00001
00002
00003 import roslib; roslib.load_manifest('multi_interface_roam')
00004 from state_publisher import StatePublisher, CompositeStatePublisher
00005 from event import Event
00006 import network_monitor_udp.udpmoncli as udpmoncli
00007 from netlink_monitor import IFSTATE, netlink_monitor
00008 from twisted.internet import reactor
00009 import config
00010 import time
00011
00012 class PingTester:
00013 def __init__(self, iface, rate, pingtarget, state_pub):
00014 self.update_event = Event()
00015 reactor.addSystemEventTrigger('before', 'shutdown', self._shutdown)
00016 self.udp_monitor = udpmoncli.MonitorClient([config.get_parameter('ping_max_latency', 0.2)], pingtarget, rate, 32, True)
00017 CompositeStatePublisher(lambda (addr, ready): None if not ready else addr, [
00018 netlink_monitor.get_state_publisher(iface, IFSTATE.ADDR),
00019 state_pub,
00020 ]).subscribe(self._addr_cb)
00021
00022 def update(self, update_rate):
00023 result = self.udp_monitor.get_smart_bins(update_rate)
00024 self.update_event.trigger(result)
00025 self.state = result
00026 return result
00027
00028 def _addr_cb(self, old_state, new_state):
00029 if new_state:
00030
00031
00032 self.udp_monitor.start_monitor((new_state[0], 0))
00033 print "Starting monitor on %s"%new_state[0]
00034 else:
00035 self.udp_monitor.stop_monitor()
00036 self.state = None
00037 self.update_event.trigger(None)
00038
00039 def _shutdown(self):
00040 try:
00041 self.udp_monitor.shutdown()
00042 except:
00043 import sys
00044 sys.print_exc()
00045
00046 class PingMonitor:
00047 def __init__(self, iface):
00048 self.iface = iface
00049 self.ping_timeout = config.get_parameter('ping_timeout', 4)
00050 self.is_verified = StatePublisher(False)
00051 self.has_address = False
00052 iface.ping_tester.update_event.subscribe_repeating(self._update)
00053 netlink_monitor.get_state_publisher(iface.iface, IFSTATE.ADDR).subscribe(self._has_address_cb, iface)
00054
00055 def _update(self, status):
00056
00057 if status:
00058 (bins, latency1, latency2) = status
00059
00060 if status and bins[0]:
00061 self.restart_time = time.time() + self.ping_timeout
00062 self.is_verified.set(True)
00063 elif self.has_address and self.restart_time < time.time():
00064 if not config.get_parameter('disable_ping_timeout'):
00065 print "PingMonitor restarting", self.iface.iface
00066 self.has_address = False
00067 self.iface.interface_upper.restart()
00068 else:
00069 print "PingMonitor restart was disabled by disable_ping_timeout", self.iface.iface
00070 self._set_timeout()
00071
00072 def _has_address_cb(self, iface, old_state, new_state):
00073 self.is_verified.set(False)
00074 self.has_address = bool(new_state)
00075 if new_state:
00076 self._set_timeout()
00077 else:
00078 self.restart_time = 1e1000
00079
00080 def _set_timeout(self):
00081 self.restart_time = time.time() + self.ping_timeout
