users_online.py
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00001 #!/usr/bin/env python
00002 
00003 PKG = 'webui' # this package name
00004 NAME = 'users_online'
00005 
00006 import roslib; roslib.load_manifest(PKG)
00007 
00008 import os
00009 import sys
00010 import time
00011 import urllib2
00012 import subprocess
00013 
00014 import rospy
00015 from std_msgs.msg import String
00016 from std_srvs.srv import Empty,EmptyResponse
00017 
00018 from optparse import OptionParser
00019 from webui import config
00020 
00021 users = {}
00022 active_user = None
00023 publisher = None
00024 subscriber = None
00025 
00026 active_user_file = config.ACTIVE_USER_FILE #"/var/ros/active_user.dat"
00027 
00028 INACTIVITY_LOGOUT = 120 # seconds after which to auto-logout a non-present user
00029 
00030 def get_active_user():
00031     active_user = None
00032     mod_time = 0
00033     try:
00034         user_file = open(active_user_file, "r")
00035         active_user = user_file.read().strip()
00036         user_file.close()
00037         mod_time = os.stat(active_user_file).st_mtime
00038     except:
00039         pass
00040     return active_user, mod_time
00041 
00042 def listener():
00043     while not rospy.is_shutdown():
00044         publish_users()
00045         time.sleep(5)
00046         
00047 def callback(msg):
00048     rospy.logdebug("got user presence: %s" % msg.data)
00049     now = time.time()
00050     users[msg.data] = now
00051     
00052 def remove_active_user():
00053     rospy.loginfo("removing active user")
00054 
00055     if config.get_robot_type().startswith("texas"):
00056         if os.path.exists(config.VALID_USER_COOKIE_FILE):
00057             cookie = open(config.VALID_USER_COOKIE_FILE).read()
00058 
00059             req = urllib2.Request(config.gLobby + "/lobby/lobby/disconnect.py?robot_name=" + config.get_robot_name())
00060             req.headers['Cookie'] = cookie
00061   
00062             try:
00063                 response = urllib2.urlopen(req)
00064             except Exception, e:
00065                 rospy.logwarn("error contacting lobby: %s" % e)
00066             
00067             os.remove(config.VALID_USER_COOKIE_FILE)
00068 
00069     if os.path.exists(active_user_file):
00070         os.remove(active_user_file)
00071 
00072 
00073     
00074 def publish_users():
00075     # build list of current users online
00076     active_user, mod_time = get_active_user()
00077     online_users = []
00078     
00079     # if users == {} and active_user and time.time() - mod_time > INACTIVITY_LOGOUT:
00080     # we should remove the active user
00081     # remove_active_user()
00082     # active_user = ""
00083     
00084     for user in users.keys():
00085         last_ping = users[user]
00086         if user == active_user:
00087             # the active user file may have been updated before presence was published
00088             last_ping = max(last_ping, mod_time)
00089             rospy.logdebug("active user %s being considered; now: %f, last_ping: %f, mod_time: %f" % (user, time.time(), last_ping, mod_time))
00090         if time.time() - last_ping < INACTIVITY_LOGOUT:
00091             online_users.append(user)
00092         else:
00093             if user == active_user:
00094                 # we should remove the active user
00095                 remove_active_user()
00096                 active_user = ""
00097             
00098     online_users.sort()
00099     out = String()
00100     out.data = "%s:%s" % (','.join(online_users), active_user)
00101     if active_user and online_users != []:
00102         publisher.publish(out)
00103         rospy.logdebug("publishing online users: %s" % out)
00104 
00105 if __name__ == '__main__':
00106   try:
00107     rospy.init_node(NAME, anonymous=True)
00108     publisher = rospy.Publisher("users_online", String)
00109     subscriber = rospy.Subscriber("presence", String, callback)
00110     listener()
00111   except KeyboardInterrupt, e:
00112     pass
00113   print "exiting"
00114 


webui
Author(s): Scott Hassan/hassan@willowgarage.com
autogenerated on Wed Apr 23 2014 10:36:00