Source Code for Module rosh.future

 1  #TODO: disabling until rospy can talk to multiple masters correctly 
 2 -def __set_master(name='localhost'): 
 3      """ 
 4      Switch the ROS master currently in use, e.g. master('prh'). If 
 5      master() is called with no args, defaults to localhost. 
 6       
 7      @param name: name of master (if running on default port), or full URI 
 8      @type  name: str 
 9      """ 
10       
11      # TODO: rospy needs to have built-in multimaster support for this 
12      # to actually work, or we need to get rid of the node singleton 
13       
14      if name.startswith('http://'): 
15          ctx.master._reinit(name) 
16      else: 
17          # assume its a hostname 
18          ctx.master._reinit('http://%s:11311'%name) 
19           
20      # update the system-wide environment  
21      os.environ[roslib.rosenv.ROS_MASTER_URI] = ctx.master.master_uri 
22      return ctx.master.is_online() 
23       
24 -class _Relay(object): 
25   
26 -    def __init__(self, from_topic, to_topic): 
27          self.from_topic = from_topic 
28          self.to_topic   = to_topic 
29   
30 -    def __call__(self, msg): 
31          # check for race condition 
32          to_topic = self.to_topic 
33          if to_topic is None: 
34              return 
35   
36          # lazy-init new topic 
37          if to_topic._type_name is None: 
38              try: 
39                  to_topic._init(msg._type) 
40              except: 
41                  #TODO: log properly 
42                  print >> sys.stderr, "FAILED to initialize, destroying relay [%s] | [%s]"%(self.from_topic, self.to_topic) 
43                  self._unrelay() 
44   
45          if msg._type == to_topic._type_name: 
46              to_topic(msg) 
47          else: 
48              #TODO: WARN user once 
49              pass 
50   
51 -    def _unrelay(self): 
52          if self.from_topic is not None: 
53              self.from_topic._remove_subscriber_callback(self) 
54          self.from_topic = self.to_topic = None 
55           
56 -    def __del__(self): 
57          self._unrelay() 
58           
59 -class _FilteredRelay(_Relay): 
60   
61 -    def __init__(self, from_topic, to_topic, filter_fn): 
62          super(_FilteredRelay, self).__init__(from_topic, to_topic) 
63          self.filter_fn = filter_fn 
64   
65 -    def __call__(self, msg): 
66          msg = self.filter_fn(msg) 
67          super(_FilteredRelay, self).__call__(msg) 
68   
69 -def relay(from_topic, to_topic, filter_fn=None): 
70      if filter_fn: 
71          relay_obj = _FilteredRelay(from_topic, to_topic, filter_fn) 
72      else: 
73          #TODO: replace with topic_tools launch 
74          relay_obj = _Relay(from_topic, to_topic) 
75      from_topic._add_subscriber_callback(relay_obj) 
76      return relay_obj 
77   
78 -def unrelay(relay_obj): 
79      relay_obj._unrelay() 
80