00001 #!/usr/bin/env python 00002 # 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2008, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of the Willow Garage nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 00035 ##\author Kevin Watts 00036 ##\brief Wraps any executable into prestartup script 00037 00038 PKG = 'qualification' 00039 import roslib; roslib.load_manifest(PKG) 00040 00041 import rospy 00042 import subprocess 00043 00044 from pr2_self_test_msgs.srv import ScriptDone, ScriptDoneRequest 00045 00046 import sys 00047 00048 finish = rospy.ServiceProxy('prestartup_done', ScriptDone) 00049 00050 if __name__ == '__main__': 00051 rospy.init_node('prestartup_script_caller') 00052 args = rospy.myargv() 00053 00054 if len(args) < 3: 00055 print 'Usage: ./prestartup_caller.py <pkg> <program> <args>' 00056 rospy.wait_for_service('prestartup_done', 10) 00057 finish.call(1, 'Usage: ./prestartup_caller.py <program> <args>') 00058 sys.exit(2) 00059 00060 cmd = "rosrun %s %s " % (args[1], args[2]) 00061 if len(args) > 3: 00062 cmd += " ".join(args[3:]) 00063 00064 p = subprocess.Popen(cmd, stdout=subprocess.PIPE, 00065 stderr=subprocess.PIPE, shell=True) 00066 stdout, stderr = p.communicate() 00067 retcode = p.returncode 00068 00069 rospy.wait_for_service('prestartup_done', 10) 00070 r = ScriptDoneRequest() 00071 r.result = 1 00072 r.failure_msg = 'CMD: %s\nReturned: %d\n%s\n%s' % (cmd, retcode, stdout, stderr) 00073 if retcode == 0: 00074 r.result = 0 00075 r.failure_msg = 'CMD: %s' % cmd 00076 finish.call(r) 00077 else: 00078 finish.call(r) 00079