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[Personalrobots-commit] SF.net SVN: personalrobots:[23718] pkg/trunk/sandbox/web
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From: <wgh...@us...> - 2009-09-02 22:58:13
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Revision: 23718
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23718&view=rev
Author: wghassan
Date: 2009-09-02 22:58:05 +0000 (Wed, 02 Sep 2009)
Log Message:
-----------
added subtopics
Modified Paths:
--------------
pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py
pkg/trunk/sandbox/web/rosweb2/manifest.xml
pkg/trunk/sandbox/web/rosweb2/src/rosweb.py
pkg/trunk/sandbox/web/sample_application/manifest.xml
pkg/trunk/sandbox/web/sample_application/templates/index.cs
Added Paths:
-----------
pkg/trunk/sandbox/web/sample_application/src/
pkg/trunk/sandbox/web/sample_application/src/sample_application/
pkg/trunk/sandbox/web/sample_application/src/sample_application/__init__.py
pkg/trunk/sandbox/web/sample_application/src/sample_application/webhandler.py
Modified: pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py
===================================================================
--- pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py 2009-09-02 22:48:44 UTC (rev 23717)
+++ pkg/trunk/sandbox/web/map_tiler/src/map_tiler/handler.py 2009-09-02 22:58:05 UTC (rev 23718)
@@ -17,12 +17,13 @@
_scale_cache = {}
_tile_cache = {}
-def config_plugin():
+def config_plugin(context):
global goal_publisher, pose_publisher
goal_publisher = rospy.Publisher('/move_base/activate', PoseStamped)
pose_publisher = rospy.Publisher('/initialpose', PoseWithCovarianceStamped)
- return [{'url': '/map', 'handler': map_tiler_handler}]
+ context.register_handler("/map", map_tiler_handler)
+
def get_map(service_name):
map_key = service_name
if not _map_cache.has_key(map_key):
Modified: pkg/trunk/sandbox/web/rosweb2/manifest.xml
===================================================================
--- pkg/trunk/sandbox/web/rosweb2/manifest.xml 2009-09-02 22:48:44 UTC (rev 23717)
+++ pkg/trunk/sandbox/web/rosweb2/manifest.xml 2009-09-02 22:58:05 UTC (rev 23718)
@@ -15,6 +15,7 @@
<depend package="rospy"/>
<depend package="rosservice"/>
<depend package="rosjson"/>
+ <depend package="std_msgs"/>
</package>
Modified: pkg/trunk/sandbox/web/rosweb2/src/rosweb.py
===================================================================
--- pkg/trunk/sandbox/web/rosweb2/src/rosweb.py 2009-09-02 22:48:44 UTC (rev 23717)
+++ pkg/trunk/sandbox/web/rosweb2/src/rosweb.py 2009-09-02 22:58:05 UTC (rev 23718)
@@ -1,4 +1,8 @@
#!/usr/bin/env python
+"""
+usage: %(progname)s [--debug]
+"""
+
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
@@ -36,6 +40,7 @@
PKG_NAME = 'rosweb2'
import roslib; roslib.load_manifest(PKG_NAME)
+import getopt
import cStringIO
import os
import signal
@@ -65,20 +70,22 @@
class ROSWebException(Exception): pass
def splitTopic(topic):
- parts = topic.split("/")
- topic = "/" + parts[1]
+ parts = topic.split(":", 1)
+ topic = parts[0]
subtopic = None
- if len(parts) == 3:
- subtopic = parts[2]
+ if len(parts) == 2:
+ subtopic = parts[1]
return topic, subtopic
## Factory for ROSWebTopic instances
class RWTFactory(object):
- def __init__(self):
+ def __init__(self, webserver):
self.map = {}
self.lock = threading.Lock()
+ self.webserver = webserver
+
self.counter = 1
self.cond = threading.Condition()
@@ -104,7 +111,7 @@
def subscribe(self, topic):
# Don't use 'subtopics' as they are currently implemented
# because the nav stack has topic names with '/' in them.
- if 0:
+ if 1:
maintopic, subtopic = splitTopic(topic)
else:
maintopic = topic
@@ -118,7 +125,8 @@
self.map[maintopic] = main_rwt
rwt = main_rwt
if subtopic:
- rwt = ROSWebSubTopic(topic, self, main_rwt)
+ handlerClass = self.webserver._subtopics[topic]
+ rwt = handlerClass(topic, self, main_rwt)
self.map[topic] = rwt
finally:
self.lock.release()
@@ -218,22 +226,25 @@
def init(self):
pass
- def subtopic_callback(self, data):
+ def subtopic_callback(self, msg):
## no locks needed since this will be called from the main topic
- if self.maintopic == "/diagnostics":
- for _msg in data.status:
- if _msg.name == self.subtopic:
- self.messages.append((self.factory.counter, data))
- self.factory.counter = self.factory.counter + 1
- self.messages = self.messages[-20:]
+ newmsg = self.transform(msg)
+ if not newmsg: return
+
+ self.messages.append((self.factory.counter, newmsg))
+ self.factory.counter = self.factory.counter + 1
+ self.newmsg = self.messages[-20:]
+
+
class VirtualTopic(object):
- def __init__(self, topic, factory, thread):
+ def __init__(self, topic, factory, thread, intopics=[]):
self.factory = factory
self.topic = topic
+ self.intopics = intopics
self.messages = []
@@ -242,6 +253,9 @@
def init(self):
if not self.initialized:
+ for _topic in self.intopics:
+ self.factory.subscribe(_topic)
+
self.initialized = True
self.thread.setCallback(self.callback)
self.thread.start()
@@ -269,6 +283,7 @@
rwt.init()
except ROSWebException, e:
self.server.factory.unsubscribe(topic)
+ logging.warning("Cannot subscribe to %s" % topic)
#traceback.print_exc()
return None
return rwt
@@ -276,9 +291,6 @@
def _do_GET_topic(self, topics, since, callback=None):
rwttopics = []
-# if "/topics" not in topics:
-# topics.append("/topics")
-
for topic in topics:
rwt = self.server.factory.get(topic)
if rwt:
@@ -291,7 +303,31 @@
logging.warning("no valid topics")
self.send_failure()
return
+
+ (messages, lastSince) = self._get_messages(rwttopics, since)
+
+ buf = cStringIO.StringIO()
+ buf.write("{")
+ buf.write('"since": %s,' % lastSince)
+ buf.write('"msgs": [')
+ _i = 0
+ for (topic, msg) in messages:
+ _i = _i + 1
+ if _i > 1: buf.write(',')
+ buf.write("{")
+ buf.write('"topic": "%s",' % topic)
+ buf.write('"msg": ')
+ buf.write(rosjson.ros_message_to_json(msg))
+ buf.write("}")
+ buf.write(']')
+ buf.write('}')
+ buf = buf.getvalue()
+
+ self.send_success(buf, callback)
+
+
+ def _get_messages(self, rwttopics, since):
messages = []
lastSince = 0
try:
@@ -325,27 +361,9 @@
lastSince = max(t, lastSince)
finally:
self.server.factory.cond.release()
+ return (messages, lastSince)
- buf = cStringIO.StringIO()
- buf.write("{")
- buf.write('"since": %s,' % lastSince)
- buf.write('"msgs": [')
- _i = 0
- for (topic, msg) in messages:
- _i = _i + 1
- if _i > 1: buf.write(',')
- buf.write("{")
- buf.write('"topic": "%s",' % topic)
- buf.write('"msg": ')
- buf.write(rosjson.ros_message_to_json(msg))
- buf.write("}")
- buf.write(']')
- buf.write('}')
-
- buf = buf.getvalue()
- self.send_success(buf, callback)
-
def _connect_to(self, netloc, soc):
i = netloc.find(':')
if i >= 0:
@@ -479,8 +497,7 @@
self.log_request()
- global handlers
- for handler in handlers:
+ for handler in self.server._handlers:
if path.startswith(handler['url']):
handler['handler'](self, path, qdict)
return
@@ -563,13 +580,43 @@
threading.Thread.__init__(self)
SocketServer.TCPServer.__init__(self, hostport, handlerClass)
- self.factory = RWTFactory()
-
- self.registerVirtualTopics()
+ self.factory = RWTFactory(self)
self.accesslog_fp = open("access_log", "a+")
- def registerVirtualTopics(self):
+ self._handlers = []
+ self.register_handler('/ros', ROSWebHandler.handle_ROS)
+
+ self._subtopics = {}
+
+ self.__load_plugins()
+ self.__registerVirtualTopics()
+
+ def register_handler(self, urlprefix, handler):
+ h = {'url': urlprefix, 'handler': handler}
+ self._handlers.append(h)
+
+ def register_subtopic(self, topic, handlerClass):
+ self._subtopics[topic] = handlerClass
+
+ def __load_plugins(self):
+ plugins = roslib.scriptutil.rospack_plugins(PKG_NAME)
+ for (package, plugin) in plugins:
+ try:
+ roslib.load_manifest(package)
+ mods = plugin.split('.')
+ mod = __import__(plugin)
+ for sub_mod in mods[1:]:
+ mod = getattr(mod, sub_mod)
+
+ mod.config_plugin(self)
+
+ except Exception, reason:
+ logging.error("got exception %s" % reason)
+ sys.exit(-1)
+
+
+ def __registerVirtualTopics(self):
import users
ut = users.UsersThread()
ut.setDaemon(True)
@@ -589,6 +636,7 @@
mm = None
web_server = ThreadingHTTPServer(('', 8080), ROSWebHandler)
+
web_server.setDaemon(True)
web_server.start()
logging.info("starting Web server")
@@ -609,34 +657,31 @@
global running
running = False
-handlers = [{'url': '/ros', 'handler': ROSWebHandler.handle_ROS}]
-def load_plugins():
- global handlers
- plugins = roslib.scriptutil.rospack_plugins(PKG_NAME)
- for (package, plugin) in plugins:
- try:
- roslib.load_manifest(package)
- mods = plugin.split('.')
- mod = __import__(plugin)
- for sub_mod in mods[1:]:
- mod = getattr(mod, sub_mod)
+def usage(progname):
+ print __doc__ % vars()
- h = mod.config_plugin()
- logging.info("Added handlers %s" % (h))
- handlers.extend(h)
-
- except Exception, reason:
- logging.error("got exception %s" % reason)
- sys.exit(-1)
+def main(argv, stdout, environ):
+ progname = argv[0]
+ optlist, args = getopt.getopt(argv[1:], "", ["help", "debug"])
-def main():
+ debugFlag = False
+ for (field, val) in optlist:
+ if field == "--help":
+ usage(progname)
+ return
+ elif field == "--debug":
+ debugFlag = True
+
global running, error_log
running = True
- logging.basicConfig(filename="error_log", level=logging.DEBUG)
+ if debugFlag:
+ logging.basicConfig(level=logging.DEBUG)
+ pass
+ else:
+ logging.basicConfig(filename="error_log", level=logging.DEBUG)
signal.signal(signal.SIGINT, signal_handler)
- load_plugins()
while running:
logging.info("starting")
@@ -644,12 +689,10 @@
rosweb_start()
except:
import traceback
- fp = open("error_log", "a+")
- traceback.print_exc(file=fp)
- fp.close()
+ traceback.print_exc()
time.sleep(1)
if error_log_fp: error_log_fp.close()
if __name__ == '__main__':
- main()
+ main(sys.argv, sys.stdout, os.environ)
Modified: pkg/trunk/sandbox/web/sample_application/manifest.xml
===================================================================
--- pkg/trunk/sandbox/web/sample_application/manifest.xml 2009-09-02 22:48:44 UTC (rev 23717)
+++ pkg/trunk/sandbox/web/sample_application/manifest.xml 2009-09-02 22:58:05 UTC (rev 23718)
@@ -9,6 +9,11 @@
<depend package="roslib"/>
<depend package="rospy"/>
<depend package="webui"/>
+ <depend package="rosweb2"/>
+ <depend package="std_msgs"/>
+ <export>
+ <rosweb2 plugin="sample_application.webhandler"/>
+ </export>
</package>
Added: pkg/trunk/sandbox/web/sample_application/src/sample_application/webhandler.py
===================================================================
--- pkg/trunk/sandbox/web/sample_application/src/sample_application/webhandler.py (rev 0)
+++ pkg/trunk/sandbox/web/sample_application/src/sample_application/webhandler.py 2009-09-02 22:58:05 UTC (rev 23718)
@@ -0,0 +1,19 @@
+#! /usr/bin/env python
+
+import rospy
+import rosservice
+import cStringIO
+
+import rosweb
+from std_msgs.msg import String
+
+def config_plugin(context):
+ context.register_subtopic("/chatter:more", MoreChatterSubtopic)
+
+class MoreChatterSubtopic(rosweb.ROSWebSubTopic):
+ def __init__(self, topic, factory, main_rwt):
+ rosweb.ROSWebSubTopic.__init__(self, topic, factory, main_rwt)
+
+ def transform(self, msg):
+ newmsg = String(msg.data.upper())
+ return newmsg
Property changes on: pkg/trunk/sandbox/web/sample_application/src/sample_application/webhandler.py
___________________________________________________________________
Added: svn:executable
+ *
Modified: pkg/trunk/sandbox/web/sample_application/templates/index.cs
===================================================================
--- pkg/trunk/sandbox/web/sample_application/templates/index.cs 2009-09-02 22:48:44 UTC (rev 23717)
+++ pkg/trunk/sandbox/web/sample_application/templates/index.cs 2009-09-02 22:58:05 UTC (rev 23718)
@@ -17,7 +17,7 @@
<table width=80% align=center>
<tr>
<td>
-<div style="align: center; border: 1px solid black; font-size: 10pt; font-family: courier; height: 40em; width: 60em;" objtype=TerminalTextWidget topic="/chatter" key="data"></div><br>
+<div style="align: center; border: 1px solid black; font-size: 10pt; font-family: courier; height: 40em; width: 60em;" objtype=TerminalTextWidget topic="/chatter:more" key="data"></div><br>
</td>
</table>
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