Source Code for Module concert_orchestra.node

 1  #!/usr/bin/env python 
 2  # 
 3  # License: BSD 
 4  #   https://raw.github.com/robotics-in-concert/rocon_concert/hydro-devel/concert_orchestra/LICENSE 
 5  # 
 6  ############################################################################## 
 7  # Imports 
 8  ############################################################################## 
 9   
10  import re 
11  import concert_msgs.msg as concert_msgs 
12   
13  ############################################################################## 
14  # Classes 
15  ############################################################################## 
16   
17   
18 -class Node(object): 
19      ''' 
20        This represents an implementation rule node currently derived from 
21        a ros parameterisation. 
22      ''' 
23      __slots__ = ['id', 'tuple', 'min', 'max', 'force_name_matching'] 
24   
25 -    def __init__(self, param): 
26          # Compulsory parameters - should do some exception checking here 
27          self.id = param['id'] 
28          self.tuple = param['tuple'] 
29          # Optional parameters 
30          if not 'min' in param and not 'max' in param: 
31              self.min = 1 
32              self.max = 1 
33          elif not 'min' in param: 
34              self.min = 1 
35              self.max = param['max'] 
36          elif not 'max' in param: 
37              self.min = param['min'] 
38              self.max = concert_msgs.LinkNode.UNLIMITED_RESOURCE 
39          else: 
40              self.min = param['min'] 
41              self.max = param['max'] 
42          self.force_name_matching = True if 'force_name_matching' in param else False 
43   
44 -    def __str__(self): 
45          return "%s-%s-%s-%s-%s" % (self.id, self.tuple, str(self.min), str(self.max), self.force_name_matching) 
46   
47 -    def is_singleton(self): 
48          return self.min == self.max 
49   
50 -    def is_compatible(self, concert_client): 
51          ''' 
52            Checks to see if a client is compatible for the implementation's node rule. 
53          ''' 
54          #print "****** _match ******" 
55          #print "%s-%s-%s-%s-%s" % (self.id, self.tuple, str(self.min), str(self.max), self.force_name_matching) 
56          #print concert_client.name + "-" + concert_client.platform + "." + concert_client.system + "." + concert_client.robot 
57          parts = self.tuple.split('.') 
58          platform = parts[0] 
59          system = parts[1] 
60          robot = parts[2] 
61          app_name = parts[3] 
62          if platform != '*' and platform != concert_client.platform: 
63              return False 
64          if system != '*' and system != concert_client.system: 
65              return False 
66          if robot != '*' and robot != concert_client.robot: 
67              return False 
68          # Check if we should match name prefixes (i.e. ignore trailing numericals) 
69          if self.force_name_matching and not re.match(self.id, re.sub('[0-9]*$', '', concert_client.name)): 
70              return False 
71          for client_app in concert_client.apps: 
72              if app_name == client_app.name: 
73                  return True 
74          return False 
75