app_manager.py

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# Revision $Id: app_manager.py 14948 2011-09-07 19:25:54Z pratkanis $

# author: leibs

import thread
import time

import rosgraph.names
import rospy

import roslaunch.parent
import roslaunch.pmon

from std_srvs.srv import Empty, EmptyResponse

from .app import AppDefinition, load_AppDefinition_by_name
from .exceptions import LaunchException, AppException, InvalidAppException, NotFoundException
from .master_sync import MasterSync
from .msg import App, AppList, StatusCodes, AppStatus, AppInstallationState, ExchangeApp
from .srv import StartApp, StopApp, ListApps, ListAppsResponse, StartAppResponse, StopAppResponse, InstallApp, UninstallApp, GetInstallationState, UninstallAppResponse, InstallAppResponse, GetInstallationStateResponse, GetAppDetails, GetAppDetailsResponse

class AppManager(object):

    def __init__(self, robot_name, interface_master, app_list, exchange):
        self._robot_name = robot_name
        self._interface_master = interface_master
        self._app_list = app_list
        self._current_app = self._current_app_definition = None
        self._exchange = exchange
            
        rospy.loginfo("Starting app manager for %s"%self._robot_name)

        self._app_interface = self.scoped_name('application')

        # note: we publish into the application namespace
        self._status_pub = rospy.Publisher(
            self.scoped_name('application/app_status'), AppStatus,
            latch=True, queue_size=1)
        self._list_apps_pub = rospy.Publisher(
            self.scoped_name('app_list'), AppList,
            latch=True, queue_size=1)
        
        self._list_apps_srv  = rospy.Service(self.scoped_name('list_apps'),  ListApps,  self.handle_list_apps)
        self._start_app_srv = rospy.Service(self.scoped_name('start_app'), StartApp, self.handle_start_app)
        self._stop_app_srv   = rospy.Service(self.scoped_name('stop_app'),   StopApp,   self.handle_stop_app)
        self._reload_app_list_srv = rospy.Service(self.scoped_name('reload_app_list'), Empty, self.handle_reload_app_list)
        if (self._exchange):
            self._exchange_list_apps_pub = rospy.Publisher(self.scoped_name('exchange_app_list'), AppInstallationState, latch=True)
            self._list_exchange_apps_srv = rospy.Service(self.scoped_name('list_exchange_apps'), GetInstallationState, self.handle_list_exchange_apps)
            self._get_app_details_srv = rospy.Service(self.scoped_name('get_app_details'), GetAppDetails, self.handle_get_app_details)
            self._install_app_srv = rospy.Service(self.scoped_name('install_app'), InstallApp, self.handle_install_app)
            self._uninstall_app_srv = rospy.Service(self.scoped_name('uninstall_app'), UninstallApp, self.handle_uninstall_app)
        
            pub_names = [x.resolved_name for x in [self._list_apps_pub, self._status_pub, self._exchange_list_apps_pub]]
            service_names = [x.resolved_name for x in [self._list_apps_srv, self._start_app_srv, self._stop_app_srv, self._get_app_details_srv, self._list_exchange_apps_srv, self._install_app_srv, self._uninstall_app_srv]]
        else:
            pub_names = [x.resolved_name for x in [self._list_apps_pub, self._status_pub]]
            service_names = [x.resolved_name for x in [self._list_apps_srv, self._start_app_srv, self._stop_app_srv]]
        
        self._api_sync = MasterSync(self._interface_master,
                                    local_service_names=service_names,
                                    local_pub_names=pub_names)

        self._launch = None
        self._interface_sync = None

        roslaunch.pmon._init_signal_handlers()

        if (self._exchange):
            self._exchange.update_local()

        self._app_list.update()
        self.publish_exchange_list_apps()
        self.publish_list_apps()
        
    def shutdown(self):
        if self._api_sync:
            self._api_sync.stop()
        if self._launch:
            self._launch.shutdown()
            self._interface_sync.stop()

    def _get_current_app(self):
        return self._current_app

    def _set_current_app(self, app, app_definition):
        self._current_app = app
        self._current_app_definition = app_definition
        
        if self._list_apps_pub:
            if app is not None:
                self._list_apps_pub.publish([app], self._app_list.get_app_list())
            else:
                self._list_apps_pub.publish([], self._app_list.get_app_list())
    
    def scoped_name(self, name):
        return rosgraph.names.canonicalize_name('/%s/%s'%(self._robot_name, rospy.remap_name(name)))

    def handle_get_app_details(self, req):
        return GetAppDetailsResponse(app=self._exchange.get_app_details(req.name))
    
    def handle_list_exchange_apps(self, req):
        if (self._exchange == None):
            return None
        if (req.remote_update):
            print "UPDATE"
            if (not self._exchange.update()):
                return None
        i_apps = self._exchange.get_installed_apps()
        a_apps = self._exchange.get_available_apps()
        return GetInstallationStateResponse(installed_apps=i_apps, available_apps=a_apps)

    def publish_list_apps(self):
        if self._current_app:
            self._list_apps_pub.publish([self._current_app], self._app_list.get_app_list())
        else:
            self._list_apps_pub.publish([], self._app_list.get_app_list())

    def publish_exchange_list_apps(self):
        if (self._exchange == None):
            return
        i_apps = self._exchange.get_installed_apps()
        a_apps = self._exchange.get_available_apps()
        self._exchange_list_apps_pub.publish(i_apps, a_apps)
    
    def handle_install_app(self, req):
        appname = req.name
        if (self._exchange.install_app(appname)):
            self._app_list.update()
            self.publish_list_apps()
            self.publish_exchange_list_apps()
            return InstallAppResponse(installed=True, message="app [%s] installed"%(appname))
        else:
            return InstallAppResponse(installed=False, message="app [%s] could not be installed"%(appname))

    def handle_uninstall_app(self, req):
        appname = req.name
        if (self._exchange.uninstall_app(appname)):
            self._app_list.update()
            self.publish_list_apps()
            self.publish_exchange_list_apps()
            return UninstallAppResponse(uninstalled=True, message="app [%s] uninstalled"%(appname))
        else:
            return UninstallAppResponse(uninstalled=False, message="app [%s] could not be uninstalled"%(appname))

    def handle_list_apps(self, req):
        rospy.loginfo("Listing apps")
        current = self._current_app
        if current:
            running_apps = [current]
        else:
            running_apps = []
        self._app_list.update()
        rospy.loginfo("done listing apps")
        return ListAppsResponse(running_apps=running_apps, available_apps=self._app_list.get_app_list())

    def handle_start_app(self, req):
        rospy.loginfo("start_app: %s"%(req.name))
        if self._current_app:
            if self._current_app_definition.name == req.name:
                return StartAppResponse(started=True, message="app [%s] already started"%(req.name), namespace=self._app_interface)
            else:
                self.stop_app(self._current_app_definition.name)
            #return StartAppResponse(started=False, message="Please stop the running app before starting another app.", error_code=StatusCodes.MULTIAPP_NOT_SUPPORTED)

        # TODO: the app list has already loaded the App data.  We should use that instead for consistency

        appname = req.name
        rospy.loginfo("Loading app: %s"%(appname))
        try:
            app = load_AppDefinition_by_name(appname)
        except ValueError as e:
            return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.BAD_REQUEST)
        except InvalidAppException as e:
            return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.INTERNAL_ERROR)
        except NotFoundException as e:
            return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.NOT_FOUND)

        try:
            self._set_current_app(App(name=appname), app)

            rospy.loginfo("Launching: %s"%(app.launch))
            self._status_pub.publish(AppStatus(AppStatus.INFO, 'launching %s'%(app.display_name)))

            #TODO:XXX This is a roslaunch-caller-like abomination.  Should leverage a true roslaunch API when it exists.
            self._launch = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"),
                                                            [app.launch], is_core=False,
                                                            process_listeners=())
            self._launch._load_config()

            #TODO: convert to method
            for N in self._launch.config.nodes:
                for t in app.interface.published_topics.keys():
                    N.remap_args.append((t, self._app_interface + '/' + t))
                for t in app.interface.subscribed_topics.keys():
                    N.remap_args.append((t, self._app_interface + '/' + t))
            self._launch.start()

            fp = [self._app_interface + '/' + x for x in app.interface.subscribed_topics.keys()]
            lp = [self._app_interface + '/' + x for x in app.interface.published_topics.keys()]

            self._interface_sync = MasterSync(self._interface_master, foreign_pub_names=fp, local_pub_names=lp)

            thread.start_new_thread(self.app_monitor,())

            return StartAppResponse(started=True, message="app [%s] started"%(appname), namespace=self._app_interface)
        
        except Exception as e:
            try:
                # attempt to kill any launched resources
                self._stop_current()
            except:
                pass
            self._status_pub.publish(AppStatus(AppStatus.INFO, 'app start failed'))
            rospy.logerr("app start failed")
            return StartAppResponse(started=False, message="internal error [%s]"%(str(e)), error_code=StatusCodes.INTERNAL_ERROR)
    
    def _stop_current(self):
        try:
            self._launch.shutdown()
        finally:
            self._launch = None
        try:
            self._interface_sync.stop()
        finally:
            self._interface_sync = None

    def handle_stop_app(self, req):
        rospy.loginfo("handle stop app: %s"%(req.name))
        return self.stop_app(req.name)

    def handle_reload_app_list(self, req=None):
        try:
            self._app_list.update()
            self.publish_list_apps()
            self.publish_exchange_list_apps()
            rospy.loginfo("app list is reloaded")
        except Exception as e:
            rospy.logerr("Failed to reload app list: %s" % e)
        return EmptyResponse()

    def app_monitor(self):
        while self._launch:
            time.sleep(0.1)
            launch = self._launch
            if launch:
                pm = launch.pm
                if pm:
                    if pm.done:
                        time.sleep(1.0)
                        self.stop_app(self._current_app_definition.name)
                        break



    def stop_app(self, appname):
        resp = StopAppResponse(stopped=False)
        try:
            app = self._current_app_definition

            # request to stop all apps.
            if app is not None and appname == '*':
                appname = app.name

            if app is None or app.name != appname:
                rospy.loginfo("handle stop app: app [%s] is not running [x]"%(appname))
                resp.error_code = StatusCodes.NOT_RUNNING
                resp.message = "app %s is not running"%(appname)                    
            else:
                try:
                    if self._launch:
                        rospy.loginfo("handle stop app: stopping app [%s]"%(appname))
                        self._status_pub.publish(AppStatus(AppStatus.INFO, 'stopping %s'%(app.display_name)))
                        self._stop_current()
                        rospy.loginfo("handle stop app: app [%s] stopped"%(appname))
                        resp.stopped = True
                        resp.message = "%s stopped"%(appname)
                    else:
                        rospy.loginfo("handle stop app: app [%s] is not running"%(appname))
                        resp.message = "app [%s] is not running"%(appname)
                        resp.error_code = StatusCodes.NOT_RUNNING
                finally:
                    self._launch = None
                    self._set_current_app(None, None)

        except Exception as e:
            rospy.logerr("handle stop app: internal error %s"%(e))
            resp.error_code = StatusCodes.INTERNAL_ERROR
            resp.message = "internal error: %s"%(str(e))
            
        return resp