00001
00002
00003 import subprocess
00004 import threading
00005 import time
00006 import sys, os, getopt
00007
00008 import roslib.scriptutil
00009 from roslib.names import ns_join, get_ros_namespace, make_caller_id, make_global_ns, GLOBALNS
00010
00011 PKG_NAME = 'rosweb'
00012 import roslib; roslib.load_manifest(PKG_NAME)
00013
00014 def _get_caller_id():
00015 return make_caller_id('rosparam-%s'%os.getpid())
00016
00017 class Params(roslib.message.Message):
00018 __slots__ = ('parameters', )
00019 def __init__(self, params):
00020 self.parameters = params
00021
00022 def succeed(args):
00023 code, msg, val = args
00024 if code != 1:
00025 raise RosTopicException("remote call failed: %s"%msg)
00026 return val
00027
00028 class ParamThread(threading.Thread):
00029 def __init__(self):
00030 threading.Thread.__init__(self)
00031
00032 self.callback = None
00033
00034 def setCallback(self, callback):
00035 self.callback = callback
00036
00037 def flatten(self, params, path="/"):
00038 l = []
00039 for k,v in params.items():
00040 _path=path + k
00041 if type(v) == type({}):
00042 l = l + self.flatten(v, _path + "/")
00043 else:
00044 l.append((_path, str(v)))
00045 return l
00046
00047 def getParams(self):
00048 master = roslib.scriptutil.get_master()
00049
00050 _c, _t, params = master.getParam(_get_caller_id(), "/")
00051 paramlist = self.flatten(params)
00052 paramlist.sort()
00053
00054 return paramlist
00055
00056 def run(self):
00057 lastval = ()
00058 while 1:
00059 try:
00060 val = self.getParams()
00061 if val != lastval:
00062 self.callback(Params(val))
00063 lastval = val
00064 except:
00065 pass
00066 time.sleep(3)
00067
00068 def main(argv, stdout, environ):
00069 progname = argv[0]
00070 optlist, args = getopt.getopt(argv[1:], "", ["help", "test", "debug"])
00071
00072 p = ParamThread()
00073 p.callback = None
00074 p.run()
00075
00076 if __name__ == "__main__":
00077 main(sys.argv, sys.stdout, os.environ)
00078
