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