topics.py
Go to the documentation of this file.
00001 #! /usr/bin/env python
00002 
00003 import subprocess
00004 import threading
00005 import time
00006 
00007 import roslib
00008 from roslib import scriptutil
00009 
00010 class Topics(roslib.message.Message):
00011   __slots__ = ('pubtopics', 'subtopics','nodes')
00012   def __init__(self, topics):
00013     self.pubtopics, self.subtopics, self.nodes = topics
00014 
00015 def succeed(args):
00016     code, msg, val = args
00017     if code != 1:
00018         raise RosTopicException("remote call failed: %s"%msg)
00019     return val
00020 
00021 
00022 class TopicThread(threading.Thread):
00023   def __init__(self):
00024     threading.Thread.__init__(self)
00025 
00026     self.callback = None
00027 
00028   def setCallback(self, callback):
00029     self.callback = callback
00030 
00031   def getTopics(self):
00032     def topic_type(t, pub_topics):
00033         matches = [t_type for t_name, t_type in pub_topics if t_name == t]
00034         if matches:
00035             return matches[0]
00036         return 'unknown type'
00037 
00038     master = scriptutil.get_master()
00039     topic = None
00040 
00041     state = succeed(master.getSystemState('/rostopic'))
00042     pubs, subs, _ = state
00043 
00044     pub_topics = succeed(scriptutil.get_master().getPublishedTopics('/rostopic', '/'))    
00045     pubtopics = [t for t,_ in pubs]
00046     pubtopics.sort()
00047 
00048     subtopics = [t for t,_ in subs]
00049     subtopics.sort()
00050 
00051     nodes = []
00052 
00053     for s in state:
00054         for t, l in s:
00055             nodes.extend(l)
00056 
00057     nodes = set(nodes)
00058     nodes = list(nodes)
00059     nodes.sort()
00060 
00061     topics = (tuple(pubtopics), tuple(subtopics), tuple(nodes))
00062 
00063     return topics
00064 
00065   def run(self):
00066     lasttopics = ()
00067     while 1:
00068       try:
00069         topics = self.getTopics()
00070         if topics != lasttopics:
00071           lasttopics = topics
00072           self.callback(Topics(topics))
00073       except:
00074         pass
00075       time.sleep(3)
00076 
00077 


rosweb
Author(s): Scott Hassan, Rob Wheeler, Nate Koenig
autogenerated on Sat Dec 28 2013 17:47:49