Source Code for Module rosgraph.rosgraph_main

  1  #!/usr/bin/env python 
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 33   
 34  from __future__ import print_function 
 35   
 36  import sys 
 37  import time 
 38   
 39  from . import roslogging 
 40  from . import masterapi 
 41   
 42  from .impl import graph 
 43   
 44 -def fullusage(): 
 45      print("""rosgraph is a command-line tool for debugging the ROS Computation Graph. 
 46   
 47  Usage: 
 48  \trosgraph 
 49  """) 
 50       
 51 -def rosgraph_main(): 
 52      if len(sys.argv) == 1: 
 53          pass 
 54      elif len(sys.argv) == 2 and (sys.argv[1] == '-h' or sys.argv[1] == '--help'): 
 55          fullusage() 
 56          return 
 57      else: 
 58          fullusage() 
 59          sys.exit(-1) 
 60       
 61      roslogging.configure_logging('rosgraph') 
 62   
 63      # make sure master is available 
 64      master = masterapi.Master('rosgraph') 
 65      try: 
 66          master.getPid() 
 67      except: 
 68          print("ERROR: Unable to communicate with master!", file=sys.stderr) 
 69          return 
 70           
 71      g = graph.Graph() 
 72      try: 
 73          while 1: 
 74            g.update() 
 75   
 76            if not g.nn_nodes and not g.srvs: 
 77                print("empty") 
 78            else: 
 79                print('\n') 
 80            if g.nn_nodes: 
 81                print('Nodes:') 
 82                for n in g.nn_nodes: 
 83                    prefix = n + '|' 
 84                    print('  ' + n + ' :') 
 85                    print('    Inbound:') 
 86                    for k in g.nn_edges.edges_by_end.keys(): 
 87                        if k.startswith(prefix): 
 88                            for c in g.nn_edges.edges_by_end[k]: 
 89                                print('      ' + c.start) 
 90                    print('    Outbound:') 
 91                    for k in g.nn_edges.edges_by_start.keys(): 
 92                        if k.startswith(prefix): 
 93                            for c in g.nn_edges.edges_by_start[k]: 
 94                                print('      ' + c.end) 
 95            if g.srvs: 
 96                print('Services:') 
 97                for s in g.srvs: 
 98                    print('  ' + s) 
 99   
100            time.sleep(1.0) 
101      except KeyboardInterrupt: 
102          pass 
103