Source Code for Module node_manager_fkie.update_thread

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 32   
 33  import time 
 34  import socket 
 35  import threading 
 36  import xmlrpclib 
 37  import random 
 38  from python_qt_binding import QtCore 
 39   
 40  #import roslib; roslib.load_manifest('node_manager_fkie') 
 41  import rospy 
 42   
 43  from master_discovery_fkie.master_info import MasterInfo 
 44   
 45 -class UpdateThread(QtCore.QObject, threading.Thread): 
 46    ''' 
 47    A thread to retrieve the state about ROS master from remote discovery node and  
 48    publish it be sending a QT signal. 
 49    ''' 
 50    update_signal = QtCore.Signal(MasterInfo) 
 51    ''' 
 52    @ivar: update_signal is a signal, which is emitted, if a new  
 53    L{aster_discovery_fkie.MasterInfo} is retrieved. 
 54    ''' 
 55   
 56    master_errors_signal = QtCore.Signal(str, list) 
 57    ''' 
 58    @ivar: master_errors_signal is a signal (masteruri, list of errors),  
 59    which is emitted, if we get a list with errors from remote master_discovery. 
 60    ''' 
 61   
 62    error_signal = QtCore.Signal(str, str) 
 63    ''' 
 64    @ivar: error_signal is a signal (masteruri, error message), which is emitted,  
 65    if an error while retrieving a master info was occurred. 
 66    ''' 
 67   
 68 -  def __init__(self, monitoruri, masteruri, delayed_exec=0., parent=None): 
 69      ''' 
 70      @param masteruri: the URI of the remote ROS master 
 71      @type masteruri: C{str} 
 72      @param monitoruri: the URI of the monitor RPC interface of the master_discovery node 
 73      @type monitoruri: C{str} 
 74      @param delayed_exec: Delay the execution of the request for given seconds. 
 75      @type delayed_exec: C{float} 
 76      ''' 
 77      QtCore.QObject.__init__(self) 
 78      threading.Thread.__init__(self) 
 79      self._monitoruri = monitoruri 
 80      self._masteruri = masteruri 
 81      self._delayed_exec = delayed_exec 
 82      self.setDaemon(True) 
 83   
 84 -  def run(self): 
 85      ''' 
 86      ''' 
 87      try: 
 88        delay = self._delayed_exec+0.5+random.random() 
 89        #'print "wait request update", self._monitoruri, delay 
 90        time.sleep(delay) 
 91        #'print "request update", self._monitoruri 
 92        socket.setdefaulttimeout(25) 
 93        remote_monitor = xmlrpclib.ServerProxy(self._monitoruri) 
 94        # get first master errors 
 95        try: 
 96          muri, errors = remote_monitor.masterErrors() 
 97          self.master_errors_signal.emit(muri, errors) 
 98        except xmlrpclib.Fault as err: 
 99          rospy.logwarn("Older master_discovery on %s detected. It does not support master error reports!"%self._masteruri) 
100        # now get master info from master discovery 
101        remote_info = remote_monitor.masterInfo() 
102        master_info = MasterInfo.from_list(remote_info) 
103        master_info.check_ts = time.time() 
104        #'print "request success", self._monitoruri 
105        self.update_signal.emit(master_info) 
106      except: 
107        import traceback 
108  #      print traceback.print_exc() 
109        formatted_lines = traceback.format_exc(1).splitlines() 
110        rospy.logwarn("Connection to %s failed:\n\t%s", str(self._monitoruri), formatted_lines[-1]) 
111        #'print "request failed", self._monitoruri 
112        self.error_signal.emit(self._masteruri, formatted_lines[-1]) 
113      finally: 
114        if not socket is None: 
115          socket.setdefaulttimeout(None) 
116