Source Code for Module rocon_hub_client.hub_client

 1  #!/usr/bin/env python 
 2  # 
 3  # License: BSD 
 4  #   https://raw.github.com/robotics-in-concert/rocon_multimaster/master/rocon_hub_client/LICENSE 
 5  # 
 6  ############################################################################### 
 7  # Imports 
 8  ############################################################################### 
 9   
10  import redis 
11  import rospy 
12  from urlparse import urlparse 
13  import rocon_utilities 
14   
15  # local imports 
16  import hub_api 
17  from .exceptions import HubNameNotFoundError, HubNotFoundError, \ 
18                          HubConnectionBlacklistedError, HubConnectionNotWhitelistedError 
19   
20  ############################################################################## 
21  # Hub 
22  ############################################################################## 
23   
24   
25 -class Hub(object): 
26   
27 -    def __init__(self, ip, port, whitelist=[], blacklist=[]): 
28          ''' 
29            @param remote_gateway_request_callbacks : to handle redis responses 
30            @type list of function pointers (back to GatewaySync class 
31   
32            @param ip : redis server ip 
33            @param port : redis server port 
34   
35            @raise HubNameNotFoundError, HubNotFoundError 
36          ''' 
37          # variables 
38          self.uri = str(ip) + ":" + str(port) 
39          self._redis_keys = {} 
40          self._redis_channels = {} 
41   
42          # redis server connection 
43          try: 
44              self.pool = redis.ConnectionPool(host=ip, port=port, db=0) 
45              self._redis_server = redis.Redis(connection_pool=self.pool) 
46              self._redis_pubsub_server = self._redis_server.pubsub() 
47              hub_key_name = self._redis_server.get("rocon:hub:name") 
48              # Be careful, hub_name is None, it means the redis server is 
49              # found but hub_name not yet set or not set at all. 
50              if not hub_key_name: 
51                  self._redis_server = None 
52                  raise HubNameNotFoundError("couldn't resolve hub name on the redis server [%s:%s]" % (ip, port)) 
53              else: 
54                  self.name = hub_api.key_base_name(hub_key_name)  # perhaps should store all key names somewhere central 
55                  rospy.logdebug("Gateway : resolved hub name [%s].", self.name) 
56          except redis.exceptions.ConnectionError: 
57              self._redis_server = None 
58              raise HubNotFoundError("couldn't connect to the redis server") 
59   
60          # whitelists, blacklists - check against uri's hash names and non-uuid names 
61          uri_blacklist = [urlparse(x).hostname + ':' + str(urlparse(x).port) for x in blacklist if urlparse(x).hostname is not None] 
62          uri_whitelist = [urlparse(x).hostname + ':' + str(urlparse(x).port) for x in whitelist if urlparse(x).hostname is not None] 
63          nonuuid_blacklist = [rocon_utilities.gateway_basename(x) for x in blacklist if urlparse(x) is None and rocon_utilities.gateway_basename(x)] 
64          nonuuid_whitelist = [rocon_utilities.gateway_basename(x) for x in whitelist if urlparse(x) is None and rocon_utilities.gateway_basename(x)] 
65          if self.uri in uri_blacklist or self.name in blacklist or self.name in nonuuid_blacklist: 
66              raise HubConnectionBlacklistedError("ignoring blacklisted hub [%s]" % self.uri) 
67          if self.name in blacklist or self.name in nonuuid_whitelist: 
68              raise HubConnectionBlacklistedError("ignoring blacklisted hub [%s]" % self.uri) 
69          if not ((len(whitelist) == 0) or (self.uri in uri_whitelist) or (self.name in whitelist)): 
70              raise HubConnectionNotWhitelistedError("hub/ip not in non-empty whitelist [%s][%s]%s" % (self.name, self.uri, whitelist)) 
71