/usr/lib/python2.7/dist-packages/rospy/msproxy.py is in python-rospy 1.11.16-3.
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#
# Copyright (c) 2008, Willow Garage, Inc.
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# * Redistributions in binary form must reproduce the above
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# with the distribution.
# * Neither the name of Willow Garage, Inc. nor the names of its
# contributors may be used to endorse or promote products derived
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# Revision $Id$
"""
Master/Slave XML-RPC Wrappers.
The L{MasterProxy} simplifies usage of master/slave
APIs by automatically inserting the caller ID and also adding python
dictionary accessors on the parameter server.
"""
from threading import Lock
import rospy.core
import rospy.exceptions
import rospy.names
import rospy.impl.paramserver
import rospy.impl.masterslave
_master_arg_remap = {
'deleteParam': [0], # remap key
'setParam': [0], # remap key
'getParam': [0], # remap key
'searchParam': [0], # remap key
'subscribeParam': [0], # remap key
'unsubscribeParam': [0], # remap key
'hasParam': [0], # remap key
'registerService': [0], # remap service
'lookupService': [0], # remap service
'unregisterService': [0], # remap service
'registerSubscriber': [0], # remap topic
'unregisterSubscriber': [0], # remap topic
'registerPublisher': [0], # remap topic
'unregisterPublisher': [0], # remap topic
'lookupNode': [0], # remap node
'getPublishedTopics': [0], # remap subgraph
}
class MasterProxy(object):
"""
Convenience wrapper for ROS master API and XML-RPC
implementation. The Master API methods can be invoked on this
object and will be forwarded appropriately. Names in arguments
will be remapped according to current node settings. Provides
dictionary-like access to parameter server, e.g.::
master[key] = value
All methods are thread-safe.
"""
def __init__(self, uri):
"""
Constructor for wrapping a remote master instance.
@param uri: XML-RPC URI of master
@type uri: str
"""
self.target = rospy.core.xmlrpcapi(uri)
self._lock = Lock()
def __getattr__(self, key): #forward api calls to target
with self._lock:
f = getattr(self.target, key)
if key in _master_arg_remap:
remappings = _master_arg_remap[key]
else:
remappings = rospy.impl.masterslave.ROSHandler.remappings(key)
def wrappedF(*args, **kwds):
args = [rospy.names.get_caller_id(),]+list(args)
#print "Remap indicies", remappings
for i in remappings:
i = i + 1 #callerId does not count
#print "Remap %s => %s"%(args[i], rospy.names.resolve_name(args[i]))
args[i] = rospy.names.resolve_name(args[i])
return f(*args, **kwds)
return wrappedF
def __getitem__(self, key):
"""
Fetch item from parameter server and subscribe to future updates so that
values can be cached.
@param key: parameter key
@type key: str
@raise KeyError: if key is not set
"""
#NOTE: remapping occurs here!
resolved_key = rospy.names.resolve_name(key)
if 1: # disable param cache
with self._lock:
code, msg, value = self.target.getParam(rospy.names.get_caller_id(), resolved_key)
if code != 1: #unwrap value with Python semantics
raise KeyError(key)
return value
try:
# check for value in the parameter server cache
return rospy.impl.paramserver.get_param_server_cache().get(resolved_key)
except KeyError:
# first access, make call to parameter server
with self._lock:
code, msg, value = self.target.subscribeParam(rospy.names.get_caller_id(), rospy.core.get_node_uri(), resolved_key)
if code != 1: #unwrap value with Python semantics
raise KeyError(key)
# set the value in the cache so that it's marked as subscribed
rospy.impl.paramserver.get_param_server_cache().set(resolved_key, value)
return value
def __setitem__(self, key, val):
"""
Set parameter value on Parameter Server
@param key: parameter key
@type key: str
@param val: parameter value
@type val: XMLRPC legal value
"""
with self._lock:
self.target.setParam(rospy.names.get_caller_id(), rospy.names.resolve_name(key), val)
def search_param(self, key):
"""
Search for a parameter matching key on the parameter server
@return: found key or None if search did not succeed
@rtype: str
@raise ROSException: if parameter server reports an error
"""
# #1810 searchParam has to use unresolved form of mappings
mappings = rospy.names.get_mappings()
if key in mappings:
key = mappings[key]
with self._lock:
code, msg, val = self.target.searchParam(rospy.names.get_caller_id(), key)
if code == 1:
return val
elif code == -1:
return None
else:
raise rospy.exceptions.ROSException("cannot search for parameter: %s"%msg)
def __delitem__(self, key):
"""
Delete parameter key from the parameter server.
@raise KeyError: if key is not set
@raise ROSException: if parameter server reports an error
"""
resolved_key = rospy.names.resolve_name(key)
with self._lock:
code, msg, _ = self.target.deleteParam(rospy.names.get_caller_id(), resolved_key)
if code == -1:
raise KeyError(key)
elif code != 1:
raise rospy.exceptions.ROSException("cannot delete parameter: %s"%msg)
elif 0: #disable parameter cache
# set the value in the cache so that it's marked as subscribed
rospy.impl.paramserver.get_param_server_cache().delete(resolved_key)
def __contains__(self, key):
"""
Check if parameter is set on Parameter Server
@param key: parameter key
@type key: str
@raise ROSException: if parameter server reports an error
"""
with self._lock:
code, msg, value = self.target.hasParam(rospy.names.get_caller_id(), rospy.names.resolve_name(key))
if code != 1:
raise rospy.exceptions.ROSException("cannot check parameter on server: %s"%msg)
return value
def __iter__(self):
"""
@raise ROSException: if parameter server reports an error
"""
with self._lock:
code, msg, value = self.target.getParamNames(rospy.names.get_caller_id())
if code == 1:
return value.__iter__()
else:
raise rospy.exceptions.ROSException("cannot retrieve parameter names: %s"%msg)
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