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00010 import roslib; roslib.load_manifest('rocon_gateway_tutorials')
00011 import rospy
00012 import rocon_gateway
00013 import rocon_gateway_tutorials
00014 from gateway_msgs.msg import *
00015 from gateway_msgs.srv import *
00016 import argparse
00017 import sys
00018
00019
00020
00021
00022
00023 class Context(object):
00024 def __init__(self, cancel_flag, regex):
00025 if cancel_flag:
00026 self.action_text = "cancelling"
00027 else:
00028 self.action_text = "advertising"
00029 self.advertise_service = rospy.ServiceProxy('/gateway/advertise',Advertise)
00030 self.req = AdvertiseRequest()
00031 self.req.cancel = cancel_flag
00032 self.rule = Rule()
00033 self.names, self.nodes = rocon_gateway_tutorials.createTutorialDictionaries(regex)
00034
00035 def advertise(self, type):
00036 self.req.rules = []
00037 self.rule.name = self.names[type]
00038 self.rule.type = type
00039 self.rule.node = self.nodes[type]
00040 rospy.loginfo("Advertise : %s [%s,%s,%s]."%(self.action_text,self.rule.type, self.rule.name, self.rule.node or 'None'))
00041 self.req.rules.append(self.rule)
00042 resp = self.advertise_service(self.req)
00043 if resp.result != 0:
00044 rospy.logerr("Advertise : %s"%resp.error_message)
00045
00046
00047
00048
00049
00050 """
00051 Tests advertisements, either for all tutorials (default) or one by one (via args).
00052
00053 Usage:
00054 1 > roslaunch rocon_gateway_tutorials pirate_hub.launch
00055 2a> roslaunch rocon_gateway_tutorials pirate_gateway_tutorials.launch
00056 3a> roslaunch rocon_gateway_tutorials pirate_gateway.launch
00057 2b> rosrun rocon_gateway_tutorials advertise_tutorials.py
00058 2c> rosservice call /gateway/gateway_info
00059 3b> rosservice call /gateway/remote_gateway_info []
00060 2d> rosrun rocon_gateway_tutorials advertise_tutorials.py --cancel
00061 2e> rosrun rocon_gateway_tutorials advertise_tutorials.py --regex
00062 2f> rosrun rocon_gateway_tutorials advertise_tutorials.py --regex --cancel
00063 """
00064
00065 if __name__ == '__main__':
00066
00067 parser = argparse.ArgumentParser(description='Advertise tutorial connections (/chatter, /add_two_ints to a remote gateway')
00068 parser.add_argument('--pubonly', action='store_true', help='advertise /chatter publisher only')
00069 parser.add_argument('--subonly', action='store_true', help='advertise /chatter subscriber only')
00070 parser.add_argument('--serviceonly', action='store_true', help='advertise /add_two_ints service only')
00071 parser.add_argument('--actionclientonly', action='store_true', help='advertise /fibonacci action client only')
00072 parser.add_argument('--actionserveronly', action='store_true', help='advertise /averaging action server only')
00073 parser.add_argument('--regex', action='store_true', help='test with a regex pattern')
00074 parser.add_argument('--cancel', action='store_true', help='cancel the advertisement')
00075 args = parser.parse_args()
00076
00077 advertise_all_connection_types = (not args.pubonly) and (not args.subonly) and (not args.serviceonly) and (not args.actionclientonly) and (not args.actionserveronly)
00078
00079 rospy.init_node('advertise_tutorials')
00080
00081 context = Context(args.cancel, args.regex)
00082
00083 if args.pubonly or advertise_all_connection_types:
00084 context.advertise(ConnectionType.PUBLISHER)
00085
00086 if args.subonly or advertise_all_connection_types:
00087 context.advertise(ConnectionType.SUBSCRIBER)
00088
00089 if args.serviceonly or advertise_all_connection_types:
00090 context.advertise(ConnectionType.SERVICE)
00091
00092 if args.actionclientonly or advertise_all_connection_types:
00093 context.advertise(ConnectionType.ACTION_CLIENT)
00094
00095 if args.actionserveronly or advertise_all_connection_types:
00096 context.advertise(ConnectionType.ACTION_SERVER)
00097
