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Improvment of service manager #257

Merged
merged 22 commits into from
Jan 20, 2015
Merged

Improvment of service manager #257

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a854af8
create utils.py and create cache maker regarding solution configuration
dwlee Jan 12, 2015
9f3b170
function name change
dwlee Jan 15, 2015
e7837f3
create service profile cache manager
dwlee Jan 15, 2015
2b1960c
add function for loading parameter from cache
dwlee Jan 15, 2015
024e332
update service manager and instance as adding service cache manager
dwlee Jan 15, 2015
a4f4654
update
dwlee Jan 16, 2015
022f026
add the concert_name arg in service manager launcher
dwlee Jan 16, 2015
38ecc44
update service manager launch
dwlee Jan 16, 2015
54a4189
add the string strip
dwlee Jan 16, 2015
dfc55a8
fix wrong argument
dwlee Jan 16, 2015
2d62256
rename and code clear
dwlee Jan 16, 2015
37a5c97
add extension name checker
dwlee Jan 18, 2015
93267bd
change modification checker name
dwlee Jan 18, 2015
c710592
change name of auto enable service argument
dwlee Jan 18, 2015
77a7bbe
Merge branch 'indigo' into admin_app_patch
dwlee Jan 19, 2015
9caad3e
add code documentation
dwlee Jan 19, 2015
658e221
revert src
dwlee Jan 19, 2015
f316776
share logic about load parameter from cahce, file, resource
dwlee Jan 20, 2015
8928561
add exception handling at some part
dwlee Jan 20, 2015
3a93b98
move common util function and fix code as that
dwlee Jan 20, 2015
a387d99
adjust get rocon friendly name function
dwlee Jan 20, 2015
dcc63c0
fix wrong try/catch
dwlee Jan 20, 2015
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5 changes: 3 additions & 2 deletions concert_master/launch/concert_master.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
<arg name="conductor_local_clients_only" default="false"/>
<!-- Service Manager -->
<arg name="services" default=""/> <!-- service list resource location. e.g. concert_tutorial/tutorial.services -->
<arg name="auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->
<arg name="default_auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->

<!-- Interactions -->
<arg name="enable_rosbridge" default="false"/>
Expand All @@ -43,8 +43,9 @@

<!-- ***************************** Service Manager *************************** -->
<include file="$(find concert_service_manager)/launch/service_manager.launch">
<arg name="concert_name" value="$(arg concert_name)"/>
<arg name="services" value="$(arg services)" />
<arg name="auto_enable_services" value="$(arg auto_enable_services)" />
<arg name="default_auto_enable_services" value="$(arg default_auto_enable_services)" />
</include>

<!-- ***************************** Software Farmer *************************** -->
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6 changes: 4 additions & 2 deletions concert_service_manager/launch/service_manager.launch
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@@ -1,9 +1,11 @@
<launch>
<arg name="auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->
<arg name="concert_name" default="Rocon concert"/> <!-- concert name, e.g. Pirate Concert, demo_concert, etc. -->
<arg name="default_auto_enable_services" default="[]"/> <!-- autoenable services, e.g. [admin, initialisation] services which auto enabled on start up or "all" to enable all services -->
<arg name="services" default="[]"/> <!-- comma separated list of service resource names (e.g. 'chatter_concert/chatter') -->

<node pkg="concert_service_manager" name="services" type="service_manager">
<rosparam param="concert_name" subst_value="True">$(arg concert_name)</rosparam>
<rosparam param="services" subst_value="True">$(arg services)</rosparam>
<rosparam param="auto_enable_services" subst_value="True">$(arg auto_enable_services)</rosparam>
<rosparam param="default_auto_enable_services" subst_value="True">$(arg default_auto_enable_services)</rosparam>
</node>
</launch>
2 changes: 2 additions & 0 deletions concert_service_manager/src/concert_service_manager/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,3 +11,5 @@
from .service_pool import ServicePool
from .exceptions import InvalidSolutionConfigurationException, InvalidServiceProfileException
from .service_profile import ServiceProfile
from .service_cache_manager import ServiceCacheManager
from .utils import *
22 changes: 19 additions & 3 deletions concert_service_manager/src/concert_service_manager/load_params.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,23 +10,39 @@
import yaml
import rocon_python_utils

INVALID_PARAM = ['name', 'description', 'uuid']

##############################################################################
# Methods
##############################################################################


def load_parameters_from_file(parameter_file, namespace, name, load):
filepath = rocon_python_utils.ros.find_resource_from_string(parameter_file, extension='parameters')

INVALID_PARAM = ['name', 'description', 'uuid']
with open(filepath) as f:
params = yaml.load(f)
for k, v in params.items():
if k in INVALID_PARAM:
if load:
rospy.logwarn("Service Manager : %s%s [%s]" % (str(k), ' is prohibitted parameter. Ignoring...', name))
continue
param_name = namespace + '/' + k
if load:
rospy.set_param(param_name, v)
else:
rospy.delete_param(param_name)

filepath = rocon_python_utils.ros.find_resource_from_string(parameter_file, extension='parameters')

def load_parameters_from_cache(catche_file_path, namespace, name, load):
filepath = catche_file_path

with open(filepath) as f:
params = yaml.load(f)
for k, v in params.items():
if k in INVALID_PARAM:
if load:
rospy.logwarn("Service Manager: %s%s [%s]" % (str(k), ' is prohibitted parameter. Ignoring...', name))
rospy.logwarn("Service Manager : %s%s [%s]" % (str(k), ' is prohibitted parameter. Ignoring...', name))
continue
param_name = namespace + '/' + k
if load:
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