Source Code for Module rosmaster.main

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 34   
 35  """Command-line handler for ROS zenmaster (Python Master)""" 
 36   
 37  import logging 
 38  import os 
 39  import sys 
 40  import time 
 41  import optparse 
 42   
 43  import rosmaster.master 
 44  from rosmaster.master_api import NUM_WORKERS 
 45   
 46 -def configure_logging(): 
 47      """ 
 48      Setup filesystem logging for the master 
 49      """ 
 50      filename = 'master.log' 
 51      # #988 __log command-line remapping argument 
 52      import rosgraph.names 
 53      import rosgraph.roslogging 
 54      mappings = rosgraph.names.load_mappings(sys.argv) 
 55      if '__log' in mappings: 
 56          logfilename_remap = mappings['__log'] 
 57          filename = os.path.abspath(logfilename_remap) 
 58      _log_filename = rosgraph.roslogging.configure_logging('rosmaster', logging.DEBUG, filename=filename) 
 59   
 60 -def rosmaster_main(argv=sys.argv, stdout=sys.stdout, env=os.environ): 
 61      parser = optparse.OptionParser(usage="usage: zenmaster [options]") 
 62      parser.add_option("--core", 
 63                        dest="core", action="store_true", default=False, 
 64                        help="run as core") 
 65      parser.add_option("-p", "--port",  
 66                        dest="port", default=0, 
 67                        help="override port", metavar="PORT") 
 68      parser.add_option("-w", "--numworkers", 
 69                        dest="num_workers", default=NUM_WORKERS, type=int, 
 70                        help="override number of worker threads", metavar="NUM_WORKERS") 
 71      parser.add_option("-t", "--timeout", 
 72                        dest="timeout", 
 73                        help="override the socket connection timeout (in seconds).", metavar="TIMEOUT") 
 74      parser.add_option("--master-logger-level", 
 75                        dest="master_logger_level", default=False, type=str, 
 76                        help="set rosmaster.master logger level ('debug', 'info', 'warn', 'error', 'fatal')") 
 77   
 78      options, args = parser.parse_args(argv[1:]) 
 79   
 80      # only arg that zenmaster supports is __log remapping of logfilename 
 81      for arg in args: 
 82          if not arg.startswith('__log:='): 
 83              parser.error("unrecognized arg: %s"%arg) 
 84      configure_logging()    
 85       
 86      port = rosmaster.master.DEFAULT_MASTER_PORT 
 87      if options.port: 
 88          port = int(options.port) 
 89   
 90      if not options.core: 
 91          print(""" 
 92   
 93   
 94  ACHTUNG WARNING ACHTUNG WARNING ACHTUNG 
 95  WARNING ACHTUNG WARNING ACHTUNG WARNING 
 96   
 97   
 98  Standalone zenmaster has been deprecated, please use 'roscore' instead 
 99   
100   
101  ACHTUNG WARNING ACHTUNG WARNING ACHTUNG 
102  WARNING ACHTUNG WARNING ACHTUNG WARNING 
103   
104   
105  """) 
106   
107      logger = logging.getLogger("rosmaster.main") 
108      logger.info("initialization complete, waiting for shutdown") 
109   
110      if options.timeout is not None and float(options.timeout) >= 0.0: 
111          logger.info("Setting socket timeout to %s" % options.timeout) 
112          import socket 
113          socket.setdefaulttimeout(float(options.timeout)) 
114   
115      if options.master_logger_level: 
116          levels = {'debug': logging.DEBUG, 'info': logging.INFO, 'warn': logging.WARN, 'error': logging.ERROR, 'fatal': logging.FATAL} 
117          if options.master_logger_level.lower() in levels.keys(): 
118              logger.info("set rosmaster.master logger level '{}'".format(options.master_logger_level)) 
119              rosmaster.master_api.LOG_API = True 
120              logging.getLogger("rosmaster.master").setLevel(levels[options.master_logger_level.lower()]) 
121          else: 
122              logger.error("--master-logger-level received unknown option '{}'".format(options.master_logger_level)) 
123   
124      try: 
125          logger.info("Starting ROS Master Node") 
126          master = rosmaster.master.Master(port, options.num_workers) 
127          master.start() 
128   
129          import time 
130          while master.ok(): 
131              time.sleep(.1) 
132      except KeyboardInterrupt: 
133          logger.info("keyboard interrupt, will exit") 
134      finally: 
135          logger.info("stopping master...") 
136          master.stop() 
137   
138  if __name__ == "__main__": 
139      main() 
140