Source Code for Module rocon_gateway.graph

  1  #!/usr/bin/env python 
  2  # 
  3  # License: BSD 
  4  #   https://raw.github.com/robotics-in-concert/rocon_multimaster/master/rocon_gateway_graph/LICENSE 
  5  # 
  6  ''' 
  7    This code does not effect the runtime of gateways at all - it is used for 
  8    debugging and monitoring purposes only. 
  9  ''' 
 10  ############################################################################## 
 11  # Imports 
 12  ############################################################################## 
 13   
 14  import rospy 
 15  import gateway_msgs.srv as gateway_srvs 
 16  import gateway_msgs.msg as gateway_msgs 
 17  from master_api import LocalMaster 
 18  import rosgraph 
 19  from rosgraph.impl.graph import Edge, EdgeList 
 20  import rocon_utilities 
 21   
 22  ############################################################################## 
 23  # Graph 
 24  ############################################################################## 
 25   
 26   
 27 -class Graph(object): 
 28      ''' 
 29      Utility class for polling statistics from a running gateway-hub network. 
 30      ''' 
 31   
 32 -    def __init__(self): 
 33          ''' 
 34          Creates the polling topics necessary for updating statistics 
 35          about the running gateway-hub network. 
 36          ''' 
 37          self._last_update = 0 
 38          self._gateway_namespace = None 
 39          self._local_gateway = None 
 40          self._remote_gateways = None 
 41          self.gateway_nodes = []  # Gateway nodes 
 42          self.flipped_nodes = []  # Flip connection nodes (i.e. topic name) 
 43          self.pulled_nodes = [] 
 44          self.pulled_edges = []  # Gateway-Topic edges 
 45          self.gateway_edges = []  # Gateway-Gateway edges 
 46          self.flipped_edges = []  # All unconnected node-topics or topic-nodes 
 47   
 48          # Rubbish to clear out once rocon_gateway_graph is integrated 
 49          self.bad_nodes = [] 
 50   
 51          if self._resolve_gateway_namespace(): 
 52              self.configure() 
 53   
 54 -    def configure(self): 
 55          self._gateway_info = rocon_utilities.SubscriberProxy(self.gateway_namespace + '/gateway_info', gateway_msgs.GatewayInfo) 
 56          self._remote_gateway_info = rospy.ServiceProxy(self.gateway_namespace + '/remote_gateway_info', gateway_srvs.RemoteGatewayInfo) 
 57   
 58 -    def local_gateway_name(self): 
 59          if self._local_gateway: 
 60              return self._local_gateway.name 
 61          else: 
 62              return '' 
 63   
 64 -    def update(self): 
 65          if not self._resolve_gateway_namespace(): 
 66              return 
 67          self._local_gateway = self._gateway_info() 
 68          req = gateway_srvs.RemoteGatewayInfoRequest() 
 69          req.gateways = [] 
 70          self._remote_gateways = self._remote_gateway_info(req).gateways 
 71          self._last_update = rospy.get_rostime() 
 72          # Gateways 
 73          self.gateway_nodes.append(self._local_gateway.name) 
 74          self.gateway_nodes.extend([remote_gateway.name for remote_gateway in self._remote_gateways]) 
 75          # Edges 
 76          self.pulled_edges = EdgeList() 
 77          self.gateway_edges = EdgeList() 
 78          self.pulled_edges = EdgeList() 
 79          self.flipped_edges = EdgeList() 
 80          # Check local gateway 
 81          for remote_rule in self._local_gateway.flipped_connections: 
 82              self.gateway_edges.add(Edge(self._local_gateway.name, remote_rule.gateway)) 
 83              # this adds a bloody magic space, to help disambiguate node names from topic names 
 84              connection_id = rosgraph.impl.graph.topic_node(remote_rule.rule.name + '-' + remote_rule.rule.type) 
 85              self.flipped_nodes.append(connection_id) 
 86              self.flipped_edges.add(Edge(self._local_gateway.name, connection_id)) 
 87              self.flipped_edges.add(Edge(connection_id, remote_rule.gateway)) 
 88          for remote_rule in self._local_gateway.pulled_connections: 
 89              connection_id = rosgraph.impl.graph.topic_node(remote_rule.rule.name + '-' + remote_rule.rule.type) 
 90              self.pulled_nodes.append(connection_id) 
 91              self.pulled_edges.add(Edge(self._local_gateway.name, connection_id)) 
 92              self.pulled_edges.add(Edge(connection_id, remote_rule.gateway)) 
 93          for rule in self._local_gateway.public_interface: 
 94              connection_id = rosgraph.impl.graph.topic_node(rule.name + '-' + rule.type) 
 95              #print "pulled edge: %s->%s" % (self._local_gateway.name, connection_id) 
 96              self.pulled_nodes.append(connection_id) 
 97              self.pulled_edges.add(Edge(self._local_gateway.name, connection_id)) 
 98          # Check remote gateways 
 99          for remote_gateway in self._remote_gateways: 
100              for remote_rule in remote_gateway.flipped_interface: 
101                  connection_id = rosgraph.impl.graph.topic_node(remote_rule.rule.name + '-' + remote_rule.rule.type) 
102                  self.flipped_nodes.append(connection_id) 
103                  self.flipped_edges.add(Edge(remote_gateway.name, connection_id)) 
104                  self.flipped_edges.add(Edge(connection_id, remote_rule.gateway)) 
105                  self.gateway_edges.add(Edge(remote_gateway.name, remote_rule.gateway)) 
106              for remote_rule in remote_gateway.pulled_interface: 
107                  connection_id = rosgraph.impl.graph.topic_node(remote_rule.rule.name + '-' + remote_rule.rule.type) 
108                  self.pulled_nodes.append(connection_id) 
109                  self.pulled_edges.add(Edge(remote_rule.gateway, connection_id)) 
110                  self.pulled_edges.add(Edge(connection_id, remote_gateway.name)) 
111                  self.gateway_edges.add(Edge(remote_gateway.name, remote_rule.gateway)) 
112   
113 -    def _resolve_gateway_namespace(self): 
114          ''' 
115            Checks if the gateway namespace was found and if not 
116            attempts to resolve it. 
117          ''' 
118          if self._gateway_namespace: 
119              return 
120          master = LocalMaster() 
121          self.gateway_namespace = master.find_gateway_namespace() 
122          if not self.gateway_namespace: 
123              rospy.logerr("Gateway Graph: could not find a local gateway - did you start it?") 
124          return self.gateway_namespace 
125