mycroft_message_bus.py

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# Copyright 2017 Mycroft AI Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#    http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
#!/usr/bin/env python
import rospy
from std_msgs.msg import String

from tornado import autoreload, web, ioloop

from mycroft.configuration import Configuration
from mycroft.lock import Lock  # creates/supports PID locking file
from mycroft.messagebus.service.ws import WebsocketEventHandler
from mycroft.util import validate_param, reset_sigint_handler, create_daemon, \
    wait_for_exit_signal

settings = {
    'debug': True
}


def main():
    rospy.init_node('mycroft_message_bus')
    rospy.loginfo(rospy.get_caller_id() + " started")

    import tornado.options
    reset_sigint_handler()
    lock = Lock("service")
    tornado.options.parse_command_line()

    def reload_hook():
        """ Hook to release lock when autoreload is triggered. """
        lock.delete()

    autoreload.add_reload_hook(reload_hook)

    config = Configuration.get().get("websocket")

    host = config.get("host")
    port = config.get("port")
    route = config.get("route")
    validate_param(host, "websocket.host")
    validate_param(port, "websocket.port")
    validate_param(route, "websocket.route")

    routes = [
        (route, WebsocketEventHandler)
    ]
    application = web.Application(routes, **settings)
    application.listen(port, host)
    create_daemon(ioloop.IOLoop.instance().start)

    wait_for_exit_signal()
    rospy.spin()


if __name__ == "__main__":
    main()