def to_msg(self):
'''
Converts this app definition to ros msg format.
:returns: ros message format of Rapp
:rtype: rocon_app_manager_msgs.Rapp
'''
a = rapp_manager_msgs.Rapp()
a.name = self.data['name']
a.display_name = self.data['display_name']
a.description = self.data['description']
a.compatibility = self.data['compatibility']
a.status = self.data['status']
a.icon = rocon_python_utils.ros.icon_to_msg(self.data['icon'])
a.implementations = []
key = 'public_interface'
if key in self.data:
a.public_interface = [rocon_std_msgs.KeyValue(key, str(val)) for key, val in self.data[key].items()]
key = 'public_parameters'
if key in self.data:
a.public_parameters = [rocon_std_msgs.KeyValue(str(key), str(val)) for key, val in self.data[key].items()]
return a
def _publish_status(self):
"""
Publish status updates whenever something significant changes, e.g.
remote controller changed, or rapp started/stopped.
"""
published_interfaces = []
published_parameters = []
rapp = rapp_manager_msgs.Rapp()
rapp_status = rapp_manager_msgs.Status.RAPP_STOPPED
if self.current_rapp:
try:
published_interfaces = self.current_rapp.published_interfaces_to_msg_list(
)
published_parameters = self.current_rapp.published_parameters_to_msg_list(
)
rapp = self.current_rapp.to_msg()
rapp_status = rapp_manager_msgs.Status.RAPP_RUNNING
except AttributeError: # i.e. current_rapp is None
# catch when self.current_rapp is NoneType since there is a miniscule chance
# it might have changed inbetween the if check and the method calls
pass # nothing to do here as we predefine everything for this case.
msg = rapp_manager_msgs.Status(
application_namespace=self.parameters.application_namespace,
rapp_status=rapp_status,
rapp=rapp,
published_interfaces=published_interfaces,
published_parameters=published_parameters)
try:
self.publishers.status.publish(msg)
except rospy.ROSException: # publisher has unregistered - ros shutting down
pass
import concert_schedulers
import concert_schedulers.common
import concert_schedulers.compatibility_tree_scheduler as compatibility_tree_scheduler
import rosunit
import concert_msgs.msg as concert_msgs
import scheduler_msgs.msg as scheduler_msgs
import rocon_app_manager_msgs.msg as rocon_app_manager_msgs
import rocon_console.console as console
##############################################################################
# Rapps
##############################################################################
app_listener = rocon_app_manager_msgs.Rapp(
name='rocon_apps/listener',
display_name='Listener',
description='Default ros style listener tutorial',
platform='linux.*.ros.*')
app_talker = rocon_app_manager_msgs.Rapp(
name='rocon_apps/talker',
display_name='Talker',
description='Default ros style talker tutorial',
platform='linux.*.ros.*')
apps = [app_listener, app_talker]
##############################################################################
# Concert Clients
##############################################################################
concert_client_msgs = {}
concert_client_msgs['dude_foo'] = concert_msgs.ConcertClient(