Source Code for Module rocon_gateway.ros_parameters

  1  #!/usr/bin/env python 
  2  # 
  3  # License: BSD 
  4  #   https://raw.github.com/robotics-in-concert/rocon_multimaster/master/rocon_gateway/LICENSE 
  5  # 
  6   
  7  import rospy 
  8  import re 
  9  from gateway_msgs.msg import Rule, RemoteRule 
 10  import utils 
 11   
 12  ############################################################################### 
 13  # Functions 
 14  ############################################################################### 
 15   
 16   
 17 -def setup_ros_parameters(): 
 18      ''' 
 19      Returns the gateway parameters from the ros param server. 
 20      Most of these should be fairly self explanatory. 
 21      ''' 
 22      param = {} 
 23   
 24      # Hub 
 25      param['hub_uri'] = rospy.get_param('~hub_uri', '') 
 26      # Convert these back to accepting lists once https://github.com/ros/ros_comm/pull/218 
 27      # goes through, for now we use semi-colon separated lists. 
 28      param['hub_whitelist'] = rospy.get_param('~hub_whitelist', "") 
 29      param['hub_blacklist'] = rospy.get_param('~hub_blacklist', "") 
 30      param['hub_whitelist'] = filter(bool, param['hub_whitelist'].split(';'))  # avoid '' hub name strings 
 31      param['hub_blacklist'] = filter(bool, param['hub_blacklist'].split(';')) 
 32   
 33      # Gateway 
 34      param['name'] = rospy.get_param('~name', 'gateway') 
 35      param['watch_loop_period'] = rospy.get_param('~watch_loop_period', 10)  # in seconds 
 36   
 37      # Blacklist used for advertise all, flip all and pull all commands 
 38      param['default_blacklist'] = rospy.get_param('~default_blacklist', [])  # list of Rule objects 
 39   
 40      # Used to block/permit remote gateway's from flipping to this gateway. 
 41      param['firewall'] = rospy.get_param('~firewall', True) 
 42   
 43      # The gateway can automagically detect zeroconf, but sometimes you want to force it off 
 44      param['disable_zeroconf'] = rospy.get_param('~disable_zeroconf', False) 
 45   
 46      # The gateway uses uui'd to guarantee uniqueness, but this can be disabled if you want clean names without uuid's (but you have to manually guarantee uniqueness) 
 47      param['disable_uuids'] = rospy.get_param('~disable_uuids', False) 
 48   
 49      # Make everything publicly available (excepting the default blacklist) 
 50      param['advertise_all'] = rospy.get_param('~advertise_all', [])  # boolean 
 51   
 52      # Topics and services for pre-initialisation/configuration 
 53      param['default_advertisements'] = rospy.get_param('~default_advertisements', [])  # list of Rule objects 
 54      param['default_flips'] = rospy.get_param('~default_flips', [])  # list of RemoteRule objects 
 55      param['default_pulls'] = rospy.get_param('~default_pulls', [])  # list of RemoteRule objects 
 56   
 57      return param 
 58   
 59   
 60 -def generate_rules(param): 
 61      ''' 
 62        Converts a param of the suitable type (see default_blacklist.yaml) 
 63        into a dictionary of Rule types. 
 64   
 65        @return all rules as gateway_msgs.msg.Rule objects in our usual keyed dictionary format 
 66        @rtype type keyed dictionary of Rule lists 
 67      ''' 
 68      rules = utils.create_empty_connection_type_dictionary() 
 69      for value in param: 
 70          rule = Rule() 
 71          rule.name = value['name'] 
 72          # maybe also check for '' here? 
 73          pattern = re.compile("None", re.IGNORECASE) 
 74          if pattern.match(value['node']): 
 75              rule.node = ''  # ROS Message fields should not be None, maybe not a problem here though, see below 
 76          else: 
 77              rule.node = value['node'] 
 78          rule.type = value['type'] 
 79          rules[rule.type].append(rule) 
 80      return rules 
 81   
 82   
 83 -def generate_remote_rules(param): 
 84      ''' 
 85         Converts a param of the suitable type (default_flips, default_pulls) into 
 86         a list of RemoteRule objects and a list of target gateways for flip_all/pull_all. 
 87   
 88         @param yaml object 
 89         @type complicated 
 90   
 91         @return list of remote rules 
 92         @return RemoteRule[] 
 93      ''' 
 94      remote_rules = [] 
 95      all_targets = [] 
 96      pattern = re.compile("None", re.IGNORECASE) 
 97      for remote_rule in param: 
 98          if 'rule' in remote_rule: 
 99              # maybe also check for '' here? 
100              node = None if pattern.match(remote_rule['rule']['node']) else remote_rule['rule']['node'] 
101              remote_rules.append(RemoteRule(remote_rule['gateway'], 
102                                         Rule(remote_rule['rule']['type'], 
103                                              remote_rule['rule']['name'], 
104                                              node 
105                                              ) 
106                                         ) 
107                              ) 
108          else: 
109              all_targets.append(remote_rule['gateway']) 
110      return remote_rules, all_targets 
111