Source Code for Package node_manager_fkie

  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 
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  9  # are met: 
 10  # 
 11  #  * Redistributions of source code must retain the above copyright 
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 13  #  * Redistributions in binary form must reproduce the above 
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 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 
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 19  #    from this software without specific prior written permission. 
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 21  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
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 31  # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
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 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__ = "0.3.13-0" # git describe --tags --dirty --always 
 38  __date__ = "2014-07-29"    # 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 ssh_handler import SSHhandler, AuthenticationRequest 
 58  from screen_handler import ScreenHandler, ScreenSelectionRequest 
 59  from start_handler import StartHandler, StartException, BinarySelectionRequest 
 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      machine_addr = 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    import roslib 
194    import roslib.network 
195    try: 
196      machine_addr = socket.gethostbyname(hostname) 
197    except socket.gaierror: 
198      import traceback 
199      print traceback.format_exc() 
200      with _lock: 
201        HOSTS_CACHE[hostname] = False 
202      return False 
203    local_addresses = ['localhost'] + roslib.network.get_local_addresses() 
204    # check 127/8 and local addresses 
205    result = machine_addr.startswith('127.') or machine_addr in local_addresses 
206    with _lock: 
207      HOSTS_CACHE[hostname] = result 
208    return result 
209   
210 -def finish(*arg): 
211    ''' 
212    Callback called on exit of the ros node. 
213    ''' 
214    # close all ssh sessions 
215    global _ssh_handler 
216    if not _ssh_handler is None: 
217      _ssh_handler.close() 
218    global _history 
219    if not _history is None: 
220      try: 
221        _history.storeAll() 
222      except Exception as e: 
223        print >> sys.stderr, "Error while store history: %s"%e 
224    global main_form 
225    import main_window 
226    if isinstance(main_form, main_window.MainWindow): 
227      main_form.finish() 
228    global app 
229    if not app is None: 
230      app.exit() 
231   
232   
233 -def setTerminalName(name): 
234    ''' 
235    Change the terminal name. 
236    @param name: New name of the terminal 
237    @type name:  C{str} 
238    ''' 
239    sys.stdout.write("\x1b]2;%s\x07"%name) 
240   
241 -def setProcessName(name): 
242    ''' 
243    Change the process name. 
244    @param name: New process name 
245    @type name:  C{str} 
246    ''' 
247    try: 
248      from ctypes import cdll, byref, create_string_buffer 
249      libc = cdll.LoadLibrary('libc.so.6') 
250      buff = create_string_buffer(len(name)+1) 
251      buff.value = name 
252      libc.prctl(15, byref(buff), 0, 0, 0) 
253    except: 
254      pass 
255   
256 -def init_settings(): 
257    global _settings 
258    _settings = Settings() 
259   
260 -def init_globals(masteruri): 
261    # initialize the global handler 
262    global _ssh_handler 
263    global _screen_handler 
264    global _start_handler 
265    global _name_resolution 
266    global _history 
267    global _file_watcher 
268    global _file_watcher_param 
269    _ssh_handler = SSHhandler() 
270    _screen_handler = ScreenHandler() 
271    _start_handler = StartHandler() 
272    _name_resolution = NameResolution() 
273    _history = History() 
274    _file_watcher = FileWatcher() 
275    _file_watcher_param = FileWatcher() 
276   
277    # test where the roscore is running (local or remote) 
278    __is_local('localhost') ## fill cache 
279    return __is_local(_name_resolution.getHostname(masteruri)) ## fill cache 
280   
281 -def init_arg_parser(): 
282    parser = argparse.ArgumentParser() 
283    parser.add_argument("--version", action="version", version="%s %s" % ( "%(prog)s", __version__)) 
284    parser.add_argument("-f", "--file", nargs=1, help="loads the given file as default on start") 
285   
286    group = parser.add_argument_group('echo') 
287    group.add_argument("--echo", nargs=2, help="starts an echo dialog instead of node manager", metavar=('name', 'type')) 
288    group.add_argument("--hz", action="store_true", help="shows only the Hz value instead of topic content in echo dialog") 
289   
290    return parser 
291   
292 -def init_echo_dialog(prog_name, masteruri, topic_name, topic_type, hz=False): 
293    # start ROS-Master, if not currently running 
294    StartHandler._prepareROSMaster(masteruri) 
295    name = ''.join([prog_name, '_echo']) 
296    rospy.init_node(name, anonymous=True, log_level=rospy.DEBUG) 
297    setTerminalName(rospy.get_name()) 
298    setProcessName(rospy.get_name()) 
299    import echo_dialog 
300    return echo_dialog.EchoDialog(topic_name, topic_type, hz, masteruri) 
301   
302 -def init_main_window(prog_name, masteruri, launch_files=[]): 
303    # start ROS-Master, if not currently running 
304    StartHandler._prepareROSMaster(masteruri) 
305    rospy.init_node(prog_name, anonymous=False, log_level=rospy.DEBUG) 
306    setTerminalName(rospy.get_name()) 
307    setProcessName(rospy.get_name()) 
308    import main_window 
309    local_master = init_globals(masteruri) 
310    return main_window.MainWindow(launch_files, not local_master, launch_files) 
311   
312  #%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
313  #%%%%%%%%%%%%%                 MAIN                               %%%%%%%% 
314  #%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 
315   
316 -def main(name): 
317    try: 
318      from python_qt_binding.QtGui import QApplication 
319    except: 
320      print >> sys.stderr, "please install 'python_qt_binding' package!!" 
321      sys.exit(-1) 
322   
323    init_settings() 
324    masteruri = settings().masteruri() 
325    parser = init_arg_parser() 
326    args = rospy.myargv(argv=sys.argv) 
327    parsed_args = parser.parse_args(args[1:]) 
328    # Initialize Qt 
329    global app 
330    app = QApplication(sys.argv) 
331   
332    # decide to show main or echo dialog 
333    global main_form 
334    if parsed_args.echo: 
335      main_form = init_echo_dialog(name, masteruri, parsed_args.echo[0], parsed_args.echo[1], parsed_args.hz) 
336    else: 
337      main_form = init_main_window(name, masteruri, parsed_args.file) 
338   
339    # resize and show the qt window 
340    if not rospy.is_shutdown(): 
341      os.chdir(settings().PACKAGE_DIR) # change path to be able to the images of descriptions 
342  #    main_form.resize(1024, 720) 
343      screen_size = QApplication.desktop().availableGeometry() 
344      if main_form.size().width() >= screen_size.width() or main_form.size().height() >= screen_size.height()-24: 
345        main_form.showMaximized() 
346      else: 
347        main_form.show() 
348      exit_code = -1 
349      rospy.on_shutdown(finish) 
350      exit_code = app.exec_() 
351