rocon_gateway_tutorials: flip_tutorials.py Source File

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00001 #!/usr/bin/env python
00002 #       
00003 # License: BSD
00004 #   https://raw.github.com/robotics-in-concert/rocon_multimaster/master/rocon_gateway_tutorials/LICENSE 
00005 #
00006 ##############################################################################
00007 # Imports
00008 ##############################################################################
00009 
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 # Utilities
00021 ##############################################################################
00022 
00023 class Context(object):
00024     def __init__(self, gateway, cancel_flag, regex):
00025         self.gateway = gateway
00026         if cancel_flag:
00027             self.action_text = "cancelling"
00028         else:
00029             self.action_text = "flipping"
00030         self.flip_service = rospy.ServiceProxy('/gateway/flip',Remote)
00031         self.req = RemoteRequest() 
00032         self.req.cancel = cancel_flag
00033         self.req.remotes = []
00034         self.names, self.nodes = rocon_gateway_tutorials.createTutorialDictionaries(regex)
00035 
00036     def flip(self, type):
00037         rule = gateway_msgs.msg.Rule()
00038         rule.name = self.names[type]
00039         rule.type = type
00040         rule.node = self.nodes[type]
00041         self.req.remotes.append(RemoteRule(self.gateway,rule))
00042         rospy.loginfo("Flip : %s [%s,%s,%s,%s]."%(self.action_text, 
00043                                                   self.gateway, 
00044                                                   rule.type, 
00045                                                   rule.name, 
00046                                                   rule.node or 'None')) 
00047         resp = self.flip_service(self.req)
00048         if resp.result != 0:
00049             rospy.logerr("Flip : %s"%resp.error_message)
00050         self.req.remotes = []
00051 
00052 ##############################################################################
00053 # Main
00054 ##############################################################################
00055 
00056 """
00057   Tests flips, either for all tutorials (default) or one by one (via args).
00058   
00059   Usage:
00060     1 > roslaunch rocon_gateway_tutorials pirate_hub.launch
00061     2a> roslaunch rocon_gateway_tutorials pirate_gateway_tutorials.launch
00062     3a> roslaunch rocon_gateway_tutorials pirate_gateway.launch
00063     2b> rosrun rocon_gateway_tutorials flip_tutorials.py
00064     3b> rostopic list
00065     2c> rosrun rocon_gateway_tutorials flip_tutorials.py --cancel
00066     2d> rosrun rocon_gateway_tutorials flip_tutorials.py --regex
00067     2e> rosrun rocon_gateway_tutorials flip_tutorials.py --regex --cancel
00068 """
00069 
00070 if __name__ == '__main__':
00071 
00072     parser = argparse.ArgumentParser(description='Flip roscpp tutorial connections (/chatter, /add_two_ints to a remote gateway')
00073     parser.add_argument('--pubonly', action='store_true', help='flip /chatter publisher only')
00074     parser.add_argument('--subonly', action='store_true', help='flip /chatter subscriber only')
00075     parser.add_argument('--serviceonly', action='store_true', help='flip add_two_ints service only')
00076     parser.add_argument('--actionclientonly', action='store_true', help='flip /fibonacci action client only')
00077     parser.add_argument('--actionserveronly', action='store_true', help='flip /averaging action server only')
00078     parser.add_argument('--regex', action='store_true', help='test with a regex pattern')
00079     parser.add_argument('--cancel', action='store_true', help='cancel the flip')
00080     args = parser.parse_args()
00081     flip_all_connection_types = (not args.pubonly) and (not args.subonly) and (not args.serviceonly) and (not args.actionclientonly) and (not args.actionserveronly)
00082     if args.cancel:
00083         action_text = "cancelling"
00084     else:
00085         action_text = "flipping"
00086 
00087     rospy.init_node('flip_tutorials')
00088 
00089     try:
00090         gateway = "pirate_gateway.*"
00091     except rocon_gateway.GatewayError as e:
00092         rospy.logerr("Flip Test : %s, aborting."%(str(e)))
00093         sys.exit(1)
00094 
00095     context = Context(gateway, args.cancel, args.regex)
00096 
00097     if args.pubonly or flip_all_connection_types:
00098         context.flip(ConnectionType.PUBLISHER)
00099     
00100     if args.subonly or flip_all_connection_types:
00101         context.flip(ConnectionType.SUBSCRIBER)
00102 
00103     if args.serviceonly or flip_all_connection_types:
00104         context.flip(ConnectionType.SERVICE)
00105 
00106     if args.actionclientonly or flip_all_connection_types:
00107         context.flip(ConnectionType.ACTION_CLIENT)
00108 
00109     if args.actionserveronly or flip_all_connection_types:
00110         context.flip(ConnectionType.ACTION_SERVER)