# Software License Agreement (BSD License)
#
# Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko
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#
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# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
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# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of Fraunhofer nor the names of its
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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from SimpleXMLRPCServer import SimpleXMLRPCServer
from SocketServer import ThreadingMixIn
from datetime import datetime
import cStringIO
import roslib.network
import rospy
import socket
import subprocess
import threading
import time
import traceback
import xmlrpclib
import interface_finder
from .common import masteruri_from_ros, get_hostname
from .filter_interface import FilterInterface
from .master_info import MasterInfo
try: # to avoid the problems with autodoc on ros.org/wiki site
from multimaster_msgs_fkie.msg import LinkState, LinkStatesStamped, MasterState, ROSMaster, SyncMasterInfo, SyncTopicInfo, SyncServiceInfo
from multimaster_msgs_fkie.srv import DiscoverMasters, GetSyncInfo
except:
pass
[docs]class MasterConnectionException(Exception):
'''
The exception class to handle the connection problems with ROS Master.
'''
pass
def _succeed(args):
code, msg, val = args
if code != 1:
raise Exception("remote call failed: %s" % msg)
return val
[docs]class RPCThreading(ThreadingMixIn, SimpleXMLRPCServer):
pass
[docs]class RPCThreadingV6(ThreadingMixIn, SimpleXMLRPCServer):
address_family = socket.AF_INET6
pass
[docs]class MasterMonitor(object):
'''
This class provides methods to get the state from the ROS master using his
RPC API and test for changes. Furthermore an XML-RPC server will be created
to offer the complete current state of the ROS master by one method call.
:param rpcport: the port number for the XML-RPC server
:type rpcport: int
:param do_retry: retry to create XML-RPC server
:type do_retry: bool
:see: :mod:`master_discovery_fkie.master_monitor.MasterMonitor.getCurrentState()`, respectively
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.updateState()`
:RPC Methods:
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.getListedMasterInfo()` or
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.getMasterContacts()` as RPC:
``masterInfo()`` and ``masterContacts()``
'''
MAX_PING_SEC = 10.0
''' The time to update the node URI, ID or service URI (Default: ``10.0``)'''
INTERVAL_UPDATE_LAUNCH_URIS = 15.0
def __init__(self, rpcport=11611, do_retry=True, ipv6=False):
'''
Initialize method. Creates an XML-RPC server on given port and starts this
in its own thread.
:param rpcport: the port number for the XML-RPC server
:type rpcport: int
:param do_retry: retry to create XML-RPC server
:type do_retry: bool
:param ipv6: Use ipv6
:type ipv6: bool
'''
self._state_access_lock = threading.RLock()
self._create_access_lock = threading.RLock()
self._lock = threading.RLock()
self.__masteruri = masteruri_from_ros()
self.__new_master_state = None
self.__masteruri_rpc = None
self.__mastername = None
self.__cached_nodes = dict()
self.__cached_services = dict()
self.ros_node_name = str(rospy.get_name())
if rospy.has_param('~name'):
self.__mastername = rospy.get_param('~name')
self.__mastername = self.getMastername()
rospy.set_param('/mastername', self.__mastername)
self.__master_state = None
'''the current state of the ROS master'''
self.rpcport = rpcport
'''the port number of the RPC server'''
self._printed_errors = dict()
self._last_clearup_ts = time.time()
self._master_errors = list()
# Create an XML-RPC server
self.ready = False
while not self.ready and (not rospy.is_shutdown()):
try:
RPCClass = RPCThreading
if ipv6:
RPCClass = RPCThreadingV6
self.rpcServer = RPCClass(('', rpcport), logRequests=False, allow_none=True)
rospy.loginfo("Start RPC-XML Server at %s", self.rpcServer.server_address)
self.rpcServer.register_introspection_functions()
self.rpcServer.register_function(self.getListedMasterInfo, 'masterInfo')
self.rpcServer.register_function(self.getListedMasterInfoFiltered, 'masterInfoFiltered')
self.rpcServer.register_function(self.getMasterContacts, 'masterContacts')
self.rpcServer.register_function(self.getMasterErrors, 'masterErrors')
self.rpcServer.register_function(self.getCurrentTime, 'getCurrentTime')
self.rpcServer.register_function(self.setTime, 'setTime')
self._rpcThread = threading.Thread(target=self.rpcServer.serve_forever)
self._rpcThread.setDaemon(True)
self._rpcThread.start()
self.ready = True
except socket.error as e:
if not do_retry:
raise Exception("Error while start RPC-XML server on port %d: %s\nIs a Node Manager already running?" % (rpcport, e))
rospy.logwarn("Error while start RPC-XML server on port %d: %s\nTry again..." % (rpcport, e))
time.sleep(1)
except:
print traceback.format_exc()
if not do_retry:
raise
self._master = xmlrpclib.ServerProxy(self.getMasteruri())
# === UPDATE THE LAUNCH URIS Section ===
# subscribe to get parameter updates
rospy.loginfo("Subscribe to parameter `/roslaunch/uris`")
self.__mycache_param_server = rospy.impl.paramserver.get_param_server_cache()
# HACK: use own method to get the updates also for parameters in the subgroup
self.__mycache_param_server.update = self.__update_param
# first access, make call to parameter server
self._update_launch_uris_lock = threading.RLock()
self.__launch_uris = {}
code, msg, value = self._master.subscribeParam(self.ros_node_name, rospy.get_node_uri(), '/roslaunch/uris')
# the new timer will be created in self._update_launch_uris()
self._timer_update_launch_uris = None
if code == 1:
for k, v in value.items():
self.__launch_uris[roslib.names.ns_join('/roslaunch/uris', k)] = v
self._update_launch_uris()
# === END: UPDATE THE LAUNCH URIS Section ===
def __update_param(self, key, value):
# updates the /roslaunch/uris parameter list
with self._update_launch_uris_lock:
try:
if value:
self.__launch_uris[key] = value
else:
del self.__launch_uris[key]
except:
pass
[docs] def shutdown(self):
'''
Shutdown the RPC Server.
'''
if hasattr(self, 'rpcServer'):
if self._timer_update_launch_uris is not None:
try:
self._timer_update_launch_uris.cancel()
except:
pass
if self._master is not None:
rospy.loginfo("Unsubscribe from parameter `/roslaunch/uris`")
try:
self._master.unsubscribeParam(self.ros_node_name, rospy.get_node_uri(), '/roslaunch/uris')
except Exception as e:
rospy.logwarn("Error while unsubscribe from `/roslaunch/uris`: %s" % e)
rospy.loginfo("shutdown own RPC server")
self.rpcServer.shutdown()
del self.rpcServer.socket
del self.rpcServer
[docs] def is_running(self):
return hasattr(self, 'rpcServer')
def _update_launch_uris(self, params={}):
with self._update_launch_uris_lock:
if params:
self.__launch_uris = params
try:
socket.setdefaulttimeout(3.0)
for key, value in self.__launch_uris.items():
try:
# contact the launch server
launch_server = xmlrpclib.ServerProxy(value)
c, m, pid = launch_server.get_pid()
except:
try:
# remove the parameter from parameter server on error
master = xmlrpclib.ServerProxy(self.getMasteruri())
master.deleteParam(self.ros_node_name, key)
except:
pass
finally:
socket.setdefaulttimeout(None)
# create the new timer
if not rospy.is_shutdown():
self._timer_update_launch_uris = threading.Timer(self.INTERVAL_UPDATE_LAUNCH_URIS, self._update_launch_uris)
self._timer_update_launch_uris.start()
def _getNodePid(self, nodes):
'''
Gets process id of the node.
This method blocks until the info is retrieved or socket timeout is reached (0.7 seconds).
:param nodename: the name of the node
:type nodename: str
:param uri: the uri of the node
:type uri: str
'''
for (nodename, uri) in nodes.items():
if uri is not None:
pid = None
try:
with self._lock:
if nodename in self.__cached_nodes:
if time.time() - self.__cached_nodes[nodename][2] < self.MAX_PING_SEC:
return
socket.setdefaulttimeout(0.7)
node = xmlrpclib.ServerProxy(uri)
pid = _succeed(node.getPid(self.ros_node_name))
except (Exception, socket.error) as e:
with self._lock:
self._limited_log(nodename, "can't get PID: %s" % str(e))
master = xmlrpclib.ServerProxy(self.getMasteruri())
code, message, new_uri = master.lookupNode(self.ros_node_name, nodename)
with self._lock:
self.__new_master_state.getNode(nodename).uri = None if (code == -1) else new_uri
if code == -1:
self._limited_log(nodename, "can't update contact information. ROS master responds with: %s" % message)
try:
del self.__cached_nodes[nodename]
except:
pass
else:
with self._lock:
self.__new_master_state.getNode(nodename).pid = pid
self.__cached_nodes[nodename] = (uri, pid, time.time())
# print "_getNodePid _lock RET", threading.current_thread()
finally:
socket.setdefaulttimeout(None)
def _getServiceInfo(self, services):
'''
Gets service info through the RPC interface of the service.
This method blocks until the info is retrieved or socket timeout is reached (0.5 seconds).
:param service: the name of the service
:type service: str
:param uri: the uri of the service
:type uri: str
'''
for (service, uri) in services.items():
with self._lock:
if service in self.__cached_services:
if time.time() - self.__cached_services[service][2] < self.MAX_PING_SEC:
return
if uri is not None:
dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(uri)
except:
continue
# raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service, uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = {'probe': '1', 'md5sum': '*',
'callerid': self.ros_node_name, 'service': service}
roslib.network.write_ros_handshake_header(s, header)
stype = roslib.network.read_ros_handshake_header(s, cStringIO.StringIO(), 2048)
with self._lock:
self.__new_master_state.getService(service).type = stype['type']
self.__cached_services[service] = (uri, stype['type'], time.time())
except socket.error:
with self._lock:
try:
del self.__cached_services[service]
except:
pass
# raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service, uri))
except:
with self._lock:
self._limited_log(service, "can't get service type: %s" % traceback.format_exc(), rospy.WARN)
with self._lock:
try:
del self.__cached_services[service]
except:
pass
pass
finally:
if s is not None:
s.close()
[docs] def getListedMasterInfo(self):
'''
:return: a extended ROS Master State.
:rtype: :mod:`master_discovery_fkie.master_info.MasterInfo.listedState()` for result type
'''
t = str(time.time())
result = (t, t, self.getMasteruri(), str(self.getMastername()), [], [], [], [], [], [])
if not (self.__master_state is None):
try:
with self._state_access_lock:
result = self.__master_state.listedState()
except:
print traceback.format_exc()
return result
[docs] def getListedMasterInfoFiltered(self, filter_list):
'''
:return: a extended filtered ROS Master State.
:rtype: :mod:`master_discovery_fkie.master_info.MasterInfo.listedState()` for result type
'''
t = str(time.time())
result = (t, t, self.getMasteruri(), str(self.getMastername()), [], [], [], [], [], [])
if not (self.__master_state is None):
try:
with self._state_access_lock:
result = self.__master_state.listedState(FilterInterface.from_list(filter_list))
except:
print traceback.format_exc()
return result
[docs] def getCurrentState(self):
'''
:return: The current ROS Master State
:rtype: :mod:`master_discovery_fkie.master_info.MasterInfo` or ``None``
'''
with self._state_access_lock:
return self.__master_state
[docs] def updateState(self, clear_cache=False):
'''
Gets state from the ROS Master through his RPC interface.
:param clear_cache: The URI of nodes and services will be cached to reduce the load.
If remote hosted nodes or services was restarted, the cache must
be cleared! The local nodes will be updated periodically after
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.MAX_PING_SEC`.
:type clear_cache: bool (Default: ``False``)
:rtype: :mod:`master_discovery_fkie.master_info.MasterInfo`
:raise: ``MasterConnectionException``, if not complete information was get from the ROS master.
'''
with self._create_access_lock:
now = time.time()
threads = []
try:
self._lock.acquire(True)
if clear_cache:
self.__cached_nodes = dict()
self.__cached_services = dict()
socket.setdefaulttimeout(5)
self.__new_master_state = master_state = MasterInfo(self.getMasteruri(), self.getMastername())
# update master state
master = self._master
# master = xmlrpclib.ServerProxy(self.getMasteruri())
# get topic types
code, message, topicTypes = master.getTopicTypes(self.ros_node_name)
# convert topicType list to the dict
topicTypesDict = {}
for topic, type in topicTypes:
topicTypesDict[topic] = type
# get system state
code, message, state = master.getSystemState(self.ros_node_name)
# add published topics
for t, l in state[0]:
master_state.topics = t
for n in l:
master_state.nodes = n
master_state.getNode(n).publishedTopics = t
master_state.getTopic(t).publisherNodes = n
master_state.getTopic(t).type = topicTypesDict.get(t, 'None')
# add subscribed topics
for t, l in state[1]:
master_state.topics = t
for n in l:
master_state.nodes = n
master_state.getNode(n).subscribedTopics = t
master_state.getTopic(t).subscriberNodes = n
master_state.getTopic(t).type = topicTypesDict.get(t, 'None')
# add services
services = dict()
tmp_slist = []
# multi-call style xmlrpc to lock up the service uri
param_server_multi = xmlrpclib.MultiCall(master)
for t, l in state[2]:
master_state.services = t
for n in l:
master_state.nodes = n
master_state.getNode(n).services = t
service = master_state.getService(t)
service.serviceProvider = n
if service.name in self.__cached_services:
service.uri = self.__cached_services[service.name][0]
service.type = self.__cached_services[service.name][1]
if service.isLocal and time.time() - self.__cached_services[service.name][2] > self.MAX_PING_SEC:
services[service.name] = service.uri
else:
tmp_slist.append(service)
param_server_multi.lookupService(self.ros_node_name, t)
try:
r = param_server_multi()
for (code, msg, uri), service in zip(r, tmp_slist):
if code == 1:
service.uri = uri
if service.isLocal:
services[service.name] = uri
else:
self.__cached_services[service.name] = (uri, None, time.time())
else:
self._limited_log(service.name, "can't get contact information. ROS master responds with: %s" % msg)
except:
traceback.print_exc()
if services:
pidThread = threading.Thread(target=self._getServiceInfo, args=((services,)))
pidThread.start()
threads.append(pidThread)
# get additional node information
nodes = dict()
try:
# multi-call style xmlrpc to loock up the node uri
param_server_multi = xmlrpclib.MultiCall(master)
tmp_nlist = []
for name, node in master_state.nodes.items():
if node.name in self.__cached_nodes:
node.uri = self.__cached_nodes[node.name][0]
node.pid = self.__cached_nodes[node.name][1]
if node.isLocal and time.time() - self.__cached_nodes[node.name][2] > self.MAX_PING_SEC:
nodes[node.name] = node.uri
else:
# 'print "request node:", node.name
tmp_nlist.append(node)
param_server_multi.lookupNode(self.ros_node_name, name)
r = param_server_multi()
for (code, msg, uri), node in zip(r, tmp_nlist):
if code == 1:
node.uri = uri
if node.isLocal:
nodes[node.name] = uri
else:
self.__cached_nodes[node.name] = (uri, None, time.time())
else:
self._limited_log(node.name, "can't get contact information. ROS master responds with: %s" % msg)
except:
traceback.print_exc()
if nodes:
# get process id of the nodes
pidThread = threading.Thread(target=self._getNodePid, args=((nodes,)))
pidThread.start()
threads.append(pidThread)
master_state.timestamp = now
except socket.error, e:
if isinstance(e, tuple):
(errn, msg) = e
if errn not in [100, 101, 102]:
formatted_lines = traceback.format_exc().splitlines()
raise MasterConnectionException(formatted_lines[-1])
else:
raise MasterConnectionException(traceback.format_exc(1))
except:
formatted_lines = traceback.format_exc().splitlines()
raise MasterConnectionException(formatted_lines[-1])
finally:
self._lock.release()
socket.setdefaulttimeout(None)
# wait for all threads are finished
while threads:
th = threads.pop()
if th.isAlive():
th.join()
del th
if time.time() - self._last_clearup_ts > 300:
self._last_clearup_ts = time.time()
self._clearup_cached_logs()
return master_state
def _limited_log(self, provider, msg, level=rospy.WARN):
if provider not in self._printed_errors:
self._printed_errors[provider] = dict()
if msg not in self._printed_errors[provider]:
self._printed_errors[provider][msg] = time.time()
if level == rospy.DEBUG:
rospy.logdebug("MasterMonitor[%s]: %s" % (provider, msg))
elif level == rospy.INFO:
rospy.loginfo("MasterMonitor[%s]: %s" % (provider, msg))
elif level == rospy.WARN:
rospy.logwarn("MasterMonitor[%s]: %s" % (provider, msg))
elif level == rospy.ERROR:
rospy.logerr("MasterMonitor[%s]: %s" % (provider, msg))
elif level == rospy.FATAL:
rospy.logfatal("MasterMonitor[%s]: %s" % (provider, msg))
def _clearup_cached_logs(self, age=300):
cts = time.time()
for p, msgs in self._printed_errors.items():
for msg, ts in msgs.items():
if cts - ts > age:
del self._printed_errors[p][msg]
if not self._printed_errors[p]:
del self._printed_errors[p]
[docs] def updateSyncInfo(self):
'''
This method can be called to update the origin ROS master URI of the nodes
and services in new ``master_state``. This is only need, if a synchronization is
running. The synchronization service will be detect automatically by searching
for the service ending with ``get_sync_info``. The method will be called by
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.checkState()`.
'''
# 'print "updateSyncInfo _create_access_lock try...", threading.current_thread()
def getNodeuri(nodename, publisher, subscriber, services):
for p in publisher:
if nodename == p.node:
return p.nodeuri
for p in subscriber:
if nodename == p.node:
return p.nodeuri
for s in services:
if nodename == s.node:
return s.nodeuri
return None
with self._create_access_lock:
master_state = self.__new_master_state
sync_info = None
# get synchronization info, if sync node is running
# to determine the origin ROS MASTER URI of the nodes
for name, service in master_state.services.items():
if service.name.endswith('get_sync_info'):
if get_hostname(self.getMasteruri()) == get_hostname(service.uri):
socket.setdefaulttimeout(3)
get_sync_info = rospy.ServiceProxy(service.name, GetSyncInfo)
try:
sync_info = get_sync_info()
except rospy.ServiceException, e:
rospy.logwarn("ERROR Service call 'get_sync_info' failed: %s", str(e))
finally:
socket.setdefaulttimeout(None)
# update the origin ROS MASTER URI of the nodes, if sync node is running
if sync_info:
for m in sync_info.hosts:
for n in m.nodes:
try:
# TODO: add nodeuri to the nodes (needs changes in the MSG definitions)
# set the sync node only if it has the same uri
nuri = getNodeuri(n, m.publisher, m.subscriber, m.services)
state_node = master_state.getNode(n)
if state_node is not None and (state_node.uri == nuri or nuri is None):
state_node.masteruri = m.masteruri
except:
pass
for s in m.services:
try:
state_service = master_state.getService(s.service)
if state_service is not None and state_service.uri == s.serviceuri:
state_service.masteruri = m.masteruri
except:
pass
[docs] def getMasteruri(self):
'''
Requests the ROS master URI from the ROS master through the RPC interface and
returns it.
:return: ROS master URI
:rtype: str or ``None``
'''
code = -1
if self.__masteruri_rpc is None:
master = xmlrpclib.ServerProxy(self.__masteruri)
code, message, self.__masteruri_rpc = master.getUri(self.ros_node_name)
return self.__masteruri_rpc if code >= 0 or self.__masteruri_rpc is not None else self.__masteruri
[docs] def getMastername(self):
'''
Returns the name of the master. If no name is set, the hostname of the
ROS master URI will be extracted.
:return: the name of the ROS master
:rtype: str or ``None``
'''
if self.__mastername is None:
try:
self.__mastername = get_hostname(self.getMasteruri())
try:
from urlparse import urlparse
master_port = urlparse(self.__masteruri).port
if master_port != 11311:
self.__mastername = '%s_%d' % (self.__mastername, master_port)
except:
pass
except:
pass
return self.__mastername
[docs] def getMasterErrors(self):
'''
The RPC method called by XML-RPC server to request the occured network errors.
:return: (``ROS master URI``, ``list with errors``)
:rtype: (str, [str])
'''
return (str(self.getMasteruri()), self._master_errors)
[docs] def getCurrentTime(self):
'''
The RPC method called by XML-RPC server to request the current host time.
:return: (``ROS master URI``, ``current time``)
:rtype: (str, float)
'''
return (str(self.getMasteruri()), time.time())
[docs] def setTime(self, timestamp):
'''
The RPC method called by XML-RPC server to set new host time.
:param timestamp: UNIX timestamp
:type timestamp: float
:return: (``ROS master URI``, ``current time``)
:rtype: (str, float)
'''
dtime = datetime.fromtimestamp(timestamp)
args = ['sudo', '-n', '/bin/date', '-s', '%s' % dtime]
rospy.loginfo('Set time: %s' % args)
subp = subprocess.Popen(args, stderr=subprocess.PIPE)
success = True
result_err = ''
if subp.stderr is not None:
result_err = subp.stderr.read()
if result_err:
success = False
return (str(self.getMasteruri()), success, time.time(), result_err)
[docs] def checkState(self, clear_cache=False):
'''
Gets the state from the ROS master and compares it to the stored state.
:param clear_cache: The URI of nodes and services will be cached to reduce the load.
If remote hosted nodes or services was restarted, the cache must
be cleared! The local nodes will be updated periodically after
:mod:`master_discovery_fkie.master_monitor.MasterMonitor.MAX_PING_SEC`.
:type clear_cache: bool (Default: ``False``)
:return: ``True`` if the ROS master state is changed
:rtype: bool
'''
result = False
s = self.updateState(clear_cache)
with self._create_access_lock:
do_update = False
with self._state_access_lock:
if s != self.__master_state:
do_update = True
if self.__master_state is not None and s.timestamp < self.__master_state.timestamp:
do_update = True
result = True
timejump_msg = "Timejump into past detected! Restart all ROS nodes, includes master_discovery, please!"
rospy.logwarn(timejump_msg)
if timejump_msg not in self._master_errors:
self._master_errors.append(timejump_msg)
if do_update:
self.updateSyncInfo()
with self._state_access_lock:
# test for local changes
ts_local = self.__new_master_state.timestamp_local
if self.__master_state is not None and not self.__master_state.has_local_changes(s):
ts_local = self.__master_state.timestamp_local
self.__master_state = self.__new_master_state
self.__master_state.timestamp_local = ts_local
result = True
self.__master_state.check_ts = self.__new_master_state.timestamp
return result
[docs] def reset(self):
'''
Sets the master state to ``None``.
'''
with self._state_access_lock:
if self.__master_state is not None:
del self.__master_state
self.__master_state = None
[docs] def update_master_errors(self, error_list):
self._master_errors = list(error_list)