rsync_server_node.py

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#!/usr/bin/env python

# Software License Agreement (BSD License)
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# Copyright (c) 2016, Alex McClung
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import rospy
import roslib; roslib.load_manifest('rsync_ros')
import actionlib
import os
from rsync import Rsync
from rsync_ros.msg import RsyncAction, RsyncResult, RsyncFeedback

class RsyncActionServer:

    def __init__(self, name):
        self._action_name = name
        self.server = actionlib.SimpleActionServer(self._action_name, RsyncAction, self.execute, False)
        self.server.start()
        rospy.loginfo("Ready to sync files.")

    def progress_update_cb(self, line, percent_complete, transfer_rate):
        #This is run everytime the progress is published to stdout
        #rospy.loginfo('Total transfer percentage: {}'.format(percent_complete))

        self.feedback.percent_complete = percent_complete
        self.feedback.transfer_rate = transfer_rate
        self.server.publish_feedback(self.feedback)

        if line:
            rospy.loginfo(line)

        # check if preempt (cancel action) has been requested by the client
        if self.server.is_preempt_requested():
            # Get the process id & try to terminate it gracefuly
            pid = self.rsync.p.pid
            self.rsync.p.terminate()

            # Check if the process has really terminated & force kill if not.
            try:
                os.kill(pid, 0)
                self.rsync.p.kill()
                print "Forced kill"
            except OSError, e:
                print "Terminated gracefully"


            rospy.loginfo('%s: Preempted' % self._action_name)
            self.server.set_preempted() #TO-DO, fix logic error changing states upon preempt request

    def execute(self, goal):
        self.result = RsyncResult()
        self.feedback = RsyncFeedback()

        rospy.loginfo("Executing rsync command '%s %s %s'", 'rsync ' + ' '.join(goal.rsync_args) + ' --progress --outbuf=L', goal.source_path, goal.destination_path)

        self.rsync = Rsync(goal.rsync_args, goal.source_path, goal.destination_path, progress_callback=self.progress_update_cb)

        self.result.sync_success = self.rsync.sync()

        if not self.server.is_preempt_requested():

            if self.rsync.stderr_block:
                rospy.logerr('\n{}'.format(self.rsync.stderr_block))

            rospy.loginfo("Rsync command result '%s'", self.result.sync_success)
            self.server.set_succeeded(self.result)

if __name__ == "__main__":
    try:
        rospy.init_node('rsync_ros')
        RsyncActionServer(rospy.get_name())
        rospy.spin()
    except rospy.ROSInterruptException:
        pass