Source Code for Module roslaunch.netapi

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 33  # Revision $Id: netapi.py 7848 2010-01-13 22:10:07Z kwc $ 
 34   
 35  """ 
 36  Convience methods for manipulating XML-RPC APIs 
 37  """ 
 38   
 39  import socket 
 40  import xmlrpclib 
 41   
 42  import roslib.network 
 43  import roslib.scriptutil 
 44   
 45  _ID = '/roslaunch_netapi' 
 46 -def get_roslaunch_uris(): 
 47      """ 
 48      @return: list of roslaunch XML-RPC URIs for roscore that's in 
 49      the current environment, or None if roscore cannot be contacted. 
 50      @rtype: [str] 
 51      """ 
 52      try: 
 53          param_server = roslib.scriptutil.get_param_server() 
 54          code, msg, vals = param_server.getParam(_ID, '/roslaunch/uris') 
 55          if code == 1 and vals: 
 56              return vals.values() 
 57      except socket.error: pass 
 58      return None 
 59   
 60 -class NetProcess(object): 
 61 -    def __init__(self, name, respawn_count, is_alive, roslaunch_uri): 
 62          self.is_alive = is_alive 
 63          self.respawn_count = respawn_count 
 64          self.name = name 
 65           
 66          self.roslaunch_uri = roslaunch_uri 
 67          self.machine, _ = roslib.network.parse_http_host_and_port(roslaunch_uri) 
 68   
 69 -def list_processes(roslaunch_uris=None): 
 70      """ 
 71      @param roslaunch_uris: (optional) list of XML-RPCS. If none 
 72          are provided, will look up URIs dynamically 
 73      @type  roslaunch_uris: [str] 
 74      @return: list of roslaunch processes 
 75      @rtype: [L{NetProcess}] 
 76      """ 
 77      if not roslaunch_uris: 
 78          roslaunch_uris = get_roslaunch_uris() 
 79          if not roslaunch_uris: 
 80              return [] 
 81   
 82      procs = [] 
 83      for uri in roslaunch_uris: 
 84          try: 
 85              r = xmlrpclib.ServerProxy(uri) 
 86              code, msg, val = r.list_processes() 
 87              if code == 1: 
 88                  active, dead = val 
 89                  procs.extend([NetProcess(a[0], a[1], True, uri) for a in active]) 
 90                  procs.extend([NetProcess(d[0], d[1], False, uri) for d in dead]) 
 91          except: 
 92              #import traceback 
 93              #traceback.print_exc() 
 94              # don't have a mechanism for reporting these errors upwards yet 
 95              pass  
 96      return procs 
 97   
 98  if __name__ == "__main__": 
 99      import roslib; roslib.load_manifest('roslaunch') 
100      print list_processes() 
101      print "done" 
102