Redesign of constants.py and corresponding changes #3

scripts/core.py

@@ -34,8 +34,9 @@
 import signal
 import argparse
 
-current_path = os.path.dirname(os.path.abspath(__file__))
-FIROS_CONF_PATH = [current_path + "/../config"]
+
+
+from include.constants import Constants as C
 
 # Main function.
 if __name__ == '__main__':
@@ -51,60 +52,62 @@
     # Get Input
     results = parser.parse_args()
 
-
-
+    current_path = os.path.dirname(os.path.abspath(__file__))
+    conf_path = current_path + "/../config"
     if results.conf_Fold is not None:
         current_path = os.getcwd()
-        FIROS_CONF_PATH[0] = current_path + "/" + results.conf_Fold
+        conf_path= current_path + "/" + results.conf_Fold
         # TODO DL This re-assignment is currently not working!
 
+    C.init(conf_path)
+
 
     # Importing firos specific scripts
     from setup import launchSetup
-    from include import constants as c
+
 
     from include import confManager
-    from include.logger import Log
+    from include.logger import Log 
     from include.mapServer import MapServer
     from include.server.firosServer import FirosServer
 
-    from include.ros.topicHandler import RosTopicHandler, loadMsgHandlers, createConnectionListeners
-    from include.rcm import topicManager
+    from include.ros.topicHandler import RosTopicHandler, loadMsgHandlers, createConnectionListeners, initPubAndSub
+    from include.rcm.topicManager import TopicManager
 
 
 
-
-    if results.port is not None and type(results.port) is int:
-        c.MAP_SERVER_PORT = results.port
+    if results.port is not None:
+        C.MAP_SERVER_PORT = int(results.port)
 
-    if results.ros_port is not None and type(results.ros_port) is int:
-        c.ROSBRIDGE_PORT = results.ros_port
+    if results.ros_port is not None:
+        C.ROSBRIDGE_PORT = int(results.ros_port)
 
-    if results.ros_node_name is not None and type(results.ros_node_name) is str:
-        c.ROS_NODE_NAME = results.ros_node_name
+    if results.ros_node_name is not None:
+        C.ROS_NODE_NAME = results.ros_node_name
 
-    if results.loglevel is not None and type(results.loglevel) is int:
-        c.LOGLEVEL = results.loglevel
+    if results.loglevel is not None:
+        C.LOGLEVEL = results.loglevel
 
 
-    Log("INFO", "Initializing ROS node: " + c.ROS_NODE_NAME)
-    rospy.init_node(c.ROS_NODE_NAME)
+    Log("INFO", "Initializing ROS node: " + C.ROS_NODE_NAME)
+    rospy.init_node(C.ROS_NODE_NAME)
     Log("INFO", "Initialized")
 
 
 
-
+    print C.ROS_NODE_NAME
+    toMa = TopicManager()
 
     try:
-        server = FirosServer("0.0.0.0", c.MAP_SERVER_PORT)
+        server = FirosServer("0.0.0.0", C.MAP_SERVER_PORT)
     except Exception as ex:
         sys.stderr.write('CB_COMMUNICATION_FAILED')
         exit(1)
     else:
         def signal_handler(signal, frame):
             Log("INFO", ('\nExiting from the application'))
             RosTopicHandler.unregisterAll()
-            topicManager.removeListeners()
+            toMa.removeListeners()
             server.close()
             Log("INFO", ('\nExit'))
             sys.exit(0)
@@ -116,11 +119,12 @@ def signal_handler(signal, frame):
         Log("INFO", "\nStarting Firos...")
         Log("INFO", "---------------------------------\n")
 
+        #Topic Handler Routine:
+        initPubAndSub()
         loadMsgHandlers(confManager.getRobots(True, True))
         createConnectionListeners()
-        topicManager.setListeners()
 
-        MapServer.load()
+        maSe = MapServer()
 
         Log("INFO", "\nPress Ctrl+C to Exit\n")
         server.start()

scripts/include/confManager.py

@@ -14,13 +14,13 @@
 # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 # WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
-import os
 import json
 import copy
 import traceback
 
 from include.logger import Log
 from include.ros.rosConfigurator import RosConfigurator
+from include.constants import Constants as C
 
 
 def getRobots(refresh=False, withJson=True):
@@ -55,8 +55,7 @@ def getRobots(refresh=False, withJson=True):
 def getRobotsByJson():
     ## \brief Get robots in the JSON file
     try:
-        current_path = os.path.dirname(os.path.abspath(__file__))
-        json_path = current_path.replace("scripts/include", "config/robots.json")
+        json_path = C.PATH + "/robots.json"
         return json.load(open(json_path))
     except:
         return {}

scripts/include/constants.py

@@ -19,94 +19,90 @@
 import urllib2
 import netifaces
 
-from core import FIROS_CONF_PATH
-
-
-
-def setConfiguration(path):
-    try:
-        data = json.load(open(path + "/config.json"))
-        return data[data["environment"]]
-    except:
-        return {}
-
-configured = False
-
-# All Constants with their default value!
-PATH = None
-
-LOGLEVEL = "INFO"
-INTERFACE = "public"
-
-MAP_SERVER_ADRESS = None
-MAP_SERVER_PORT = 10100
-ROSBRIDGE_PORT = 9090
-CONTEXTBROKER_ADRESS = None
-CONTEXTBROKER_PORT = None
-
-CB_THROTTLING = 0
-CB_SUB_LENGTH = 300             # In Seconds!
-CB_SUB_REFRESH = 0.9            # After 90% of time is exceeded
-CB_CONTEXT_TYPE = "ROBOT"   
-
-ROS_NODE_NAME = "firos"
-ROS_SUB_QUEUE_SIZE = 10 
-
-
-
-if not configured:
-    configured = True
-    PATH = FIROS_CONF_PATH[0]
-    print PATH
-
-    configData = setConfiguration(PATH)
-
-    if "interface" in configData:
-        INTERFACE = configData["interface"]
-
-    if "log_level" in configData:
-        LOGLEVEL = configData["log_level"]
-
-    if "server" in configData and "port" in configData["server"]:
-        MAP_SERVER_PORT = configData["server"]["port"]
-
-    try:
-        CONTEXTBROKER_ADRESS = configData["contextbroker"]["address"]
-        CONTEXTBROKER_PORT = configData["contextbroker"]["port"]
-    except:
-        print "TODO DL"
-
-    if "contextbroker" in configData and "subscription" in configData["contextbroker"]:
-        # Configuration for Subscription
-        subConfig = configData["contextbroker"]["subscription"]
-        if "throttling" in subConfig:
-            CB_THROTTLING = subConfig["throttling"]
-
-        if "subscription_length" in subConfig:
-            CB_SUB_LENGTH = subConfig["subscription_length"]
-
-        if "subscription_refresh_delay" in subConfig:
-            CB_SUB_REFRESH = subConfig["subscription_refresh_delay"]
-
-
-    if "node_name" in configData:
-        ROS_NODE_NAME = configData["node_name"]
-
-    if "ros_subscriber_queue" in configData:
-        ROS_SUB_QUEUE_SIZE = configData["ros_subscriber_queue"]
-
-    if "cb_type" in configData:
-        CB_CONTEXT_TYPE = configData["cb_type"]
-
-
-    if INTERFACE == "public":
-        MAP_SERVER_ADRESS = urllib2.urlopen('http://ip.42.pl/raw').read()
-    else:
-        netifaces.ifaddresses(INTERFACE)
-        MAP_SERVER_ADRESS = netifaces.ifaddresses(INTERFACE)[2][0]['addr']
-
-    if "rosbridge_port" in configData:
-        ROSBRIDGE_PORT = configData["rosbridge_port"]
+class Constants:
+    configured = False
+    PATH = None
+    # All Constants with their default value!
+    LOGLEVEL = "INFO"
+    INTERFACE = "public"
+
+    MAP_SERVER_ADRESS = None
+    MAP_SERVER_PORT = 10100
+    ROSBRIDGE_PORT = 9090
+    CONTEXTBROKER_ADRESS = None
+    CONTEXTBROKER_PORT = None
+
+    CB_THROTTLING = 0
+    CB_SUB_LENGTH = 300             # In Seconds!
+    CB_SUB_REFRESH = 0.9            # After 90% of time is exceeded
+    CB_CONTEXT_TYPE = "ROBOT"   
+
+    ROS_NODE_NAME = "firos"
+    ROS_SUB_QUEUE_SIZE = 10 
+
+    @classmethod
+    def setConfiguration(cls, path):
+        try:
+            data = json.load(open(path + "/config.json"))
+            return data[data["environment"]]
+        except:
+            return {}
+
+    @classmethod
+    def init(cls, path):
+        if not cls.configured:
+            configured = True
+            cls.PATH = path
+            print cls.PATH # TODO DL print
+
+            configData = cls.setConfiguration(path)
+
+            if "interface" in configData:
+                cls.INTERFACE = configData["interface"]
+
+            if "log_level" in configData:
+                cls.LOGLEVEL = configData["log_level"]
+
+            if "server" in configData and "port" in configData["server"]:
+               cls. MAP_SERVER_PORT = configData["server"]["port"]
+
+            try:
+                cls.CONTEXTBROKER_ADRESS = configData["contextbroker"]["address"]
+                cls.CONTEXTBROKER_PORT = configData["contextbroker"]["port"]
+            except:
+                print "TODO DL"
+
+            if "contextbroker" in configData and "subscription" in configData["contextbroker"]:
+                # Configuration for Subscription
+                subConfig = configData["contextbroker"]["subscription"]
+                if "throttling" in subConfig:
+                    cls.CB_THROTTLING = subConfig["throttling"]
+
+                if "subscription_length" in subConfig:
+                    cls.CB_SUB_LENGTH = subConfig["subscription_length"]
+
+                if "subscription_refresh_delay" in subConfig:
+                    cls.CB_SUB_REFRESH = subConfig["subscription_refresh_delay"]
+
+
+            if "node_name" in configData:
+                cls.ROS_NODE_NAME = configData["node_name"]
+
+            if "ros_subscriber_queue" in configData:
+                cls.ROS_SUB_QUEUE_SIZE = configData["ros_subscriber_queue"]
+
+            if "cb_type" in configData:
+                cls.CB_CONTEXT_TYPE = configData["cb_type"]
+
+
+            if cls.INTERFACE == "public":
+                cls.MAP_SERVER_ADRESS = urllib2.urlopen('http://ip.42.pl/raw').read()
+            else:
+                netifaces.ifaddresses(cls.INTERFACE)
+                cls.MAP_SERVER_ADRESS = netifaces.ifaddresses(cls.INTERFACE)[2][0]['addr']
+
+            if "rosbridge_port" in configData:
+                cls.ROSBRIDGE_PORT = configData["rosbridge_port"]
 
 
 

scripts/include/contextbroker/cbPublisher.py

@@ -24,12 +24,11 @@
 import requests
 
 from include.logger import Log
-from include.constants import CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT, PATH
+from include.constants import Constants as C
 from include.FiwareObjectConverter.objectFiwareConverter import ObjectFiwareConverter
 
 
-CB_BASE_URL = "http://{}:{}/v2/entities/".format(CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT)
-CB_HEADER = {'Content-Type': 'application/json'}
+
 
 class CbPublisher(object):
     ''' The CbPublisher handles the Enities on CONTEXT_BROKER / v2 / entities .
@@ -44,6 +43,13 @@ class CbPublisher(object):
     # Keeps track of the posted Content on the ContextBroker
     # via posted_history[ROBOT_ID][TOPIC] 
     posted_history = {}
+    CB_HEADER = {'Content-Type': 'application/json'}
+    CB_BASE_URL = None
+
+    def __init__(self):
+        ''' Lazy Initialization of CB_BASE_URL
+        '''
+        self.CB_BASE_URL = "http://{}:{}/v2/entities/".format(C.CONTEXTBROKER_ADRESS, C.CONTEXTBROKER_PORT)
 
     def publishToCB(self, robotID, topic, rawMsg, msgDefintionDict):
         ''' This is the actual publish-Routine which updates and creates Entities on the
@@ -64,7 +70,7 @@ def publishToCB(self, robotID, topic, rawMsg, msgDefintionDict):
             self.posted_history[robotID]['id'] = robotID
             # Intitialize Entitiy/Robot-Construct on ContextBroker
             jsonStr = ObjectFiwareConverter.obj2Fiware(self.posted_history[robotID], ind=0,  ignorePythonMetaData=True) 
-            response = requests.post(CB_BASE_URL, data=jsonStr, headers=CB_HEADER)
+            response = requests.post(self.CB_BASE_URL, data=jsonStr, headers=self.CB_HEADER)
             self._responseCheck(response, attrAction=0, topEnt=robotID)
 
         if topic not in self.posted_history[robotID]:
@@ -98,15 +104,15 @@ def publishToCB(self, robotID, topic, rawMsg, msgDefintionDict):
 
 
         # Update attribute on ContextBroker
-        response = requests.post(CB_BASE_URL + robotID + "/attrs", data=partJsonStr, headers=CB_HEADER)
+        response = requests.post(self.CB_BASE_URL + robotID + "/attrs", data=partJsonStr, headers=self.CB_HEADER)
         self._responseCheck(response, attrAction=1, topEnt=topic)
 
 
     def unpublishALLFromCB(self):
         ''' Removes all previously tracked Entities/Robots on ContextBroker
         '''
         for robotID in self.posted_history:
-            response = requests.delete(CB_BASE_URL + robotID)
+            response = requests.delete(self.CB_BASE_URL + robotID)
             self._responseCheck(response, attrAction=2, topEnt=robotID)
 
 
@@ -116,7 +122,7 @@ def _loadDescriptions(self, robotID):
 
             robotID: The Robot-Id-String
         '''
-        json_path = PATH + "/robotdescriptions.json"
+        json_path = C.PATH + "/robotdescriptions.json"
         description_data = json.load(open(json_path))
 
         # Check if a robotID has descriptions