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remove use of hacks #41

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d4e1486
rospy already uses the threading module, hack no longer needed
esteve Dec 19, 2013
150c4a4
Remove ServiceImpl patch and use a custom error handler (needs ros_co…
esteve Dec 30, 2013
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19 changes: 0 additions & 19 deletions scripts/capability_server
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Original file line number Diff line number Diff line change
Expand Up @@ -2,25 +2,6 @@

import sys

#### HACK until rospy uses the threading module rather than the thread module
import threading

from rospy.impl import tcpros_service


class MyThread(object):
def __init__(self):
self.__threads_objs = []

def start_new_thread(self, func, args):
t = threading.Thread(target=func, args=args)
t.setDaemon(True)
t.start()
self.__threads_objs.append(t)

tcpros_service._thread = MyThread()
#### END HACK

from capabilities.server import main

if __name__ == '__main__':
Expand Down
58 changes: 22 additions & 36 deletions src/capabilities/server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,33 +88,6 @@

USER_SERVICE_REASON = 'user service call'

## Hack to squelch output from Service call failure ##

from rospy.impl import tcpros_service


def custom__handle_request(self, transport, request): # pragma: no cover
import struct
from rospy.impl.tcpros_service import convert_return_to_response
from rospy.service import ServiceException
try:
# convert return type to response Message instance
response = convert_return_to_response(self.handler(request), self.response_class)
self.seq += 1
# ok byte
transport.write_buff.write(struct.pack('<B', 1))
transport.send_message(response, self.seq)
except ServiceException as e:
rospy.core.rospydebug("handler raised ServiceException: %s" % e)
self._write_service_error(transport, "service cannot process request: %s" % e)
except Exception as e:
# rospy.logerr("Error processing request: %s\n%s" % (e, traceback.print_exc()))
self._write_service_error(transport, "error processing request: %s" % e)

tcpros_service.ServiceImpl._handle_request = custom__handle_request

## End hacks ##


class CapabilityInstance(object):
"""Encapsulates the state of an instance of a Capability Provider
Expand Down Expand Up @@ -268,6 +241,10 @@ def __init__(self, package_paths, screen=None):
self.__default_providers = {}
self.__missing_default_provider_is_an_error = rospy.get_param('~missing_default_provider_is_an_error', False)

def custom_error_handler(self, e, exc_type, exc_value, tb):
# Override the standard error handler to silence rospy
pass

def spin(self):
"""Starts the capability server by setting up ROS comms, then spins"""
self.__package_whitelist = rospy.get_param('~package_whitelist', None)
Expand Down Expand Up @@ -302,35 +279,44 @@ def spin(self):
self.__populate_default_providers()

self.__start_capability_service = rospy.Service(
'~start_capability', StartCapability, self.handle_start_capability)
'~start_capability', StartCapability, self.handle_start_capability,
error_handler=self.custom_error_handler)

self.__stop_capability_service = rospy.Service(
'~stop_capability', StopCapability, self.handle_stop_capability)
'~stop_capability', StopCapability, self.handle_stop_capability,
error_handler=self.custom_error_handler)

self.__reload_service = rospy.Service(
'~reload_capabilities', Empty, self.handle_reload_request)
'~reload_capabilities', Empty, self.handle_reload_request,
error_handler=self.custom_error_handler)

self.__interfaces_service = rospy.Service(
'~get_interfaces', GetInterfaces, self.handle_get_interfaces)
'~get_interfaces', GetInterfaces, self.handle_get_interfaces,
error_handler=self.custom_error_handler)

self.__providers_service = rospy.Service(
'~get_providers', GetProviders, self.handle_get_providers)
'~get_providers', GetProviders, self.handle_get_providers,
error_handler=self.custom_error_handler)

self.__semantic_interfaces_service = rospy.Service(
'~get_semantic_interfaces', GetSemanticInterfaces,
self.handle_get_semantic_interfaces)
self.handle_get_semantic_interfaces,
error_handler=self.custom_error_handler)

self.__running_capabilities = rospy.Service(
'~get_running_capabilities', GetRunningCapabilities,
self.handle_get_running_capabilities)
self.handle_get_running_capabilities,
error_handler=self.custom_error_handler)

self.__capability_specs = rospy.Service(
'~get_capability_specs', GetCapabilitySpecs,
self.handle_get_capability_specs)
self.handle_get_capability_specs,
error_handler=self.custom_error_handler)

self.__capability_spec = rospy.Service(
'~get_capability_spec', GetCapabilitySpec,
self.handle_get_capability_spec)
self.handle_get_capability_spec,
error_handler=self.custom_error_handler)

rospy.Subscriber(
'~events', CapabilityEvent, self.handle_capability_events)
Expand Down