Removed some TODOs and Refactoring

scripts/core.py

@@ -34,8 +34,6 @@
 import signal
 import argparse
 
-
-
 from include.constants import Constants as C
 
 # Main function.
@@ -52,30 +50,32 @@
     # Get Input
     results = parser.parse_args()
 
+    # At first determine the config-Folder location (either in firos/config or customly set)
     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()
         conf_path= current_path + "/" + results.conf_Fold
-        # TODO DL This re-assignment is currently not working!
 
+
+
+    # Initialize global variables (Constants.py)
     C.init(conf_path)
 
 
     # Importing firos specific scripts
     from setup import launchSetup
 
-
     from include import confManager
-    from include.logger import Log 
+    from include.logger import Log, initLog
     from include.mapServer import MapServer
     from include.server.firosServer import FirosServer
 
     from include.ros.topicHandler import RosTopicHandler, loadMsgHandlers, createConnectionListeners, initPubAndSub
     from include.rcm.topicManager import TopicManager
 
 
-
+    # Overwrite global variables with command line arguments (iff set)
     if results.port is not None:
         C.MAP_SERVER_PORT = int(results.port)
 
@@ -88,14 +88,14 @@
     if results.loglevel is not None:
         C.LOGLEVEL = results.loglevel
 
-
+
+    # Starting Up!
+    initLog()
     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:

scripts/include/constants.py

@@ -53,7 +53,6 @@ def init(cls, path):
         if not cls.configured:
             configured = True
             cls.PATH = path
-            print cls.PATH # TODO DL print
 
             configData = cls.setConfiguration(path)
 
@@ -70,26 +69,26 @@ def init(cls, path):
                 cls.CONTEXTBROKER_ADRESS = configData["contextbroker"]["address"]
                 cls.CONTEXTBROKER_PORT = configData["contextbroker"]["port"]
             except:
-                print "TODO DL"
+                raise Exception("No Context-Broker specified!")
 
             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"]
+                    cls.CB_THROTTLING = int(subConfig["throttling"])
 
                 if "subscription_length" in subConfig:
-                    cls.CB_SUB_LENGTH = subConfig["subscription_length"]
+                    cls.CB_SUB_LENGTH = int(subConfig["subscription_length"])
 
                 if "subscription_refresh_delay" in subConfig:
-                    cls.CB_SUB_REFRESH = subConfig["subscription_refresh_delay"]
+                    cls.CB_SUB_REFRESH = float(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"]
+                cls.ROS_SUB_QUEUE_SIZE = int(configData["ros_subscriber_queue"])
 
             if "cb_type" in configData:
                 cls.CB_CONTEXT_TYPE = configData["cb_type"]

scripts/include/contextbroker/cbPublisher.py

@@ -66,10 +66,10 @@ def publishToCB(self, robotID, topic, rawMsg, msgDefintionDict):
         # if struct not initilized, intitilize it even on ContextBroker!
         if robotID not in self.posted_history:
             self.posted_history[robotID] = {}
-            self.posted_history[robotID]['type'] = 'ROBOT'
+            self.posted_history[robotID]['type'] = C.CB_CONTEXT_TYPE
             self.posted_history[robotID]['id'] = robotID
             # Intitialize Entitiy/Robot-Construct on ContextBroker
-            jsonStr = ObjectFiwareConverter.obj2Fiware(self.posted_history[robotID], ind=0,  ignorePythonMetaData=True) 
+            jsonStr = ObjectFiwareConverter.obj2Fiware(self.posted_history[robotID], ind=0,  ignorePythonMetaData=True)
             response = requests.post(self.CB_BASE_URL, data=jsonStr, headers=self.CB_HEADER)
             self._responseCheck(response, attrAction=0, topEnt=robotID)
 

scripts/include/contextbroker/cbSubscriber.py

@@ -26,7 +26,6 @@
 import json
 
 from include.FiwareObjectConverter.objectFiwareConverter import ObjectFiwareConverter
-# from include.constants import CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT, MAP_SERVER_ADRESS, MAP_SERVER_PORT, CB_SUB_REFRESH, CB_SUB_LENGTH
 from include.constants import Constants as C
 from include.logger import Log
 
@@ -109,13 +108,13 @@ def subscribeThread(self, robotID, topic):
             self.subscriptionIds[robotID][topic] = newSubID
 
             # Wait
-            time.sleep(int(C.CB_SUB_LENGTH * C.CB_SUB_REFRESH)) # sleep TODO DL from config loaded seconds
+            time.sleep(int(C.CB_SUB_LENGTH * C.CB_SUB_REFRESH)) # sleep Length * Refresh-Rate (where 0 < Refresh-Rate < 1)
             Log("INFO", "Refreshing Subscription for " + robotID + " and topics: " + str(topic))
 
 
     def subscribeJSONGenerator(self, robotID, topic):
         ''' This method returns the correct JSON-format to subscribe to the ContextBroker. 
-            The Expiration-Date/Throttle and Type of robots is retreived here via configuration (TODO DL)
+            The Expiration-Date/Throttle and Type of robots is retreived here via configuration
 
             robotID: The String of the Robot-Id.
             topic: The actual topic to subscribe to.
@@ -127,7 +126,7 @@ def subscribeJSONGenerator(self, robotID, topic):
                 "entities": [
                     {
                     "id": str(robotID),
-                    "type": "ROBOT"  # TODO DL load via Configuration 
+                    "type": C.CB_CONTEXT_TYPE
                     }
                 ],
                 "condition": {
@@ -140,8 +139,8 @@ def subscribeJSONGenerator(self, robotID, topic):
             },
             "attrs": [str(topic)]
             },
-            "expires": time.strftime("%Y-%m-%dT%H:%M:%S.00Z", time.gmtime(time.time() + C.CB_SUB_LENGTH)) # TODO DL load via Configuration, ISO 8601
-            # "throttling": 5  # TODO DL Maybe throttle?
+            "expires": time.strftime("%Y-%m-%dT%H:%M:%S.00Z", time.gmtime(time.time() + C.CB_SUB_LENGTH)), # ISO 8601
+            "throttling": C.CB_THROTTLING  
             }
         return json.dumps(struct)
 

scripts/include/logger.py

@@ -24,35 +24,42 @@
 
 SYSLOG_ADDRESS = '/dev/log'
 
-if C.LOGLEVEL == 'CRITICAL':
-    _logger.setLevel(logging.CRITICAL)
-elif C.LOGLEVEL == 'ERROR':
-    _logger.setLevel(logging.ERROR)
-elif C.LOGLEVEL == 'WARNING':
-    _logger.setLevel(logging.WARNING)
-elif C.LOGLEVEL == 'DEBUG':
-    _logger.setLevel(logging.DEBUG)
-elif C.LOGLEVEL == 'INFO':
-    _logger.setLevel(logging.INFO)
-
 PRIORITIES = {
     'CRITICAL': 5,
     'ERROR': 3,
     'WARNING': 2,
     'DEBUG': 1,
     'INFO': 0
 }
-if C.LOGLEVEL == "NONE":
-    _levelId = -1
-else:
-    _levelId = PRIORITIES[C.LOGLEVEL]
 
-if os.path.exists(SYSLOG_ADDRESS):
-    handler = logging.handlers.SysLogHandler(address=SYSLOG_ADDRESS)
-    _logger.addHandler(handler)
-else:
-    handler = None
+_levelId = None
+handler = None
+
+def initLog():
+    ''' Sets _levelID and handler
+    '''
+    global _levelId, handler
+    if C.LOGLEVEL == 'CRITICAL':
+        _logger.setLevel(logging.CRITICAL)
+    elif C.LOGLEVEL == 'ERROR':
+        _logger.setLevel(logging.ERROR)
+    elif C.LOGLEVEL == 'WARNING':
+        _logger.setLevel(logging.WARNING)
+    elif C.LOGLEVEL == 'DEBUG':
+        _logger.setLevel(logging.DEBUG)
+    elif C.LOGLEVEL == 'INFO':
+        _logger.setLevel(logging.INFO)
+
+    if C.LOGLEVEL == "NONE":
+        _levelId = -1
+    else:
+        _levelId = PRIORITIES[C.LOGLEVEL]
 
+    if os.path.exists(SYSLOG_ADDRESS):
+        handler = logging.handlers.SysLogHandler(address=SYSLOG_ADDRESS)
+        _logger.addHandler(handler)
+    else:
+        handler = None
 
 def Log(level, *args):
     ## \brief Logging function

scripts/include/mapServer.py

@@ -38,15 +38,16 @@ def __init__(self):
 
 
     def _launchMapServer(self):
+        # TODO DL can this be omitted?
         ## \brief If map_server is configured launches it
         if(C.MAP_SERVER_PORT):
-            # if not os.path.exists(os.path.join(mapserver_path, 'node_modules')):
+            # if not os.path.exists(os.path.join(self.mapserver_path, 'node_modules')):
             #     text = "---------------------------------------------------------------------------------------\n"
             #     text += "---------------------------------------------------------------------------------------\n"
             #     text += "FIROS is going to install mapserver's dependencies, to do this it will need root access\n"
             #     text += "---------------------------------------------------------------------------------------\n"
             #     text += "---------------------------------------------------------------------------------------"
             #     print text
-            #     os.system("cd {} && sudo npm install && sudo chown -R {} node_modules".format(mapserver_path, getpass.getuser()))
-            # subprocess.Popen(["node", mapserver_path + "mapserver.js", str(MAP_SERVER_PORT), str(ROSBRIDGE_PORT)])
+            #     os.system("cd {} && sudo npm install && sudo chown -R {} node_modules".format(self.mapserver_path, getpass.getuser()))
+            # subprocess.Popen(["node", self.mapserver_path + "mapserver.js", str(C.MAP_SERVER_PORT), str(C.ROSBRIDGE_PORT)])
             pass

scripts/include/rcm/topicManager.py

@@ -4,7 +4,7 @@
 
 from firos.srv import FIROS_Info
 from firos.msg import Robot_Event, CB_Event
-from include.constants import Constants as C #ROS_SUB_QUEUE_SIZE, ROS_NODE_NAME
+from include.constants import Constants as C 
 from include.ros.topicHandler import robotDisconnection, loadMsgHandlers
 from include.rcm.rcmutils import getRobotConfig
 

scripts/include/ros/topicHandler.py

@@ -135,7 +135,6 @@ def loadMsgHandlers(robot_data):
                 ROS_PUBLISHER[robotID][topic] = rospy.Publisher(robotID + "/" + topic, theclass, queue_size=C.ROS_SUB_QUEUE_SIZE)
 
         # After initializing ROS-PUB/SUBs, intitialize ContextBroker-Subscriber based on ROS-Publishers for each robot
-        print ROS_PUBLISHER
         if robotID in ROS_PUBLISHER:
             CloudSubscriber.subscribeToCB(str(robotID), ROS_PUBLISHER[robotID].keys())
             Log("INFO", "\n")