params.py
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00001 #! /usr/bin/env python
00002 
00003 import subprocess
00004 import threading
00005 import time
00006 import sys, os, getopt
00007 
00008 import roslib.scriptutil
00009 from roslib.names import ns_join, get_ros_namespace, make_caller_id, make_global_ns, GLOBALNS
00010 
00011 PKG_NAME = 'rosweb'
00012 import roslib; roslib.load_manifest(PKG_NAME)
00013 
00014 def _get_caller_id():
00015     return make_caller_id('rosparam-%s'%os.getpid())
00016 
00017 class Params(roslib.message.Message):
00018   __slots__ = ('parameters', )
00019   def __init__(self, params):
00020     self.parameters = params
00021 
00022 def succeed(args):
00023     code, msg, val = args
00024     if code != 1:
00025         raise RosTopicException("remote call failed: %s"%msg)
00026     return val
00027 
00028 class ParamThread(threading.Thread):
00029   def __init__(self):
00030     threading.Thread.__init__(self)
00031 
00032     self.callback = None
00033 
00034   def setCallback(self, callback):
00035     self.callback = callback
00036 
00037   def flatten(self, params, path="/"):
00038     l = []
00039     for k,v in params.items():
00040       _path=path + k
00041       if type(v) == type({}):
00042         l = l + self.flatten(v, _path + "/")
00043       else:
00044         l.append((_path, str(v)))
00045     return l
00046 
00047   def getParams(self):
00048     master = roslib.scriptutil.get_master()
00049 
00050     _c, _t, params = master.getParam(_get_caller_id(), "/")
00051     paramlist = self.flatten(params)
00052     paramlist.sort()
00053 
00054     return paramlist
00055 
00056   def run(self):
00057     lastval = ()
00058     while 1:
00059       try:
00060         val = self.getParams()
00061         if val != lastval:
00062           self.callback(Params(val))
00063           lastval = val
00064       except:
00065         pass
00066       time.sleep(3)
00067 
00068 def main(argv, stdout, environ):
00069   progname = argv[0]
00070   optlist, args = getopt.getopt(argv[1:], "", ["help", "test", "debug"])
00071 
00072   p = ParamThread()
00073   p.callback = None
00074   p.run()
00075 
00076 if __name__ == "__main__":
00077   main(sys.argv, sys.stdout, os.environ)
00078 


rosweb
Author(s): Scott Hassan, Rob Wheeler, Nate Koenig
autogenerated on Sat Dec 28 2013 17:47:49