Source Code for Package master_sync_fkie

 1  #!/usr/bin/env python 
 2  # Software License Agreement (BSD License) 
 3  # 
 4  # Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko 
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33   
34  from __future__ import print_function 
35   
36  import sys 
37   
38  import roslib 
39  import rospy 
40   
41  from . import master_sync 
42   
43  PROCESS_NAME = "master_sync" 
44   
45   
46 -def set_terminal_name(name): 
47      ''' 
48      Change the terminal name. 
49      @param name: New name of the terminal 
50      @type name:  C{str} 
51      ''' 
52      sys.stdout.write("\x1b]2;%s\x07" % name) 
53   
54   
55 -def set_process_name(name): 
56      ''' 
57      Change the process name. 
58      @param name: New process name 
59      @type name:  C{str} 
60      ''' 
61      try: 
62          from ctypes import cdll, byref, create_string_buffer 
63          libc = cdll.LoadLibrary('libc.so.6') 
64          buff = create_string_buffer(len(name) + 1) 
65          buff.value = name 
66          libc.prctl(15, byref(buff), 0, 0, 0) 
67      except: 
68          pass 
69   
70   
71 -def main(): 
72      ''' 
73      Creates and runs the ROS node. 
74      ''' 
75      # setup the loglevel 
76      try: 
77          log_level = getattr(rospy, rospy.get_param('/%s/log_level' % PROCESS_NAME, "INFO")) 
78      except Exception as e: 
79          print("Error while set the log level: %s\n->INFO level will be used!" % e) 
80          log_level = rospy.INFO 
81      rospy.init_node(PROCESS_NAME, log_level=log_level) 
82      set_terminal_name(PROCESS_NAME) 
83      set_process_name(PROCESS_NAME) 
84      # time to initialize the topics to receive these in rxconsole 
85      discoverer = master_sync.Main() 
86      if not rospy.is_shutdown(): 
87          rospy.spin() 
88