fix issues with topic update
simplify things by just having an external script poll rostopic
This commit is contained in:
Bhaskara Marthi
parent
4286866d81
commit
00d93d0bee
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@ -0,0 +1,10 @@
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#!/usr/bin/env bash
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# Used by rosemacs rosnode mode to keep track of current ros rosnode
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while [ 1 ]
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do
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echo "BEGIN ROSNODE LIST"
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rosnode list
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echo "END ROSNODE LIST"
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sleep $1
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done
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@ -0,0 +1,10 @@
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#!/usr/bin/env bash
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# Used by rosemacs rostopic mode to keep track of current ros topics
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while [ 1 ]
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do
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echo "BEGIN ROSTOPIC LIST"
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rostopic list -v
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echo "END ROSTOPIC LIST"
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sleep $1
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done
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@ -70,7 +70,8 @@
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(defvar ros-topic-timeout-rate 5 "Number of seconds before info from rostopic hz is considered out-of-date" )
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(defvar ros-topic-display-update-interval 3 "Number of seconds between updates to the *rostopic* buffer (when it's visible)")
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(defvar ros-topic-update-interval nil "Gap in seconds between calls to rostopic list (end of one call to beginning of next). nil means never call.")
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(defvar ros-topic-update-interval 0 "How often to poll the current topic list")
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(defvar ros-node-update-interval 0 "How often to poll the current node list")
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(defcustom ros-completion-function 'completing-read
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"The completion function to be used for package
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@ -83,6 +84,7 @@
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;; State
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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(defvar ros-packages nil "Vector of ros packages")
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(defvar ros-package-locations nil "Vector of directories containing the items in ros-packages")
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(defvar ros-messages nil "Vector of ros messages")
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@ -103,6 +105,7 @@
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(defvar ros-num-subscribers (make-hash-table :test 'equal) "num subscribers of a topic")
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(defvar ros-find-args nil)
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(defvar ros-find-args-history nil)
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(defvar rosemacs/pathname nil "Will hold the path containing this file")
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(defvar ros-buffer-package nil "A buffer-local variable for caching the current buffer's ros package.")
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(make-variable-buffer-local 'ros-buffer-package)
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@ -155,11 +158,11 @@
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(setq done (not (re-search-forward "\\([^[:space:]]+\\)[[:space:]]+" (point-max) t)))
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(unless done
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(let ((str (buffer-substring (match-beginning 1) (match-end 1))))
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(let ((m (string-match (concat "\." ext "$") str)))
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(when m
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(push (substring str 0 m) l))))))
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(let ((m (string-match (concat "\." ext "$") str)))
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(when m
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(push (substring str 0 m) l))))))
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l)))
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(defun all-files-in-packages (ext)
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"Look in each package for files with a extension .ext in subdirectory ext/"
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@ -186,6 +189,15 @@
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ros-service-packages (map 'vector #'cdr v))))
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(defun get-rosemacs-path ()
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(message load-file-name)
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(let ((ind (string-match "\\(.*\\)rosemacs.el$" load-file-name)))
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(if (not ind)
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(warn "Could not determine rosemacs path")
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(match-string 1 load-file-name))))
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(setq rosemacs/pathname (get-rosemacs-path))
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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;; Lookup
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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@ -284,8 +296,8 @@
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(comint-dynamic-simple-complete dir-suffix completions)
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(skip-syntax-backward " ")))
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(progn
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(comint-dynamic-simple-complete prefix (all-completions prefix ros-package-completor))
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(skip-syntax-backward " ")))))))
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(comint-dynamic-simple-complete prefix (all-completions prefix ros-package-completor))
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(skip-syntax-backward " ")))))))
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(defun comint-dynamic-complete-ros-topic ()
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(let ((prefix (comint-get-ros-topic-prefix)))
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@ -320,15 +332,15 @@
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(let ((old-ido-make-file-list (symbol-function 'ido-make-file-list-1))
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(ros-packages-list (map 'list #'identity ros-packages)))
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(flet ((pkg-expr->path (str)
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(let ((pkg-name (second (split-string str "/"))))
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(unless (= (length pkg-name) 0)
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(concat (ros-package-dir pkg-name)
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(substring str (string-match "/" str 1)))))))
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(let ((pkg-name (second (split-string str "/"))))
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(unless (= (length pkg-name) 0)
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(concat (ros-package-dir pkg-name)
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(substring str (string-match "/" str 1)))))))
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(flet ((ido-make-file-list-1 (dir)
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(let ((path (pkg-expr->path dir)))
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(if path
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(funcall old-ido-make-file-list path)
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(mapcar (lambda (pkg) (concat pkg "/")) ros-packages-list)))))
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(let ((path (pkg-expr->path dir)))
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(if path
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(funcall old-ido-make-file-list path)
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(mapcar (lambda (pkg) (concat pkg "/")) ros-packages-list)))))
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(substring (ido-read-file-name prompt "/"
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(when (member default-pkg ros-packages-list)
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default-pkg))
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@ -339,14 +351,14 @@
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(cache-ros-message-locations))
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(let* ((ros-messages-list (map 'list 'identity ros-messages))
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(result (funcall ros-completion-function prompt
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(map 'list (lambda (m pkg)
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(cons (if (> (count m ros-messages-list :test 'equal) 1)
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(format "%s (%s)" m pkg)
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m)
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nil))
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ros-messages-list ros-message-packages)
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nil nil nil nil (when (member default ros-messages-list)
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default)))
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(map 'list (lambda (m pkg)
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(cons (if (> (count m ros-messages-list :test 'equal) 1)
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(format "%s (%s)" m pkg)
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m)
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nil))
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ros-messages-list ros-message-packages)
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nil nil nil nil (when (member default ros-messages-list)
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default)))
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(ws-pos (position ?\s result))
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(message (substring result 0 ws-pos))
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(package (when ws-pos
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@ -361,14 +373,14 @@
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(cache-ros-service-locations))
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(let* ((ros-services-list (map 'list 'identity ros-services))
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(result (funcall ros-completion-function prompt
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(map 'list (lambda (m pkg)
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(cons (if (> (count m ros-services-list :test 'equal) 1)
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(format "%s (%s)" m pkg)
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m)
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nil))
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ros-services-list ros-service-packages)
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nil nil nil nil (when (member default ros-services-list)
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default)))
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(map 'list (lambda (m pkg)
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(cons (if (> (count m ros-services-list :test 'equal) 1)
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(format "%s (%s)" m pkg)
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m)
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nil))
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ros-services-list ros-service-packages)
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nil nil nil nil (when (member default ros-services-list)
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default)))
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(ws-pos (position ?\s result))
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(service (substring result 0 ws-pos))
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(package (when ws-pos
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@ -400,9 +412,9 @@
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(if dont-reload
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(error "Did not find %s in the ros package list." package-name)
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(progn
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(lwarn '(rosemacs) :debug "Did not find %s. Reloading ros package list and trying again..." package-name)
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(ros-load-package-locations)
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(find-ros-file package-name t)))))))
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(lwarn '(rosemacs) :debug "Did not find %s. Reloading ros package list and trying again..." package-name)
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(ros-load-package-locations)
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(find-ros-file package-name t)))))))
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(defun view-ros-file (ros-file-name &optional dont-reload)
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"View (open in read-only mode with simpler editing commands — see emacs help) the file corresponding to ROS-FILE-NAME (in form packagename/filename). If used interactively, tab completion will work."
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@ -415,9 +427,9 @@
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(if dont-reload
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(error "Did not find %s in the ros package list." ros-file-name)
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(progn
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(lwarn '(rosemacs) :debug "Did not find %s. Reloading ros package list and trying again..." ros-file-name)
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(ros-load-package-locations)
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(view-ros-file ros-file-name t)))))))
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(lwarn '(rosemacs) :debug "Did not find %s. Reloading ros package list and trying again..." ros-file-name)
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(ros-load-package-locations)
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(view-ros-file ros-file-name t)))))))
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(defun find-ros-message (message)
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"Open definition of a ros message. If used interactively, tab completion will work."
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@ -540,29 +552,31 @@ parameter."
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;; rostopic
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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;; Top-level
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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(defun ros-update-topic-list ()
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"Makes rosemacs call rostopic list and update its list of topics (ros-topics)"
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(interactive)
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(let ((ros-topic-update-interval 0)) ;; dynamic binding
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(ros-update-topic-list-internal)))
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(defun set-ros-topic-update-interval (n)
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"Make rostopic list be called every n seconds starting now. 0 means never update."
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(interactive "nEnter rostopic update interval in seconds (0 means never update) : ")
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(cond
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((= n 0)
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(setq ros-topic-update-interval nil))
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(t
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(setq ros-topic-update-interval n)
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(ros-update-topic-list-internal))))
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(defun rosemacs-topic-filter (proc str)
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(with-current-buffer (process-buffer proc)
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(goto-char (point-max))
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(insert str)
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(goto-char (point-max))
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(let ((found-start (re-search-backward "BEGIN ROSTOPIC LIST$" nil t)))
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(if found-start
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(let ((start-point (match-end 0))
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(found-finish (re-search-forward "END ROSTOPIC LIST" nil t)))
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(if found-finish
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(let ((finish-pt (match-beginning 0)))
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(rosemacs/parse-topic-list start-point finish-pt)
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(delete-region (point-min) finish-pt))
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))))))
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(defun rosemacs/track-topics (interval)
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(interactive "nEnter rostopic update interval in seconds (0 to stop tracking).")
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(let ((name "*rostopic-tracker*"))
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(let ((old-proc (get-process name)))
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(when (and old-proc (eq 'run (process-status old-proc)))
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(message "Cancelling existing rostopic tracker")
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(interrupt-process old-proc)))
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(when (> interval 0)
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(let ((proc (start-process name name (concat rosemacs/pathname "poll-rostopic") (format "%s" interval))))
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(set-process-filter proc 'rosemacs-topic-filter)))))
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(defun display-ros-topic-info ()
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"Display current ros topic info in *ros-topics* buffer"
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@ -574,21 +588,16 @@ parameter."
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(setq ros-topic-buffer (get-buffer-create "*ros-topics*"))
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(switch-to-buffer ros-topic-buffer)
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(ros-topic-list-mode 1)))
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(ros-update-topic-list-internal)
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(update-ros-topic-buffer)))
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(defun add-hz-update (topic-regexp)
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(interactive (list (ros-completing-read-topic "Enter topic name or regexp to track: ")))
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;; Asynchronously start re-gathering topic list, in case things have recently changed
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(ros-update-topic-list)
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(push topic-regexp ros-hz-topic-regexps)
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(dolist (topic ros-topics)
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(when (string-match topic-regexp topic)
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(unless (assoc topic ros-topic-last-hz-rate)
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(start-hz-tracker topic)))))
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(defun remove-hz-update (topic-regexp)
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(interactive (list (funcall ros-completion-function "Enter regexp to stop tracking: " ros-hz-topic-regexps)))
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@ -597,7 +606,6 @@ parameter."
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(let ((topic (car pair)))
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(when (string-match topic-regexp topic)
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(stop-hz-tracker topic)))))
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(defun echo-ros-topic (topic)
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@ -630,28 +638,21 @@ parameter."
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(erase-buffer)))
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(view-buffer-other-window buf)
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(call-process "rostopic" nil buf t "info" topic-full-name)))
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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;; Internal
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;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
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(defun interrupt-ros-topic-echo ()
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(defun rosemacs/interrupt-process ()
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(interactive)
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(interrupt-process))
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;; TODO: get-buffer-process does this
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(defun rosemacs/buffer-process (b)
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(find-if (lambda (proc) (equal (process-buffer proc) b)) (process-list)))
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(defun kill-current-buffer ()
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(interactive)
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(let ((process (rosemacs/buffer-process (current-buffer))))
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(let ((process (get-buffer-process (current-buffer))))
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(when (and process (eq (process-status process) 'run))
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(interrupt-process)))
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(kill-buffer nil))
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(defvar ros-topic-echo-keymap (make-sparse-keymap))
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(define-key ros-topic-echo-keymap "k" 'interrupt-ros-topic-echo)
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(define-key ros-topic-echo-keymap "k" 'rosemacs/interrupt-process)
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(define-key ros-topic-echo-keymap "q" 'kill-current-buffer)
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(define-minor-mode ros-topic-echo-mode
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@ -692,17 +693,8 @@ q kills buffer"
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(message "ros-topic-mode: enter to echo, h/H to start/stop hertz tracking, q to quit"))
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(defun ros-update-topic-list-internal ()
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(lwarn '(rosemacs) :debug "calling rostopic list")
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(let* ((b (generate-new-buffer "rostopic"))
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(p (start-process "rostopic" b "rostopic" "list" "-v")))
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(set-process-sentinel p 'schedule-parse-rostopic-list)))
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(defun update-ros-topic-buffer ()
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"Use the current value of ros-topic related variables to reset the contents of the *ros-topics* buffer, if it's visible"
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"Use the current value of ros-topic related variables to reset the contents of the *ros-topics* buffer"
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(when (and ros-topic-buffer (get-buffer-window ros-topic-buffer))
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(if (equal (current-buffer) ros-topic-buffer)
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(let ((old-point (point)))
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@ -724,7 +716,7 @@ q kills buffer"
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(erase-buffer)
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(princ (format "Master uri: %s\n" (getenv "ROS_MASTER_URI")) ros-topic-buffer)
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(princ old-stamp ros-topic-buffer))
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;; (princ (format "Topics updated every %s seconds\n" ros-topic-update-interval) ros-topic-buffer)
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;; (princ (format "Topics updated every %s seconds\n" ros-topic-update-interval) ros-topic-buffer)
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(when ros-topic-publication-rates
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(princ (format "\nHz-tracked topics:\n") ros-topic-buffer)
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@ -749,21 +741,10 @@ q kills buffer"
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(terpri ros-topic-buffer))))
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(defun schedule-parse-rostopic-list (process event)
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"Use the output of rostopic list to recompute the list of published topics, and add and remove new/removed topics. Kill the buffer of the rostopic process at the end."
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(lwarn '(rosemacs) :debug "rostopic list returned.")
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(progn
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(sit-for (round (* .75 (or ros-topic-update-interval 0.0))))
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(when ros-topic-timer (cancel-timer ros-topic-timer))
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(setq ros-topic-timer (run-with-idle-timer (+ .1 (round (* .25 (or ros-topic-update-interval 0.0)))) nil 'parse-rostopic-list process event))))
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(defun get-topics (start end h)
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(defun rosemacs/get-topics (start end h)
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(let ((done nil) (current-topics nil))
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(goto-char start)
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(while (not done)
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(let ((pos (re-search-forward "^\\s-*\\*\\s-*\\(\\S-*\\) \\[.*\\] \\(\\S-*\\)" end t)))
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(if pos
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(let ((topic (match-string 1)))
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@ -773,43 +754,31 @@ q kills buffer"
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(sort* current-topics 'string<)))
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(defun parse-rostopic-list (process event)
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(defun rosemacs/parse-topic-list (start finish)
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(lwarn '(rosemacs) :debug "Parsing rostopic list")
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(unwind-protect
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(save-excursion
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(unless (active-minibuffer-window)
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(set-buffer (process-buffer process))
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(goto-char (point-min))
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(let ((pub-start (re-search-forward "Published topics:" nil t))
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(sub-start (or (re-search-forward "Subscribed topics:" nil t) (point-max))))
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(if (and pub-start sub-start)
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(let ((new-published-topics (get-topics pub-start sub-start ros-num-publishers)))
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(setq ros-subscribed-topics (get-topics sub-start (point-max) ros-num-subscribers))
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(destructuring-bind (added deleted) (rosemacs-list-diffs ros-topics new-published-topics)
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(lwarn '(rosemacs) :debug "added topics : %s" added)
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(dolist (topic added)
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(add-ros-topic topic))
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(dolist (topic deleted)
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(remove-ros-topic topic))))
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(lwarn '(rosemacs) :debug "rostopic output did not look as expected")))))
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(lwarn '(rosemacs) :debug "Done parsing rostopic list")
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(setq ros-all-topics
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(sort* (remove-duplicates (vconcat ros-topics ros-subscribed-topics) :test 'equal) 'string<))
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;; update display
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(save-excursion
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(when ros-topic-buffer
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(set-buffer ros-topic-buffer)
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(let ((time-stamp-pattern "5/^Last updated: <%02H:%02M:%02S"))
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(time-stamp))))
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;; Start the next round of topic updates
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(when ros-topic-update-interval
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(ros-update-topic-list-internal))
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||||
(kill-buffer (process-buffer process))))
|
||||
(goto-char start)
|
||||
(let ((pub-start (re-search-forward "Published topics:" nil t))
|
||||
(sub-start (or (re-search-forward "Subscribed topics:" nil t) (point-max))))
|
||||
(if (and pub-start sub-start)
|
||||
(let ((new-published-topics (rosemacs/get-topics pub-start sub-start ros-num-publishers)))
|
||||
(setq ros-subscribed-topics (rosemacs/get-topics sub-start (point-max) ros-num-subscribers))
|
||||
(destructuring-bind (added deleted) (rosemacs-list-diffs ros-topics new-published-topics)
|
||||
(lwarn '(rosemacs) :debug "added topics : %s" added)
|
||||
(dolist (topic added)
|
||||
(add-ros-topic topic))
|
||||
(dolist (topic deleted)
|
||||
(remove-ros-topic topic))))
|
||||
(lwarn '(rosemacs) :debug "rostopic output did not look as expected")))
|
||||
(lwarn '(rosemacs) :debug "Done parsing rostopic list")
|
||||
(setq ros-all-topics
|
||||
(sort* (remove-duplicates (vconcat ros-topics ros-subscribed-topics) :test 'equal) 'string<))
|
||||
;; update display
|
||||
(save-excursion
|
||||
(when ros-topic-buffer
|
||||
(set-buffer ros-topic-buffer)
|
||||
(update-ros-topic-buffer)
|
||||
(let ((time-stamp-pattern "5/^Last updated: <%02H:%02M:%02S"))
|
||||
(time-stamp)))))
|
||||
|
||||
|
||||
|
||||
|
|
@ -828,7 +797,6 @@ q kills buffer"
|
|||
ros-topic-last-hz-rate (delete-if (lambda (pair) (equal (car pair) topic)) ros-topic-last-hz-rate)))
|
||||
|
||||
|
||||
|
||||
(defun set-ros-topic-hz (topic rate)
|
||||
"Set hertz rate of topic. Also, update the last-published-hertz-rate timestamp of the topic"
|
||||
(let ((rate-pair (assoc topic ros-topic-publication-rates)))
|
||||
|
|
@ -981,7 +949,7 @@ q kills buffer"
|
|||
(defun extract-exec-name (path)
|
||||
(string-match "\\([^\/]+\\)$" path)
|
||||
(match-string 1 path))
|
||||
|
||||
|
||||
(defun ros-find-executables (pkg)
|
||||
(let ((ros-run-exec-paths nil)
|
||||
(path (ros-package-path pkg)))
|
||||
|
|
@ -996,14 +964,14 @@ q kills buffer"
|
|||
(push str ros-run-exec-paths))
|
||||
(return))))))
|
||||
(sort* (map 'vector 'extract-exec-name ros-run-exec-paths) 'string<)))
|
||||
|
||||
|
||||
(defun ros-package-path (pkg)
|
||||
(save-excursion
|
||||
(with-temp-buffer
|
||||
(call-process "rospack" nil t nil "find" pkg)
|
||||
(goto-char (point-min))
|
||||
(re-search-forward "^\\(.*\\)$")
|
||||
(match-string 1))))
|
||||
(with-temp-buffer
|
||||
(call-process "rospack" nil t nil "find" pkg)
|
||||
(goto-char (point-min))
|
||||
(re-search-forward "^\\(.*\\)$")
|
||||
(match-string 1))))
|
||||
|
||||
(define-minor-mode ros-run-mode
|
||||
"Mode used for rosrun
|
||||
|
|
@ -1046,12 +1014,13 @@ q kills the buffer and process."
|
|||
;; roslaunch
|
||||
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
|
||||
|
||||
(defvar ros-launch-file nil "The file being launched")
|
||||
(make-variable-buffer-local 'ros-launch-file)
|
||||
(defvar ros-launch-path nil "The path to the file being launched")
|
||||
(make-variable-buffer-local 'ros-launch-path)
|
||||
(defvar ros-launch-filename nil "The file being launched")
|
||||
(make-variable-buffer-local 'ros-launch-filename)
|
||||
|
||||
(defun ros-launch (package-name)
|
||||
"Open up the directory corresponding to PACKAGE-NAME in dired mode. If used interactively, tab completion will work."
|
||||
(interactive (list (ros-completing-read-pkg-file "Enter ros path: ")))
|
||||
"Open up the directory corresponding to PACKAGE-NAME in dired mode. If used interactively, tab completion will work." (interactive (list (ros-completing-read-pkg-file "Enter ros path: ")))
|
||||
(multiple-value-bind (package dir-prefix dir-suffix) (parse-ros-file-prefix package-name)
|
||||
(let* ((package-dir (ros-package-dir package))
|
||||
(path (if dir-prefix (concat package-dir dir-prefix dir-suffix) package-dir)))
|
||||
|
|
@ -1060,29 +1029,32 @@ q kills the buffer and process."
|
|||
(if (rosemacs/contains-running-process name)
|
||||
(warn "Roslaunch buffer %s already exists: not creating a new one." name)
|
||||
(let ((buf (get-buffer-create name)))
|
||||
(start-process name buf "roslaunch" path)
|
||||
(save-excursion
|
||||
(set-buffer buf)
|
||||
(setq ros-launch-file path)
|
||||
(view-buffer-other-window buf)
|
||||
(ros-launch-mode 1))
|
||||
(setq ros-launch-path path)
|
||||
(setq ros-launch-filename dir-suffix)
|
||||
(ros-launch-mode 1)
|
||||
(rosemacs/relaunch (current-buffer)))
|
||||
|
||||
buf)))
|
||||
(error "Did not find %s in the ros package list." package-name)))))
|
||||
|
||||
|
||||
|
||||
(defun rosemacs/relaunch (buf)
|
||||
(let ((proc (get-buffer-process buf)))
|
||||
(if (and proc (eq (process-status proc) 'run))
|
||||
(warn "Can't relaunch since process %s is still running" proc)
|
||||
(save-excursion
|
||||
(set-buffer buf)
|
||||
(start-process (buffer-name buf) buf "roslaunch" ros-launch-file)))))
|
||||
(start-process (buffer-name buf) buf "roslaunch" ros-launch-path)))))
|
||||
|
||||
(defun rosemacs/relaunch-current-process ()
|
||||
(interactive)
|
||||
(rosemacs/relaunch (current-buffer)))
|
||||
|
||||
(defvar ros-launch-keymap (make-sparse-keymap))
|
||||
(define-key ros-launch-keymap "k" 'interrupt-ros-topic-echo)
|
||||
(define-key ros-launch-keymap "k" 'rosemacs/interrupt-process)
|
||||
(define-key ros-launch-keymap "q" 'kill-current-buffer)
|
||||
(define-key ros-launch-keymap "r" 'rosemacs/relaunch-current-process)
|
||||
|
||||
|
|
@ -1112,7 +1084,6 @@ k kills the process (sends SIGINT)"
|
|||
(define-key ros-keymap "\C-r" 'ros-run)
|
||||
(define-key ros-keymap "r" 'ros-load-package-locations)
|
||||
(define-key ros-keymap "\C-u" 'set-ros-topic-update-interval)
|
||||
(define-key ros-keymap "u" 'ros-update-topic-list)
|
||||
(define-key ros-keymap "\C-c" 'ros-core)
|
||||
(define-key ros-keymap "\C-t" 'display-ros-topic-info)
|
||||
(define-key ros-keymap "t" 'echo-ros-topic)
|
||||
|
|
@ -1136,8 +1107,8 @@ k kills the process (sends SIGINT)"
|
|||
(defun invoke-rosemacs ()
|
||||
(interactive)
|
||||
(add-hook 'shell-mode-hook 'set-rosemacs-shell-hooks)
|
||||
(set-ros-topic-update-interval 0)
|
||||
(run-at-time t ros-topic-display-update-interval 'update-ros-topic-buffer))
|
||||
(rosemacs/track-topics ros-topic-update-interval)
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue