show connection info on rosnode info

ros · Aug 28, 2018 · db2f425 · db2f425
1 parent da486b3
commit db2f425
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/clients/rospy/src/rospy/impl/tcpros_base.py b/clients/rospy/src/rospy/impl/tcpros_base.py
@@ -473,6 +473,7 @@ def get_transport_info(self):
         Similar to getTransportInfo() in 'libros/transport/transport_tcp.cpp'
         e.g. TCPROS connection on port 41374 to [127.0.0.1:40623 on socket 6]
         """
+        # Pattern matching this output in tools/rosnode/src/rosnode/__init__.py CONNECTION_PATTERN
         return "%s connection on port %s to [%s:%s on socket %s]" % (self.transport_type, self.local_endpoint[1], self.remote_endpoint[0], self.remote_endpoint[1], self._fileno)
 
     def fileno(self):

diff --git a/tools/rosnode/src/rosnode/__init__.py b/tools/rosnode/src/rosnode/__init__.py
@@ -45,6 +45,7 @@
 import sys
 import socket
 import time
+import re
 try:
     from xmlrpc.client import ServerProxy
 except ImportError:
@@ -62,6 +63,8 @@
 
 NAME='rosnode'
 ID = '/rosnode'
+# The string is defined in clients/rospy/src/rospy/impl/tcpros_base.py TCPROSTransport.get_transport_info
+CONNECTION_PATTERN = re.compile(r'\w+ connection on port (\d+) to \[(.*) on socket (\d+)\]')
 
 class ROSNodeException(Exception):
     """
@@ -543,11 +546,16 @@ def get_node_connection_info_description(node_api, master):
                     # older ros publisher implementations don't report a URI
                     buff += "    * to: %s\n"%lookup_uri(master, system_state, topic, dest_id)
                     if direction == 'i':
-                        buff += "    * direction: inbound\n"
+                        buff += "    * direction: inbound"
                     elif direction == 'o':
-                        buff += "    * direction: outbound\n"
+                        buff += "    * direction: outbound"
                     else:
-                        buff += "    * direction: unknown\n"
+                        buff += "    * direction: unknown"
+                    if len(info) > 6:
+                        match = CONNECTION_PATTERN.match(info[6])
+                        if match is not None:
+                            buff += " (%s - %s) [%s]" % match.groups()
+                    buff += "\n"
                     buff += "    * transport: %s\n"%transport
     except socket.error:
         raise ROSNodeIOException("Communication with node[%s] failed!"%(node_api))