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add exception handling at some part
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@dwlee
dwlee committed Jan 20, 2015
1 parent f316776 commit 8928561
Showing 1 changed file with 63 additions and 78 deletions.
141 changes: 63 additions & 78 deletions concert_service_manager/src/concert_service_manager/service_cache_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -139,19 +139,25 @@ def _check_service_cache(self):
"""
Check whether cached yaml file regarding service profile is generated or not
:returns: flag and full path yaml file as result of check existence about cache file. If cache file is existed, return true and cache path. Otherwise, return false and original path
:returns: flag and full path of cache file. If cache file is existed, return true and cache path. Otherwise, return false and default resource path
:rtype: str
:raises: :exc:`rospkg.ResourceNotFound`
"""
check_result = True
default_service_configuration_file = rocon_python_utils.ros.find_resource_from_string(self._resource_name)
service_configuration_file_name = default_service_configuration_file.split('/')[-1]
service_configuration_file = get_home(self._concert_name) + '/' + service_configuration_file_name
if not os.path.isfile(service_configuration_file) or os.stat(service_configuration_file).st_size <= 0:
check_result = False
self._loginfo("load from default: [%s]" % self._resource_name)
try:
default_service_configuration_file = rocon_python_utils.ros.find_resource_from_string(self._resource_name)
except rospkg.ResourceNotFound as e:
raise e
else:
self._loginfo("load from cache: [%s]" % service_configuration_file)
service_configuration_file_name = default_service_configuration_file.split('/')[-1]
service_configuration_file = get_home(self._concert_name) + '/' + service_configuration_file_name
if not os.path.isfile(service_configuration_file) or os.stat(service_configuration_file).st_size <= 0:
check_result = False
self._loginfo("load from default: [%s]" % self._resource_name)
else:
self._loginfo("load from cache: [%s]" % service_configuration_file)
return (check_result, service_configuration_file)

def _create_service_cache(self):
Expand All @@ -165,10 +171,13 @@ def _create_service_cache(self):
for service_configuration in service_configurations:
resource_name = check_extension_name(service_configuration['resource_name'], '.service')
overrides = service_configuration['overrides']

loaded_profile = self._load_service_profile_from_default(resource_name, overrides)
self._save_service_profile(loaded_profile)
loaded_profiles[loaded_profile['name']] = copy.deepcopy(loaded_profile)
try:
loaded_profile = self._load_service_profile_from_default(resource_name, overrides)
self._save_service_profile(loaded_profile)
loaded_profiles[loaded_profile['name']] = copy.deepcopy(loaded_profile)
except rospkg.ResourceNotFound as e:
self.logwarn('Cannot load service configuration: [%s]' % resource_name)
continue
# save solution configuration
self._save_solution_configuration(loaded_profiles)

Expand All @@ -194,8 +203,8 @@ def _load_service_profile_from_default(self, resource_name, overrides):
loaded_profile = yaml.load(f)
except rospkg.ResourceNotFound as e:
raise e

loaded_profile['resource_name'] = resource_name

# set priority to default if it was not configured
if 'priority' not in loaded_profile.keys():
loaded_profile['priority'] = scheduler_msgs.Request.DEFAULT_PRIORITY
Expand All @@ -208,23 +217,22 @@ def _load_service_profile_from_default(self, resource_name, overrides):

if 'parameters' in loaded_profile.keys():
loaded_profile['parameters_detail'] = []
parameters_yaml_file = rocon_python_utils.ros.find_resource_from_string(check_extension_name(loaded_profile['parameters'], '.parameters'))
try:
parameters_yaml_file = rocon_python_utils.ros.find_resource_from_string(check_extension_name(loaded_profile['parameters'], '.parameters'))
with open(parameters_yaml_file) as f:
parameters_yaml = yaml.load(f)
loaded_profile['parameters_detail'] = parameters_yaml
except rospkg.ResourceNotFound as e:
raise e

if 'interactions' in loaded_profile.keys():
interactions_yaml_file = rocon_python_utils.ros.find_resource_from_string(check_extension_name(loaded_profile['interactions'], '.interactions'))
try:
interactions_yaml_file = rocon_python_utils.ros.find_resource_from_string(check_extension_name(loaded_profile['interactions'], '.interactions'))
with open(interactions_yaml_file) as f:
interactions_yaml = yaml.load(f)
loaded_profile['interactions_detail'] = interactions_yaml
except rospkg.ResourceNotFound as e:
raise e

return loaded_profile

def _load_service_cache_from_cache(self, services_file_name):
Expand All @@ -237,38 +245,39 @@ def _load_service_cache_from_cache(self, services_file_name):
:raises: :exc:`rospkg.ResourceNotFound`
'''
if not os.path.isfile(services_file_name):
raise rospkg.ResourceNotFound('Cannot find service file: [%s]' % services_file_name)

with open(services_file_name) as f:
service_list = yaml.load(f)
for service in service_list:
try:
service_file_name = os.path.join(get_service_profile_cache_home(self._concert_name, service['name']), check_extension_name(service['name'], '.service'))
if not os.path.isfile(service_file_name) or os.stat(service_file_name).st_size <= 0:
rospy.logwarn("Service Manager : can not find service file in cache [%s]" % check_extension_name(service['name'], '.service'))
continue
with open(service_file_name) as f:
loaded_profile = yaml.load(f)
if 'parameters' in loaded_profile.keys():
loaded_profile['parameters_detail'] = []
parameters_yaml_file = os.path.join(get_service_profile_cache_home(self._concert_name, service['name']), loaded_profile['parameters'])
try:
with open(parameters_yaml_file) as f:
parameters_yaml = yaml.load(f)
loaded_profile['parameters_detail'] = parameters_yaml
except rospkg.ResourceNotFound as e:
raise e

if 'interactions' in loaded_profile.keys():
loaded_profile['interactions_detail'] = []
interactions_yaml_file = os.path.join(get_service_profile_cache_home(self._concert_name, service['name']), loaded_profile['interactions'])
try:
with open(interactions_yaml_file) as f:
interactions_yaml = yaml.load(f)
loaded_profile['interactions_detail'] = interactions_yaml
except rospkg.ResourceNotFound as e:
raise e

except rospkg.ResourceNotFound as e:
raise e
service_file_name = os.path.join(get_service_profile_cache_home(self._concert_name, service['name']), check_extension_name(service['name'], '.service'))
if not os.path.isfile(service_file_name) or os.stat(service_file_name).st_size <= 0:
rospy.logwarn("Service Manager : can not find service file in cache [%s]" % check_extension_name(service['name'], '.service'))
continue
with open(service_file_name) as f:
loaded_profile = yaml.load(f)
if 'parameters' in loaded_profile.keys():
loaded_profile['parameters_detail'] = []
parameters_yaml_file = os.path.join(get_service_profile_cache_home(self._concert_name, service['name']), loaded_profile['parameters'])
if not os.path.isfile(parameters_yaml_file) or os.stat(parameters_yaml_file).st_size <= 0:
rospy.logwarn("Service Manager : can not find parameters file in cache [%s]" % parameters_yaml_file)
continue

with open(parameters_yaml_file) as f:
parameters_yaml = yaml.load(f)
loaded_profile['parameters_detail'] = parameters_yaml

if 'interactions' in loaded_profile.keys():
loaded_profile['interactions_detail'] = []
interactions_yaml_file = os.path.join(get_service_profile_cache_home(self._concert_name, service['name']), loaded_profile['interactions'])
if not os.path.isfile(interactions_yaml_file) or os.stat(interactions_yaml_file).st_size <= 0:
rospy.logwarn("Service Manager : can not find interactions file in cache [%s]" % interactions_yaml_file)
continue

with open(interactions_yaml_file) as f:
interactions_yaml = yaml.load(f)
loaded_profile['interactions_detail'] = interactions_yaml

loaded_profile['msg'] = self._service_profile_to_msg(loaded_profile)
self.service_profiles[loaded_profile['name']] = copy.deepcopy(loaded_profile)
Expand Down Expand Up @@ -341,10 +350,7 @@ def _save_service_profile(self, loaded_service_profile_from_file):
yaml.safe_dump(loaded_profile['parameters_detail'], f, default_flow_style=False)
del (loaded_profile['parameters_detail'])

# if 'launcher' in loaded_profile.keys():
# loaded_profile['launcher'] = rocon_python_utils.ros.find_resource_from_string(loaded_profile['launcher'] + '.launch')

# delete msg data
# delete data unused in msg
if 'msg' in loaded_profile.keys():
del (loaded_profile['msg'])

Expand Down Expand Up @@ -374,30 +380,6 @@ def _save_solution_configuration(self, service_profiles):
with file(cache_srv_config_file, 'w') as f:
yaml.safe_dump(solution_configuration, f, default_flow_style=False)

def _find_resource_from_string(self, resource):
'''
Todo, It is not implemented,yet.
:param resource: finding resource name
:type resource: string
'''

package, filename = roslib.names.package_resource_name(resource)
if not package:
raise rospkg.ResourceNotFound("resource could not be split with a valid leading package name [%s]" % (resource))
try:
resolved = roslib.packages.find_resource(package, filename, None)
if not resolved:
raise rospkg.ResourceNotFound("cannot locate [%s] in package [%s]" % (filename, package))
elif len(resolved) == 1:
return resolved[0]
elif len(resolved) > 1:
raise rospkg.ResourceNotFound("multiple resources named [%s] in package [%s]:%s\nPlease specify full path instead" % (filename, package, ''.join(['\n- %s' % r for r in resolved])))
except rospkg.ResourceNotFound:
raise rospkg.ResourceNotFound("[%s] is not a package or launch file name [%s]" % (package, package + '/' + filename))
return None

def _loginfo(self, msg):
rospy.loginfo("Service Manager : " + str(msg))

Expand Down Expand Up @@ -445,11 +427,14 @@ def load_service_cache(self):
load service profile from cache
'''
(check_result, solution_configuration_cache) = self._check_service_cache()
if not check_result:
self._create_service_cache()
self._load_service_cache_from_cache(solution_configuration_cache)
self._init_service_cache_list()
try:
(check_result, solution_configuration_cache) = self._check_service_cache()
if not check_result:
self._create_service_cache()
self._load_service_cache_from_cache(solution_configuration_cache)
self._init_service_cache_list()
except rospkg.ResourceNotFound as e:
self._logwarn(str(e))

def check_modification_service_cache(self):
'''
Expand Down

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