node_info.py

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# Copyright (c) 2013, Oregon State University
# All rights reserved.

# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
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#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Oregon State University nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.

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# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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# Author Dan Lazewatsky/lazewatd@engr.orst.edu

import roslib; roslib.load_manifest('rostop_gui')
import rosnode
import rospy
import xmlrpclib
import psutil

ID = '/NODEINFO'

class NodeInfo(object):
    nodes = dict()
    def get_node_info(self, node_name):
        node_api = rosnode.get_api_uri(rospy.get_master(), node_name)
        code, msg, pid = xmlrpclib.ServerProxy(node_api[2]).getPid(ID)
        if node_name in self.nodes:
            return self.nodes[node_name]
        else:
            try:
                p = psutil.Process(pid)
                self.nodes[node_name] = p
                return p
            except:
                return False


    def get_all_node_info(self):
        infos = []
        for node_name in rosnode.get_node_names():
            info = self.get_node_info(node_name)
            if info is not False: infos.append((node_name, info))
        return infos

    def get_all_node_fields(self, fields):
        # import pdb; pdb.set_trace()
        processes = self.get_all_node_info()
        infos = []
        for name, p in processes:
            infos.append(p.as_dict(fields + ['cmdline', 'get_memory_info']))
            infos[-1]['node_name'] = name
        return infos

    def kill_node(self, node_name):
        success, fail = rosnode.kill_nodes([node_name])
        return node_name in success