introspection.py

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#!/usr/bin/env python
#
# Copyright 2015 Airbus
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#   http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import time
import rospy
import rosnode


def rosnode_ping_all(verbose=False):
    """
    Ping all running nodes
    @return [str], [str]: pinged nodes, un-pingable nodes
    @raise ROSNodeIOException: if unable to communicate with master
    """
    master = rosnode.rosgraph.Master(rosnode.ID)
    try:
        state = master.getSystemState()
    except rosnode.socket.error:
        raise rosnode.ROSNodeIOException("Unable to communicate with master!")

    nodes = []
    for s in state:
        for t, l in s:
            nodes.extend(l)
    nodes = list(set(nodes)) #uniq
    if verbose:
        print("Will ping the following nodes: \n"+''.join([" * %s\n"%n for n in nodes]))
    pinged = {}
    unpinged = []
    for node in nodes:
        start = time.time()
        status = rosnode.rosnode_ping(node, max_count=1, verbose=verbose)
        end = time.time()
        dur = (end-start)*1000.
        if status:
            pinged.update({node:dur})
        else:
            unpinged.append(node)
        
    return pinged, unpinged

def rosnode_cleanup():
    """
    This is a semi-hidden routine for cleaning up stale node
    registration information on the ROS Master. The intent is to
    remove this method once Master TTLs are properly implemented.
    """
    pinged, unpinged = rosnode_ping_all()
    if unpinged:
        master = rosnode.rosgraph.Master(rosnode.ID)
        rosnode.cleanup_master_blacklist(master, unpinged)
        
    return pinged, unpinged