def remote_addConnection(self, tagA, tagB):
""" Create a connection between two interfaces.
@param tagX: Tag which is used to identify the interface
which should be connected. It has to be of the
form:
[endpoint tag]/[interface tag]
For example:
testRobot/logPublisher
@type tagX: str
"""
eTagA, iTagA = tagA.split('/', 2)
eTagB, iTagB = tagB.split('/', 2)
ifA = self._getEndpoint(eTagA).getInterface(iTagA)
ifB = self._getEndpoint(eTagB).getInterface(iTagB)
if ifA.clsName != ifB.clsName:
raise InvalidRequest('Can not connect two interfaces with '
'different message/service type.')
if not Types.connectable(ifA.iType, ifB.iType):
raise InvalidRequest('Can not connect an interface of type {0} '
'and an interface of type '
'{1}.'.format(Types.decode(ifA.iType),
Types.decode(ifB.iType)))
key = hash(tagA)^hash(tagB)
if key in self._connections:
raise InvalidRequest('Can not add the same connection twice.')
connection = self._realm.createConnection(ifA.obj, ifB.obj)
self._connections[key] = connection
connection.notifyOnDeath(self._connectionDied)
def __init__(self, endpoint, connection):
""" Initialize the Robot.
@param endpoint: Robot Client which is responsible for
monitoring the robots in this process.
@type endpoint: rce.robot.RobotClient
@param connection: The connection manager for robot namespaces.
@type connection: rce.robot.Connection
"""
Namespace.__init__(self, endpoint)
interface_map = {
Types.encode('PublisherConverter') : PublisherConverter,
Types.encode('SubscriberConverter') : SubscriberConverter,
Types.encode('ServiceClientConverter') : ServiceClientConverter,
Types.encode('ServiceProviderConverter') : ServiceProviderConverter,
Types.encode('PublisherForwarder') : PublisherForwarder,
Types.encode('SubscriberForwarder') : SubscriberForwarder,
Types.encode('ServiceClientForwarder') : ServiceClientForwarder,
Types.encode('ServiceProviderForwarder') : ServiceProviderForwarder
}
self._map.update(interface_map)
self._connection = connection
def __init__(self, endpoint, connection):
""" Initialize the Robot.
@param endpoint: Robot Client which is responsible for
monitoring the robots in this process.
@type endpoint: rce.robot.RobotClient
@param connection: The connection manager for robot namespaces.
@type connection: rce.robot.Connection
"""
Namespace.__init__(self, endpoint)
interface_map = {
Types.encode('PublisherConverter'): PublisherConverter,
Types.encode('SubscriberConverter'): SubscriberConverter,
Types.encode('ServiceClientConverter'): ServiceClientConverter,
Types.encode('ServiceProviderConverter'): ServiceProviderConverter,
Types.encode('PublisherForwarder'): PublisherForwarder,
Types.encode('SubscriberForwarder'): SubscriberForwarder,
Types.encode('ServiceClientForwarder'): ServiceClientForwarder,
Types.encode('ServiceProviderForwarder'): ServiceProviderForwarder
}
self._map.update(interface_map)
self._connection = connection
def __init__(self, endpoint):
""" Initialize the Environment.
@param endpoint: Environment Client which is responsible for
monitoring the environment in this process.
@type endpoint: rce.robot.EnvironmentClient
"""
Namespace.__init__(self, endpoint)
interface_map = {
Types.encode('PublisherInterface'): PublisherInterface,
Types.encode('SubscriberInterface'): SubscriberInterface,
Types.encode('ServiceClientInterface'): ServiceClientInterface,
Types.encode('ServiceProviderInterface'): ServiceProviderInterface
}
self._map.update(interface_map)
self._nodes = set()
self._parameters = set()
def __init__(self, endpoint):
""" Initialize the Environment.
@param endpoint: Environment Client which is responsible for
monitoring the environment in this process.
@type endpoint: rce.robot.EnvironmentClient
"""
Namespace.__init__(self, endpoint)
interface_map = {
Types.encode('PublisherInterface') : PublisherInterface,
Types.encode('SubscriberInterface') : SubscriberInterface,
Types.encode('ServiceClientInterface') : ServiceClientInterface,
Types.encode('ServiceProviderInterface') : ServiceProviderInterface
}
self._map.update(interface_map)
self._nodes = set()
self._parameters = set()
def view_addConnection(self, user, tagA, tagB):
""" Create a connection between two interfaces.
@param user: User for which the connection will be created.
@type user: rce.core.user.User
@param tagX: Tag which is used to identify the interface
which should be connected. It has to be of the
form:
[endpoint tag]/[interface tag]
For example:
testRobot/logPublisher
@type tagX: str
"""
eTagA, iTagA = tagA.split('/', 2)
eTagB, iTagB = tagB.split('/', 2)
ifA = user.getEndpoint(eTagA).getInterface(iTagA)
ifB = user.getEndpoint(eTagB).getInterface(iTagB)
if ifA.clsName != ifB.clsName:
raise InvalidRequest('Can not connect two interfaces with '
'different message/service type.')
if not Types.connectable(ifA.iType, ifB.iType):
raise InvalidRequest('Can not connect an interface of type {0} '
'and an interface of type '
'{1}.'.format(Types.decode(ifA.iType),
Types.decode(ifB.iType)))
key = int(md5(tagA).hexdigest(), 16) ^ int(md5(tagB).hexdigest(), 16)
if key in user.connections:
raise InvalidRequest('Can not add the same connection twice.')
connection = user.realm.createConnection(ifA.obj, ifB.obj)
user.connections[key] = connection
connection.notifyOnDeath(user.connectionDied)
def view_addConnection(self, user, tagA, tagB):
""" Create a connection between two interfaces.
@param user: User for which the connection will be created.
@type user: rce.core.user.User
@param tagX: Tag which is used to identify the interface
which should be connected. It has to be of the
form:
[endpoint tag]/[interface tag]
For example:
testRobot/logPublisher
@type tagX: str
"""
eTagA, iTagA = tagA.split('/', 2)
eTagB, iTagB = tagB.split('/', 2)
ifA = user.getEndpoint(eTagA).getInterface(iTagA)
ifB = user.getEndpoint(eTagB).getInterface(iTagB)
if ifA.clsName != ifB.clsName:
raise InvalidRequest('Can not connect two interfaces with '
'different message/service type.')
if not Types.connectable(ifA.iType, ifB.iType):
raise InvalidRequest('Can not connect an interface of type {0} '
'and an interface of type '
'{1}.'.format(Types.decode(ifA.iType),
Types.decode(ifB.iType)))
key = int(md5(tagA).hexdigest(), 16) ^ int(md5(tagB).hexdigest(), 16)
if key in user.connections:
raise InvalidRequest('Can not add the same connection twice.')
connection = user.realm.createConnection(ifA.obj, ifB.obj)
user.connections[key] = connection
connection.notifyOnDeath(user.connectionDied)
def addInterface(self, iTag, iType, clsName, addr):
""" Add an interface to the ROS environment inside the container.
@param iTag: Tag which is used to identify the interface in
subsequent requests.
@type iTag: str
@param iType: Type of the interface. The type has to be of
the form:
{prefix}Interface
whit valid prefixes:
ServiceClient, ServiceProvider,
Publisher, Subscriber
@type iType: str
@param clsName: Message type/Service type consisting of the
package and the name of the message/service,
i.e. 'std_msgs/Int32'.
@type clsName: str
@param addr: ROS name/address which the interface should
use.
@type addr: str
"""
try:
validateName(iTag)
except IllegalName:
raise InvalidRequest('Interface tag is not a valid.')
if iTag in self._interfaces:
raise InvalidRequest("Can not use the same interface tag '{0}' "
'in the same container twice.'.format(iTag))
try:
iType = Types.encode(iType)
except TypeError:
raise InvalidRequest('Interface type is invalid (Unknown prefix).')
interface = self._obj.createInterface(iType, clsName, addr)
interface = Interface(interface, iType, clsName)
self._interfaces[iTag] = interface
interface.notifyOnDeath(self._interfaceDied)
def addInterface(self, iTag, iType, clsName):
""" Add an interface to the Robot object.
@param iTag: Tag which is used to identify the interface in
subsequent requests.
@type iTag: str
@param iType: Type of the interface. The type consists of a
prefix and a suffix.
- Valid prefixes are:
ServiceClient, ServiceProvider,
Publisher, Subscriber
- Valid suffixes are:
Converter, Forwarder
@type iType: str
@param clsName: Message type/Service type consisting of the
package and the name of the message/service,
i.e. 'std_msgs/Int32'.
@type clsName: str
"""
try:
validateName(iTag)
except IllegalName as e:
raise InvalidRequest('Interface tag is invalid: {0}'.format(e))
if iTag in self._interfaces:
raise InvalidRequest("Can not use the same interface tag '{0}' "
'in the same robot twice.'.format(iTag))
modifier = 4 if iType.endswith('Forwarder') else 0
try:
iType = Types.encode(iType)
except TypeError:
raise InvalidRequest('Interface type is invalid (Unknown prefix).')
interface = self._obj.createInterface(iType + modifier, clsName, iTag)
interface = Interface(interface, iType, clsName)
self._interfaces[iTag] = interface
interface.notifyOnDeath(self._interfaceDied)
