generated Rule if allowed, None if no match
@rtype Rule || None
'''
if self._allowRule(rule):
return Rule(rule)
return None
def advertise_all(self, blacklist):
'''
Allow all rules apart from the ones in the provided blacklist +
default blacklist
@param blacklist : list of Rule objects
@type list : list of Rule objects
@return failure if already advertising all, success otherwise
@rtype bool
'''
rospy.loginfo("Gateway : received a request advertise everything!")
self.lock.acquire()
# Check if advertise all already enabled
if self.advertise_all_enabled:
self.lock.release()
return False
self.advertise_all_enabled = True
# generate watchlist
self.watchlist = utils.create_empty_connection_type_dictionary(
) # easy hack for getting a clean watchlist
for connection_type in utils.connection_types:
allow_all_rule = Rule()
allow_all_rule.name = '.*'
allow_all_rule.type = connection_type
allow_all_rule.node = '.*'
self.watchlist[connection_type].append(allow_all_rule)
# generate blacklist (while making sure only unique rules get added)
self.blacklist = copy.deepcopy(self._default_blacklist)
for rule in blacklist:
if not publicRuleExists(rule, self.blacklist[rule.type]):
self.blacklist[rule.type].append(rule)
self.lock.release()
return True
def advertise_all(self, blacklist):
'''
Allow all rules apart from the ones in the provided blacklist +
default blacklist
@param blacklist : list of Rule objects
@type list : list of Rule objects
@return failure if already advertising all, success otherwise
@rtype bool
'''
rospy.loginfo("Gateway : received a request advertise everything!")
self.lock.acquire()
# Check if advertise all already enabled
if self.advertise_all_enabled:
self.lock.release()
return False
self.advertise_all_enabled = True
# generate watchlist
self.watchlist = utils.create_empty_connection_type_dictionary() # easy hack for getting a clean watchlist
for connection_type in utils.connection_types:
allow_all_rule = Rule()
allow_all_rule.name = '.*'
allow_all_rule.type = connection_type
allow_all_rule.node = '.*'
self.watchlist[connection_type].append(allow_all_rule)
# generate blacklist (while making sure only unique rules get added)
self.blacklist = copy.deepcopy(self._default_blacklist)
for rule in blacklist:
if not publicRuleExists(rule, self.blacklist[rule.type]):
self.blacklist[rule.type].append(rule)
self.lock.release()
return True
def generate_advertisement_connection_details(self, connection_type, name,
node):
'''
Creates all the extra details to create a connection object from an
advertisement rule. This is a bit different to the previous one - we just need
the type and single node uri that everything originates from (don't need to generate all
the pub/sub connections themselves.
Probably flips could be merged into this sometime, but it'd be a bit gnarly.
@param connection_type : the connection type (one of gateway_msgs.msg.ConnectionType)
@type string
@param name : the name of the connection
@type string
@param node : the master node name it comes from
@param string
@return the utils.Connection object complete with type_info and xmlrpc_uri
@type utils.Connection
'''
xmlrpc_uri = self.lookupNode(node)
if connection_type == PUBLISHER or connection_type == SUBSCRIBER:
type_info = rostopic.get_topic_type(name)[0] # message type
connection = utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri)
elif connection_type == SERVICE:
type_info = rosservice.get_service_uri(name)
connection = utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri)
elif connection_type == ACTION_SERVER or connection_type == ACTION_CLIENT:
goal_topic = name + '/goal'
goal_topic_type = rostopic.get_topic_type(goal_topic)
type_info = re.sub('ActionGoal$', '',
goal_topic_type[0]) # Base type for action
connection = utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri)
return connection
def get_flip_rule_list(self, name):
"""
Returns flip rules of given robot type
"""
rules = []
flip = {}
flip['pub'] = ConnectionType.PUBLISHER
flip['sub'] = ConnectionType.SUBSCRIBER
flip['srv'] = ConnectionType.SERVICE
for key, typ in flip.items():
if key in self._flip_rules:
for topic in self._flip_rules[key]:
if topic.startswith('/'):
r = Rule(typ, topic, None)
else:
r = Rule(typ, name + '/' + topic, None)
rules.append(r)
# flips tf and clock by default
rules.append(Rule(ConnectionType.PUBLISHER, '/clock', None))
rules.append(Rule(ConnectionType.PUBLISHER, '/tf', None))
return rules
def _get_connections_from_service_list(self, connection_list,
connection_type):
connections = []
for service in connection_list:
service_name = service[0]
#service_uri = rosservice.get_service_uri(service_name)
nodes = service[1]
for node in nodes:
#try:
# node_uri = self.lookupNode(node)
#except:
# continue
rule = Rule(connection_type, service_name, node)
connection = utils.Connection(rule, None,
None) # service_uri, node_uri
connections.append(connection)
return connections
def _get_connections_from_pub_sub_list(self, connection_list,
connection_type):
connections = []
for topic in connection_list:
topic_name = topic[0]
#topic_type = rostopic.get_topic_type(topic_name)
#topic_type = topic_type[0]
nodes = topic[1]
for node in nodes:
#try:
#node_uri = self.lookupNode(node)
#except:
# continue
rule = Rule(connection_type, topic_name, node)
connection = utils.Connection(rule, None,
None) # topic_type, node_uri
connections.append(connection)
return connections
def _get_connections_from_action_list(self, connection_list,
connection_type):
connections = []
for action in connection_list:
action_name = action[0]
#goal_topic = action_name + '/goal'
#goal_topic_type = rostopic.get_topic_type(goal_topic)
#topic_type = re.sub('ActionGoal$', '', goal_topic_type[0]) # Base type for action
nodes = action[1]
for node in nodes:
#try:
# node_uri = self.lookupNode(node)
#except:
# continue
rule = Rule(connection_type, action_name, node)
connection = utils.Connection(rule, None,
None) # topic_type, node_uri
connections.append(connection)
return connections
def generate_rules(param):
'''
Converts a param of the suitable type (see default_blacklist.yaml)
into a dictionary of Rule types.
@return all rules as gateway_msgs.msg.Rule objects in our usual keyed dictionary format
@rtype type keyed dictionary of Rule lists
'''
rules = utils.create_empty_connection_type_dictionary()
for value in param:
rule = Rule()
rule.name = value['name']
# maybe also check for '' here?
pattern = re.compile("None", re.IGNORECASE)
if pattern.match(value['node']):
rule.node = '' # ROS Message fields should not be None, maybe not a problem here though, see below
else:
rule.node = value['node']
rule.type = value['type']
rules[rule.type].append(rule)
return rules
def generate_connection_details(self, connection_type, name, node):
'''
Creates all the extra details to create a connection object from a
rule.
@param connection_type : the connection type (one of gateway_msgs.msg.ConnectionType)
@type string
@param name : the name of the connection
@type string
@param node : the master node name it comes from
@param string
@return the utils.Connection object complete with type_info and xmlrpc_uri
@type utils.Connection
'''
# Very important here to check for the results of xmlrpc_uri and especially topic_type
# https://github.com/robotics-in-concert/rocon_multimaster/issues/173
# In the watcher thread, we get the local connection index (whereby the arguments of this function
# come from) via master.get_connection_state. That means there is a small amount of time from
# getting the topic name, to checking for hte xmlrpc_uri and especially topic_type here in which
# the topic could have disappeared. When this happens, it returns None.
connections = []
xmlrpc_uri = self.lookupNode(node)
if xmlrpc_uri is None:
return connections
if connection_type == PUBLISHER or connection_type == SUBSCRIBER:
type_info = rostopic.get_topic_type(name)[0] # message type
if type_info is not None:
connections.append(
utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri))
elif connection_type == SERVICE:
type_info = rosservice.get_service_uri(name)
if type_info is not None:
connections.append(
utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri))
elif connection_type == ACTION_SERVER:
goal_type_info = rostopic.get_topic_type(name + '/goal')[
0] # message type
cancel_type_info = rostopic.get_topic_type(name + '/cancel')[
0] # message type
status_type_info = rostopic.get_topic_type(name + '/status')[
0] # message type
feedback_type_info = rostopic.get_topic_type(name + '/feedback')[
0] # message type
result_type_info = rostopic.get_topic_type(name + '/result')[
0] # message type
if (goal_type_info is not None and cancel_type_info is not None
and status_type_info is not None
and feedback_type_info is not None
and result_type_info is not None):
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/goal', node),
goal_type_info, xmlrpc_uri))
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/cancel', node),
cancel_type_info, xmlrpc_uri))
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/status', node),
status_type_info, xmlrpc_uri))
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/feedback', node),
feedback_type_info, xmlrpc_uri))
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/result', node),
result_type_info, xmlrpc_uri))
elif connection_type == ACTION_CLIENT:
goal_type_info = rostopic.get_topic_type(name + '/goal')[
0] # message type
cancel_type_info = rostopic.get_topic_type(name + '/cancel')[
0] # message type
status_type_info = rostopic.get_topic_type(name + '/status')[
0] # message type
feedback_type_info = rostopic.get_topic_type(name + '/feedback')[
0] # message type
result_type_info = rostopic.get_topic_type(name + '/result')[
0] # message type
if (goal_type_info is not None and cancel_type_info is not None
and status_type_info is not None
and feedback_type_info is not None
and result_type_info is not None):
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/goal', node),
goal_type_info, xmlrpc_uri))
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/cancel', node),
cancel_type_info, xmlrpc_uri))
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/status', node),
status_type_info, xmlrpc_uri))
connections.append(
utils.Connection(
Rule(SUBSCRIBER, name + '/feedback', node),
feedback_type_info, xmlrpc_uri))
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/result', node),
result_type_info, xmlrpc_uri))
return connections
def get_rule_from_list(rule_argument_list):
return Rule(rule_argument_list[0], rule_argument_list[1], rule_argument_list[2])
def get_connection_from_list(connection_argument_list):
rule = Rule(connection_argument_list[0], connection_argument_list[1], connection_argument_list[2])
return Connection(rule, connection_argument_list[3], connection_argument_list[4])
def generate_connection_details(self, connection_type, name, node):
'''
Creates all the extra details to create a connection object from a
rule.
@param connection_type : the connection type (one of gateway_msgs.msg.ConnectionType)
@type string
@param name : the name of the connection
@type string
@param node : the master node name it comes from
@param string
@return the utils.Connection object complete with type_info and xmlrpc_uri
@type utils.Connection
'''
xmlrpc_uri = self.lookupNode(node)
connections = []
if connection_type == PUBLISHER or connection_type == SUBSCRIBER:
type_info = rostopic.get_topic_type(name)[0] # message type
connections.append(
utils.Connection(Rule(connection_type, name, node), type_info,
xmlrpc_uri))
elif connection_type == SERVICE:
type_info = rosservice.get_service_uri(name)
connections.append(
utils.Connection(Rule(connection_type, name, node), type_info,
xmlrpc_uri))
elif connection_type == ACTION_SERVER:
type_info = rostopic.get_topic_type(name +
'/goal')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/goal', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/cancel')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/cancel', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/status')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/status', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/feedback')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/feedback', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/result')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/result', node),
type_info, xmlrpc_uri))
elif connection_type == ACTION_CLIENT:
type_info = rostopic.get_topic_type(name +
'/goal')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/goal', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/cancel')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/cancel', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/status')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/status', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/feedback')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/feedback', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/result')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/result', node),
type_info, xmlrpc_uri))
return connections
