Source Code for Package default_cfg_fkie

 1  #!/usr/bin/env python 
 2  # 
 3  # Software License Agreement (BSD License) 
 4  # 
 5  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
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34   
35  import os 
36  import signal 
37  import sys 
38  import traceback 
39   
40  import roslib 
41  import rospy 
42   
43  from default_cfg import DefaultCfg 
44   
45   
46  PROCESS_NAME = "default_cfg" 
47   
48   
49 -def set_terminal_name(name): 
50      ''' 
51      Change the terminal name. 
52      @param name: New name of the terminal 
53      @type name:  C{str} 
54      ''' 
55      sys.stdout.write("".join(["\x1b]2;", name, "\x07"])) 
56   
57   
58 -def set_process_name(name): 
59      ''' 
60      Change the process name. 
61      @param name: New process name 
62      @type name:  C{str} 
63      ''' 
64      try: 
65          from ctypes import cdll, byref, create_string_buffer 
66          libc = cdll.LoadLibrary('libc.so.6') 
67          buff = create_string_buffer(len(name) + 1) 
68          buff.value = name 
69          libc.prctl(15, byref(buff), 0, 0, 0) 
70      except: 
71          pass 
72   
73   
74 -def main(): 
75      ''' 
76      Creates and runs the ROS node 
77      ''' 
78      # setup the loglevel 
79      try: 
80          log_level = getattr(rospy, rospy.get_param('/%s/log_level' % PROCESS_NAME, "INFO")) 
81      except Exception as e: 
82          print "Error while set the log level: %s\n->INFO level will be used!" % e 
83          log_level = rospy.INFO 
84      rospy.init_node(PROCESS_NAME, log_level=log_level) 
85      set_terminal_name(PROCESS_NAME) 
86      set_process_name(PROCESS_NAME) 
87      try: 
88          default_cfg = DefaultCfg() 
89          default_cfg.load() 
90      except: 
91          # on load error the process will be killed to notify user in node_manager 
92          # about error 
93          rospy.logwarn("%s", traceback.format_exc()) 
94          sys.stdout.write(traceback.format_exc()) 
95          sys.stdout.flush() 
96          os.kill(os.getpid(), signal.SIGKILL) 
97      rospy.spin() 
98