Source Code for Module roslaunch.child

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 33  # Revision $Id$ 
 34   
 35  """ 
 36  ROSLaunch child server. 
 37   
 38  ROSLaunch has a client/server architecture for running remote 
 39  processes. When a user runs roslaunch, this creates a "parent" 
 40  roslaunch process. This parent process will then start "child" 
 41  processes on remote machines. The parent can then invoke methods on 
 42  this child process to launch remote processes, and the child can 
 43  invoke methods on the parent to provide feedback. 
 44  """ 
 45   
 46  import logging 
 47  import traceback 
 48   
 49  import roslaunch.core 
 50  import roslaunch.pmon 
 51  import roslaunch.server 
 52  from roslaunch.nodeprocess import DEFAULT_TIMEOUT_SIGINT, DEFAULT_TIMEOUT_SIGTERM 
 53   
 54 -class ROSLaunchChild(object): 
 55      """ 
 56      ROSLaunchChild infrastructure. 
 57   
 58      This must be called from the Python Main thread due to signal registration. 
 59      """ 
 60   
 61 -    def __init__(self, run_id, name, server_uri, sigint_timeout=DEFAULT_TIMEOUT_SIGINT, sigterm_timeout=DEFAULT_TIMEOUT_SIGTERM): 
 62          """ 
 63          Startup roslaunch remote client XML-RPC services. Blocks until shutdown 
 64          @param run_id: UUID of roslaunch session 
 65          @type  run_id: str 
 66          @param name: name of remote client 
 67          @type  name: str 
 68          @param server_uri: XML-RPC URI of roslaunch server 
 69          @type  server_uri: str 
 70          @param sigint_timeout: The SIGINT timeout used when killing nodes (in seconds). 
 71          @type  sigint_timeout: float 
 72          @param sigterm_timeout: The SIGTERM timeout used when killing nodes if SIGINT does not stop the node ( 
 73                                  in seconds). 
 74          @type  sigterm_timeout: float 
 75          @return: XML-RPC URI 
 76          @rtype:  str 
 77          """ 
 78          roslaunch.core.set_child_mode(True) 
 79           
 80          self.logger = logging.getLogger("roslaunch.child") 
 81          self.run_id = run_id 
 82          self.name = name 
 83          self.server_uri = server_uri 
 84          self.child_server = None 
 85          self.pm = None 
 86          self.sigint_timeout = sigint_timeout 
 87          self.sigterm_timeout = sigterm_timeout 
 88   
 89          roslaunch.pmon._init_signal_handlers() 
 90   
 91 -    def _start_pm(self): 
 92          """ 
 93          Start process monitor for child roslaunch 
 94          """ 
 95          # start process monitor 
 96          #  - this test is mainly here so that testing logic can 
 97          #    override process monitor with a mock 
 98          if self.pm is None: 
 99              self.pm = roslaunch.pmon.start_process_monitor() 
100          if self.pm is None: 
101              # this should only happen if a shutdown signal is received during startup 
102              raise roslaunch.core.RLException("cannot startup remote child: unable to start process monitor.") 
103          self.logger.debug("started process monitor") 
104           
105 -    def run(self): 
106          """ 
107          Runs child. Blocks until child processes exit. 
108          """ 
109          try: 
110              try: 
111                  self.logger.info("starting roslaunch child process [%s], server URI is [%s]", self.name, self.server_uri) 
112                  self._start_pm() 
113                  self.child_server = roslaunch.server.ROSLaunchChildNode(self.run_id, self.name, self.server_uri, 
114                                                                          self.pm, sigint_timeout=self.sigint_timeout, 
115                                                                          sigterm_timeout=self.sigterm_timeout) 
116                  self.logger.info("... creating XMLRPC server for child") 
117                  self.child_server.start() 
118                  self.logger.info("... started XMLRPC server for child") 
119                  # block until process monitor is shutdown 
120                  self.pm.mainthread_spin() 
121                  self.logger.info("... process monitor is done spinning") 
122              except: 
123                  self.logger.error(traceback.format_exc()) 
124                  raise 
125          finally: 
126              if self.pm: 
127                  self.pm.shutdown() 
128                  self.pm.join() 
129              if self.child_server: 
130                  self.child_server.shutdown('roslaunch child complete') 
131   
132 -    def shutdown(self): 
133          if self.pm: 
134              self.pm.shutdown() 
135              self.pm.join() 
136