/usr/lib/python2.7/dist-packages/roslaunch/netapi.py is in python-roslaunch 1.11.16-3.
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# Revision $Id$
"""
Convience methods for manipulating XML-RPC APIs
"""
try:
from xmlrpc.client import ServerProxy
except ImportError:
from xmlrpclib import ServerProxy
import rosgraph
import rosgraph.network
_ID = '/roslaunch_netapi'
def get_roslaunch_uris():
"""
@return: list of roslaunch XML-RPC URIs for roscore that's in
the current environment, or None if roscore cannot be contacted.
@rtype: [str]
"""
try:
m = rosgraph.Master(_ID)
vals = m.getParam('/roslaunch/uris')
return vals.values()
except rosgraph.MasterException:
return None
class NetProcess(object):
def __init__(self, name, respawn_count, is_alive, roslaunch_uri):
self.is_alive = is_alive
self.respawn_count = respawn_count
self.name = name
self.roslaunch_uri = roslaunch_uri
self.machine, _ = rosgraph.network.parse_http_host_and_port(roslaunch_uri)
def list_processes(roslaunch_uris=None):
"""
@param roslaunch_uris: (optional) list of XML-RPCS. If none
are provided, will look up URIs dynamically
@type roslaunch_uris: [str]
@return: list of roslaunch processes
@rtype: [L{NetProcess}]
"""
if not roslaunch_uris:
roslaunch_uris = get_roslaunch_uris()
if not roslaunch_uris:
return []
procs = []
for uri in roslaunch_uris:
try:
r = ServerProxy(uri)
code, msg, val = r.list_processes()
if code == 1:
active, dead = val
procs.extend([NetProcess(a[0], a[1], True, uri) for a in active])
procs.extend([NetProcess(d[0], d[1], False, uri) for d in dead])
except:
#import traceback
#traceback.print_exc()
# don't have a mechanism for reporting these errors upwards yet
pass
return procs
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