node_manager

1 #!/usr/bin/env python 2 # Software License Agreement (BSD License) 3 # 4 # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 5 # All rights reserved. 6 # 7 # Redistribution and use in source and binary forms, with or without 8 # modification, are permitted provided that the following conditions 9 # are met: 10 # 11 # * Redistributions of source code must retain the above copyright 12 # notice, this list of conditions and the following disclaimer. 13 # * Redistributions in binary form must reproduce the above 14 # copyright notice, this list of conditions and the following 15 # disclaimer in the documentation and/or other materials provided 16 # with the distribution. 17 # * Neither the name of Fraunhofer nor the names of its 18 # contributors may be used to endorse or promote products derived 19 # from this software without specific prior written permission. 20 # 21 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 22 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 23 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 24 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 25 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 26 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 27 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 28 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 29 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 30 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 31 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 32 # POSSIBILITY OF SUCH DAMAGE. 33 34 __author__ = "Alexander Tiderko (Alexander.Tiderko@fkie.fraunhofer.de)" 35 __copyright__ = "Copyright (c) 2012 Alexander Tiderko, Fraunhofer FKIE/US" 36 __license__ = "BSD" 37 __version__ = "0.2" 38 __date__ = "2012-02-01" 39 40 import os 41 import sys 42 import signal 43 import socket 44 import threading 45 46 import roslib; roslib.load_manifest('node_manager_fkie') 47 import rospy 48 49 #PYTHONVER = (2, 7, 1) 50 #if sys.version_info < PYTHONVER: 51 # print 'For full scope of operation this application requires python version > %s, current: %s' % (str(PYTHONVER), sys.version_info) 52 53 from ssh_handler import SSHhandler, AuthenticationRequest 54 from screen_handler import ScreenHandler, ScreenSelectionRequest 55 from start_handler import StartHandler, StartException 56 from progress_queue import InteractionNeededError 57 from name_resolution import NameResolution 58 from history import History 59 60 # set the cwd to the package of the node_manager_fkie to support the images 61 # in HTML descriptions of the robots and capabilities 62 63 PACKAGE_DIR = ''.join([roslib.packages.get_dir_pkg(os.path.abspath(os.path.dirname(sys.argv[0])))[0], os.path.sep]) 64 ROBOTS_DIR = ''.join([PACKAGE_DIR, os.path.sep, 'images', os.path.sep]) 65 66 CFG_PATH = ''.join(['.node_manager', os.sep]) 67 '''@ivar: configuration path to store the history.''' 68 69 LESS = "/usr/bin/less -fKLnQrSU" 70 STARTER_SCRIPT = 'rosrun node_manager_fkie remote_nm.py' 71 RESPAWN_SCRIPT = 'rosrun node_manager_fkie respawn' 72 ''' 73 the script used on remote hosts to start new ROS nodes 74 ''' 75 76 HOSTS_CACHE = dict() 77 ''' 78 the cache directory to store the results of tests for local hosts. 79 @see: L{is_local()} 80 ''' 81 82 HELP_FILE = ''.join([PACKAGE_DIR, os.path.sep, 'README.rst']) 83 84 _lock = threading.RLock() 85

86 -def terminal_cmd(cmd, title):

87 ''' 88 Creates a command string to run with a terminal prefix 89 @param cmd: the list with a command and args 90 @type cmd: [str,..] 91 @param title: the title of the terminal 92 @type title: str 93 @return: command with a terminal prefix 94 @rtype: str 95 ''' 96 if os.path.isfile('/usr/bin/xterm'): 97 return str(' '.join(['/usr/bin/xterm', '-geometry 112x35', '-title', str(title), '-e', ' '.join(cmd)])) 98 elif os.path.isfile('/usr/bin/konsole'): 99 return str(' '.join(['/usr/bin/konsole', '--noclose', '-title', str(title), '-e', ' '.join(cmd)]))

100 101 main_form = None 102 _ssh_handler = None 103 _screen_handler = None 104 _start_handler = None 105 _name_resolution = None 106 _history = None 107 app = None 108

109 -def ssh():

110 ''' 111 @return: The SSH handler to handle the SSH connections 112 @rtype: L{SSHhandler} 113 ''' 114 global _ssh_handler 115 return _ssh_handler

116

117 -def screen():

118 ''' 119 @return: The screen handler to the screens. 120 @rtype: L{ScreenHandler} 121 @see: U{http://linuxwiki.de/screen} 122 ''' 123 global _screen_handler 124 return _screen_handler

125

126 -def starter():

127 ''' 128 @return: The start handler to handle the start of new ROS nodes on local or 129 remote machines. 130 @rtype: L{StartHandler} 131 ''' 132 global _start_handler 133 return _start_handler

134

135 -def nameres():

136 ''' 137 @return: The name resolution object translate the the name to the host or 138 ROS master URI. 139 @rtype: L{NameResolution} 140 ''' 141 global _name_resolution 142 return _name_resolution

143

144 -def history():

145 ''' 146 @return: The history of entered parameter. 147 @rtype: L{History} 148 ''' 149 global _history 150 return _history

151

152 -def is_local(hostname):

153 ''' 154 Test whether the given host name is the name of the local host or not. 155 @param hostname: the name or IP of the host 156 @type hostname: C{str} 157 @return: C{True} if the hostname is local or None 158 @rtype: C{bool} 159 @raise Exception: on errors while resolving host 160 ''' 161 if (hostname is None): 162 return True 163 with _lock: 164 if hostname in HOSTS_CACHE: 165 if isinstance(HOSTS_CACHE[hostname], threading.Thread): 166 return False 167 return HOSTS_CACHE[hostname] 168 169 try: 170 machine_addr = socket.inet_aton(hostname) 171 local_addresses = ['localhost'] + roslib.network.get_local_addresses() 172 # check 127/8 and local addresses 173 result = machine_addr.startswith('127.') or machine_addr in local_addresses 174 with _lock: 175 HOSTS_CACHE[hostname] = result 176 return result 177 except socket.error: 178 # the hostname must be resolved => do it in a thread 179 thread = threading.Thread(target=__is_local, args=((hostname,))) 180 thread.daemon = True 181 thread.start() 182 with _lock: 183 HOSTS_CACHE[hostname] = thread 184 return False

185

186 -def __is_local(hostname):

187 import roslib 188 try: 189 machine_addr = socket.gethostbyname(hostname) 190 except socket.gaierror: 191 import traceback 192 print traceback.format_exc() 193 with _lock: 194 HOSTS_CACHE[hostname] = False 195 return 196 local_addresses = ['localhost'] + roslib.network.get_local_addresses() 197 # check 127/8 and local addresses 198 result = machine_addr.startswith('127.') or machine_addr in local_addresses 199 with _lock: 200 HOSTS_CACHE[hostname] = result

201 202

203 -def get_ros_home():

204 ''' 205 Returns the ROS HOME depending on ROS distribution API. 206 @return: ROS HOME path 207 @rtype: C{str} 208 ''' 209 try: 210 import rospkg.distro 211 distro = rospkg.distro.current_distro_codename() 212 if distro in ['electric', 'diamondback', 'cturtle']: 213 import roslib.rosenv 214 return roslib.rosenv.get_ros_home() 215 else: 216 import rospkg 217 return rospkg.get_ros_home() 218 except: 219 # import traceback 220 # print traceback.format_exc() 221 import roslib.rosenv 222 return roslib.rosenv.get_ros_home()

223 224

225 -def masteruri_from_ros():

226 ''' 227 Returns the master URI depending on ROS distribution API. 228 @return: ROS master URI 229 @rtype: C{str} 230 ''' 231 try: 232 import rospkg.distro 233 distro = rospkg.distro.current_distro_codename() 234 if distro in ['electric', 'diamondback', 'cturtle']: 235 return roslib.rosenv.get_master_uri() 236 else: 237 import rosgraph 238 return rosgraph.rosenv.get_master_uri() 239 except: 240 return os.environ['ROS_MASTER_URI']

241

242 -def finish(*arg):

243 ''' 244 Callback called on exit of the ros node. 245 ''' 246 # close all ssh sessions 247 global _ssh_handler 248 if not _ssh_handler is None: 249 _ssh_handler.close() 250 global main_form 251 import main_window 252 if isinstance(main_form, main_window.MainWindow): 253 global _history 254 _history.storeAll() 255 main_form.finish() 256 global app 257 if not app is None: 258 app.exit()

259 260

261 -def setTerminalName(name):

262 ''' 263 Change the terminal name. 264 @param name: New name of the terminal 265 @type name: C{str} 266 ''' 267 sys.stdout.write("".join(["\x1b]2;",name,"\x07"]))

268 269

270 -def setProcessName(name):

271 ''' 272 Change the process name. 273 @param name: New process name 274 @type name: C{str} 275 ''' 276 try: 277 from ctypes import cdll, byref, create_string_buffer 278 libc = cdll.LoadLibrary('libc.so.6') 279 buff = create_string_buffer(len(name)+1) 280 buff.value = name 281 libc.prctl(15, byref(buff), 0, 0, 0) 282 except: 283 pass

284 285 286 287 #%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 288 #%%%%%%%%%%%%% MAIN %%%%%%%% 289 #%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 290

291 -def main(name, anonymous=False):

292 global CFG_PATH 293 masteruri = masteruri_from_ros() 294 CFG_PATH = ''.join([get_ros_home(), os.sep, 'node_manager', os.sep]) 295 ''' 296 Creates and runs the ROS node. 297 ''' 298 if not os.path.isdir(CFG_PATH): 299 os.makedirs(CFG_PATH) 300 301 args = rospy.myargv(argv=sys.argv) 302 # decide to show main or echo dialog 303 if len(args) >= 4 and args[1] == '-t': 304 name = ''.join([name, '_echo']) 305 anonymous = True 306 307 try: 308 from PySide.QtGui import QApplication 309 except: 310 print >> sys.stderr, "please install 'python-pyside' package!!" 311 sys.exit(-1) 312 # start ROS-Master, if not currently running 313 StartHandler._prepareROSMaster(masteruri) 314 rospy.init_node(name, anonymous=anonymous, log_level=rospy.DEBUG) 315 setTerminalName(rospy.get_name()) 316 setProcessName(rospy.get_name()) 317 318 # Initialize Qt 319 global app 320 app = QApplication(sys.argv) 321 322 # decide to show main or echo dialog 323 import main_window, echo_dialog 324 global main_form 325 if len(args) >= 4 and args[1] == '-t': 326 show_hz_only = (len(args) > 4 and args[4] == '--hz') 327 main_form = echo_dialog.EchoDialog(args[2], args[3], show_hz_only) 328 else: 329 # initialize the global handler 330 global _ssh_handler 331 global _screen_handler 332 global _start_handler 333 global _name_resolution 334 global _history 335 _ssh_handler = SSHhandler() 336 _screen_handler = ScreenHandler() 337 _start_handler = StartHandler() 338 _name_resolution = NameResolution() 339 _history = History() 340 341 # test where the roscore is running (local or remote) 342 __is_local('localhost') ## fill cache 343 __is_local(_name_resolution.getHostname(masteruri)) ## fill cache 344 local_master = is_local(_name_resolution.getHostname(masteruri)) 345 346 #start the gui 347 main_form = main_window.MainWindow(args, not local_master) 348 349 if not rospy.is_shutdown(): 350 os.chdir(PACKAGE_DIR) # change path to be able to the images of descriptions 351 main_form.show() 352 exit_code = -1 353 rospy.on_shutdown(finish) 354 exit_code = app.exec_()

355 # finally: 356 # print "final" 357 # sys.exit(exit_code) 358 # print "ex" 359

Source Code for Package node_manager_fkie