Source Code for Module rospy.impl.init

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 33  # Revision $Id$ 
 34  """ 
 35  Internal use: rospy initialization. 
 36   
 37  This is mainly routines for initializing the master or slave based on 
 38  the OS environment. 
 39  """ 
 40   
 41  import os 
 42  import sys 
 43  import logging 
 44  import time 
 45  import traceback 
 46   
 47  import rosgraph 
 48  import rosgraph.roslogging 
 49  import rosgraph.xmlrpc 
 50   
 51  from ..names import _set_caller_id 
 52  from ..core import is_shutdown, signal_shutdown, rospyerr 
 53   
 54  from .tcpros import init_tcpros 
 55  from .masterslave import ROSHandler 
 56   
 57  DEFAULT_NODE_PORT = 0 #bind to any open port 
 58  DEFAULT_MASTER_PORT=11311 #default port for master's to bind to 
 59  DEFAULT_MASTER_URI = 'http://localhost:%s/'%DEFAULT_MASTER_PORT 
 60   
 61  ################################################### 
 62  # rospy module lower-level initialization 
 63   
 64 -def _node_run_error(e): 
 65      """ 
 66      If XML-RPC errors out of the run() method, this handler is invoked 
 67      """ 
 68      rospyerr(traceback.format_exc()) 
 69      signal_shutdown('error in XML-RPC server: %s'%(e)) 
 70   
 71 -def start_node(environ, resolved_name, master_uri=None, port=0, tcpros_port=0): 
 72      """ 
 73      Load ROS slave node, initialize from environment variables 
 74      @param environ: environment variables 
 75      @type  environ: dict 
 76      @param resolved_name: resolved node name 
 77      @type  resolved_name: str 
 78      @param master_uri: override ROS_MASTER_URI: XMlRPC URI of central ROS server 
 79      @type  master_uri: str 
 80      @param port: override ROS_PORT: port of slave xml-rpc node 
 81      @type  port: int 
 82      @param tcpros_port: override the port of the TCP server 
 83      @type  tcpros_port: int 
 84      @return: node server instance 
 85      @rtype rosgraph.xmlrpc.XmlRpcNode 
 86      @raise ROSInitException: if node has already been started 
 87      """ 
 88      init_tcpros(tcpros_port) 
 89      if not master_uri: 
 90          master_uri = rosgraph.get_master_uri() 
 91      if not master_uri: 
 92          master_uri = DEFAULT_MASTER_URI 
 93   
 94      # this will go away in future versions of API 
 95      _set_caller_id(resolved_name)  
 96   
 97      handler = ROSHandler(resolved_name, master_uri) 
 98      node = rosgraph.xmlrpc.XmlRpcNode(port, handler, on_run_error=_node_run_error) 
 99      node.start() 
100      while not node.uri and not is_shutdown(): 
101          time.sleep(0.00001) #poll for XMLRPC init 
102      logging.getLogger("rospy.init").info("ROS Slave URI: [%s]", node.uri) 
103   
104      while not handler._is_registered() and not is_shutdown(): 
105          time.sleep(0.1) #poll for master registration 
106      logging.getLogger("rospy.init").info("registered with master") 
107      return node 
108   
109 -class RosStreamHandler(rosgraph.roslogging.RosStreamHandler): 
110 -    def __init__(self, colorize=True, stdout=None, stderr=None): 
111          super(RosStreamHandler, self).__init__(colorize=colorize, stdout=stdout, stderr=stderr) 
112