node_manager_fkie.start

67 ''' 68 This class contains the methods to run the nodes on local and remote machines 69 in a screen terminal. 70 '''

71 - def __init__(self):

72 pass

73 74 @classmethod

75 - def runNode(cls, node, launch_config, force2host=None, masteruri=None, auto_pw_request=False, user=None, pw=None, item=None):

76 ''' 77 Start the node with given name from the given configuration. 78 @param node: the name of the node (with name space) 79 @type node: C{str} 80 @param launch_config: the configuration containing the node 81 @type launch_config: L{LaunchConfig} 82 @param force2host: start the node on given host. 83 @type force2host: L{str} 84 @param masteruri: force the masteruri. 85 @type masteruri: L{str} 86 @param auto_pw_request: opens question dialog directly, use True only if the method is called from the main GUI thread 87 @type auto_pw_request: bool 88 @raise StartException: if the screen is not available on host. 89 @raise Exception: on errors while resolving host 90 @see: L{node_manager_fkie.is_local()} 91 ''' 92 #'print "RUN node", node, time.time() 93 n = launch_config.getNode(node) 94 if n is None: 95 raise StartException(''.join(["Node '", node, "' not found!"])) 96 97 env = list(n.env_args) 98 if n.respawn: 99 # set the respawn environment variables 100 respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), launch_config.Roscfg.params) 101 if respawn_params['max'] > 0: 102 env.append(('RESPAWN_MAX', '%d'%respawn_params['max'])) 103 if respawn_params['min_runtime'] > 0: 104 env.append(('RESPAWN_MIN_RUNTIME', '%d'%respawn_params['min_runtime'])) 105 if respawn_params['delay'] > 0: 106 env.append(('RESPAWN_DELAY', '%d'%respawn_params['delay'])) 107 prefix = n.launch_prefix if not n.launch_prefix is None else '' 108 if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1: 109 rospy.loginfo("SCREEN prefix removed before start!") 110 prefix = '' 111 args = [''.join(['__ns:=', n.namespace.rstrip(rospy.names.SEP)]), ''.join(['__name:=', n.name])] 112 if not (n.cwd is None): 113 args.append(''.join(['__cwd:=', n.cwd])) 114 115 # add remaps 116 for remap in n.remap_args: 117 args.append(''.join([remap[0], ':=', remap[1]])) 118 119 # get host of the node 120 host = launch_config.hostname 121 env_loader = '' 122 if n.machine_name: 123 machine = launch_config.Roscfg.machines[n.machine_name] 124 if not machine.address in ['localhost', '127.0.0.1']: 125 host = machine.address 126 if masteruri is None: 127 masteruri = nm.nameres().masteruri(n.machine_name) 128 #TODO: env-loader support? 129 # if hasattr(machine, "env_loader") and machine.env_loader: 130 # env_loader = machine.env_loader 131 # set the host to the given host 132 if not force2host is None: 133 host = force2host 134 135 # set the ROS_MASTER_URI 136 if masteruri is None: 137 masteruri = masteruri_from_ros() 138 env.append(('ROS_MASTER_URI', masteruri)) 139 140 abs_paths = list() # tuples of (parameter name, old value, new value) 141 not_found_packages = list() # package names 142 # set the global parameter 143 if not masteruri is None and not masteruri in launch_config.global_param_done: 144 global_node_names = cls.getGlobalParams(launch_config.Roscfg) 145 rospy.loginfo("Register global parameter:\n %s", '\n '.join("%s%s"%(str(v)[:80],'...' if len(str(v))>80 else'') for v in global_node_names.values())) 146 abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(masteruri, global_node_names, [], user, pw, auto_pw_request) 147 launch_config.global_param_done.append(masteruri) 148 149 # add params 150 if not masteruri is None: 151 nodens = ''.join([n.namespace, n.name, rospy.names.SEP]) 152 params = dict() 153 for param, value in launch_config.Roscfg.params.items(): 154 if param.startswith(nodens): 155 params[param] = value 156 clear_params = [] 157 for cparam in launch_config.Roscfg.clear_params: 158 if cparam.startswith(nodens): 159 clear_params.append(cparam) 160 rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params)) 161 rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s"%(str(v)[:80],'...' if len(str(v))>80 else'') for v in params.values())) 162 abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(masteruri, params, clear_params, user, pw, auto_pw_request) 163 #'print "RUN prepared", node, time.time() 164 165 if nm.is_local(host): 166 nm.screen().testScreen() 167 if item: 168 cmd_type = item 169 else: 170 try: 171 cmd = roslib.packages.find_node(n.package, n.type) 172 except (Exception, roslib.packages.ROSPkgException) as e: 173 # multiple nodes, invalid package 174 raise StartException(''.join(["Can't find resource: ", str(e)])) 175 # handle diferent result types str or array of string 176 if isinstance(cmd, types.StringTypes): 177 cmd = [cmd] 178 cmd_type = '' 179 if cmd is None or len(cmd) == 0: 180 raise StartException(' '.join([n.type, 'in package [', n.package, '] not found!\n\nThe package was created?\nIs the binary executable?\n'])) 181 if len(cmd) > 1: 182 if auto_pw_request: 183 # Open selection for executables, only if the method is called from the main GUI thread 184 try: 185 from python_qt_binding import QtGui 186 item, result = QtGui.QInputDialog.getItem(None, ' '.join(['Multiple executables', n.type, 'in', n.package]), 187 'Select an executable', 188 cmd, 0, False) 189 if result: 190 #open the selected screen 191 cmd_type = item 192 else: 193 return 194 except: 195 raise StartException('Multiple executables with same name in package found!') 196 else: 197 err = BinarySelectionRequest(cmd, 'Multiple executables') 198 raise nm.InteractionNeededError(err, 199 cls.runNode, (node, launch_config, force2host, masteruri, auto_pw_request, user, pw)) 200 else: 201 cmd_type = cmd[0] 202 # determine the current working path, Default: the package of the node 203 cwd = get_ros_home() 204 if not (n.cwd is None): 205 if n.cwd == 'ROS_HOME': 206 cwd = get_ros_home() 207 elif n.cwd == 'node': 208 cwd = os.path.dirname(cmd_type) 209 cls._prepareROSMaster(masteruri) 210 node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type] 211 cmd_args = [nm.screen().getSceenCmd(node)] 212 cmd_args[len(cmd_args):] = node_cmd 213 cmd_args.append(str(n.args)) 214 cmd_args[len(cmd_args):] = args 215 rospy.loginfo("RUN: %s", ' '.join(cmd_args)) 216 new_env = dict(os.environ) 217 new_env['ROS_MASTER_URI'] = masteruri 218 # add the namespace environment parameter to handle some cases, e.g. rqt_cpp plugins 219 if n.namespace: 220 new_env['ROS_NAMESPACE'] = n.namespace 221 for k, v in env: 222 new_env[k] = v 223 SupervisedPopen(shlex.split(str(' '.join(cmd_args))), cwd=cwd, env=new_env, id="Run node", description="Run node [%s]%s"%(str(n.package), str(n.type))) 224 else: 225 #'print "RUN REMOTE", node, time.time() 226 # start remote 227 if launch_config.PackageName is None: 228 raise StartException(''.join(["Can't run remote without a valid package name!"])) 229 # thus the prefix parameters while the transfer are not separated 230 if prefix: 231 prefix = ''.join(['"', prefix, '"']) 232 # setup environment 233 env_command = '' 234 if env_loader: 235 rospy.logwarn("env_loader in machine tag currently not supported") 236 raise StartException("env_loader in machine tag currently not supported") 237 if env: 238 new_env = dict() 239 try: 240 for (k, v) in env: 241 v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, user, pw, auto_pw_request) 242 new_env[k] = v_value 243 if is_abs_path: 244 abs_paths.append(('ENV', "%s=%s"%(k,v), "%s=%s"%(k,v_value))) 245 if not found and package: 246 not_found_packages.append(package) 247 env_command = "env "+' '.join(["%s=%s"%(k,v) for (k, v) in new_env.items()]) 248 except nm.AuthenticationRequest as e: 249 raise nm.InteractionNeededError(e, cls.runNode, (node, launch_config, force2host, masteruri, auto_pw_request)) 250 251 startcmd = [env_command, nm.settings().start_remote_script, 252 '--package', str(n.package), 253 '--node_type', str(n.type), 254 '--node_name', str(node), 255 '--node_respawn true' if n.respawn else ''] 256 if not masteruri is None: 257 startcmd.append('--masteruri') 258 startcmd.append(masteruri) 259 if prefix: 260 startcmd[len(startcmd):] = ['--prefix', prefix] 261 262 #rename the absolute paths in the args of the node 263 node_args = [] 264 try: 265 for a in n.args.split(): 266 a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, user, pw, auto_pw_request) 267 node_args.append(a_value) 268 if is_abs_path: 269 abs_paths.append(('ARGS', a, a_value)) 270 if not found and package: 271 not_found_packages.append(package) 272 273 startcmd[len(startcmd):] = node_args 274 startcmd[len(startcmd):] = args 275 rospy.loginfo("Run remote on %s: %s", host, str(' '.join(startcmd))) 276 #'print "RUN CALL", node, time.time() 277 _, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, user, pw, auto_pw_request, close_stdin=True) 278 output = stdout.read() 279 error = stderr.read() 280 stdout.close() 281 stderr.close() 282 #'print "RUN CALLOK", node, time.time() 283 except nm.AuthenticationRequest as e: 284 raise nm.InteractionNeededError(e, cls.runNode, (node, launch_config, force2host, masteruri, auto_pw_request)) 285 286 if ok: 287 if error: 288 rospy.logwarn("ERROR while start '%s': %s", node, error) 289 raise StartException(str(''.join(['The host "', host, '" reports:\n', error]))) 290 if output: 291 rospy.loginfo("STDOUT while start '%s': %s", node, output) 292 # inform about absolute paths in parameter value 293 if len(abs_paths) > 0: 294 rospy.loginfo("Absolute paths found while start:\n%s", str('\n'.join([''.join([p, '\n OLD: ', ov, '\n NEW: ', nv]) for p, ov, nv in abs_paths]))) 295 296 if len(not_found_packages) > 0: 297 packages = '\n'.join(not_found_packages) 298 raise StartException(str('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))

299 # if len(abs_paths) > 0: 300 # parameters = '\n'.join(abs_paths) 301 # raise nm.StartException(str('\n'.join(['Following parameter seems to use an absolute local path for remote host:', parameters, 'Use "cwd" attribute of the "node" tag to specify relative paths for remote usage!']))) 302 #'print "RUN OK", node, time.time() 303 304 305 @classmethod

306 - def _get_respawn_params(cls, node, params):

307 result = { 'max' : 0, 'min_runtime' : 0, 'delay': 0 } 308 respawn_max = rospy.names.ns_join(node, 'respawn/max') 309 respawn_min_runtime = rospy.names.ns_join(node, 'respawn/min_runtime') 310 respawn_delay = rospy.names.ns_join(node, 'respawn/delay') 311 try: 312 result['max'] = int(params[respawn_max].value) 313 except: 314 pass 315 try: 316 result['min_runtime'] = int(params[respawn_min_runtime].value) 317 except: 318 pass 319 try: 320 result['delay'] = int(params[respawn_delay].value) 321 except: 322 pass 323 return result

324 325 @classmethod

326 - def _load_parameters(cls, masteruri, params, clear_params, user, pw, auto_pw_request):

327 """ 328 Load parameters onto the parameter server 329 """ 330 import roslaunch 331 import roslaunch.launch 332 param_server = xmlrpclib.ServerProxy(masteruri) 333 p = None 334 abs_paths = list() # tuples of (parameter name, old value, new value) 335 not_found_packages = list() # packages names 336 try: 337 socket.setdefaulttimeout(6+len(clear_params)) 338 # multi-call style xmlrpc 339 param_server_multi = xmlrpclib.MultiCall(param_server) 340 341 # clear specified parameter namespaces 342 # #2468 unify clear params to prevent error 343 for p in clear_params: 344 param_server_multi.deleteParam(rospy.get_name(), p) 345 r = param_server_multi() 346 for code, msg, _ in r: 347 if code != 1 and not msg.find("is not set"): 348 rospy.logwarn("Failed to clear parameter: %s", msg) 349 # raise StartException("Failed to clear parameter: %s"%(msg)) 350 351 # multi-call objects are not reusable 352 socket.setdefaulttimeout(6+len(params)) 353 param_server_multi = xmlrpclib.MultiCall(param_server) 354 for p in params.itervalues(): 355 # suppressing this as it causes too much spam 356 value, is_abs_path, found, package = cls._resolve_abs_paths(p.value, nm.nameres().address(masteruri), user, pw, auto_pw_request) 357 if is_abs_path: 358 abs_paths.append((p.key, p.value, value)) 359 if not found and package: 360 not_found_packages.append(package) 361 if p.value is None: 362 rospy.logwarn("The parameter '%s' is invalid: '%s'"%(p.key, p.value)) 363 #raise StartException("The parameter '%s' is invalid: '%s'"%(p.key, p.value)) 364 else: 365 param_server_multi.setParam(rospy.get_name(), p.key, value if is_abs_path else p.value) 366 r = param_server_multi() 367 for code, msg, _ in r: 368 if code != 1: 369 raise StartException("Failed to set parameter: %s"%(msg)) 370 except roslaunch.core.RLException, e: 371 raise StartException(e) 372 except Exception as e: 373 raise #re-raise as this is fatal 374 finally: 375 socket.setdefaulttimeout(None) 376 return abs_paths, not_found_packages

377 378 @classmethod

379 - def _resolve_abs_paths(cls, value, host, user, pw, auto_pw_request):

380 ''' 381 Replaces the local absolute path by remote absolute path. Only valid ROS 382 package paths are resolved. 383 @return: value, is absolute path, remote package found (ignore it on local host or if is not absolute path!), package name (if absolute path and remote package NOT found) 384 ''' 385 if isinstance(value, types.StringTypes) and value.startswith('/') and (os.path.isfile(value) or os.path.isdir(value)): 386 if nm.is_local(host): 387 return value, True, True, '' 388 else: 389 # print "ABS PATH:", value, os.path.dirname(value), host 390 path = os.path.dirname(value) if os.path.isfile(value) else value 391 package, package_path = package_name(path) 392 if package: 393 _, stdout, _, ok = nm.ssh().ssh_exec(host, ['rospack', 'find', package], user, pw, auto_pw_request, close_stdin=True, close_stderr=True) 394 output = stdout.read() 395 stdout.close() 396 if ok: 397 if output: 398 # print " RESOLVED:", output 399 # print " PACK_PATH:", package_path 400 value.replace(package_path, output) 401 # print " RENAMED:", value.replace(package_path, output.strip()) 402 return value.replace(package_path, output.strip()), True, True, package 403 else: 404 # package on remote host not found! 405 # TODO add error message 406 # error = stderr.read() 407 pass 408 return value, True, False, '' 409 else: 410 return value, False, False, ''

411 412 @classmethod

413 - def runNodeWithoutConfig(cls, host, package, binary, name, args=[], masteruri=None, auto_pw_request=False, user=None, pw=None):

414 ''' 415 Start a node with using a launch configuration. 416 @param host: the host or ip to run the node 417 @type host: C{str} 418 @param package: the ROS package containing the binary 419 @type package: C{str} 420 @param binary: the binary of the node to execute 421 @type binary: C{str} 422 @param name: the ROS name of the node (with name space) 423 @type name: C{str} 424 @param args: the list with arguments passed to the binary 425 @type args: C{[str, ...]} 426 @param auto_pw_request: opens question dialog directly, use True only if the method is called from the main GUI thread 427 @type auto_pw_request: bool 428 @raise Exception: on errors while resolving host 429 @see: L{node_manager_fkie.is_local()} 430 ''' 431 # create the name with namespace 432 args2 = list(args) 433 fullname = roslib.names.ns_join(roslib.names.SEP, name) 434 namespace = '' 435 for a in args: 436 if a.startswith('__ns:='): 437 namespace = a.replace('__ns:=', '') 438 fullname = roslib.names.ns_join(namespace, name) 439 args2.append(''.join(['__name:=', name])) 440 # run on local host 441 if nm.is_local(host): 442 try: 443 cmd = roslib.packages.find_node(package, binary) 444 except roslib.packages.ROSPkgException as e: 445 # multiple nodes, invalid package 446 raise StartException(str(e)) 447 # handle different result types str or array of string 448 # import types 449 if isinstance(cmd, types.StringTypes): 450 cmd = [cmd] 451 cmd_type = '' 452 if cmd is None or len(cmd) == 0: 453 raise StartException(' '.join([binary, 'in package [', package, '] not found!'])) 454 if len(cmd) > 1: 455 # Open selection for executables 456 # try: 457 # from python_qt_binding import QtGui 458 # item, result = QtGui.QInputDialog.getItem(None, ' '.join(['Multiple executables', type, 'in', package]), 459 # 'Select an executable', 460 # cmd, 0, False) 461 # if result: 462 # #open the selected screen 463 # cmd_type = item 464 # else: 465 # return 466 # except: 467 err = [''.join(['Multiple executables with same name in package [', package, '] found:'])] 468 err.extend(cmd) 469 raise StartException('\n'.join(err)) 470 else: 471 cmd_type = cmd[0] 472 cmd_str = str(' '.join([nm.screen().getSceenCmd(fullname), cmd_type, ' '.join(args2)])) 473 rospy.loginfo("Run without config: %s", cmd_str) 474 ps = None 475 new_env=dict(os.environ) 476 if namespace: 477 new_env['ROS_NAMESPACE'] = namespace 478 if not masteruri is None: 479 cls._prepareROSMaster(masteruri) 480 new_env['ROS_MASTER_URI'] = masteruri 481 SupervisedPopen(shlex.split(cmd_str), env=new_env, id="Run without config", description="Run without config [%s]%s"%(str(package), str(binary))) 482 else: 483 # run on a remote machine 484 startcmd = [nm.settings().start_remote_script, 485 '--package', str(package), 486 '--node_type', str(binary), 487 '--node_name', str(fullname)] 488 startcmd[len(startcmd):] = args2 489 if not masteruri is None: 490 startcmd.append('--masteruri') 491 startcmd.append(masteruri) 492 rospy.loginfo("Run remote on %s: %s", host, ' '.join(startcmd)) 493 try: 494 _, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, user, pw, auto_pw_request, close_stdin=True) 495 if ok: 496 output = stdout.read() 497 error = stderr.read() 498 stdout.close() 499 stderr.close() 500 if error: 501 rospy.logwarn("ERROR while start '%s': %s", name, error) 502 raise StartException(''.join(['The host "', host, '" reports:\n', error])) 503 # from python_qt_binding import QtGui 504 # QtGui.QMessageBox.warning(None, 'Error while remote start %s'%str(name), 505 # str(''.join(['The host "', host, '" reports:\n', error])), 506 # QtGui.QMessageBox.Ok) 507 if output: 508 rospy.logdebug("STDOUT while start '%s': %s", name, output) 509 else: 510 if error: 511 rospy.logwarn("ERROR while start '%s': %s", name, error) 512 raise StartException(''.join(['The host "', host, '" reports:\n', error])) 513 except nm.AuthenticationRequest as e: 514 raise nm.InteractionNeededError(e, cls.runNodeWithoutConfig, (host, package, binary, name, args, masteruri, auto_pw_request))

515 516 @classmethod

517 - def _prepareROSMaster(cls, masteruri):

518 if not masteruri: 519 masteruri = roslib.rosenv.get_master_uri() 520 #start roscore, if needed 521 try: 522 if not os.path.isdir(nm.ScreenHandler.LOG_PATH): 523 os.makedirs(nm.ScreenHandler.LOG_PATH) 524 socket.setdefaulttimeout(3) 525 master = xmlrpclib.ServerProxy(masteruri) 526 master.getUri(rospy.get_name()) 527 except: 528 # socket.setdefaulttimeout(None) 529 # import traceback 530 # print traceback.format_exc(1) 531 # run a roscore 532 from urlparse import urlparse 533 master_host = urlparse(masteruri).hostname 534 if nm.is_local(master_host, True): 535 print "Start ROS-Master with", masteruri, "..." 536 master_port = urlparse(masteruri).port 537 new_env = dict(os.environ) 538 new_env['ROS_MASTER_URI'] = masteruri 539 cmd_args = '%s roscore --port %d'%(nm.ScreenHandler.getSceenCmd('/roscore--%d'%master_port), master_port) 540 print " %s"%cmd_args 541 try: 542 SupervisedPopen(shlex.split(cmd_args), env=new_env, id="ROSCORE", description="Start roscore") 543 # wait for roscore to avoid connection problems while init_node 544 result = -1 545 count = 1 546 while result == -1 and count < 11: 547 try: 548 print " retry connect to ROS master", count, '/', 10 549 master = xmlrpclib.ServerProxy(masteruri) 550 result, _, _ = master.getUri(rospy.get_name())#_:=uri, msg 551 except: 552 time.sleep(1) 553 count += 1 554 if count >= 11: 555 raise StartException('Cannot connect to the ROS-Master: '+ str(masteruri)) 556 except Exception as e: 557 import sys 558 print >> sys.stderr, e 559 raise 560 else: 561 raise Exception("ROS master '%s' is not reachable"%masteruri) 562 finally: 563 socket.setdefaulttimeout(None)

564

565 - def callService(self, service_uri, service, service_type, service_args=[]):

566 ''' 567 Calls the service and return the response. 568 To call the service the ServiceProxy can't be used, because it uses 569 environment variables to determine the URI of the running service. In our 570 case this service can be running using another ROS master. The changes on the 571 environment variables is not thread safe. 572 So the source code of the rospy.SerivceProxy (tcpros_service.py) was modified. 573 574 @param service_uri: the URI of the service 575 @type service_uri: C{str} 576 @param service: full service name (with name space) 577 @type service: C{str} 578 @param service_type: service class 579 @type service_type: ServiceDefinition: service class 580 @param args: arguments 581 @return: the tuple of request and response. 582 @rtype: C{(request object, response object)} 583 @raise StartException: on error 584 585 @see: L{rospy.SerivceProxy} 586 587 ''' 588 service = str(service) 589 rospy.loginfo("Call service %s[%s]: %s, %s", str(service), str(service_uri), str(service_type), str(service_args)) 590 from rospy.core import parse_rosrpc_uri, is_shutdown 591 # from rospy.msg import args_kwds_to_message 592 from rospy.exceptions import TransportInitError, TransportException 593 from rospy.impl.tcpros_base import TCPROSTransport, DEFAULT_BUFF_SIZE#,TCPROSTransportProtocol 594 from rospy.impl.tcpros_service import TCPROSServiceClient 595 from rospy.service import ServiceException 596 request = service_type._request_class() 597 import genpy 598 try: 599 now = rospy.get_rostime() 600 import std_msgs.msg 601 keys = { 'now': now, 'auto': std_msgs.msg.Header(stamp=now) } 602 genpy.message.fill_message_args(request, service_args, keys) 603 except genpy.MessageException as e: 604 def argsummary(args): 605 if type(args) in [tuple, list]: 606 return '\n'.join([' * %s (type %s)'%(a, type(a).__name__) for a in args]) 607 else: 608 return ' * %s (type %s)'%(args, type(args).__name__)

609 raise StartException("Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"%(e, argsummary(service_args), genpy.message.get_printable_message_args(request))) 610 611 # request = args_kwds_to_message(type._request_class, args, kwds) 612 protocol = TCPROSServiceClient(service, service_type, headers={}) 613 transport = TCPROSTransport(protocol, service) 614 # initialize transport 615 dest_addr, dest_port = parse_rosrpc_uri(service_uri) 616 # connect to service 617 transport.buff_size = DEFAULT_BUFF_SIZE 618 try: 619 transport.connect(dest_addr, dest_port, service_uri, timeout=5) 620 except TransportInitError as e: 621 # can be a connection or md5sum mismatch 622 raise StartException(''.join(["unable to connect to service: ", str(e)])) 623 transport.send_message(request, 0) 624 try: 625 responses = transport.receive_once() 626 if len(responses) == 0: 627 raise StartException("service [%s] returned no response"%service) 628 elif len(responses) > 1: 629 raise StartException("service [%s] returned multiple responses: %s"%(service, len(responses))) 630 except TransportException as e: 631 # convert lower-level exception to exposed type 632 if is_shutdown(): 633 raise StartException("node shutdown interrupted service call") 634 else: 635 raise StartException("transport error completing service call: %s"%(str(e))) 636 except ServiceException, e: 637 raise StartException("Service error: %s"%(str(e))) 638 finally: 639 transport.close() 640 transport = None 641 return request, responses[0] if len(responses) > 0 else None

Source Code for Module node_manager_fkie.start_handler