Source Code for Module rosmaster.main

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 34   
 35  """Command-line handler for ROS zenmaster (Python Master)""" 
 36   
 37  import logging 
 38  import os 
 39  import sys 
 40  import time 
 41  import optparse 
 42   
 43  import rosmaster.master 
 44  from rosmaster.master_api import NUM_WORKERS 
 45   
 46 -def configure_logging(): 
 47      """ 
 48      Setup filesystem logging for the master 
 49      """ 
 50      filename = 'master.log' 
 51      # #988 __log command-line remapping argument 
 52      import rosgraph.names 
 53      import rosgraph.roslogging 
 54      mappings = rosgraph.names.load_mappings(sys.argv) 
 55      if '__log' in mappings: 
 56          logfilename_remap = mappings['__log'] 
 57          filename = os.path.abspath(logfilename_remap) 
 58      _log_filename = rosgraph.roslogging.configure_logging('rosmaster', logging.DEBUG, filename=filename) 
 59   
 60 -def rosmaster_main(argv=sys.argv, stdout=sys.stdout, env=os.environ): 
 61      parser = optparse.OptionParser(usage="usage: zenmaster [options]") 
 62      parser.add_option("--core", 
 63                        dest="core", action="store_true", default=False, 
 64                        help="run as core") 
 65      parser.add_option("-p", "--port",  
 66                        dest="port", default=0, 
 67                        help="override port", metavar="PORT") 
 68      parser.add_option("-w", "--numworkers", 
 69                        dest="num_workers", default=NUM_WORKERS, type=int, 
 70                        help="override number of worker threads", metavar="NUM_WORKERS") 
 71      parser.add_option("-t", "--timeout", 
 72                        dest="timeout", 
 73                        help="override the socket connection timeout (in seconds).", metavar="TIMEOUT") 
 74      options, args = parser.parse_args(argv[1:]) 
 75   
 76      # only arg that zenmaster supports is __log remapping of logfilename 
 77      for arg in args: 
 78          if not arg.startswith('__log:='): 
 79              parser.error("unrecognized arg: %s"%arg) 
 80      configure_logging()    
 81       
 82      port = rosmaster.master.DEFAULT_MASTER_PORT 
 83      if options.port: 
 84          port = int(options.port) 
 85   
 86      if not options.core: 
 87          print(""" 
 88   
 89   
 90  ACHTUNG WARNING ACHTUNG WARNING ACHTUNG 
 91  WARNING ACHTUNG WARNING ACHTUNG WARNING 
 92   
 93   
 94  Standalone zenmaster has been deprecated, please use 'roscore' instead 
 95   
 96   
 97  ACHTUNG WARNING ACHTUNG WARNING ACHTUNG 
 98  WARNING ACHTUNG WARNING ACHTUNG WARNING 
 99   
100   
101  """) 
102   
103      logger = logging.getLogger("rosmaster.main") 
104      logger.info("initialization complete, waiting for shutdown") 
105   
106      if options.timeout is not None and float(options.timeout) >= 0.0: 
107          logger.info("Setting socket timeout to %s" % options.timeout) 
108          import socket 
109          socket.setdefaulttimeout(float(options.timeout)) 
110   
111      try: 
112          logger.info("Starting ROS Master Node") 
113          master = rosmaster.master.Master(port, options.num_workers) 
114          master.start() 
115   
116          import time 
117          while master.ok(): 
118              time.sleep(.1) 
119      except KeyboardInterrupt: 
120          logger.info("keyboard interrupt, will exit") 
121      finally: 
122          logger.info("stopping master...") 
123          master.stop() 
124   
125  if __name__ == "__main__": 
126      main() 
127