Source Code for Module node_manager_fkie.update_thread

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 32   
 33  import time 
 34  import socket 
 35  import threading 
 36  import xmlrpclib 
 37  import random 
 38  from python_qt_binding import QtCore 
 39   
 40  #import roslib; roslib.load_manifest('node_manager_fkie') 
 41  import rospy 
 42   
 43  from master_discovery_fkie.master_info import MasterInfo 
 44   
 45 -class UpdateThread(QtCore.QObject, threading.Thread): 
 46    ''' 
 47    A thread to retrieve the state about ROS master from remote discovery node and  
 48    publish it be sending a QT signal. 
 49    ''' 
 50    update_signal = QtCore.Signal(MasterInfo) 
 51    ''' 
 52    @ivar: update_signal is a signal, which is emitted, if a new  
 53    L{aster_discovery_fkie.MasterInfo} is retrieved. 
 54    ''' 
 55   
 56    error_signal = QtCore.Signal(str, str) 
 57    ''' 
 58    @ivar: error_signal is a signal (masteruri, error message), which is emitted,  
 59    if an error while retrieving a master info was occurred. 
 60    ''' 
 61   
 62 -  def __init__(self, monitoruri, masteruri, delayed_exec=0., parent=None): 
 63      ''' 
 64      @param masteruri: the URI of the remote ROS master 
 65      @type masteruri: C{str} 
 66      @param monitoruri: the URI of the monitor RPC interface of the master_discovery node 
 67      @type monitoruri: C{str} 
 68      @param delayed_exec: Delay the execution of the request for given seconds. 
 69      @type delayed_exec: C{float} 
 70      ''' 
 71      QtCore.QObject.__init__(self) 
 72      threading.Thread.__init__(self) 
 73      self._monitoruri = monitoruri 
 74      self._masteruri = masteruri 
 75      self._delayed_exec = delayed_exec 
 76      self.setDaemon(True) 
 77   
 78 -  def run(self): 
 79      ''' 
 80      ''' 
 81      try: 
 82        delay = self._delayed_exec+0.5+random.random() 
 83        #'print "wait request update", self._monitoruri, delay 
 84        time.sleep(delay) 
 85        #'print "request update", self._monitoruri 
 86        socket.setdefaulttimeout(25) 
 87        remote_monitor = xmlrpclib.ServerProxy(self._monitoruri) 
 88        remote_info = remote_monitor.masterInfo() 
 89        master_info = MasterInfo.from_list(remote_info) 
 90        master_info.check_ts = time.time() 
 91        #'print "request success", self._monitoruri 
 92        self.update_signal.emit(master_info) 
 93      except: 
 94        import traceback 
 95  #      print traceback.print_exc() 
 96        formatted_lines = traceback.format_exc().splitlines() 
 97        rospy.logwarn("Connection to %s failed:\n\t%s", str(self._monitoruri), formatted_lines[-1]) 
 98        #'print "request failed", self._monitoruri 
 99        self.error_signal.emit(self._masteruri, formatted_lines[-1]) 
100      finally: 
101        if not socket is None: 
102          socket.setdefaulttimeout(None) 
103