multi_interface_roam: roam_node2.py Source File

00001 #! /usr/bin/env python
00002 
00003 import roslib; roslib.load_manifest('multi_interface_roam')
00004 import rospy
00005 import config
00006 import dynamic_reconfigure.server
00007 import twisted.internet.reactor as reactor
00008 from multi_interface_roam.cfg import MultiInterfaceRoamConfig
00009 import mac_addr
00010 import interface_selector
00011 import sys
00012 from std_msgs.msg import Int32
00013 import sigblock
00014 import signal
00015 
00016 # FIXME May want to kill this at some point
00017 import asmach as smach
00018 smach.logdebug = lambda x: None
00019 
00020 class Node:
00021     def __init__(self, *args, **kwargs):
00022         sigblock.save_mask()
00023         sigblock.block_signal(signal.SIGCHLD)
00024         rospy.init_node(*args, **kwargs)
00025         sigblock.restore_mask()
00026         rospy.core.add_shutdown_hook(self._shutdown_by_ros)
00027         reactor.addSystemEventTrigger('after', 'shutdown', self._shutdown_by_reactor)
00028 
00029     def _shutdown_by_reactor(self):
00030         rospy.signal_shutdown("Reactor shutting down.")
00031 
00032     def _shutdown_by_ros(self, why):
00033         reactor.fireSystemEvent('shutdown')
00034 
00035 class RoamNode:
00036     def __init__(self):
00037         Node("multi_interface_roam")
00038         self.interface_selector = interface_selector.InterfaceSelector()
00039         self.reconfig_server = dynamic_reconfigure.server.Server(MultiInterfaceRoamConfig, self.reconfigure)
00040         self.iface_id_pub = rospy.Publisher('/current_iface_id', Int32, latch = True)
00041         self.interface_selector.update_event.subscribe_repeating(self._publish_status)
00042         self._publish_mapping_list = self.interface_selector.interfaces.values()
00043 
00044     def _publish_status(self):
00045         ai = self.interface_selector.active_interfaces
00046         if not ai or ai[0] not in self._publish_mapping_list:
00047             index = -1
00048         else:
00049             index = self._publish_mapping_list.index(ai[0])
00050         self.iface_id_pub.publish(index)
00051 
00052     def reconfigure(self, config, level):
00053         if config['interface'] not in self.interface_selector.interfaces:
00054             config['interface'] = ''
00055         interface = config['interface']
00056         ssid = config['ssid'] = config['ssid'][0:32]
00057         bssid = ""
00058         if not mac_addr.is_str(config['bssid']):
00059             config['bssid'] = ""
00060         else:
00061             bssid = mac_addr.str_to_packed(config['bssid'])
00062         use_tunnel = config['use_tunnel']
00063 
00064         self.interface_selector.set_mode(ssid, bssid, interface, use_tunnel, config['band'])
00065 
00066         return config
00067 
00068 if __name__ == "__main__":
00069     def start():
00070         try:
00071             RoamNode()
00072         except:
00073             import traceback
00074             traceback.print_exc()
00075             print >> sys.stderr, "\nCaught exception during startup. Shutting down."
00076             reactor.fireSystemEvent('shutdown')
00077     reactor.addSystemEventTrigger('before', 'startup', start)
00078     reactor.run()