def _send_flip_rules_request(self, name, cancel):
rules = []
rule = gateway_msgs.Rule()
rule.node = ''
rule.type = gateway_msgs.ConnectionType.SUBSCRIBER
# could resolve this better by looking up the service info
rule.name = "/services/turtlesim/%s/cmd_vel" % name
rules.append(copy.deepcopy(rule))
rule.type = gateway_msgs.ConnectionType.PUBLISHER
rule.name = "/services/turtlesim/%s/pose" % name
rules.append(copy.deepcopy(rule))
# send the request
request = gateway_srvs.RemoteRequest()
request.cancel = cancel
remote_rule = gateway_msgs.RemoteRule()
remote_rule.gateway = name
for rule in rules:
remote_rule.rule = rule
request.remotes.append(copy.deepcopy(remote_rule))
try:
self._gateway_flip_service(request)
except rospy.ServiceException: # communication failed
rospy.logerr("TurtleHerder : failed to send flip rules")
return
except rospy.ROSInterruptException:
rospy.loginfo("TurtleHerder : shutdown while contacting the gateway flip service")
return
def flip_tutorials(remote_gateway_name=None,
cancel=False,
regex_patterns=False,
ns=_gateway_namespace):
rospy.wait_for_service(ns + '/flip')
flip = rospy.ServiceProxy(ns + '/flip', gateway_srvs.Remote)
if not remote_gateway_name:
remote_gateway_name = find_first_remote_gateway()
req = gateway_srvs.RemoteRequest()
req.cancel = cancel
if regex_patterns:
names, nodes = create_tutorial_dictionaries(use_regex_patterns=True)
else:
names, nodes = create_tutorial_dictionaries(use_regex_patterns=False)
req.remotes = []
for connection_type in connection_types:
rule = gateway_msgs.Rule()
rule.name = names[connection_type]
rule.type = connection_type
rule.node = nodes[connection_type]
rospy.loginfo(
"Flip : %s [%s,%s,%s][%s]." %
(_action_text(cancel, 'requesting flip to gateway'), rule.type,
rule.name, rule.node or 'None', remote_gateway_name))
req.remotes.append(gateway_msgs.RemoteRule(remote_gateway_name, rule))
resp = flip(req)
if resp.result == gateway_msgs.ErrorCodes.FLIP_RULE_ALREADY_EXISTS: # already flipped all error is ignored. this call only has no effect.
pass
elif resp.result != 0:
raise GatewaySampleRuntimeError("failed to flip %s [%s]" %
(rule.name, resp.error_message))
def flip(gate, remote, local, topic, node):
rospy.init_node('generic_flip_subscriber')
remote_gateway = gate[0]
flip_service = rospy.ServiceProxy('/gateway/flip', gateway_srvs.Remote)
req = gateway_srvs.RemoteRequest()
req.cancel = False
req.remotes = []
rule = gateway_msgs.Rule()
if topic[0][0] == '/':
rule.name = topic[0]
elif not remote:
rule.name = '/' + topic[0]
else:
rule.name = '/' + remote[0] + '/' + topic[0]
rule.type = gateway_msgs.ConnectionType.SUBSCRIBER
if not node:
rule.node = ''
elif node[0][0] == '/':
rule.node = node[0]
elif not local:
rule.node = '/' + node[0]
else:
rule.node = '/' + local[0] + '/' + node[0]
req.remotes.append(gateway_msgs.RemoteRule(remote_gateway, rule))
rospy.loginfo("Flip : [%s,%s,%s,%s]." %
(remote_gateway, rule.name, rule.type, rule.node))
resp = flip_service(req)
if resp.result != 0:
rospy.logerr("Flip : %s" % resp.error_message)
rospy.loginfo("Finished flipping connection.")
def pull(gate, remote, local, topic, node):
rospy.init_node('generic_puller')
rospy.wait_for_service('/gateway/pull')
remote_gateway = gate[0]
pull_service = rospy.ServiceProxy('/gateway/pull', gateway_srvs.Remote)
req = gateway_srvs.RemoteRequest()
req.cancel = False
req.remotes = []
rule = gateway_msgs.Rule()
if topic[0][0] == '/':
rule.name = topic[0]
elif not remote:
rule.name = '/' + topic[0] ;
else:
rule.name = '/' + remote[0] + '/' + topic[0]
rule.type = gateway_msgs.ConnectionType.PUBLISHER
if not node:
rule.node = ''
elif node[0][0] == '/':
rule.node = node[0]
elif not local:
rule.node = '/' + node[0]
else:
rule.node = '/' + local[0] + '/' + node[0]
req.remotes.append(gateway_msgs.RemoteRule(remote_gateway, rule))
rospy.loginfo("Pull : [%s,%s,%s,%s]."%(remote_gateway, rule.name, rule.type, rule.node))
resp = pull_service(req)
if resp.result != 0:
rospy.logerr("Pull : %s"%resp.error_message)
rospy.loginfo("Finished pulling connection.")
def _flip_connections(self, remote_name, connection_names, connection_type, cancel_flag=False):
'''
(Un)Flip a service to a remote gateway.
@param remote_name : the name of the remote gateway to flip to.
@type str
@param connection_names : the topic/service/action_xxx names
@type list of str
@param connection_type : publisher, subscriber, service, action_client or action_server
@type gateway_msgs.ConnectionType
@param cancel_flag : whether or not we are flipping (false) or unflipping (true)
@type bool
'''
if len(connection_names) == 0:
return
req = gateway_srvs.RemoteRequest()
req.cancel = cancel_flag
req.remotes = []
for connection_name in connection_names:
req.remotes.append(create_gateway_remote_rule(remote_name, create_gateway_rule(connection_name, connection_type)))
try:
resp = self._gateway_services['flip'](req)
except rospy.service.ServiceException:
# often disappears when the gateway shuts down just before the app manager, ignore silently.
return
if resp.result == 0:
rospy.loginfo("App Manager : successfully flipped %s" % str([os.path.basename(name) for name in connection_names]))
else:
rospy.logerr("App Manager : failed to flip [%s]" % resp.error_message)
def pull_tutorials(remote_gateway_name=None,
cancel=False,
regex_patterns=False,
ns=_gateway_namespace):
rospy.wait_for_service(ns + '/pull')
pull = rospy.ServiceProxy(ns + '/pull', gateway_srvs.Remote)
if not remote_gateway_name:
remote_gateway_name = find_first_remote_gateway()
req = gateway_srvs.RemoteRequest()
req.cancel = cancel
if regex_patterns:
names, nodes = create_tutorial_dictionaries(use_regex_patterns=True)
else:
names, nodes = create_tutorial_dictionaries(use_regex_patterns=False)
req.remotes = []
for connection_type in connection_types:
rule = gateway_msgs.Rule()
rule.name = names[connection_type]
rule.type = connection_type
rule.node = nodes[connection_type]
rospy.loginfo(
"Pull : %s [%s,%s,%s][%s]." %
(_action_text(cancel, 'sending pull rule to the gateway'),
rule.type, rule.name, rule.node or 'None', remote_gateway_name))
req.remotes.append(gateway_msgs.RemoteRule(remote_gateway_name, rule))
resp = pull(req)
if resp.result != 0:
raise GatewaySampleRuntimeError("failed to pull %s [%s]" %
(rule.name, resp.error_message))
def _pull_concert_client(self):
'''
Pulls platform information from the advertised platform_info on another
ros system. It is just a one-shot only used at construction time.
It pulls platform_info and list_apps information.
It also pulls the required handles in for further manipulation ('status' and 'invite')
'''
rospy.loginfo("Conductor: retrieving client information [%s]" %
self.name)
pull_service = rospy.ServiceProxy('~pull', gateway_srvs.Remote)
req = gateway_srvs.RemoteRequest()
req.cancel = False
req.remotes = []
for service_name in ['platform_info', 'list_apps', 'status', 'invite']:
rule = gateway_msgs.Rule()
rule.name = str('/' + self.gateway_name + '/' + service_name)
rule.node = ''
rule.type = gateway_msgs.ConnectionType.SERVICE
req.remotes.append(
gateway_msgs.RemoteRule(self.gateway_name.lstrip('/'), rule))
resp = pull_service(req)
if resp.result != 0:
rospy.logwarn(
"Conductor: failed to pull the platform info service from the client."
)
return None
def _send_flip_rules(self, robots, cancel):
"""
Flip rules from Gazebo to the robot's concert client.
:param robot_names str[]: Names of robots to whom information needs to
be flipped.
:param cancel bool: Cancel existing flips. Used during shutdown.
"""
for robot in robots:
rules = self._robot_managers[robot['type']].get_flip_rule_list(
robot['name'])
# send the request
request = gateway_srvs.RemoteRequest()
request.cancel = cancel
remote_rule = gateway_msgs.RemoteRule()
remote_rule.gateway = robot['name']
for rule in rules:
remote_rule.rule = rule
request.remotes.append(copy.deepcopy(remote_rule))
try:
self._gateway_flip_service(request)
except rospy.ServiceException: # communication failed
self.logerr('failed to send flip rules')
return
except rospy.ROSInterruptException:
self.loginfo(
'shutdown while contacting the gateway flip service')
return
def __init__(self, gateway, cancel_flag, regex):
self.gateway = gateway
if cancel_flag:
self.action_text = "cancelling"
else:
self.action_text = "pulling"
self.pull_service = rospy.ServiceProxy('/gateway/pull',
gateway_srvs.Remote)
rospy.wait_for_service('/gateway/pull')
self.req = gateway_srvs.RemoteRequest()
self.req.cancel = cancel_flag
self.req.remotes = []
self.names, self.nodes = rocon_gateway.samples.create_tutorial_dictionaries(
use_regex_patterns=regex)
def _flip_connections(self,
remote_name,
connection_names,
connection_type,
cancel_flag=False):
'''
(Un)Flip a service to a remote gateway.
@param remote_name : the name of the remote gateway to flip to.
@type str
@param connection_names : the topic/service/action_xxx names
@type list of str
@param connection_type : publisher, subscriber, service, action_client or action_server
@type gateway_msgs.ConnectionType
@param cancel_flag : whether or not we are flipping (false) or unflipping (true)
@type bool
'''
if len(connection_names) == 0:
return
req = gateway_srvs.RemoteRequest()
req.cancel = cancel_flag
req.remotes = []
for connection_name in connection_names:
req.remotes.append(
create_gateway_remote_rule(
remote_name,
create_gateway_rule(connection_name, connection_type)))
try:
resp = self._gateway_services['flip'](req)
except rospy.service.ServiceException:
# often disappears when the gateway shuts down just before the app manager, ignore silently.
return
if resp.result == 0:
rospy.loginfo(
"App Manager : successfully flipped %s" %
str([os.path.basename(name) for name in connection_names]))
else:
if resp.result == gateway_msgs.ErrorCodes.NO_HUB_CONNECTION and cancel_flag:
# can often happen if a concert goes down and brings the hub down as as well
# so just suppress this warning if it's a request to cancel
rospy.logwarn(
"App Manager : failed to cancel flips (probably remote hub intentionally went down as well) [%s, %s]"
% (resp.result, resp.error_message))
else:
rospy.logerr("App Manager : failed to flip [%s, %s]" %
(resp.result, resp.error_message))
def cancel_pulls(self):
'''
Cancel any pulls for a client which failed to construct (e.g. in the init() when the service calls
fail.
'''
pull_service = rospy.ServiceProxy('~pull', gateway_srvs.Remote)
req = gateway_srvs.RemoteRequest()
req.cancel = True
req.remotes = []
for service_name in ['platform_info', 'list_apps', 'status', 'invite']:
rule = gateway_msgs.Rule()
rule.name = str('/' + self.gateway_name + '/' + service_name)
rule.node = ''
rule.type = gateway_msgs.ConnectionType.SERVICE
req.remotes.append(
gateway_msgs.RemoteRule(self.gateway_name.lstrip('/'), rule))
unused_resp = pull_service(req)
def _set_gateway_flip_rules(self, cancel_flag=False):
"""
Converts the concert whitelist into a set of remote gateway flip rules for the namespaces in which
the rapp manager will drop 'to be shared' communications.
"""
req = gateway_srvs.RemoteRequest()
req.cancel = cancel_flag
flip_request_service = rospy.ServiceProxy('~flip', gateway_srvs.Remote)
for connection_type in rocon_gateway.connection_types:
concert_namespace_rule = rocon_gateway_utils.create_gateway_rule(name="/concert/.*", connection_type=connection_type)
# self.parameters.application namespace always finishes with a trailing slash because of 'rosgraph.names.make_global_ns()' called on it.
applications_namespace_rule = rocon_gateway_utils.create_gateway_rule(name=self.parameters.application_namespace + ".*", connection_type=connection_type)
for concert_remote_gateway in self.concert_parameters.concert_whitelist:
req.remotes.append(rocon_gateway_utils.create_gateway_remote_rule(concert_remote_gateway, concert_namespace_rule))
req.remotes.append(rocon_gateway_utils.create_gateway_remote_rule(concert_remote_gateway, applications_namespace_rule))
if not self.concert_parameters.concert_whitelist:
req.remotes.append(rocon_gateway_utils.create_gateway_remote_rule(".*", concert_namespace_rule))
req.remotes.append(rocon_gateway_utils.create_gateway_remote_rule(".*", applications_namespace_rule))
warning_throttle_counter = 0
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
try:
resp = flip_request_service(req)
except rospy.service.ServiceException:
raise GatewayNotFoundException() # often disappears when the gateway shuts down just before the app manager, ignore silently.
if resp.result == gateway_msgs.ErrorCodes.SUCCESS:
rospy.loginfo("Rapp Manager : set flip rules on the local gateway [remotes: %s]" % self.concert_parameters.concert_whitelist)
break
else:
if resp.result == gateway_msgs.ErrorCodes.NO_HUB_CONNECTION and cancel_flag:
# can often happen if a concert goes down and brings the hub down as as well
# so just suppress this warning if it's a request to cancel
rospy.logwarn("Rapp Manager : failed to cancel flips (probably remote hub intentionally went down as well) [%s, %s]" % (resp.result, resp.error_message))
raise GatewayNotFoundException() # often disappears when the gateway shuts down just before the app manager, ignore silently.
else:
warning_throttle_counter += 1
if warning_throttle_counter % 10 == 0:
rospy.logerr("Rapp Manager : could not set flip rules on the local gateway")
rate.sleep()
def flip(namespace, topic, node):
rospy.init_node('flip_remote_publisher')
remote_gateway = "Hub_Gateway"
flip_service = rospy.ServiceProxy('/gateway/flip', gateway_srvs.Remote)
req = gateway_srvs.RemoteRequest()
req.cancel = False
req.remotes = []
rule = gateway_msgs.Rule()
rule.name = '/' + namespace + '/' + topic
rule.type = gateway_msgs.ConnectionType.PUBLISHER
rule.node = '/' + namespace + '/' + node
req.remotes.append(gateway_msgs.RemoteRule(remote_gateway, rule))
rospy.loginfo("Flip : [%s,%s,%s,%s]." %
(remote_gateway, rule.name, rule.type, rule.node))
resp = flip_service(req)
if resp.result != 0:
rospy.logerr("Flip : %s" % resp.error_message)
rospy.loginfo("Finished flipping connection.")
def _send_flip_rules(self, remote_controller):
request = gateway_srvs.RemoteRequest()
request.cancel = True if remote_controller == rocon_app_manager_msgs.Constants.NO_REMOTE_CONTROLLER else False
remote_rule = gateway_msgs.RemoteRule()
if request.cancel:
remote_rule.gateway = self.remote_controller
else:
remote_rule.gateway = remote_controller
for rule in self._flip_rules():
remote_rule.rule = rule
request.remotes.append(copy.deepcopy(remote_rule))
try:
unused_response = self.gateway_flip_service(request)
except rospy.ServiceException: # communication failed
rospy.logerr("Hatchling : failed to send flip rules")
return
except rospy.ROSInterruptException:
rospy.loginfo(
"Hatchling : shutdown while contacting the gateway flip service"
)
return
def request_pulls(self,
remote_gateway_name,
cancel=False,
service_names=['platform_info', 'list_rapps', 'invite'],
topic_names=['status']):
"""
Handles pull requests and cancels from request gateways for the conductor. Note this
only applies to topics/services relevant for interacting with concert clients.
:param str remote_gateway_name: name of a remote gateway to apply to all rules
:param bool cancel: to register or unregister the pull requests
"""
req = gateway_srvs.RemoteRequest()
req.cancel = cancel
req.remotes = []
for service_name in service_names:
rule = gateway_msgs.Rule()
rule.name = str('/' +
remote_gateway_name.lower().replace(' ', '_') +
'/' + service_name)
rule.node = ''
rule.type = gateway_msgs.ConnectionType.SERVICE
req.remotes.append(
gateway_msgs.RemoteRule(remote_gateway_name.lstrip('/'), rule))
for publisher_name in topic_names:
rule = gateway_msgs.Rule()
rule.name = str('/' +
remote_gateway_name.lower().replace(' ', '_') +
'/' + publisher_name)
rule.node = ''
rule.type = gateway_msgs.ConnectionType.PUBLISHER
req.remotes.append(
gateway_msgs.RemoteRule(remote_gateway_name.lstrip('/'), rule))
# TODO : exception handling for this call
response = self._services['pull'](req)
if response.result != gateway_msgs.ErrorCodes.SUCCESS and not cancel: # don't worry about errors on cleanup
rospy.logwarn(
"Conductor: failed to register pull requests from the concert client [%s]%s"
% (remote_gateway_name, service_names)
) # TODO : exceptions, but what kind of failures?
def pull(topic):
rospy.init_node('pull_hub_publisher')
rospy.wait_for_service('/gateway/pull')
remote_gateway = "Hub_Gateway"
pull_service = rospy.ServiceProxy('/gateway/pull', gateway_srvs.Remote)
req = gateway_srvs.RemoteRequest()
req.cancel = False
req.remotes = []
rule = gateway_msgs.Rule()
rule.name = '/' + topic
rule.type = gateway_msgs.ConnectionType.PUBLISHER
rule.node = ""
req.remotes.append(gateway_msgs.RemoteRule(remote_gateway, rule))
rospy.loginfo("Pull : [%s,%s,%s,%s]." %
(remote_gateway, rule.name, rule.type, rule.node))
resp = pull_service(req)
if resp.result != 0:
rospy.logerr("Pull : %s" % resp.error_message)
rospy.loginfo("Finished pulling connection.")
def flip(namespace, topic, node, gate):
rospy.init_node('flip_hub_subscriber')
remote_gateway = gate + '_gateway'
flip_service = rospy.ServiceProxy('/gateway/flip', gateway_srvs.Remote)
req = gateway_srvs.RemoteRequest()
req.cancel = False
req.remotes = []
rule = gateway_msgs.Rule()
if topic[0] == '/':
rule.name = topic
else:
rule.name = '/' + namespace + '/' + topic
rule.type = gateway_msgs.ConnectionType.SUBSCRIBER
rule.node = '/' + node
req.remotes.append(gateway_msgs.RemoteRule(remote_gateway, rule))
rospy.loginfo("Flip : [%s,%s,%s,%s]." %
(remote_gateway, rule.name, rule.type, rule.node))
resp = flip_service(req)
if resp.result != 0:
rospy.logerr("Flip : %s" % resp.error_message)
rospy.loginfo("Finished flipping connection.")
def _flip_all_connections(self,
remote_name,
connections,
cancel_flag=False):
'''
(Un)Flip connections to a remote gateway.
:param remote_name: the name of the remote gateway to flip to.
:type remote_name: str
:param connections: the dict of connection types(topic/service/action_xxx) names
:type connetions: dict
:param cancel_flag: whether or not we are flipping (false) or unflipping (true)
:type cancel_flag: bool
:returns: success or not, message
:rtype: bool, str
'''
success = False
message = ""
req = gateway_srvs.RemoteRequest()
req.cancel = cancel_flag
req.remotes = []
# Create request
for conn_type, conns in connections.items():
gateway_type = plurality_converter[conn_type]
for conn_name in conns:
remote_rule = create_gateway_remote_rule(
remote_name, create_gateway_rule(conn_name, gateway_type))
req.remotes.append(remote_rule)
# Send request
attempts = 0
MAX_ATTEMPTS = 4
while not success and attempts < MAX_ATTEMPTS and not rospy.is_shutdown(
):
try:
resp = self._gateway_services['flip'](req)
except rospy.service.ServiceException:
# often disappears when the gateway shuts down just before the app manager, ignore silently.
success = False
message = "Flip service has disappeared"
attempts = attempts + 1
continue
if resp.result == gateway_msgs.ErrorCodes.SUCCESS:
rospy.loginfo("Rapp Manager : successfully flipped %s" %
str([(names) for names in connections.values()]))
success = True
else:
if resp.result == gateway_msgs.ErrorCodes.NO_HUB_CONNECTION and cancel_flag:
# can often happen if a concert goes down and brings the hub down as as well
# so just suppress this warning if it's a request to cancel
rospy.logwarn(
"Rapp Manager : failed to cancel flips (probably remote hub intentionally went down as well) [%s, %s]"
% (resp.result, resp.error_message))
else:
message = "failed to flip [%s][%s, %s]" % (
str(connections), resp.result, resp.error_message)
rospy.logerr("Rapp Manager : %s" % message)
success = False
attempts = attempts + 1
rospy.sleep(1.0)
return success, message
