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 remote_name: str
:param connection_names: the topic/service/action_xxx names
:type connetion_names: list of str
:param connection_type: publisher, subscriber, service, action_client or action_server
:type connection_type: gateway_msgs.ConnectionType
:param cancel_flag: whether or not we are flipping (false) or unflipping (true)
:type cancel_flag: 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("Rapp 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("Rapp Manager : failed to cancel flips (probably remote hub intentionally went down as well) [%s, %s]" % (resp.result, resp.error_message))
else:
rospy.logerr("Rapp Manager : failed to flip [%s, %s]" % (resp.result, resp.error_message))
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 _advertise_services(self, service_names):
'''
Advertise rocon_app_manager services via the gateway,
if it is available.
:param service_names: rocon app manager service names
:type service_names: strs
'''
if self._gateway_name:
req = gateway_srvs.AdvertiseRequest()
req.cancel = False
req.rules = []
for service_name in service_names:
req.rules.append(create_gateway_rule(service_name, gateway_msgs.ConnectionType.SERVICE))
unused_resp = self._gateway_services['advertise'](req)
def _advertise_services(self, service_names):
'''
Advertise rocon_app_manager services via the gateway,
if it is available.
:param service_names: rocon app manager service names
:type service_names: strs
'''
if self._gateway_name:
req = gateway_srvs.AdvertiseRequest()
req.cancel = False
req.rules = []
for service_name in service_names:
req.rules.append(
create_gateway_rule(service_name,
gateway_msgs.ConnectionType.SERVICE))
unused_resp = self._gateway_services['advertise'](req)
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 _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