Source Code for Module node_manager_fkie.rosout_listener

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32   
33  from python_qt_binding.QtCore import QObject, Signal 
34  from rosgraph_msgs.msg import Log 
35   
36  import rospy 
37   
38   
39 -class RosoutListener(QObject): 
40      ''' 
41      A class to receive the ROS master state updates from a ROS topic. The topic 
42      will be determine using U{master_discovery_fkie.interface_finder.get_changes_topic()<http://docs.ros.org/kinetic/api/master_discovery_fkie/html/modules.html#interface-finder-module>}. 
43      ''' 
44      rosinfo_signal = Signal(Log) 
45      roswarn_signal = Signal(Log) 
46      roserr_signal = Signal(Log) 
47      rosfatal_signal = Signal(Log) 
48   
49 -    def registerByROS(self): 
50          ''' 
51          This method creates a ROS subscriber to received the notifications of ROS 
52          Logs. The retrieved messages will be emitted as *_signal. 
53          ''' 
54          self.sub_rosout = None 
55          rospy.loginfo("listen for logs on %s", '/rosout') 
56          self.sub_rosout = rospy.Subscriber('/rosout', Log, self._on_log) 
57   
58 -    def stop(self): 
59          ''' 
60          Unregister the subscribed topic 
61          ''' 
62          if hasattr(self, 'sub_rosout'): 
63              self.sub_rosout.unregister() 
64              del self.sub_rosout 
65   
66 -    def _on_log(self, msg): 
67          ''' 
68          The method to handle the received Log messages. 
69          @param msg: the received message 
70          @type msg: U{rosgraph_msgs.Log<http://docs.ros.org/kinetic/api/rosgraph_msgs/html/msg/Log.html>} 
71          ''' 
72          if msg.name == rospy.get_name(): 
73              if msg.level == Log.INFO: 
74                  self.rosinfo_signal.emit(msg) 
75              elif msg.level == Log.WARN: 
76                  self.roswarn_signal.emit(msg) 
77              elif msg.level == Log.ERROR: 
78                  self.roserr_signal.emit(msg) 
79              elif msg.level == Log.FATAL: 
80                  self.rosfatal_signal.emit(msg) 
81