Updated to remove robotID and only use topic.

This has something todo with #28

robots.json is now called topics.json (since we subscribe/publish on Topics!) #29
In addition to that topics.json is now redesigned. #31

Empty whitelist now does what it should #30

We now have a similar structure as described in #32

doc/install/standards.md

@@ -65,7 +65,7 @@ class SomeExamplePublisher(Publisher):
     def __init__(self):
       pass
 
-    def publish(self, robotID, topic, rawMsg, msgDefinitions):
+    def publish(self, topic, rawMsg, msgDefinitions):
         pass
 
     def unpublish(self):
@@ -96,7 +96,7 @@ class SomeExampleSubscriber(Subscriber):
     def __init__(self):
       pass
 
-    def subscribe(self, robotID, topicList, msgDefinitions):
+    def subscribe(self, topicList, msgDefinitions):
         pass
 
     def unsubscribe(self):
@@ -117,7 +117,7 @@ The received Messages need to be converted into a special class which can be dir
 After the received Message is converted correctly, you can publish it via:
 
 ```python
-RosTopicHandler.publish(robotID, topic, convertedData, dataStruct):
+RosTopicHandler.publish(topic, convertedData, dataStruct):
 ```
 
 and it should be published in the ROS-World automatically!

firos/include/confManager.py

@@ -35,43 +35,47 @@ def getRobots(refresh=False):
     '''
     try:
         # Retrieves the whitelist.json. If it does not exists, it returns all topics.
-        robots = copy.deepcopy(RosConfigurator.systemTopics(refresh))    
+        topics_regex = copy.deepcopy(RosConfigurator.systemTopics(refresh))     # TODO DL change to topics
 
         # Retrieves the robots.json.
-        robots_json = getRobotsByJson()
-        if len(robots_json) == 0: 
-            Log("ERROR", "The file 'robots.json' is either empty or does not exist!\n\nExiting")
+        topics_json = getTopicsByJson()
+        if len(topics_json) == 0: 
+            Log("ERROR", "The file 'topics.json' is either empty or does not exist!\n\nExiting")
             sys.exit(1)
 
-        # Merge robots.json into whitelist.json (overwrite if neccessary)
-        for robot_name in robots_json:
-            robot_name = str(robot_name)
-            if robot_name not in robots:
-                robots[robot_name] = {
-                    "topics": {}
-                }
-            for topic_name in robots_json[robot_name]["topics"]:
-                topic = robots_json[robot_name]["topics"][topic_name]
+        # check if structure is as needed
+        for key in topics_json.keys():
+            if len(topics_json[key]) != 2:
+                Log("ERROR", "The topic: '{}', does not have a list of length 2 (topics.json)! \n\nExiting".format(key))
+                sys.exit(1)
 
-                # Overwrite or add!
-                robots[robot_name]["topics"][str(topic_name)] = {
-                    "msg": str(topic["msg"]),
-                    "type": str(topic["type"])
-                }
+            if not key.startswith("/"):
+                Log("ERROR", "The topic: '{}', does not start with '/'  (topics.json)! \n\nExiting".format(key))
+                sys.exit(1)
 
-        return robots
+            if topics_json[key][1] not in ["publisher", "subscriber"]:
+                Log("ERROR", "The topic: '{}', does not specify publisher or subscriber (topics.json)! \n\nExiting".format(key))
+                sys.exit(1)
+
+
+        # Merge both dictionaties:
+        # Here topics_json overrides entries in topics_regex:
+        topics_regex.update(topics_json)
+        topics = topics_regex
+
+        return topics
 
     except Exception as e:
         traceback.print_exc()
         Log("ERROR", e)
         return {}
 
 
-def getRobotsByJson():
-    ''' Load the 'robots.json'-File 
+def getTopicsByJson():
+    ''' Load the 'topics.json'-File 
     '''
     try:
-        json_path = C.PATH + "/robots.json"
+        json_path = C.PATH + "/topics.json"
         return json.load(open(json_path))
     except:
         return {}

firos/include/libLoader.py

@@ -36,7 +36,7 @@ class LibLoader:
         the class could not be generated), this LibLoader tries to load the message via
         roslib. If every method fails FIROS will shutdown, since FIROS need the messages
         due to rospy beforehand. At least for The Subscriptions and Publishes defined in
-        'robots.json'
+        'topics.json'
     '''
 
     # Our custom search path for genpy
@@ -114,20 +114,14 @@ def _init_searchpath_for_available_msgs_on_system():
 
 
     @staticmethod
-    def loadFromSystem(msgType, robotID, topic):
+    def loadFromSystem(msgType, topic):
         ''' This actually tries all three methods mentioned above.
-
-            Remark: If the regex does not find a match, we are also not able
-                    to parse the Configuration-File ('robots.json') and exit.
         '''
-        matches = re.search(regex, msgType) # get (PACKAGE).(msg).(MSGTYPE)
+        splits = msgType.split("/")
 
-        if matches is not None:
-            # We have a Match, we can start to get the Message now!
-            module_name = str(matches.group(1)) + str(matches.group(2))[:-4] # PACKAGE + '.msg'
-            modules = str(matches.group(3)).split(".") # MSGTYPE
-            modules = modules[1: len(modules)]
-            module_msg = modules[0]
+        if len(splits) == 2:
+            module_name = splits[0] # PACKAGE
+            module_msg = splits[1] # MESSAGE
 
 
             #####  1: Try to load it via Python-Import
@@ -167,7 +161,7 @@ def loadFromSystem(msgType, robotID, topic):
                 LibLoader.isGenerated = True
                 module = imp.load_source(module_msg, msgsFold + module_name + "/_" + module_msg + ".py")
                 clazz = getattr(module, module_msg)
-                Log("INFO", "Message {}/{}.msg succesfully loaded.".format(module_name, module_msg))
+                Log("INFO", "Message {}/{} succesfully loaded.".format(module_name, module_msg))
                 return clazz 
 
 
@@ -176,10 +170,10 @@ def loadFromSystem(msgType, robotID, topic):
             try:
                 import roslib.message
                 import rostopic
-                type_name = rostopic.get_topic_type('/{}/{}'.format(robotID, topic), blocking=False)[0]
+                type_name = rostopic.get_topic_type(topic, blocking=False)[0]
                 if type_name:
                     clazz = roslib.message.get_message_class(type_name)
-                    Log("INFO", "Message {}/{}.msg loaded via roslib.message!".format(module_name, module_msg))
+                    Log("INFO", "Message {}/{} loaded via roslib.message!".format(module_name, module_msg))
                     return clazz
             except Exception:    
                 pass

firos/include/pubsub/contextbroker/cbPublisher.py

@@ -73,12 +73,11 @@ def __init__(self):
         self.CB_BASE_URL = "http://{}:{}/v2/entities/".format(data["address"], data["port"])
 
 
-    def publish(self, robotID, topic, rawMsg, msgDefintionDict):
+    def publish(self, topic, rawMsg, msgDefintionDict):
         ''' This is the actual publish-Routine which updates and creates Entities on the
             ContextBroker. It also keeps track via posted_history on already posted entities and topics
 
-            robotID: A string corresponding to the Robot-Id
-            topic:   Also a string, corresponding to the topic of the robot
+            topic:   a string, corresponding to the topic in ros
             rawMsg:  the raw data directly obtained from rospy
             msgDefintionDict: The Definition as obtained directly from ROS-Messages
 
@@ -93,25 +92,24 @@ def publish(self, robotID, topic, rawMsg, msgDefintionDict):
 
 
         # if struct not initilized, intitilize it even on ContextBroker!
-        if robotID + "/" + topic not in self.posted_history:
-            self.posted_history[robotID + "/" + topic] = rawMsg
+        if topic not in self.posted_history:
+            self.posted_history[topic] = rawMsg
 
             obj = {s: getattr(rawMsg, s, None) for s in rawMsg.__slots__}
             obj["type"] = rawMsg._type.replace("/", ".") # OCB Specific!!
-            obj["id"] = (robotID + "/" + topic).replace("/", ".") # OCB Specific!!
-            jsonStr = ObjectFiwareConverter.obj2Fiware(obj, ind=0, dataTypeDict=msgDefintionDict,  ignorePythonMetaData=True) 
-
+            obj["id"] = (topic).replace("/", ".") # OCB Specific!!
+            jsonStr = ObjectFiwareConverter.obj2Fiware(obj, ind=0, dataTypeDict=msgDefintionDict,  ignorePythonMetaData=True)
             response = requests.post(self.CB_BASE_URL, data=jsonStr, headers=self.CB_HEADER)
-            self._responseCheck(response, attrAction=0, topEnt=robotID)
+            self._responseCheck(response, attrAction=0, topEnt=topic)
             return
 
         # Replace previous rawMsg with current one
-        self.posted_history[robotID + "/" + topic] = rawMsg
+        self.posted_history[topic] = rawMsg
 
         # Create Update-JSON
         obj = {s: getattr(rawMsg, s, None) for s in rawMsg.__slots__}
         obj["type"] = rawMsg._type.replace("/", ".") # OCB Specific!!
-        obj["id"] = (robotID + "/" + topic).replace("/", ".") # OCB Specific!!
+        obj["id"] = (topic).replace("/", ".") # OCB Specific!!
         jsonStr = ObjectFiwareConverter.obj2Fiware(obj, ind=0, dataTypeDict=msgDefintionDict,  ignorePythonMetaData=True, showIdValue=False) 
 
         # Update attribute on ContextBroker
@@ -121,7 +119,7 @@ def publish(self, robotID, topic, rawMsg, msgDefintionDict):
 
     def unpublish(self):
         ''' 
-            Removes all previously tracked Entities/Robots on ContextBroker
+            Removes all previously tracked topics on ContextBroker
             This method also gets automaticall called, someone sent Firos the Shutdown Signal
         '''
         for idd in self.posted_history.keys():
@@ -140,11 +138,11 @@ def _responseCheck(self, response, attrAction=0, topEnt=None):
         '''
         if not response.ok:
             if attrAction == 0:
-                Log("WARNING", "Could not create Entitiy/Robot {} in Contextbroker :".format(topEnt))
+                Log("WARNING", "Could not create Entitiy {} in Contextbroker :".format(topEnt))
                 Log("WARNING", response.content)
             elif attrAction == 1:
                 Log("ERROR", "Cannot update attributes in Contextbroker for topic: {} :".format(topEnt))
                 Log("ERROR", response.content)
             else:
-                Log("WARNING", "Could not delete Entitiy/Robot {} in Contextbroker :".format(topEnt))
+                Log("WARNING", "Could not delete Entitiy {} in Contextbroker :".format(topEnt))
                 Log("WARNING", response.content)