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    • com.github.jy2.introspection.IntrospectionClient Maven / Gradle / Ivy

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    package com.github.jy2.introspection;

import java.net.InetAddress;
import java.net.URI;
import java.net.URISyntaxException;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.Collection;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Map.Entry;
import java.util.function.Consumer;
import java.util.function.Predicate;

import com.github.jy2.Subscriber;
import com.github.jy2.di.JyroscopeDi;
import com.github.jy2.di.LogSeldom;
import com.github.jy2.di.annotations.Repeat;
import com.github.jy2.di.annotations.Subscribe;
import com.github.jy2.log.Jy2DiLog;
import com.github.jy2.mapper.RosTypeConverters;
import com.jyroscope.types.ConversionException;

import go.jyroscope.ros.introspection_msgs.Member;
import go.jyroscope.ros.introspection_msgs.Node;

public class IntrospectionClient {

	private static final LogSeldom LOG = new Jy2DiLog(IntrospectionClient.class);

	private JyroscopeDi jy2;
	private HashMap members = new HashMap<>();
	private Object mutex = new Object();
	private static final long TIMEOUT = 2000;
	private ArrayList tmp = new ArrayList<>();

	public IntrospectionClient(JyroscopeDi hzDi) {
		this.jy2 = hzDi;
	}

	@Subscribe("/introspection")
	public void handleIntrospection(Member member) {
		member.time = System.currentTimeMillis();
		synchronized (mutex) {
			members.put(member.name, member);
		}
	}

	@Repeat(interval = 1000)
	public void repeat() {
		long now = System.currentTimeMillis();
		synchronized (mutex) {
			tmp.clear();
			for (Entry m : members.entrySet()) {
				if (now - m.getValue().time > TIMEOUT) {
					tmp.add(m.getKey());
				}
			}
			for (String s : tmp) {
				members.remove(s);
			}
		}
	}

	public ArrayList getTopicList() {
		ArrayList result = new ArrayList<>();

		ArrayList> rosTopics = jy2.getMasterClient().getTopicTypes();
		for (ArrayList topic : rosTopics) {
			final String topicName = topic.get(0);
//			final String typeName = topic.get(1);
			result.add(topicName);
		}

		return result;
	}

	public Class getTopicType(String topicName) {
		ArrayList> rosTopics = jy2.getMasterClient().getTopicTypes();
		for (ArrayList topic : rosTopics) {
			if (topicName.equals(topic.get(0))) {
				final String typeName = topic.get(1);
				try {
					RosTypeConverters.precompileByRosName(typeName);
				} catch (ConversionException e) {
					LOG.error("Cannot find java class for type: " + typeName, e);
					return null;
				}
				Class clazz = RosTypeConverters.getRosType(typeName);
				return clazz;
			}
		}

		return null;
	}

	public TopicInfo getTopicInfo(String topicName) {
		Subscriber subscriber = jy2.createSubscriber(topicName, null);
		// one always needs to add message listener to get reported info (for example is
		// latched)
		subscriber.addMessageListener(new Consumer() {
			@Override
			public void accept(Object arg0) {
			}
		});
		// subscriber.removeAllMessageListeners();
		subscriber.shutdown();
		TopicInfo ti = new TopicInfo();
		ti.reportedIsLatched = subscriber.isLatched();
		ti.reportedJavaType = subscriber.getRemoteJavaType();
		ti.reportedRosType = subscriber.getRemoteRosType();
		return ti;
	}

	public Collection getNodesPublishingTopic(String topicName) {

		ArrayList result = new ArrayList<>();

		synchronized (mutex) {

			// add nodes from member list
			for (Entry m : members.entrySet()) {
				for (Node n : m.getValue().nodes) {
					for (String p : n.publishers) {
						if (p.equals(topicName)) {
							result.add(n.name);
							break;
						}
					}
				}
			}

		}

		ArrayList>> state = jy2.getMasterClient().getSystemState();

		synchronized (mutex) {

			ArrayList> publishers = state.get(0);
			// ArrayList> subscribers = state.get(1);
			// ArrayList> services = state.get(2);
			for (ArrayList data : publishers) {
				String topic = (String) data.get(0);
				ArrayList nodes = (ArrayList) data.get(1);
				if (topic.equals(topicName)) {
					for (String n : nodes) {
						// add node only if it is not a member
						if (members.get(n) == null) {
							result.add(n);
						}
					}
					return result;
				}
			}
			return result;
		}
	}

	public Collection getNodesSubscribedToTopic(String topicName) {

		ArrayList result = new ArrayList<>();

		synchronized (mutex) {

			// add nodes from member list
			for (Entry m : members.entrySet()) {
				for (Node n : m.getValue().nodes) {
					for (String p : n.subscribers) {
						if (p.equals(topicName)) {
							result.add(n.name);
							break;
						}
					}
				}
			}
		}

		ArrayList>> state = jy2.getMasterClient().getSystemState();

		synchronized (mutex) {

//			ArrayList> publishers = state.get(0);
			ArrayList> subscribers = state.get(1);
//			ArrayList> services = state.get(2);
			for (ArrayList data : subscribers) {
				String topic = (String) data.get(0);
				ArrayList nodes = (ArrayList) data.get(1);
				if (topic.equals(topicName)) {
					for (String n : nodes) {
						// add node only if it is not a member
						if (members.get(n) == null) {
							result.add(n);
						}
					}
					return result;
				}
			}
			return result;
		}
	}

	public Collection getPublishersForNode(String nodeName) {
		ArrayList result = new ArrayList<>();

		synchronized (mutex) {

			// add nodes from member list
			for (Entry m : members.entrySet()) {
				for (Node n : m.getValue().nodes) {
					if (nodeName.equals(n.name)) {
						for (String p : n.publishers) {
							result.add(p);
						}
						return result;
					}
				}
			}
		}
		
		// when not found get publishers from roscore

		ArrayList>> state = jy2.getMasterClient().getSystemState();

		synchronized (mutex) {

			ArrayList> publishers = state.get(0);
			// ArrayList> subscribers = state.get(1);
			// ArrayList> services = state.get(2);
			for (ArrayList data : publishers) {
				String topic = (String) data.get(0);
				ArrayList nodes = (ArrayList) data.get(1);
				if (nodes.contains(nodeName)) {
					result.add(topic);
				}
			}
			return result;

		}
	}

	public Collection getSubscribersForNode(String nodeName) {
		ArrayList result = new ArrayList<>();

		synchronized (mutex) {

			// add nodes from member list
			for (Entry m : members.entrySet()) {
				for (Node n : m.getValue().nodes) {
					if (nodeName.equals(n.name)) {
						for (String p : n.subscribers) {
							result.add(p);
						}
						return result;
					}
				}
			}

		}
		// when not found get subscribers from roscore

		ArrayList>> state = jy2.getMasterClient().getSystemState();

		synchronized (mutex) {

			// ArrayList> publishers = state.get(0);
			ArrayList> subscribers = state.get(1);
			// ArrayList> services = state.get(2);
			for (ArrayList data : subscribers) {
				String topic = (String) data.get(0);
				ArrayList nodes = (ArrayList) data.get(1);
				if (nodes.contains(nodeName)) {
					result.add(topic);
				}
			}
			return result;
		}
	}

	public HashSet getPublishingMembers(String topicName, long timeoutMilliseconds,
			Predicate predicate) {
		// TODO
		return new HashSet<>();
	}

	public ArrayList getMemberNodeList(String name) {
		ArrayList list = new ArrayList();
		synchronized (mutex) {
			Member m = members.get(name);
			if (m != null) {
				for (Node n : m.nodes) {
					list.add(n.name);
				}
			}
			return list;
		}
	}

	public boolean nodeExists(String nodeName) {
		synchronized (mutex) {
			// add nodes from member list
			for (Entry m : members.entrySet()) {
				for (Node n : m.getValue().nodes) {
					if (nodeName.equals(n.name)) {
						return true;
					}
				}
			}
		}

		return jy2.getMasterClient().lookupNode(nodeName) != null;
	}

	public ArrayList getMemberList() {

		HashSet nodeSet = new HashSet<>();

		ArrayList>> state = jy2.getMasterClient().getSystemState();
		ArrayList> publishers = state.get(0);
		ArrayList> subscribers = state.get(1);
//		ArrayList> services = state.get(2);
		for (ArrayList data : publishers) {
			ArrayList nodes = (ArrayList) data.get(1);
			nodeSet.addAll(nodes);
		}
		for (ArrayList data : subscribers) {
			ArrayList nodes = (ArrayList) data.get(1);
			nodeSet.addAll(nodes);
		}
		synchronized (mutex) {
			for (Entry m : members.entrySet()) {
				nodeSet.add(m.getKey());
			}
		}
		ArrayList result = new ArrayList<>();
		for (String n : nodeSet) {
			result.add(n);
		}
		return result;
	}

	public ArrayList getNodeList() {
		HashSet nodeSet = new HashSet<>();

		ArrayList>> state = jy2.getMasterClient().getSystemState();
		ArrayList> publishers = state.get(0);
		ArrayList> subscribers = state.get(1);
//		ArrayList> services = state.get(2);
		for (ArrayList data : publishers) {
			ArrayList nodes = (ArrayList) data.get(1);
			nodeSet.addAll(nodes);
		}

		for (ArrayList data : subscribers) {
			ArrayList nodes = (ArrayList) data.get(1);
			nodeSet.addAll(nodes);
		}

		synchronized (mutex) {
			for (Entry m : members.entrySet()) {
				for (Node n : m.getValue().nodes) {
					nodeSet.add(n.name);
				}
			}
		}

		ArrayList result = new ArrayList<>();
		for (String n : nodeSet) {
			result.add(n);
		}

		return result;
	}

	public String getMemberCreatedBy(String memberName) {
		// TODO
		return "";
	}

	public InetAddress getMemberAddress(String member) {
		String address = jy2.getMasterClient().lookupNode(member);
		if (address == null) {
			return null;
		}
		try {
			URI uri = new URI(address);
			String host = uri.getHost();
			return InetAddress.getByName(host);
		} catch (UnknownHostException | URISyntaxException e) {
			LOG.error("Unknown host: " + member, e);
		}
		return null;
	}

}
    
    
    
    

    




    
    
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