def simtime_check(ctx):
if ctx.use_sim_time:
master = roslib.scriptutil.get_master()
try:
code, msg, pubtopics = master.getPublishedTopics('/roswtf', '/')
except:
ctx.errors.append(WtfError("Cannot talk to ROS master"))
raise WtfException("roswtf lost connection to the ROS Master at %s"%roslib.rosenv.get_master_uri())
if code != 1:
raise WtfException("cannot get published topics from master: %s"%msg)
for topic, _ in pubtopics:
if topic in ['/time', '/clock']:
return
return True
def probe_all_services(ctx):
master = rosgraph.Master('/roswtf')
errors = []
for service_name in ctx.services:
try:
service_uri = master.lookupService(service_name)
except:
ctx.errors.append(
WtfError("cannot contact ROS Master at %s" %
rosgraph.rosenv.get_master_uri()))
raise WtfException(
"roswtf lost connection to the ROS Master at %s" %
rosgraph.rosenv.get_master_uri())
try:
headers = rosservice.get_service_headers(service_name, service_uri)
if not headers:
errors.append("service [%s] did not return service headers" %
service_name)
except rosgraph.network.ROSHandshakeException as e:
errors.append("service [%s] appears to be malfunctioning" %
service_name)
except Exception as e:
errors.append("service [%s] appears to be malfunctioning: %s" %
(service_name, e))
return errors
def _compute_system_state(ctx):
socket.setdefaulttimeout(3.0)
master = rosgraph.Master('/roswtf')
# store system state
try:
val = master.getSystemState()
except rosgraph.MasterException:
return
ctx.system_state = val
pubs, subs, srvs = val
# compute list of topics and services
topics = []
for t, _ in itertools.chain(pubs, subs):
topics.append(t)
services = []
service_providers = []
for s, l in srvs:
services.append(s)
service_providers.extend(l)
ctx.topics = topics
ctx.services = services
ctx.service_providers = service_providers
# compute list of nodes
nodes = []
for s in val:
for t, l in s:
nodes.extend(l)
ctx.nodes = list(set(nodes)) #uniq
# - compute reverse mapping of URI->nodename
count = 0
start = time.time()
for n in ctx.nodes:
count += 1
try:
val = master.lookupNode(n)
except socket.error:
ctx.errors.append(
WtfError("cannot contact ROS Master at %s" %
rosgraph.rosenv.get_master_uri()))
raise WtfException(
"roswtf lost connection to the ROS Master at %s" %
rosgraph.rosenv.get_master_uri())
ctx.uri_node_map[val] = n
end = time.time()
# - time thresholds currently very arbitrary
if count:
if ((end - start) / count) > 1.:
ctx.warnings.append(
WtfError(
"Communication with master is very slow (>1s average)"))
elif (end - start) / count > .5:
ctx.warnings.append(
WtfWarning(
"Communication with master is very slow (>0.5s average)"))
def wtf_check_graph(ctx, names=None):
master_uri = ctx.ros_master_uri
#TODO: master rules
# - check for stale master state
# TODO: get the type for each topic from each publisher and see if they match up
master = rosgraph.Master('/roswtf')
try:
master.getPid()
except rospkg.MasterException:
warning_rule(
(True, "Cannot communicate with master, ignoring online checks"),
True, ctx)
return
# fill in ctx info so we only have to compute once
print("analyzing graph...")
_compute_online_context(ctx)
print("... done analyzing graph")
if names:
check_topics = [t for t in names if t in ctx.topics]
check_services = [t for t in names if t in ctx.services]
check_nodes = [t for t in names if t in ctx.nodes]
unknown = [
t for t in names
if t not in check_topics + check_services + check_nodes
]
if unknown:
raise WtfException(
"The following names were not found in the list of nodes, topics, or services:\n%s"
% (''.join([" * %s\n" % t for t in unknown])))
for t in check_topics:
for r in topic_warnings:
warning_rule(r, r[0](ctx, t), ctx)
for r in topic_errors:
error_rule(r, r[0](ctx, t), ctx)
for s in check_services:
for r in service_warnings:
warning_rule(r, r[0](ctx, s), ctx)
for r in service_errors:
error_rule(r, r[0](ctx, s), ctx)
for n in check_nodes:
for r in node_warnings:
warning_rule(r, r[0](ctx, n), ctx)
for r in node_errors:
error_rule(r, r[0](ctx, n), ctx)
print("running graph rules...")
for r in graph_warnings:
warning_rule(r, r[0](ctx), ctx)
for r in graph_errors:
error_rule(r, r[0](ctx), ctx)
print("... done running graph rules")
def simtime_check(ctx):
if ctx.use_sim_time:
master = roslib.scriptutil.get_master()
code, msg, pubtopics = master.getPublishedTopics('/roswtf', '/')
if code != 1:
raise WtfException("cannot get published topics from master: %s"%msg)
for topic, _ in pubtopics:
if topic in ['/time', '/clock']:
return
return True
def simtime_check(ctx):
if ctx.use_sim_time:
master = rosgraph.Master('/roswtf')
try:
pubtopics = master.getPublishedTopics('/')
except rosgraph.MasterException:
ctx.errors.append(WtfError("Cannot talk to ROS master"))
raise WtfException(
"roswtf lost connection to the ROS Master at %s" %
rosgraph.rosenv.get_master_uri())
for topic, _ in pubtopics:
if topic in ['/time', '/clock']:
return
return True
def probe_all_services(ctx):
master = roslib.scriptutil.get_master()
errors = []
for service_name in ctx.services:
try:
code, msg, service_uri = master.lookupService('/rosservice', service_name)
except:
ctx.errors.append(WtfError("cannot contact ROS Master at %s"%roslib.rosenv.get_master_uri()))
raise WtfException("roswtf lost connection to the ROS Master at %s"%roslib.rosenv.get_master_uri())
if code != 1:
ctx.warnings.append(WtfWarning("Unable to lookup service [%s]"%service_name))
else:
try:
headers = rosservice.get_service_headers(service_name, service_uri)
if not headers:
errors.append("service [%s] did not return service headers"%service_name)
except roslib.network.ROSHandshakeException, e:
errors.append("service [%s] appears to be malfunctioning"%service_name)
except Exception, e:
errors.append("service [%s] appears to be malfunctioning: %s"%(service_name, e))