Merge 3367300 into 2c18dff

Makefile

@@ -17,6 +17,7 @@ coverage:
 	-rm ~/.ros/.coverage
 	-rm ${BUILD_DIR}/.coverage
 	-rm ./.coverage
+	-cd ${BUILD_DIR} && mkdir -p src
 	-ln -s ${SRC_DIR} ${BUILD_DIR}/src
 	cd ${BUILD_DIR} && catkin_make
 	cd ${BUILD_DIR} && catkin_make tests

launch/demo.launch

@@ -27,5 +27,6 @@
         </rosparam> -->
         <!-- Uncomment below to explicitly set the default provider for minimal_pkg/Minimal -->
         <!-- <param name="defaults/minimal_pkg/Minimal" value="minimal_pkg/minimal" /> -->
+        <param name="defaults/robot_base_pkg/Distance" value="robot_base_pkg/distance_front" />
     </node>
 </launch>

src/capabilities/server.py

@@ -644,14 +644,25 @@ def __get_capability_instances_from_provider(self, provider):
             instances.append(CapabilityInstance(curr, curr_path, started_by=reason))
         return instances
 
+    def __get_providers_for_interface(self, interface, allow_semantic=False):
+        valid_interfaces = [interface]
+        if allow_semantic:
+            # Add semantic interfaces which redefine this one
+            valid_interfaces.extend(
+                [k for k, v in self.__spec_index.semantic_interfaces.items()
+                 if v.redefines == interface]
+            )
+        providers = dict([(n, p)
+                          for n, p in self.__spec_index.providers.items()
+                          if p.implements in valid_interfaces])
+        return providers  # Could be empty
+
     def __start_capability(self, capability, preferred_provider):
         if capability not in self.__spec_index.interfaces.keys() + self.__spec_index.semantic_interfaces.keys():
             raise RuntimeError("Capability '{0}' not found.".format(capability))
         # If no preferred provider is given, use the default
         preferred_provider = preferred_provider or self.__default_providers[capability]
-        providers = dict([(n, p)
-                          for n, p in self.__spec_index.providers.items()
-                          if p.implements == capability])
+        providers = self.__get_providers_for_interface(capability, allow_semantic=True)
         if preferred_provider not in providers:
             raise RuntimeError(
                 "Capability Provider '{0}' not found for Capability '{1}'"
@@ -853,9 +864,7 @@ def _handle_get_providers(self, req):
         if req.interface:
             if req.interface not in self.__spec_index.interfaces.keys() + self.__spec_index.semantic_interfaces.keys():
                 raise RuntimeError("Capability Interface '{0}' not found.".format(req.interface))
-            providers = [n
-                         for n, p in self.__spec_index.providers.items()
-                         if p.implements == req.interface]
+            providers = self.__get_providers_for_interface(req.interface, allow_semantic=req.include_semantic).keys()
             default_provider = self.__default_providers[req.interface]
         else:
             providers = self.__spec_index.provider_names

srv/GetProviders.srv

@@ -1,4 +1,5 @@
 string interface
+bool include_semantic
 ---
 string[] providers
 string default_provider

test/rostest/test_server/test_dependent_capabilities.py

@@ -20,16 +20,15 @@ def test_start_stop_dependent_capabilities(self):
         call_service('/capability_server/start_capability',
                      'navigation_capability/Navigation',
                      'navigation_capability/faux_navigation')
-        rospy.sleep(6)  # Wait for the system to settle
-        resp = call_service('/capability_server/get_running_capabilities')
-        result = [x.capability.capability for x in resp.running_capabilities]
-        if not result:
-            # Retry, sometimes the system is really slow...
-            rospy.sleep(6)
-            resp = call_service('/capability_server/get_running_capabilities')
-            result = [x.capability.capability for x in resp.running_capabilities]
         expected = ['navigation_capability/Navigation',
                     'differential_mobile_base_capability/DifferentialMobileBase']
+        result = []
+        count = 0
+        while count != 10 and sorted(result) != sorted(expected):
+            rospy.sleep(1)
+            count += 1
+            resp = call_service('/capability_server/get_running_capabilities')
+            result = [x.capability.capability for x in resp.running_capabilities]
         assert sorted(result) == sorted(expected), (sorted(result), sorted(expected))
         call_service('/capability_server/start_capability',
                      'minimal_pkg/Minimal',

test/rostest/test_server/test_ros_services.py

@@ -53,11 +53,14 @@ def test_introspection_services(self):
         resp = call_service('/capability_server/get_interfaces')
         assert 'minimal_pkg/Minimal' in resp.interfaces, resp
         # get providers by interface
-        resp = call_service('/capability_server/get_providers', 'minimal_pkg/Minimal')
+        resp = call_service('/capability_server/get_providers', 'minimal_pkg/Minimal', False)
         assert 'minimal_pkg/minimal' in resp.providers, resp
-        assert resp.default_provider == 'minimal_pkg/minimal', resp
+        assert 'minimal_pkg/specific_minimal' not in resp.providers, resp
+        # get providers by interface, include semantic interfaces
+        resp = call_service('/capability_server/get_providers', 'minimal_pkg/Minimal', True)
+        assert 'minimal_pkg/specific_minimal' in resp.providers, resp
         # get all providers
-        resp = call_service('/capability_server/get_providers', '')
+        resp = call_service('/capability_server/get_providers', '', False)
         assert 'minimal_pkg/minimal' in resp.providers, resp
         assert resp.default_provider == '', resp
         # fail to get providers for non-existent interface

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/interfaces/Distance.yaml

@@ -0,0 +1,10 @@
+%YAML 1.1
+---
+name: Distance
+spec_version: 1
+spec_type: interface
+interface:
+    topics:
+        provides:
+            'distance':
+                type: 'std_msgs/Float32'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/interfaces/FrontDistance.yaml

@@ -0,0 +1,9 @@
+%YAML 1.1
+---
+name: FrontDistance
+spec_version: 1
+spec_type: semantic_interface
+redefines: 'robot_base_pkg/Distance'
+remappings:
+    topics:
+        'distance': 'front/distance'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/interfaces/RearDistance.yaml

@@ -0,0 +1,9 @@
+%YAML 1.1
+---
+name: RearDistance
+spec_version: 1
+spec_type: semantic_interface
+redefines: 'robot_base_pkg/Distance'
+remappings:
+    topics:
+        'distance': 'rear/distance'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/interfaces/RobotBase.yaml

@@ -0,0 +1,12 @@
+%YAML 1.1
+---
+name: RobotBase
+spec_version: 1
+spec_type: interface
+interface:
+    topics:
+        provides:
+            'robot/front/distance':
+                type: 'std_msgs/Float32'
+            'robot/rear/distance':
+                type: 'std_msgs/Float32'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/package.xml

@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<package>
+  <name>robot_base_pkg</name>
+  <version>0.1.0</version>
+  <description>desc</description>
+  <maintainer email="user@todo.todo">User Name</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <export>
+    <capability_interface>
+      interfaces/RobotBase.yaml
+    </capability_interface>
+    <capability_interface>
+      interfaces/Distance.yaml
+    </capability_interface>
+    <semantic_capability_interface>
+      interfaces/FrontDistance.yaml
+    </semantic_capability_interface>
+    <semantic_capability_interface>
+      interfaces/RearDistance.yaml
+    </semantic_capability_interface>
+    <capability_provider>
+      providers/robot_base.yaml
+    </capability_provider>
+    <capability_provider>
+      providers/distance_front.yaml
+    </capability_provider>
+    <capability_provider>
+      providers/distance_rear.yaml
+    </capability_provider>
+    <capability_provider>
+      providers/front_distance.yaml
+    </capability_provider>
+    <capability_provider>
+      providers/rear_distance.yaml
+    </capability_provider>
+
+  </export>
+</package>

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/providers/distance_front.yaml

@@ -0,0 +1,12 @@
+%YAML 1.1
+---
+name: distance_front
+spec_version: 1
+spec_type: provider
+implements: robot_base_pkg/Distance
+depends_on:
+    'robot_base_pkg/RobotBase':
+        provider: 'robot_base_pkg/robot_base'
+remappings:
+  topics:
+    'distance': 'robot/front/distance'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/providers/distance_rear.yaml

@@ -0,0 +1,12 @@
+%YAML 1.1
+---
+name: distance_rear
+spec_version: 1
+spec_type: provider
+implements: robot_base_pkg/Distance
+depends_on:
+    'robot_base_pkg/RobotBase':
+        provider: 'robot_base_pkg/robot_base'
+remappings:
+  topics:
+    'distance': 'robot/rear/distance'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/providers/front_distance.yaml

@@ -0,0 +1,12 @@
+%YAML 1.1
+---
+name: front_distance
+spec_version: 1
+spec_type: provider
+implements: robot_base_pkg/FrontDistance
+depends_on:
+    'robot_base_pkg/Distance':
+        provider: 'robot_base_pkg/distance_front'
+remappings:
+  topics:
+    'front/distance': 'robot/front/distance'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/providers/launch/robot_base.launch

@@ -0,0 +1,3 @@
+<launch>
+    <node name="robot_base" pkg="robot_base_pkg" type="robot_base.py" output="screen" />
+</launch>

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/providers/rear_distance.yaml

@@ -0,0 +1,12 @@
+%YAML 1.1
+---
+name: rear_distance
+spec_version: 1
+spec_type: provider
+implements: robot_base_pkg/RearDistance
+depends_on:
+    'robot_base_pkg/Distance':
+        provider: 'robot_base_pkg/distance_rear'
+remappings:
+  topics:
+    'rear/distance': 'robot/rear/distance'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/providers/robot_base.yaml

@@ -0,0 +1,7 @@
+%YAML 1.1
+---
+name: robot_base
+spec_version: 1
+spec_type: provider
+implements: robot_base_pkg/RobotBase
+launch_file: 'launch/robot_base.launch'

test/unit/discovery_workspaces/remapping_examples/robot_base_pkg/scripts/robot_base.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+import random
+import time
+
+import rospy
+
+from std_msgs.msg import Float32
+
+
+def main():
+    rospy.init_node('robot_base')
+    pub_front = rospy.Publisher('robot/front/distance', Float32)
+    pub_rear = rospy.Publisher('robot/rear/distance', Float32)
+    while not rospy.is_shutdown():
+        msg = Float32(random.choice([1, 2, 3, 4]))
+        rospy.loginfo("Sending distance: " + str(msg))
+        pub_front.publish(msg)
+        pub_rear.publish(msg)
+        time.sleep(1)
+
+if __name__ == '__main__':
+    main()