Package roslaunch :: Module netapi
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Source Code for Module roslaunch.netapi

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34   
35  """ 
36  Convience methods for manipulating XML-RPC APIs 
37  """ 
38   
39  import xmlrpclib 
40   
41  import rosgraph 
42  import rosgraph.network 
43   
44  _ID = '/roslaunch_netapi' 
45 -def get_roslaunch_uris():
46 """ 47 @return: list of roslaunch XML-RPC URIs for roscore that's in 48 the current environment, or None if roscore cannot be contacted. 49 @rtype: [str] 50 """ 51 try: 52 m = rosgraph.Master(_ID) 53 vals = m.getParam('/roslaunch/uris') 54 return vals.values() 55 except rosgraph.MasterException: 56 return None
57
58 -class NetProcess(object):
59 - def __init__(self, name, respawn_count, is_alive, roslaunch_uri):
60 self.is_alive = is_alive 61 self.respawn_count = respawn_count 62 self.name = name 63 64 self.roslaunch_uri = roslaunch_uri 65 self.machine, _ = rosgraph.network.parse_http_host_and_port(roslaunch_uri)
66
67 -def list_processes(roslaunch_uris=None):
68 """ 69 @param roslaunch_uris: (optional) list of XML-RPCS. If none 70 are provided, will look up URIs dynamically 71 @type roslaunch_uris: [str] 72 @return: list of roslaunch processes 73 @rtype: [L{NetProcess}] 74 """ 75 if not roslaunch_uris: 76 roslaunch_uris = get_roslaunch_uris() 77 if not roslaunch_uris: 78 return [] 79 80 procs = [] 81 for uri in roslaunch_uris: 82 try: 83 r = xmlrpclib.ServerProxy(uri) 84 code, msg, val = r.list_processes() 85 if code == 1: 86 active, dead = val 87 procs.extend([NetProcess(a[0], a[1], True, uri) for a in active]) 88 procs.extend([NetProcess(d[0], d[1], False, uri) for d in dead]) 89 except: 90 #import traceback 91 #traceback.print_exc() 92 # don't have a mechanism for reporting these errors upwards yet 93 pass 94 return procs
95