Source Code for Module rosh.impl.ros_graph

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 33  # Revision $Id: ros_graph.py 13210 2011-02-14 01:05:08Z kwc $ 
 34   
 35  import rosgraph.masterapi 
 36   
 37  import rosh.plugin 
 38  from rosh.impl.launch import launch_symbols 
 39  from rosh.impl.namespace import Namespace 
 40  from rosh.impl.node import Nodes 
 41  from rosh.impl.param import Parameters 
 42  from rosh.impl.service import Services 
 43  from rosh.impl.topic import Topics, LATEST, subscribe 
 44  from rosh.impl.top_tools import topic_tools_symbols 
 45   
 46  from rosh.impl.msg import Msgs 
 47  from rosh.impl.msg import Srvs 
 48   
 49  import rospy 
 50   
 51  # initialize globals 
 52 -def init_master(plugin_context): 
 53      master = rosgraph.masterapi.Master('rosh') 
 54      plugin_context.ctx.master = master 
 55      return master.is_online() 
 56   
 57 -def serve_forever(): 
 58      rospy.spin() 
 59   
 60 -def ok(): 
 61      return not rospy.is_shutdown() 
 62   
 63 -def wait_for_service(service, timeout=None): 
 64      """ 
 65      Equivalent to rospy.wait_for_service(), but also handles unboxing of ROSH objects.. 
 66   
 67      @param service: Service 
 68      @type  service: Namespace or str 
 69      @param timeout: (optional) wait_for_service timeout 
 70      @type  timeout: float 
 71      """ 
 72      if isinstance(service, Namespace): 
 73          rospy.wait_for_service(service._name, timeout=timeout)   
 74      else: 
 75          rospy.wait_for_service(service, timeout=timeout) 
 76   
 77  # we use the general plugin loading framework to initialize to keep things tidy 
 78  _loaded_symbols = None 
 79 -def load_rosh_plugin(name, plugin_context, globals_=None): 
 80      global _loaded_symbols 
 81      if rosh.plugin.reentrant_load(_loaded_symbols, globals_): 
 82          return 
 83   
 84      ctx = plugin_context.ctx 
 85      rosh_lock = plugin_context.rosh_lock 
 86   
 87      if init_master(plugin_context): 
 88          rospy.init_node('rosh', anonymous=True, disable_signals=True) 
 89   
 90          _loaded_symbols = { 
 91              # useful aliases 
 92              'now': rospy.get_rostime, 
 93              'Header': rospy.Header, 
 94              'Time': rospy.Time, 
 95              'Duration': rospy.Duration, 
 96              'Rate': rospy.Rate, 
 97              'sleep': rospy.sleep, 
 98              'logfatal': rospy.logfatal, 
 99              'logerr': rospy.logerr, 
100              'loginfo': rospy.loginfo,                         
101              'logdebug': rospy.logdebug, 
102   
103              # rospy by default (per API review) 
104              'rospy': rospy, 
105   
106              #concepts 
107              'nodes': Nodes(ctx, rosh_lock), 
108              'topics': Topics(ctx, rosh_lock), 
109              'services': Services(ctx, rosh_lock), 
110              'parameters': Parameters(ctx, rosh_lock), 
111              'srv': Srvs(ctx, rosh_lock), 
112              'msg': Msgs(ctx, rosh_lock), 
113              'serve_forever': serve_forever, 
114   
115              #constants 
116              'LATEST': LATEST, 
117   
118              # api 
119              'wait_for_service': wait_for_service,             
120              'subscribe': subscribe, 
121              } 
122          # We use the loader style below for modules that export 
123          # numerous symbols to let them manage which symbols they are 
124          # exporting directly. 
125           
126          # Load topic tools 
127          _loaded_symbols.update(topic_tools_symbols(ctx)) 
128          # Load roslaunch 
129          _loaded_symbols.update(launch_symbols(ctx)) 
130           
131          # save these symbols in the context 
132          ctx.msg = _loaded_symbols['msg'] 
133          ctx.srv = _loaded_symbols['srv'] 
134   
135          ctx.nodes      = _loaded_symbols['nodes'] 
136          ctx.topics     = _loaded_symbols['topics'] 
137          ctx.services   = _loaded_symbols['services'] 
138          ctx.parameters = _loaded_symbols['parameters'] 
139          rosh.plugin.globals_load(plugin_context, globals_, _loaded_symbols) 
140