Source Code for Module roslaunch.netapi

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33  # Revision $Id$ 
34   
35  """ 
36  Convience methods for manipulating XML-RPC APIs 
37  """ 
38   
39  try: 
40      from xmlrpc.client import ServerProxy 
41  except ImportError: 
42      from xmlrpclib import ServerProxy 
43   
44  import rosgraph 
45  import rosgraph.network 
46   
47  _ID = '/roslaunch_netapi' 
48 -def get_roslaunch_uris(): 
49      """ 
50      @return: list of roslaunch XML-RPC URIs for roscore that's in 
51      the current environment, or None if roscore cannot be contacted. 
52      @rtype: [str] 
53      """ 
54      try: 
55          m = rosgraph.Master(_ID) 
56          vals = m.getParam('/roslaunch/uris') 
57          return vals.values() 
58      except rosgraph.MasterException:  
59          return None 
60   
61 -class NetProcess(object): 
62 -    def __init__(self, name, respawn_count, is_alive, roslaunch_uri): 
63          self.is_alive = is_alive 
64          self.respawn_count = respawn_count 
65          self.name = name 
66           
67          self.roslaunch_uri = roslaunch_uri 
68          self.machine, _ = rosgraph.network.parse_http_host_and_port(roslaunch_uri) 
69   
70 -def list_processes(roslaunch_uris=None): 
71      """ 
72      @param roslaunch_uris: (optional) list of XML-RPCS. If none 
73          are provided, will look up URIs dynamically 
74      @type  roslaunch_uris: [str] 
75      @return: list of roslaunch processes 
76      @rtype: [L{NetProcess}] 
77      """ 
78      if not roslaunch_uris: 
79          roslaunch_uris = get_roslaunch_uris() 
80          if not roslaunch_uris: 
81              return [] 
82   
83      procs = [] 
84      for uri in roslaunch_uris: 
85          try: 
86              r = ServerProxy(uri) 
87              code, msg, val = r.list_processes() 
88              if code == 1: 
89                  active, dead = val 
90                  procs.extend([NetProcess(a[0], a[1], True, uri) for a in active]) 
91                  procs.extend([NetProcess(d[0], d[1], False, uri) for d in dead]) 
92          except: 
93              #import traceback 
94              #traceback.print_exc() 
95              # don't have a mechanism for reporting these errors upwards yet 
96              pass  
97      return procs 
98