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__ = "0.4.1" # git describe --tags --dirty --always 38 __date__ = "2015-04-28" # git log -1 --date=iso 39 40 import os 41 import sys 42 import socket 43 import threading 44 import argparse 45 46 PKG_NAME = 'node_manager_fkie' 47 48 import roslib; roslib.load_manifest(PKG_NAME) 49 import rospy 50 import roslib.network 51 52 #PYTHONVER = (2, 7, 1) 53 #if sys.version_info < PYTHONVER: 54 # print 'For full scope of operation this application requires python version > %s, current: %s' % (str(PYTHONVER), sys.version_info) 55 56 from settings import Settings 57 from start_handler import StartHandler, StartException, BinarySelectionRequest 58 from ssh_handler import SSHhandler, AuthenticationRequest 59 from screen_handler import ScreenHandler, ScreenSelectionRequest 60 from progress_queue import InteractionNeededError 61 from name_resolution import NameResolution 62 from history import History 63 from file_watcher import FileWatcher 64 from common import get_ros_home, masteruri_from_ros 65 from master_view_proxy import LaunchArgsSelectionRequest 66 67 HOSTS_CACHE = dict() 68 ''' 69 the cache directory to store the results of tests for local hosts. 70 @see: L{is_local()} 71 ''' 72 73 _lock = threading.RLock() 74 75 main_form = None 76 _settings = None 77 _ssh_handler = None 78 _screen_handler = None 79 _start_handler = None 80 _name_resolution = None 81 _history = None 82 _file_watcher = None 83 _file_watcher_param = None 84 app = None 85

86 -def settings():

87 ''' 88 @return: The global settings 89 @rtype: L{Settings} 90 ''' 91 global _settings 92 return _settings

93

94 -def ssh():

95 ''' 96 @return: The SSH handler to handle the SSH connections 97 @rtype: L{SSHhandler} 98 ''' 99 global _ssh_handler 100 return _ssh_handler

101

102 -def screen():

103 ''' 104 @return: The screen handler to the screens. 105 @rtype: L{ScreenHandler} 106 @see: U{http://linuxwiki.de/screen} 107 ''' 108 global _screen_handler 109 return _screen_handler

110

111 -def starter():

112 ''' 113 @return: The start handler to handle the start of new ROS nodes on local or 114 remote machines. 115 @rtype: L{StartHandler} 116 ''' 117 global _start_handler 118 return _start_handler

119

120 -def nameres():

121 ''' 122 @return: The name resolution object translate the the name to the host or 123 ROS master URI. 124 @rtype: L{NameResolution} 125 ''' 126 global _name_resolution 127 return _name_resolution

128

129 -def history():

130 ''' 131 @return: The history of entered parameter. 132 @rtype: L{History} 133 ''' 134 global _history 135 return _history

136

137 -def file_watcher():

138 ''' 139 @return: The file watcher object with all loaded configuration files. 140 @rtype: L{FileWatcher} 141 ''' 142 global _file_watcher 143 return _file_watcher

144

145 -def file_watcher_param():

146 ''' 147 @return: The file watcher object with all configuration files referenced by parameter value. 148 @rtype: L{FileWatcher} 149 ''' 150 global _file_watcher_param 151 return _file_watcher_param

152 153

154 -def is_local(hostname, wait=False):

155 ''' 156 Test whether the given host name is the name of the local host or not. 157 @param hostname: the name or IP of the host 158 @type hostname: C{str} 159 @return: C{True} if the hostname is local or None 160 @rtype: C{bool} 161 @raise Exception: on errors while resolving host 162 ''' 163 if (hostname is None): 164 return True 165 with _lock: 166 if hostname in HOSTS_CACHE: 167 if isinstance(HOSTS_CACHE[hostname], threading.Thread): 168 return False 169 return HOSTS_CACHE[hostname] 170 171 try: 172 socket.inet_aton(hostname) 173 local_addresses = ['localhost'] + roslib.network.get_local_addresses() 174 # check 127/8 and local addresses 175 result = hostname.startswith('127.') or hostname in local_addresses 176 with _lock: 177 HOSTS_CACHE[hostname] = result 178 return result 179 except socket.error: 180 # the hostname must be resolved => do it in a thread 181 if wait: 182 result = __is_local(hostname) 183 return result 184 else: 185 thread = threading.Thread(target=__is_local, args=((hostname,))) 186 thread.daemon = True 187 with _lock: 188 HOSTS_CACHE[hostname] = thread 189 thread.start() 190 return False

191

192 -def __is_local(hostname):

193 try: 194 machine_addr = socket.gethostbyname(hostname) 195 except socket.gaierror: 196 import traceback 197 print traceback.format_exc() 198 with _lock: 199 HOSTS_CACHE[hostname] = False 200 return False 201 local_addresses = ['localhost'] + roslib.network.get_local_addresses() 202 # check 127/8 and local addresses 203 result = machine_addr.startswith('127.') or machine_addr in local_addresses 204 with _lock: 205 HOSTS_CACHE[hostname] = result 206 return result

207

208 -def finish(*arg):

209 ''' 210 Callback called on exit of the ros node. 211 ''' 212 # close all ssh sessions 213 global _ssh_handler 214 if not _ssh_handler is None: 215 _ssh_handler.close() 216 global _history 217 if not _history is None: 218 try: 219 _history.storeAll() 220 except Exception as e: 221 print >> sys.stderr, "Error while store history: %s"%e 222 global main_form 223 import main_window 224 if isinstance(main_form, main_window.MainWindow): 225 main_form.finish() 226 global app 227 if not app is None: 228 app.exit()

229 230

231 -def setTerminalName(name):

232 ''' 233 Change the terminal name. 234 @param name: New name of the terminal 235 @type name: C{str} 236 ''' 237 sys.stdout.write("\x1b]2;%s\x07"%name)

238

239 -def setProcessName(name):

240 ''' 241 Change the process name. 242 @param name: New process name 243 @type name: C{str} 244 ''' 245 try: 246 from ctypes import cdll, byref, create_string_buffer 247 libc = cdll.LoadLibrary('libc.so.6') 248 buff = create_string_buffer(len(name)+1) 249 buff.value = name 250 libc.prctl(15, byref(buff), 0, 0, 0) 251 except: 252 pass

253

254 -def init_settings():

255 global _settings 256 _settings = Settings()

257

258 -def init_globals(masteruri):

259 # initialize the global handler 260 global _ssh_handler 261 global _screen_handler 262 global _start_handler 263 global _name_resolution 264 global _history 265 global _file_watcher 266 global _file_watcher_param 267 _ssh_handler = SSHhandler() 268 _screen_handler = ScreenHandler() 269 _start_handler = StartHandler() 270 _name_resolution = NameResolution() 271 _history = History() 272 _file_watcher = FileWatcher() 273 _file_watcher_param = FileWatcher() 274 275 # test where the roscore is running (local or remote) 276 __is_local('localhost') ## fill cache 277 return __is_local(_name_resolution.getHostname(masteruri)) ## fill cache

278

279 -def init_arg_parser():

280 parser = argparse.ArgumentParser() 281 parser.add_argument("--version", action="version", version="%s %s" % ( "%(prog)s", __version__)) 282 parser.add_argument("-f", "--file", nargs=1, help="loads the given file as default on start") 283 284 group = parser.add_argument_group('echo') 285 group.add_argument("--echo", nargs=2, help="starts an echo dialog instead of node manager", metavar=('name', 'type')) 286 group.add_argument("--hz", action="store_true", help="shows only the Hz value instead of topic content in echo dialog") 287 group.add_argument("--ssh", action="store_true", help="connects via SSH") 288 289 return parser

290

291 -def init_echo_dialog(prog_name, masteruri, topic_name, topic_type, hz=False, use_ssh=False):

292 # start ROS-Master, if not currently running 293 StartHandler._prepareROSMaster(masteruri) 294 name = ''.join([prog_name, '_echo']) 295 rospy.init_node(name, anonymous=True, log_level=rospy.INFO) 296 setTerminalName(name) 297 setProcessName(name) 298 import echo_dialog 299 global _ssh_handler 300 _ssh_handler = SSHhandler() 301 return echo_dialog.EchoDialog(topic_name, topic_type, hz, masteruri, use_ssh=use_ssh)

302

303 -def init_main_window(prog_name, masteruri, launch_files=[]):

304 # start ROS-Master, if not currently running 305 StartHandler._prepareROSMaster(masteruri) 306 # setup the loglevel 307 try: 308 log_level = getattr(rospy, rospy.get_param('/%s/log_level'%prog_name, "INFO")) 309 except Exception as e: 310 print "Error while set the log level: %s\n->INFO level will be used!"%e 311 log_level = rospy.INFO 312 rospy.init_node(prog_name, anonymous=False, log_level=log_level) 313 setTerminalName(prog_name) 314 setProcessName(prog_name) 315 import main_window 316 local_master = init_globals(masteruri) 317 return main_window.MainWindow(launch_files, not local_master, launch_files)

318 319 #%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 320 #%%%%%%%%%%%%% MAIN %%%%%%%% 321 #%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 322

323 -def main(name):

324 try: 325 from python_qt_binding import QtGui 326 except: 327 print >> sys.stderr, "please install 'python_qt_binding' package!!" 328 sys.exit(-1) 329 330 init_settings() 331 masteruri = settings().masteruri() 332 parser = init_arg_parser() 333 args = rospy.myargv(argv=sys.argv) 334 parsed_args = parser.parse_args(args[1:]) 335 # Initialize Qt 336 global app 337 app = QtGui.QApplication(sys.argv) 338 339 # decide to show main or echo dialog 340 global main_form 341 try: 342 if parsed_args.echo: 343 main_form = init_echo_dialog(name, masteruri, parsed_args.echo[0], parsed_args.echo[1], parsed_args.hz, parsed_args.ssh) 344 else: 345 main_form = init_main_window(name, masteruri, parsed_args.file) 346 except Exception as e: 347 sys.exit("%s"%e) 348 349 exit_code = 0 350 # resize and show the qt window 351 if not rospy.is_shutdown(): 352 os.chdir(settings().PACKAGE_DIR) # change path to be able to the images of descriptions 353 # main_form.resize(1024, 720) 354 screen_size = QtGui.QApplication.desktop().availableGeometry() 355 if main_form.size().width() >= screen_size.width() or main_form.size().height() >= screen_size.height()-24: 356 main_form.showMaximized() 357 else: 358 main_form.show() 359 exit_code = -1 360 rospy.on_shutdown(finish) 361 exit_code = app.exec_() 362 return exit_code

363

Source Code for Package node_manager_fkie