rosbridge_websocket.py

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#!/usr/bin/env python
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from __future__ import print_function
import rospy
import sys

from socket import error

from tornado.ioloop import IOLoop
from tornado.ioloop import PeriodicCallback
from tornado.web import Application

from rosbridge_server import RosbridgeWebSocket

from rosbridge_library.capabilities.advertise import Advertise
from rosbridge_library.capabilities.publish import Publish
from rosbridge_library.capabilities.subscribe import Subscribe
from rosbridge_library.capabilities.advertise_service import AdvertiseService
from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
from rosbridge_library.capabilities.call_service import CallService

def shutdown_hook():
    IOLoop.instance().stop()

if __name__ == "__main__":
    rospy.init_node("rosbridge_websocket")
    rospy.on_shutdown(shutdown_hook)    # register shutdown hook to stop the server

    ##################################################
    # Parameter handling                             #
    ##################################################
    retry_startup_delay = rospy.get_param('~retry_startup_delay', 2.0)  # seconds

    # get RosbridgeProtocol parameters
    RosbridgeWebSocket.fragment_timeout = rospy.get_param('~fragment_timeout',
                                                          RosbridgeWebSocket.fragment_timeout)
    RosbridgeWebSocket.delay_between_messages = rospy.get_param('~delay_between_messages',
                                                                RosbridgeWebSocket.delay_between_messages)
    RosbridgeWebSocket.max_message_size = rospy.get_param('~max_message_size',
                                                          RosbridgeWebSocket.max_message_size)
    bson_only_mode = rospy.get_param('~bson_only_mode', False)

    if RosbridgeWebSocket.max_message_size == "None":
        RosbridgeWebSocket.max_message_size = None

    # SSL options
    certfile = rospy.get_param('~certfile', None)
    keyfile = rospy.get_param('~keyfile', None)
    # if authentication should be used
    RosbridgeWebSocket.authenticate = rospy.get_param('~authenticate', False)
    port = rospy.get_param('~port', 9090)
    address = rospy.get_param('~address', "")

    # Get the glob strings and parse them as arrays.
    RosbridgeWebSocket.topics_glob = [
        element.strip().strip("'")
        for element in rospy.get_param('~topics_glob', '')[1:-1].split(',')
        if len(element.strip().strip("'")) > 0]
    RosbridgeWebSocket.services_glob = [
        element.strip().strip("'")
        for element in rospy.get_param('~services_glob', '')[1:-1].split(',')
        if len(element.strip().strip("'")) > 0]
    RosbridgeWebSocket.params_glob = [
        element.strip().strip("'")
        for element in rospy.get_param('~params_glob', '')[1:-1].split(',')
        if len(element.strip().strip("'")) > 0]

    if "--port" in sys.argv:
        idx = sys.argv.index("--port")+1
        if idx < len(sys.argv):
            port = int(sys.argv[idx])
        else:
            print("--port argument provided without a value.")
            sys.exit(-1)

    if "--address" in sys.argv:
        idx = sys.argv.index("--address")+1
        if idx < len(sys.argv):
            address = int(sys.argv[idx])
        else:
            print("--address argument provided without a value.")
            sys.exit(-1)

    if "--retry_startup_delay" in sys.argv:
        idx = sys.argv.index("--retry_startup_delay") + 1
        if idx < len(sys.argv):
            retry_startup_delay = int(sys.argv[idx])
        else:
            print("--retry_startup_delay argument provided without a value.")
            sys.exit(-1)

    if "--fragment_timeout" in sys.argv:
        idx = sys.argv.index("--fragment_timeout") + 1
        if idx < len(sys.argv):
            RosbridgeWebSocket.fragment_timeout = int(sys.argv[idx])
        else:
            print("--fragment_timeout argument provided without a value.")
            sys.exit(-1)

    if "--delay_between_messages" in sys.argv:
        idx = sys.argv.index("--delay_between_messages") + 1
        if idx < len(sys.argv):
            RosbridgeWebSocket.delay_between_messages = float(sys.argv[idx])
        else:
            print("--delay_between_messages argument provided without a value.")
            sys.exit(-1)

    if "--max_message_size" in sys.argv:
        idx = sys.argv.index("--max_message_size") + 1
        if idx < len(sys.argv):
            value = sys.argv[idx]
            if value == "None":
                RosbridgeWebSocket.max_message_size = None
            else:
                RosbridgeWebSocket.max_message_size = int(value)
        else:
            print("--max_message_size argument provided without a value. (can be None or <Integer>)")
            sys.exit(-1)

    if "--topics_glob" in sys.argv:
        idx = sys.argv.index("--topics_glob") + 1
        if idx < len(sys.argv):
            value = sys.argv[idx]
            if value == "None":
                RosbridgeWebSocket.topics_glob = []
            else:
                RosbridgeWebSocket.topics_glob = [element.strip().strip("'") for element in value[1:-1].split(',')]
        else:
            print("--topics_glob argument provided without a value. (can be None or a list)")
            sys.exit(-1)

    if "--services_glob" in sys.argv:
        idx = sys.argv.index("--services_glob") + 1
        if idx < len(sys.argv):
            value = sys.argv[idx]
            if value == "None":
                RosbridgeWebSocket.services_glob = []
            else:
                RosbridgeWebSocket.services_glob = [element.strip().strip("'") for element in value[1:-1].split(',')]
        else:
            print("--services_glob argument provided without a value. (can be None or a list)")
            sys.exit(-1)

    if "--params_glob" in sys.argv:
        idx = sys.argv.index("--params_glob") + 1
        if idx < len(sys.argv):
            value = sys.argv[idx]
            if value == "None":
                RosbridgeWebSocket.params_glob = []
            else:
                RosbridgeWebSocket.params_glob = [element.strip().strip("'") for element in value[1:-1].split(',')]
        else:
            print("--params_glob argument provided without a value. (can be None or a list)")
            sys.exit(-1)

    if ("--bson_only_mode" in sys.argv) or bson_only_mode:
        print("bson_only_mode is only supported in the TCP Version of Rosbridge currently. Ignoring bson_only_mode argument...")

    # To be able to access the list of topics and services, you must be able to access the rosapi services.
    if RosbridgeWebSocket.services_glob:
        RosbridgeWebSocket.services_glob.append("/rosapi/*")

    Subscribe.topics_glob = RosbridgeWebSocket.topics_glob
    Advertise.topics_glob = RosbridgeWebSocket.topics_glob
    Publish.topics_glob = RosbridgeWebSocket.topics_glob
    AdvertiseService.services_glob = RosbridgeWebSocket.services_glob
    UnadvertiseService.services_glob = RosbridgeWebSocket.services_glob
    CallService.services_glob = RosbridgeWebSocket.services_glob

    ##################################################
    # Done with parameter handling                   #
    ##################################################

    application = Application([(r"/", RosbridgeWebSocket), (r"", RosbridgeWebSocket)])

    connected = False
    while not connected and not rospy.is_shutdown():
        try:
            if certfile is not None and keyfile is not None:
                application.listen(port, address, ssl_options={ "certfile": certfile, "keyfile": keyfile})
            else:
                application.listen(port, address)
            rospy.loginfo("Rosbridge WebSocket server started on port %d", port)
            connected = True
        except error as e:
            rospy.logwarn("Unable to start server: " + str(e) +
                          " Retrying in " + str(retry_startup_delay) + "s.")
            rospy.sleep(retry_startup_delay)

    IOLoop.instance().start()