Class: ROS::GraphManager

Inherits:
Object
  • Object
show all
Includes:
Name
Defined in:
lib/ros/graph_manager.rb

Overview

Manager of ROS graph

This contains all subscribers, publishers, service_servers of a node. It connects with master and manage pub/sub and services.

Constant Summary

@@all_nodes =

current running all nodes. This is used for shutdown all nodes.

[]

Constants included from Name

Name::SEP

Instance Attribute Summary (collapse)

Class Method Summary (collapse)

Instance Method Summary (collapse)

Methods included from Name

#anonymous_name, #canonicalize_name, #expand_local_name, #resolve_name_with_call_id

Constructor Details

- (GraphManager) initialize(caller_id, master_uri, host)

add xmlrpc handlers for slave connections. Then start serve thread.

Parameters:

  • caller_id (String) —

    caller_id of this node

  • master_uri (String) —

    URI of ROS Master

  • host (String) —

    hostname of this node



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# File 'lib/ros/graph_manager.rb', line 55

def initialize(caller_id, master_uri, host)
  @caller_id = caller_id
  @host = host
  @port = get_available_port
  @master_uri = master_uri
  @is_ok = true
  @master = MasterProxy.new(@caller_id, @master_uri, get_uri)
  @server = XMLRPCServer.new(@port, @host)
  @publishers = []
  @subscribers = []
  @service_servers = []
  @parameter_subscribers = []

  add_handlers

  @thread = Thread.new do
    @server.serve
  end

  @@all_nodes.push(self)
end

Instance Attribute Details

- (String) host (readonly)

Returns value hostname of this node

Returns:

  • (String) —

    value hostname of this node



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# File 'lib/ros/graph_manager.rb', line 45

def host
  @host
end

- (Array) parameter_subscribers (readonly)

Returns all ParameterSubscriber of this node

Returns:

  • (Array) —

    all ParameterSubscriber of this node



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# File 'lib/ros/graph_manager.rb', line 37

def parameter_subscribers
  @parameter_subscribers
end

- (Integer) port (readonly)

Returns value port number of this node

Returns:

  • (Integer) —

    value port number of this node



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# File 'lib/ros/graph_manager.rb', line 47

def port
  @port
end

- (Array) publishers (readonly)

Returns all Publisher of this node

Returns:

  • (Array) —

    all Publisher of this node



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# File 'lib/ros/graph_manager.rb', line 31

def publishers
  @publishers
end

- (Array) service_servers (readonly)

Returns all ServiceServer of this node

Returns:

  • (Array) —

    all ServiceServer of this node



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# File 'lib/ros/graph_manager.rb', line 35

def service_servers
  @service_servers
end

- (Array) subscribers (readonly)

Returns all Subscriber of this node

Returns:

  • (Array) —

    all Subscriber of this node



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# File 'lib/ros/graph_manager.rb', line 33

def subscribers
  @subscribers
end

Class Method Details

+ (Object) shutdown_all

shutdown all nodes



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# File 'lib/ros/graph_manager.rb', line 78

def self.shutdown_all
  @@all_nodes.each do |node|
    if node.is_ok?
      node.shutdown
    end
  end
end

Instance Method Details

- (ParameterSubscriber) add_parameter_subscriber(subscriber)

register callback for paramUpdate

Parameters:

Returns:



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# File 'lib/ros/graph_manager.rb', line 170

def add_parameter_subscriber(subscriber)
  subscriber.set_manager(self)
  @parameter_subscribers.push(subscriber)
  @master.subscribe_param(subscriber.key)
  subscriber
end

- (Publisher) add_publisher(publisher)

register a publisher. raise if fail.

Parameters:

  • publisher (Publisher) —

    Publisher instance to be added

Returns:



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# File 'lib/ros/graph_manager.rb', line 181

def add_publisher(publisher)
  @master.register_publisher(publisher.topic_name,
                             publisher.topic_type.type)
  publisher.set_manager(self)
  @publishers.push(publisher)
  publisher
end

- (ServiceServer) add_service_server(service_server)

register a service to master, and add it in the controlling server list. raise if fail.

Parameters:

Returns:



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# File 'lib/ros/graph_manager.rb', line 142

def add_service_server(service_server)
  @master.register_service(service_server.service_name,
                           service_server.service_uri)
  service_server.set_manager(self)
  @service_servers.push(service_server)
  service_server
end

- (Subscriber) add_subscriber(subscriber)

register a subscriber to master. raise if fail.

Parameters:

  • subscriber (Subscriber) —

    Subscriber to be added

Returns:



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# File 'lib/ros/graph_manager.rb', line 155

def add_subscriber(subscriber)
  uris = @master.register_subscriber(subscriber.topic_name,
                                     subscriber.topic_type.type)
  subscriber.set_manager(self)
  uris.each do |publisher_uri|
    subscriber.add_connection(publisher_uri)
  end
  @subscribers.push(subscriber)
  subscriber
end

- (Object) check_master_connection

check connection with master using master API



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# File 'lib/ros/graph_manager.rb', line 314

def check_master_connection
  begin
    @master.get_system_state
  rescue
    # some error
    return false
  end
  return true
end

- (Integer) get_available_port

get available port number by opening port 0.

Returns:

  • (Integer) —

    port_num



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# File 'lib/ros/graph_manager.rb', line 97

def get_available_port
  server = TCPServer.open(0)
  saddr = server.getsockname
  port = Socket.unpack_sockaddr_in(saddr)[0]
  server.close
  port
end

- (String) get_uri

get this slave node's URI

Returns:



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# File 'lib/ros/graph_manager.rb', line 109

def get_uri
  "http://" + @host + ":" + @port.to_s + "/"
end

- (Boolean) is_ok?

check if this node is running or not.

Returns:

  • (Boolean) —

    true if node is running.



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# File 'lib/ros/graph_manager.rb', line 89

def is_ok?
  @is_ok
end

- (GraphManager) shutdown

shutdown this slave node. shutdown the xmlrpc server and all pub/sub connections. and delelte all pub/sub instance from connection list

Returns:



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# File 'lib/ros/graph_manager.rb', line 258

def shutdown
  begin
    @is_ok = false
    @server.shutdown
    if not @thread.join(0.1)
      Thread::kill(@thread)
    end
  rescue
    puts 'fail while shutdown'
    Thread::kill(@thread)
  end

  begin
    @publishers.each do |publisher|
      @master.unregister_publisher(publisher.topic_name)
      publisher.close
    end
  rescue
  ensure
    @publishers = []
  end

  begin
    @subscribers.each do |subscriber|
      @master.unregister_subscriber(subscriber.topic_name)
      subscriber.close
    end
  rescue
  ensure
    @subscribers = []
  end
  begin
    @service_servers.each do |service|
      @master.unregister_service(service.service_name,
                                 service.service_uri)
      service.close
    end
  rescue
  ensure
    @service_servers = []
  end
  begin
    @parameter_subscribers.each do |subscriber|
      @master.unsubscribe_param(subscriber.key)
    end
  rescue
  ensure
    @parameter_subscribers = []
  end
  @@all_nodes.delete(self)

  self
end

- (Object) shutdown_parameter_subscriber(subscriber)

shutdown a parameter subscriber.

Parameters:

  • subscriber (Subscriber) —

    ParameterSubscriber to be shutdown



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# File 'lib/ros/graph_manager.rb', line 244

def shutdown_parameter_subscriber(subscriber)
  begin
    @master.unsubscribe_param(subscriber.key)
    @parameter_subscribers.delete(subscriber) do |sub|
      raise "parameter server not found"
    end
  end
end

- (Object) shutdown_publisher(publisher)

shutdown a publisher.

Parameters:

  • publisher (Publisher) —

    Publisher to be shutdown



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# File 'lib/ros/graph_manager.rb', line 201

def shutdown_publisher(publisher)
  begin
    @master.unregister_publisher(publisher.topic_name)
  ensure
    @publishers.delete(publisher) do |pub|
      raise "publisher not found"
    end
    publisher.close
  end
end

- (Object) shutdown_service_server(service)

shutdown a service server.

Parameters:



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# File 'lib/ros/graph_manager.rb', line 229

def shutdown_service_server(service)
  begin
    @master.unregister_service(service.service_name,
                               service.service_uri)
    @service_servers.delete(service) do |pub|
      raise "service_server not found"
    end
  ensure
    service.close
  end
end

- (Object) shutdown_subscriber(subscriber)

shutdown a subscriber.

Parameters:

  • subscriber (Subscriber) —

    Subscriber to be shutdown



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# File 'lib/ros/graph_manager.rb', line 215

def shutdown_subscriber(subscriber)
  begin
    @master.unregister_subscriber(subscriber.topic_name)
    @subscribers.delete(subscriber) do |pub|
      raise "subscriber not found"
    end
  ensure
    subscriber.close
  end
end

- (Bool) spin_once

process all messages of subscribers. This means that callbacks for all queued messages are called.

Returns:

  • (Bool) —

    some message has come or not.



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# File 'lib/ros/graph_manager.rb', line 193

def spin_once
  results = @subscribers.map {|subscriber| subscriber.process_queue}
  results.include?(true)
end

- (Boolean) wait_for_service(service_name, timeout_sec)

wait until service is available

Parameters:

  • service_name (String) —

    name of service for waiting

  • timeout_sec (Float) —

    wait for this seconds, then time out

Returns:

  • (Boolean) —

    true: available, false: time out



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# File 'lib/ros/graph_manager.rb', line 118

def wait_for_service(service_name, timeout_sec)
  begin
    timeout(timeout_sec) do
      while @is_ok
        if @master.lookup_service(service_name)
          return true
        end
        sleep(0.1)
      end
    end
  rescue Timeout::Error
    puts "time out for wait service #{service_name}"
    return nil
  rescue
    raise "connection with master failed. master = #{@master_uri}"
  end
end