# Software License Agreement (BSD)
#
# @author Mike Purvis <mpurvis@clearpathrobotics.com>
# @copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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"""
This file defines the Job class, which is the primary code API to robot_upstart.
"""
import getpass
import os
import pickle
import subprocess
from glob import glob as glob_files
from catkin.find_in_workspaces import find_in_workspaces
import providers
[docs]class Job(object):
""" Represents a ROS configuration to launch on machine startup. """
def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
rosdistro=None, master_uri=None, log_path=None):
"""Construct a new Job definition.
:param name: Name of job to create. Defaults to "ros", but you might
prefer to use the name of your platform.
:type name: str
:param interface: Network interface to bring ROS up with. If specified,
the job will come up with that network interface, and ROS_IP will be set
to that interface's IP address. If unspecified, the job will come up
on system startup, and ROS_HOSTNAME will be set to the system's hostname.
:type interface: str
:param user: Unprivileged user to launch the job as. Defaults to the user
creating the job.
:type user: str
:param workspace_setup: Location of the workspace setup file to source for
the job's ROS context. Defaults to the current workspace.
:type workspace_setup: str
:param rosdistro: rosdistro to use for the /etc/ros/DISTRO path. Defaults
to $ROS_DISTRO from the current environment.
:type rosdistro: str
:param master_uri: For systems with multiple computers, you may want this
job to launch with ROS_MASTER_URI pointing to another machine.
:type master_uri: str
:param log_path: The location to set ROS_LOG_DIR to. If changed from the
default of using /tmp, it is the user's responsibility to manage log
rotation.
:type log_path: str
"""
self.name = name
self.interface = interface
# Fall back on current user as the user to run ROS as.
self.user = user or getpass.getuser()
# Fall back on current workspace setup file if not explicitly specified.
self.workspace_setup = workspace_setup or \
os.environ['CMAKE_PREFIX_PATH'].split(':')[0] + '/setup.bash'
# Fall back on current distro if not otherwise specified.
self.rosdistro = rosdistro or os.environ['ROS_DISTRO']
self.master_uri = master_uri or "http://127.0.0.1:11311"
self.log_path = log_path or "/tmp"
# Override this to false if you want to bypass generating the
# upstart conf file.
self.generate_system_files = True
# Override this to True if you want to create symbolic link for
# job launch files instead of copying them.
self.symlink = False
# Override this to True is you want the --wait flag passed to roslaunch.
# This will be desired if the nodes spawned by this job are intended to
# connect to an existing master.
self.roslaunch_wait = False
# Set of files to be installed for the job. This is only launchers
# and other user-specified configs--- nothing related to the system
# startup job itself. List of strs.
self.files = []
[docs] def add(self, package=None, filename=None, glob=None):
""" Add launch or other configuration files to Job.
Files may be specified using relative, absolute, or package-relative
paths. Files may also be specified using shell globs.
:param package: Optionally specify a package to search for the file
or glob relative-to.
:type package: str
:param filename: Name of a file to add to the job. Relative to the
package path, if specified.
:type filename: str
:param glob: Shell glob of files to add to the job. Relative to the
package path, if specified.
:type glob: str
"""
if package:
search_paths = reversed(find_in_workspaces(project=package))
else:
search_paths = ('.', )
if glob and filename:
raise RuntimeError("You must specify only an exact filename or a glob, not both.")
# See: https://docs.python.org/2/library/os.html#os.getlogin
if filename:
for path in search_paths:
candidate = os.path.join(path, filename)
if os.path.isfile(candidate):
self.files.append(candidate)
if glob:
for path in search_paths:
self.files.extend(glob_files(os.path.join(path, glob)))
[docs] def install(self, root="/", sudo="/usr/bin/sudo", Provider=None):
""" Install the job definition to the system.
:param root: Override the root to install to, useful for testing.
:type root: str
:param sudo: Override which sudo is used, useful for testing or for making
it use gksudo instead.
:type sudo: str
:param provider: Override to use your own generator function for the system
file preparation.
:type provider: Provider
"""
# This is a recipe of files and their contents which is pickled up and
# passed to a sudo process so that it can create the actual files,
# without needing a ROS workspace or any other environmental setup.
if Provider is None:
Provider = providers.detect_provider()
p = Provider(root, self)
installation_files = p.generate_install()
print "Preparing to install files to the following paths:"
for filename in sorted(installation_files.keys()):
print " %s" % filename
self._call_mutate(sudo, installation_files)
p.post_install()
[docs] def uninstall(self, root="/", sudo="/usr/bin/sudo", Provider=None):
""" Uninstall the job definition from the system.
:param root: Override the root to uninstall from, useful for testing.
:type root: str
:param sudo: Override which sudo is used, useful for testing or for making
it use gksudo instead.
:type sudo: str
:param provider: Override to use your own generator function for the system
file preparation.
:type provider: Provider
"""
if Provider is None:
Provider = providers.detect_provider()
p = Provider(root, self)
installation_files = p.generate_uninstall()
if len(installation_files) == 0:
print "Job not found, nothing to remove."
else:
print "Preparing to remove the following paths:"
for filename in sorted(installation_files.keys()):
print " %s" % filename
self._call_mutate(sudo, installation_files)
def _call_mutate(self, sudo, installation_files):
try:
# Installed script location
mutate_files_exec = find_in_workspaces(
project="robot_upstart", path="mutate_files", first_match_only=True)[0]
except IndexError:
# Devel script location
mutate_files_exec = find_in_workspaces(
project="robot_upstart", path="scripts/mutate_files", first_match_only=True)[0]
# If sudo is specified, then the user will be prompted at this point.
cmd = [mutate_files_exec]
if sudo:
cmd.insert(0, sudo)
print "Now calling: %s" % ' '.join(cmd)
p = subprocess.Popen(cmd + [pickle.dumps(installation_files)])
p.communicate()
if p.returncode == 0:
print "Filesystem operation succeeded."
else:
print "Error encountered; filesystem operation aborted."
return p.returncode