Source Code for Module default_cfg_fkie.screen_handler

  1  # Software License Agreement (BSD License) 
  2  # 
  3  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
  4  # All rights reserved. 
  5  # 
  6  # Redistribution and use in source and binary forms, with or without 
  7  # modification, are permitted provided that the following conditions 
  8  # are met: 
  9  # 
 10  #  * Redistributions of source code must retain the above copyright 
 11  #    notice, this list of conditions and the following disclaimer. 
 12  #  * Redistributions in binary form must reproduce the above 
 13  #    copyright notice, this list of conditions and the following 
 14  #    disclaimer in the documentation and/or other materials provided 
 15  #    with the distribution. 
 16  #  * Neither the name of Fraunhofer nor the names of its 
 17  #    contributors may be used to endorse or promote products derived 
 18  #    from this software without specific prior written permission. 
 19  # 
 20  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
 21  # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
 22  # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 
 23  # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 
 24  # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 
 25  # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 
 26  # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 
 27  # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 
 28  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 
 29  # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 
 30  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
 31  # POSSIBILITY OF SUCH DAMAGE. 
 32   
 33  import os 
 34   
 35   
 36 -class ScreenHandlerException(Exception): 
 37      pass 
 38   
 39   
 40 -class ScreenHandler(object): 
 41      ''' 
 42      The class to handle the running screen sessions and create new sessions on 
 43      start of the ROS nodes. 
 44      ''' 
 45   
 46      LOG_PATH = ''.join([os.environ.get('ROS_LOG_DIR'), os.path.sep]) if os.environ.get('ROS_LOG_DIR') else os.path.join(os.path.expanduser('~'), '.ros/log/') 
 47      SCREEN = "/usr/bin/screen" 
 48      SLASH_SEP = '_' 
 49   
 50      @classmethod 
 51 -    def createSessionName(cls, node=None): 
 52          ''' 
 53          Creates a name for the screen session. All slash separators are replaced by 
 54          L{SLASH_SEP} 
 55          @param node: the name of the node 
 56          @type node: C{str} 
 57          @return: name for the screen session. 
 58          @rtype: C{str} 
 59          ''' 
 60  #    package_name = str(package) if not package is None else '' 
 61  #    lanchfile_name = str(launchfile).replace('.launch', '') if not launchfile is None else '' 
 62          node_name = str(node).replace('/', cls.SLASH_SEP) if node is not None else '' 
 63  #    result = ''.join([node_name, '.', package_name, '.', lanchfile_name]) 
 64          return node_name 
 65   
 66      @classmethod 
 67 -    def splitSessionName(cls, session): 
 68          ''' 
 69          Splits the screen session name into PID and session name generated by 
 70          L{createSessionName()}. 
 71          @param session: the screen session name 
 72          @type session: C{str} 
 73          @return: PID, session name generated by L{createSessionName()}. Not presented 
 74            values are coded as empty strings. Not valid session names have an empty 
 75            PID string. 
 76          @rtype: C{str, str} 
 77          ''' 
 78          result = session.split('.', 1) 
 79          if len(result) != 2: 
 80              return '', '' 
 81          pid = result[0] 
 82          node = result[1]  # .replace(cls.SLASH_SEP, '/') 
 83  #    package = result[2] 
 84  #    launch = ''.join([result[3], '.launch']) if len(result[2]) > 0 else result[2] 
 85          return pid, node  # , package, launch 
 86   
 87      @classmethod 
 88 -    def testScreen(cls): 
 89          ''' 
 90          Tests for whether the SCREEN binary exists and raise an exception if not. 
 91          @raise ScreenHandlerException: if the screen binary not found. 
 92          ''' 
 93          if not os.path.isfile(cls.SCREEN): 
 94              raise ScreenHandlerException(''.join([cls.SCREEN, " is missing"])) 
 95   
 96      @classmethod 
 97 -    def getScreenLogFile(cls, session=None, node=None): 
 98          ''' 
 99          Generates a log file name of the ROS log. 
100          @param node: the name of the node 
101          @type node: C{str} 
102          @return: the ROS log file name 
103          @rtype: C{str} 
104          @todo: get the run_id from the ROS parameter server and search in this log folder 
105          for the log file (handle the node started using a launch file). 
106          ''' 
107          if session is not None: 
108              return "%s%s.log" % (cls.LOG_PATH, session) 
109          elif node is not None: 
110              return "%s%s.log" % (cls.LOG_PATH, cls.createSessionName(node)) 
111          else: 
112              return "%s%s.log" % (cls.LOG_PATH, 'unknown') 
113   
114      @classmethod 
115 -    def getROSLogFile(cls, node): 
116          ''' 
117          Generates a log file name for the ROS log 
118          @param node: the name of the node 
119          @type node: C{str} 
120          @return: the log file name 
121          @rtype: C{str} 
122          ''' 
123          if node is not None: 
124              return "%s%s.log" % (cls.LOG_PATH, node.strip('/').replace('/', '_')) 
125          else: 
126              return '' 
127   
128      @classmethod 
129 -    def getScreenCfgFile(cls, session=None, node=None): 
130          ''' 
131          Generates a configuration file name for the screen session. 
132          @param session: the name of the screen session 
133          @type session: C{str} 
134          @return: the configuration file name 
135          @rtype: C{str} 
136          ''' 
137          if session is not None: 
138              return "%s%s.conf" % (cls.LOG_PATH, session) 
139          elif node is not None: 
140              return "%s%s.log" % (cls.LOG_PATH, cls.createSessionName(node)) 
141          else: 
142              return "%s%s.log" % (cls.LOG_PATH, 'unknown') 
143   
144      @classmethod 
145 -    def getScreenPidFile(cls, session=None, node=None): 
146          ''' 
147          Generates a PID file name for the screen session. 
148          @param session: the name of the screen session 
149          @type session: C{str} 
150          @return: the PID file name 
151          @rtype: C{str} 
152          ''' 
153          if session is not None: 
154              return "%s%s.pid" % (cls.LOG_PATH, session) 
155          elif node is not None: 
156              return "%s%s.pid" % (cls.LOG_PATH, cls.createSessionName(node)) 
157          else: 
158              return "%s%s.pid" % (cls.LOG_PATH, 'unknown') 
159   
160      @classmethod 
161 -    def getSceenCmd(cls, node): 
162          ''' 
163          Generates a configuration file and return the command prefix to start the given node 
164          in a screen terminal. 
165          @param node: the name of the node 
166          @type node: C{str} 
167          @return: the command prefix 
168          @rtype: C{str} 
169          ''' 
170          filename = cls.getScreenCfgFile(node=node) 
171          f = None 
172          try: 
173              f = open(cls.getScreenCfgFile(node=node), 'w') 
174          except Exception: 
175              os.makedirs(os.path.dirname(filename)) 
176              f = open(cls.getScreenCfgFile(node=node), 'w') 
177          f.write(''.join(["logfile ", cls.getScreenLogFile(node=node), "\n"])) 
178          f.write("logfile flush 0\n") 
179          f.write("defscrollback 10000\n") 
180          ld_library_path = os.getenv('LD_LIBRARY_PATH', '') 
181          if ld_library_path: 
182              f.write(' '.join(['setenv', 'LD_LIBRARY_PATH', ld_library_path, "\n"])) 
183          ros_etc_dir = os.getenv('ROS_ETC_DIR', '') 
184          if ros_etc_dir: 
185              f.write(' '.join(['setenv', 'ROS_ETC_DIR', ros_etc_dir, "\n"])) 
186          f.close() 
187          return ' '.join([cls.SCREEN, '-c', cls.getScreenCfgFile(node=node), '-L', '-dmS', cls.createSessionName(node=node)]) 
188