def getParam(self, caller_id, key, client_ip_address="127.0.0.1"):
"""
Retrieve parameter value from server.
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter to lookup. If key is a namespace,
getParam() will return a parameter tree.
@type key: str
getParam() will return a parameter tree.
@return: [code, statusMessage, parameterValue]. If code is not
1, parameterValue should be ignored. If key is a namespace,
the return value will be a dictionary, where each key is a
parameter in that namespace. Sub-namespaces are also
represented as dictionaries.
@rtype: [int, str, XMLRPCLegalValue]
"""
try:
key = resolve_name(key, caller_id)
param = self.param_server.get_param(key)
except KeyError as e:
return -1, "Parameter [%s] is not set" % key, 0
if not self.auth.check_param_getter(key, client_ip_address):
self.logger.warn("getParam( %s, %s, %s) parameter not authorized" %
(caller_id, key, client_ip_address))
return -1, "parameter not authorized", 0
return 1, "Parameter [%s]" % key, param
def validator(param_value, caller_id):
if not isstring(param_value):
raise ParameterInvalid("ERROR: parameter [%s] must be a string"%param_name)
if not param_value:
return ''
#return resolve_name(param_value, namespace(caller_id))
return resolve_name(param_value, caller_id)
def unsubscribeParam(self, caller_id, caller_api, key, client_ip_address):
"""
Retrieve parameter value from server and subscribe to updates to that param. See
paramUpdate() in the Node API.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to lookup.
@type key: str
@param caller_api: API URI for paramUpdate callbacks.
@type caller_api: str
@return: [code, statusMessage, numUnsubscribed].
If numUnsubscribed is zero it means that the caller was not subscribed to the parameter.
@rtype: [int, str, int]
"""
if not is_uri_match(caller_api, client_ip_address):
self.logger.warn(
"unsubscribeParam( %s, %s, %s, %s) caller_api not authorized" %
(caller_id, caller_api, key, client_ip_address))
return -1, "caller_api not authorized", 0
key = resolve_name(key, caller_id)
try:
# ps_lock is required due to potential self.reg_manager modification
self.ps_lock.acquire()
retval = self.param_server.unsubscribe_param(
key, (caller_id, caller_api))
finally:
self.ps_lock.release()
return 1, "Unsubscribe to parameter [%s]" % key, 1
def setParam(self, caller_id, key, value):
"""
Parameter Server: set parameter. NOTE: if value is a
dictionary it will be treated as a parameter tree, where key
is the parameter namespace. For example:::
{'x':1,'y':2,'sub':{'z':3}}
will set key/x=1, key/y=2, and key/sub/z=3. Furthermore, it
will replace all existing parameters in the key parameter
namespace with the parameters in value. You must set
parameters individually if you wish to perform a union update.
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter name
@type key: str
@param value: parameter value.
@type value: XMLRPCLegalValue
@return: [code, msg, 0]
@rtype: [int, str, int]
"""
key = resolve_name(key, caller_id)
self.param_server.set_param(key, value, self._notify_param_subscribers)
mloginfo("+PARAM [%s] by %s",key, caller_id)
return 1, "parameter %s set"%key, 0
def unsubscribeParam(self, caller_id, caller_api, key):
"""
Retrieve parameter value from server and subscribe to updates to that param. See
paramUpdate() in the Node API.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to lookup.
@type key: str
@param caller_api: API URI for paramUpdate callbacks.
@type caller_api: str
@return: [code, statusMessage, numUnsubscribed].
If numUnsubscribed is zero it means that the caller was not subscribed to the parameter.
@rtype: [int, str, int]
"""
key = resolve_name(key, caller_id)
try:
# ps_lock is required due to potential self.reg_manager modification
self.ps_lock.acquire()
retval = self.param_server.unsubscribe_param(
key, (caller_id, caller_api))
# Pushyami : Save the latest registration
if self.rescue_opt:
# print("In register of topic:" + key + "caller id: " + caller_id)
self.rescue_obj.saveState()
finally:
self.ps_lock.release()
return 1, "Unsubscribe to parameter [%s]" % key, 1
def setParam(self, caller_id, key, value):
"""
Parameter Server: set parameter. NOTE: if value is a
dictionary it will be treated as a parameter tree, where key
is the parameter namespace. For example:::
{'x':1,'y':2,'sub':{'z':3}}
will set key/x=1, key/y=2, and key/sub/z=3. Furthermore, it
will replace all existing parameters in the key parameter
namespace with the parameters in value. You must set
parameters individually if you wish to perform a union update.
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter name
@type key: str
@param value: parameter value.
@type value: XMLRPCLegalValue
@return: [code, msg, 0]
@rtype: [int, str, int]
"""
key = resolve_name(key, caller_id)
self.param_server.set_param(key, value, self._notify_param_subscribers)
mloginfo("+PARAM [%s] by %s", key, caller_id)
return 1, "parameter %s set" % key, 0
def subscribeParam(self, caller_id, caller_api, key):
"""
Retrieve parameter value from server and subscribe to updates to that param. See
paramUpdate() in the Node API.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to lookup.
@type key: str
@param caller_api: API URI for paramUpdate callbacks.
@type caller_api: str
@return: [code, statusMessage, parameterValue]. If code is not
1, parameterValue should be ignored. parameterValue is an empty dictionary if the parameter
has not been set yet.
@rtype: [int, str, XMLRPCLegalValue]
"""
key = resolve_name(key, caller_id)
try:
# ps_lock has precedence and is required due to
# potential self.reg_manager modification
self.ps_lock.acquire()
val = self.param_server.subscribe_param(key,
(caller_id, caller_api))
finally:
self.ps_lock.release()
return 1, "Subscribed to parameter [%s]" % key, val
def valid_name_validator_resolved(param_name, param_value, caller_id):
if not param_value or not isstring(param_value):
raise ParameterInvalid("ERROR: parameter [%s] must be a non-empty string"%param_name)
#TODO: actual validation of chars
# I added the colon check as the common error will be to send an URI instead of name
if ':' in param_value or ' ' in param_value:
raise ParameterInvalid("ERROR: parameter [%s] contains illegal chars"%param_name)
#return resolve_name(param_value, namespace(caller_id))
return resolve_name(param_value, caller_id)
def hasParam(self, caller_id, key):
"""
Check if parameter is stored on server.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to check
@type key: str
@return: [code, statusMessage, hasParam]
@rtype: [int, str, bool]
"""
key = resolve_name(key, caller_id)
if self.param_server.has_param(key):
return 1, key, True
else:
return 1, key, False
def hasParam(self, caller_id, key):
"""
Check if parameter is stored on server.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to check
@type key: str
@return: [code, statusMessage, hasParam]
@rtype: [int, str, bool]
"""
key = resolve_name(key, caller_id)
if self.param_server.has_param(key):
return 1, key, True
else:
return 1, key, False
def deleteParam(self, caller_id, key):
"""
Parameter Server: delete parameter
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter name
@type key: str
@return: [code, msg, 0]
@rtype: [int, str, int]
"""
try:
key = resolve_name(key, caller_id)
self.param_server.delete_param(key, self._notify_param_subscribers)
mloginfo("-PARAM [%s] by %s", key, caller_id)
return 1, "parameter %s deleted" % key, 0
except KeyError as e:
return -1, "parameter [%s] is not set" % key, 0
def deleteParam(self, caller_id, key):
"""
Parameter Server: delete parameter
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter name
@type key: str
@return: [code, msg, 0]
@rtype: [int, str, int]
"""
try:
key = resolve_name(key, caller_id)
self.param_server.delete_param(key, self._notify_param_subscribers)
mloginfo("-PARAM [%s] by %s",key, caller_id)
return 1, "parameter %s deleted"%key, 0
except KeyError as e:
return -1, "parameter [%s] is not set"%key, 0
def test_resolve_name():
from rosgraph.names import resolve_name
# TODO: test with remappings
tests = [
('', '/', '/'),
('', '/node', '/'),
('', '/ns1/node', '/ns1/'),
('foo', '', '/foo'),
('foo/', '', '/foo'),
('/foo', '', '/foo'),
('/foo/', '', '/foo'),
('/foo', '/', '/foo'),
('/foo/', '/', '/foo'),
('/foo', '/bar', '/foo'),
('/foo/', '/bar', '/foo'),
('foo', '/ns1/ns2', '/ns1/foo'),
('foo', '/ns1/ns2/', '/ns1/foo'),
('foo', '/ns1/ns2/ns3/', '/ns1/ns2/foo'),
('foo/', '/ns1/ns2', '/ns1/foo'),
('/foo', '/ns1/ns2', '/foo'),
('foo/bar', '/ns1/ns2', '/ns1/foo/bar'),
('foo//bar', '/ns1/ns2', '/ns1/foo/bar'),
('foo/bar', '/ns1/ns2/ns3', '/ns1/ns2/foo/bar'),
('foo//bar//', '/ns1/ns2/ns3', '/ns1/ns2/foo/bar'),
('~foo', '/', '/foo'),
('~foo', '/node', '/node/foo'),
('~foo', '/ns1/ns2', '/ns1/ns2/foo'),
('~foo/', '/ns1/ns2', '/ns1/ns2/foo'),
('~foo/bar', '/ns1/ns2', '/ns1/ns2/foo/bar'),
# #3044
('~/foo', '/', '/foo'),
('~/foo', '/node', '/node/foo'),
('~/foo', '/ns1/ns2', '/ns1/ns2/foo'),
('~/foo/', '/ns1/ns2', '/ns1/ns2/foo'),
('~/foo/bar', '/ns1/ns2', '/ns1/ns2/foo/bar'),
]
for name, node_name, v in tests:
assert v == resolve_name(name, node_name)
def hasParam(self, caller_id, key, client_ip_address):
"""
Check if parameter is stored on server.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to check
@type key: str
@return: [code, statusMessage, hasParam]
@rtype: [int, str, bool]
"""
key = resolve_name(key, caller_id)
if not self.auth.check_param_setter(key, client_ip_address):
self.logger.warn("hasParam( %s, %s, %s) parameter not authorized" %
(caller_id, key, client_ip_address))
return -1, "parameter not authorized", 0
if self.param_server.has_param(key):
return 1, key, True
else:
return 1, key, False
def unsubscribeParam(self, caller_id, caller_api, key):
"""
Retrieve parameter value from server and subscribe to updates to that param. See
paramUpdate() in the Node API.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to lookup.
@type key: str
@param caller_api: API URI for paramUpdate callbacks.
@type caller_api: str
@return: [code, statusMessage, numUnsubscribed].
If numUnsubscribed is zero it means that the caller was not subscribed to the parameter.
@rtype: [int, str, int]
"""
key = resolve_name(key, caller_id)
try:
# ps_lock is required due to potential self.reg_manager modification
self.ps_lock.acquire()
retval = self.param_server.unsubscribe_param(key, (caller_id, caller_api))
finally:
self.ps_lock.release()
return 1, "Unsubscribe to parameter [%s]"%key, 1
def getParam(self, caller_id, key):
"""
Retrieve parameter value from server.
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter to lookup. If key is a namespace,
getParam() will return a parameter tree.
@type key: str
getParam() will return a parameter tree.
@return: [code, statusMessage, parameterValue]. If code is not
1, parameterValue should be ignored. If key is a namespace,
the return value will be a dictionary, where each key is a
parameter in that namespace. Sub-namespaces are also
represented as dictionaries.
@rtype: [int, str, XMLRPCLegalValue]
"""
try:
key = resolve_name(key, caller_id)
return 1, "Parameter [%s]" % key, self.param_server.get_param(key)
except KeyError as e:
return -1, "Parameter [%s] is not set" % key, 0
def getParam(self, caller_id, key):
"""
Retrieve parameter value from server.
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter to lookup. If key is a namespace,
getParam() will return a parameter tree.
@type key: str
getParam() will return a parameter tree.
@return: [code, statusMessage, parameterValue]. If code is not
1, parameterValue should be ignored. If key is a namespace,
the return value will be a dictionary, where each key is a
parameter in that namespace. Sub-namespaces are also
represented as dictionaries.
@rtype: [int, str, XMLRPCLegalValue]
"""
try:
key = resolve_name(key, caller_id)
return 1, "Parameter [%s]"%key, self.param_server.get_param(key)
except KeyError as e:
return -1, "Parameter [%s] is not set"%key, 0
def test_resolve_name():
from rosgraph.names import resolve_name
# TODO: test with remappings
tests = [
('', '/', '/'),
('', '/node', '/'),
('', '/ns1/node', '/ns1/'),
('foo', '', '/foo'),
('foo/', '', '/foo'),
('/foo', '', '/foo'),
('/foo/', '', '/foo'),
('/foo', '/', '/foo'),
('/foo/', '/', '/foo'),
('/foo', '/bar', '/foo'),
('/foo/', '/bar', '/foo'),
('foo', '/ns1/ns2', '/ns1/foo'),
('foo', '/ns1/ns2/', '/ns1/foo'),
('foo', '/ns1/ns2/ns3/', '/ns1/ns2/foo'),
('foo/', '/ns1/ns2', '/ns1/foo'),
('/foo', '/ns1/ns2', '/foo'),
('foo/bar', '/ns1/ns2', '/ns1/foo/bar'),
('foo//bar', '/ns1/ns2', '/ns1/foo/bar'),
('foo/bar', '/ns1/ns2/ns3', '/ns1/ns2/foo/bar'),
('foo//bar//', '/ns1/ns2/ns3', '/ns1/ns2/foo/bar'),
('~foo', '/', '/foo'),
('~foo', '/node', '/node/foo'),
('~foo', '/ns1/ns2', '/ns1/ns2/foo'),
('~foo/', '/ns1/ns2', '/ns1/ns2/foo'),
('~foo/bar', '/ns1/ns2', '/ns1/ns2/foo/bar'),
# #3044
('~/foo', '/', '/foo'),
('~/foo', '/node', '/node/foo'),
('~/foo', '/ns1/ns2', '/ns1/ns2/foo'),
('~/foo/', '/ns1/ns2', '/ns1/ns2/foo'),
('~/foo/bar', '/ns1/ns2', '/ns1/ns2/foo/bar'),
]
for name, node_name, v in tests:
assert v == resolve_name(name, node_name)
def deleteParam(self, caller_id, key, client_ip_address):
"""
Parameter Server: delete parameter
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter name
@type key: str
@return: [code, msg, 0]
@rtype: [int, str, int]
"""
try:
key = resolve_name(key, caller_id)
if not self.auth.check_param_setter(key, client_ip_address):
self.logger.warn(
"deleteParam( %s, %s, %s) parameter not authorized" %
(caller_id, key, client_ip_address))
return -1, "parameter not authorized", 0
self.param_server.delete_param(key, self._notify_param_subscribers)
mloginfo("-PARAM [%s] by %s", key, caller_id)
return 1, "parameter %s deleted" % key, 0
except KeyError as e:
return -1, "parameter [%s] is not set" % key, 0
def unsubscribeParam(self, caller_id, caller_api, key):
"""
Retrieve parameter value from server and subscribe to updates to that param. See
paramUpdate() in the Node API.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to lookup.
@type key: str
@param caller_api: API URI for paramUpdate callbacks.
@type caller_api: str
@return: [code, statusMessage, numUnsubscribed].
If numUnsubscribed is zero it means that the caller was not subscribed to the parameter.
@rtype: [int, str, int]
"""
key = resolve_name(key, caller_id)
try:
# ps_lock is required due to potential self.reg_manager modification
self.ps_lock.acquire()
retval = self.param_server.unsubscribe_param(key, (caller_id, caller_api))
finally:
self.ps_lock.release()
mloginfo("-CACHEDPARAM [%s] by %s",key, caller_id)
return 1, "Unsubscribe to parameter [%s]"%key, 1
def deleteParam(self, caller_id, key):
"""
Parameter Server: delete parameter
@param caller_id: ROS caller id
@type caller_id: str
@param key: parameter name
@type key: str
@return: [code, msg, 0]
@rtype: [int, str, int]
"""
try:
key = resolve_name(key, caller_id)
self.param_server.delete_param(key, self._notify_param_subscribers)
# Pushyami : save state when a new param is deleted
if self.rescue_opt:
# print("In register of topic:" + key + "caller id: " + caller_id)
self.rescue_obj.update_params()
self.rescue_obj.saveState()
mloginfo("-PARAM [%s] by %s", key, caller_id)
return 1, "parameter %s deleted" % key, 0
except KeyError as e:
return -1, "parameter [%s] is not set" % key, 0
def subscribeParam(self, caller_id, caller_api, key):
"""
Retrieve parameter value from server and subscribe to updates to that param. See
paramUpdate() in the Node API.
@param caller_id str: ROS caller id
@type caller_id: str
@param key: parameter to lookup.
@type key: str
@param caller_api: API URI for paramUpdate callbacks.
@type caller_api: str
@return: [code, statusMessage, parameterValue]. If code is not
1, parameterValue should be ignored. parameterValue is an empty dictionary if the parameter
has not been set yet.
@rtype: [int, str, XMLRPCLegalValue]
"""
key = resolve_name(key, caller_id)
try:
# ps_lock has precedence and is required due to
# potential self.reg_manager modification
self.ps_lock.acquire()
val = self.param_server.subscribe_param(key, (caller_id, caller_api))
finally:
self.ps_lock.release()
return 1, "Subscribed to parameter [%s]"%key, val
