Source Code for Module concert_orchestra.implementation

  1  #!/usr/bin/env python 
  2  # 
  3  # License: BSD 
  4  #   https://raw.github.com/robotics-in-concert/rocon_concert/hydro-devel/concert_orchestra/LICENSE 
  5  # 
  6  ############################################################################## 
  7  # Imports 
  8  ############################################################################## 
  9   
 10  import rospy 
 11  import re 
 12  import concert_msgs.msg as concert_msgs 
 13  import pydot 
 14   
 15  # local imports 
 16  from node import Node 
 17   
 18  ############################################################################## 
 19  # Classes 
 20  ############################################################################## 
 21   
 22   
 23 -class Implementation: 
 24      ''' 
 25        If a solution implementation is being loaded, this stores the data. 
 26      ''' 
 27 -    def __init__(self): 
 28          # This will need some modification if we go to multiple solutions on file. 
 29          self._name = rospy.get_param("~name", "Implementation 42") 
 30          self.nodes = [] 
 31          for param in rospy.get_param("~nodes", []): 
 32              self.nodes.append(Node(param)) 
 33          self._topics = rospy.get_param("~topics", []) 
 34          self._actions = rospy.get_param("~actions", []) 
 35          self._edges = rospy.get_param("~edges", []) 
 36          self._dot_graph = rospy.get_param("~dot_graph", "") 
 37          self._implementation_publisher = rospy.Publisher("implementation", concert_msgs.Implementation, latch=True) 
 38          self.publish() 
 39          rospy.loginfo("Orchestration : initialised the implementation server.") 
 40   
 41 -    def publish(self): 
 42          self._implementation_publisher.publish(self.to_msg()) 
 43   
 44 -    def to_msg(self): 
 45          ''' 
 46            Might be easier just serving up the whole implementation file and saving that 
 47            in a string here. 
 48          ''' 
 49          implementation = concert_msgs.Implementation() 
 50          implementation.name = self._name 
 51          for node in self.nodes: 
 52              implementation.link_graph.nodes.append(concert_msgs.LinkNode(node.id, node.tuple, node.min, node.max, node.force_name_matching)) 
 53          for topic in self._topics: 
 54              implementation.link_graph.topics.append(concert_msgs.LinkConnection(topic['id'], topic['type'])) 
 55          for action in self._actions: 
 56              implementation.link_graph.actions.append(concert_msgs.LinkConnection(action['id'], action['type'])) 
 57          for edge in self._edges: 
 58              implementation.link_graph.edges.append(concert_msgs.LinkEdge(edge['start'], edge['finish'], edge['remap_from'], edge['remap_to'])) 
 59          implementation.dot_graph = self._dot_graph 
 60          return implementation 
 61   
 62 -    def rebuild(self, node_client_pairs): 
 63          ''' 
 64            If the node name and client name don't match, rebuild 
 65   
 66            @param node_client_pairs : list of node id-client name pairs 
 67          ''' 
 68          for pair in node_client_pairs: 
 69              node_id = pair[0] 
 70              client_name = pair[1] 
 71              if node_id != client_name: 
 72                  for node in self.nodes: 
 73                      if node.id == node_id: 
 74                          node.id = client_name 
 75                  for topic in self._topics: 
 76                      if re.search(node_id, topic['id']): 
 77                          topic['id'] = topic['id'].replace(node_id, client_name) 
 78                  for action in self._actions: 
 79                      if re.search(node_id, action['id']) is not None: 
 80                          action['id'] = action['id'].replace(node_id, client_name) 
 81                  for edge in self._edges: 
 82                      if edge['start'] == node_id: 
 83                          edge['start'] = client_name 
 84                      if edge['finish'] == node_id: 
 85                          edge['finish'] = client_name 
 86                      if re.search(node_id, edge['remap_from']): 
 87                          edge['remap_from'] = edge['remap_from'].replace(node_id, client_name) 
 88                      if re.search(node_id, edge['remap_to']): 
 89                          edge['remap_to'] = edge['remap_to'].replace(node_id, client_name) 
 90   
 91 -    def to_dot(self): 
 92          graph = pydot.Dot(graph_type='graph') 
 93  #        for node in self.nodes: 
 94  #            n = pydot.Node(node.id, style="filled", fillcolor="red") 
 95  #            graph.add_node(n) 
 96  #        self.nodes = rospy.get_param("~nodes", []) 
 97  #        self._topics = rospy.get_param("~topics", []) 
 98  #        self._actions = rospy.get_param("~actions", []) 
 99  #        self._edges = rospy.get_param("~edges", []) 
100  #        self._dot_graph = rospy.get_param("~dot_graph", "") 
101  #        self._implementation_publisher = rospy.Publisher("implementation", concert_msgs.Implementation, latch=True) 
102  #        self.publish() 
103   
104   
105  #    def rebuild_graveyard(self, node_client_pairs): 
106  #        ''' 
107  #          If the node name and client name don't match, rebuild 
108  # 
109  #          @param node_client_pairs : list of node id-client name pairs 
110  #        ''' 
111  #        for pair in node_client_pairs: 
112  #            node_id = pair[0] 
113  #            client_name = pair[1] 
114  #            rospy.logwarn("Debug: node id...........%s" % node_id) 
115  #            rospy.logwarn("Debug: client name...........%s" % client_name) 
116  #            if node_id != client_name: 
117  #                for node in self.nodes: 
118  #                    if node.id == node_id: 
119  #                        node.id = client_name 
120  #                for topic in self._topics: 
121  #                    if re.search(node_id, topic['id']): 
122  #                        topic['id'] = topic['id'].replace(node_id, client_name) 
123  #                for action in self._actions: 
124  #                    if re.search(node_id, action['id']) is not None: 
125  #                        action['id'] = action['id'].replace(node_id, client_name) 
126  #                for edge in self._edges: 
127  #                    if edge['start'] == node_id: 
128  #                        edge['start'] = client_name 
129  #                    if edge['finish'] == node_id: 
130  #                        edge['finish'] = client_name 
131  #                    if re.search(node_id, edge['remap_from']): 
132  #                        edge['remap_from'] = edge['remap_from'].replace(node_id, client_name) 
133  #                    if re.search(node_id, edge['remap_to']): 
134  #                        edge['remap_to'] = edge['remap_to'].replace(node_id, client_name) 
135