node_manager_fkie.start

66 ''' 67 This class contains the methods to run the nodes on local and remote machines 68 in a screen terminal. 69 '''

70 - def __init__(self):

71 pass

72 73 @classmethod

74 - def runNode(cls, node, launch_config, force2host=None, masteruri=None, auto_pw_request=False, user=None, pw=None, item=None):

75 ''' 76 Start the node with given name from the given configuration. 77 @param node: the name of the node (with name space) 78 @type node: C{str} 79 @param launch_config: the configuration containing the node 80 @type launch_config: L{LaunchConfig} 81 @param force2host: start the node on given host. 82 @type force2host: L{str} 83 @param masteruri: force the masteruri. 84 @type masteruri: L{str} 85 @param auto_pw_request: opens question dialog directly, use True only if the method is called from the main GUI thread 86 @type auto_pw_request: bool 87 @raise StartException: if the screen is not available on host. 88 @raise Exception: on errors while resolving host 89 @see: L{node_manager_fkie.is_local()} 90 ''' 91 #'print "RUN node", node, time.time() 92 n = launch_config.getNode(node) 93 if n is None: 94 raise StartException(''.join(["Node '", node, "' not found!"])) 95 96 env = list(n.env_args) 97 if n.respawn: 98 # set the respawn environment variables 99 respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), launch_config.Roscfg.params) 100 if respawn_params['max'] > 0: 101 env.append(('RESPAWN_MAX', '%d'%respawn_params['max'])) 102 if respawn_params['min_runtime'] > 0: 103 env.append(('RESPAWN_MIN_RUNTIME', '%d'%respawn_params['min_runtime'])) 104 if respawn_params['delay'] > 0: 105 env.append(('RESPAWN_DELAY', '%d'%respawn_params['delay'])) 106 prefix = n.launch_prefix if not n.launch_prefix is None else '' 107 if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1: 108 rospy.loginfo("SCREEN prefix removed before start!") 109 prefix = '' 110 args = [''.join(['__ns:=', n.namespace.rstrip(rospy.names.SEP)]), ''.join(['__name:=', n.name])] 111 if not (n.cwd is None): 112 args.append(''.join(['__cwd:=', n.cwd])) 113 114 # add remaps 115 for remap in n.remap_args: 116 args.append(''.join([remap[0], ':=', remap[1]])) 117 118 # get host of the node 119 host = launch_config.hostname 120 env_loader = '' 121 if n.machine_name: 122 machine = launch_config.Roscfg.machines[n.machine_name] 123 if not machine.address in ['localhost', '127.0.0.1']: 124 host = machine.address 125 if masteruri is None: 126 masteruri = nm.nameres().masteruri(n.machine_name) 127 #TODO: env-loader support? 128 # if hasattr(machine, "env_loader") and machine.env_loader: 129 # env_loader = machine.env_loader 130 # set the host to the given host 131 if not force2host is None: 132 host = force2host 133 134 # set the ROS_MASTER_URI 135 if masteruri is None: 136 masteruri = masteruri_from_ros() 137 env.append(('ROS_MASTER_URI', masteruri)) 138 139 abs_paths = list() # tuples of (parameter name, old value, new value) 140 not_found_packages = list() # package names 141 # set the global parameter 142 if not masteruri is None and not masteruri in launch_config.global_param_done: 143 global_node_names = cls.getGlobalParams(launch_config.Roscfg) 144 rospy.loginfo("Register global parameter:\n %s", '\n '.join("%s%s"%(str(v)[:80],'...' if len(str(v))>80 else'') for v in global_node_names.values())) 145 abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(masteruri, global_node_names, [], user, pw, auto_pw_request) 146 launch_config.global_param_done.append(masteruri) 147 148 # add params 149 if not masteruri is None: 150 nodens = ''.join([n.namespace, n.name, rospy.names.SEP]) 151 params = dict() 152 for param, value in launch_config.Roscfg.params.items(): 153 if param.startswith(nodens): 154 params[param] = value 155 clear_params = [] 156 for cparam in launch_config.Roscfg.clear_params: 157 if cparam.startswith(nodens): 158 clear_params.append(cparam) 159 rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params)) 160 rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s"%(str(v)[:80],'...' if len(str(v))>80 else'') for v in params.values())) 161 abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(masteruri, params, clear_params, user, pw, auto_pw_request) 162 #'print "RUN prepared", node, time.time() 163 164 if nm.is_local(host): 165 nm.screen().testScreen() 166 if item: 167 cmd_type = item 168 else: 169 try: 170 cmd = roslib.packages.find_node(n.package, n.type) 171 except (Exception, roslib.packages.ROSPkgException) as e: 172 # multiple nodes, invalid package 173 raise StartException(''.join(["Can't find resource: ", str(e)])) 174 # handle diferent result types str or array of string 175 if isinstance(cmd, types.StringTypes): 176 cmd = [cmd] 177 cmd_type = '' 178 if cmd is None or len(cmd) == 0: 179 raise StartException(' '.join([n.type, 'in package [', n.package, '] not found!\n\nThe package was created?\nIs the binary executable?\n'])) 180 if len(cmd) > 1: 181 if auto_pw_request: 182 # Open selection for executables, only if the method is called from the main GUI thread 183 try: 184 from python_qt_binding import QtGui 185 item, result = QtGui.QInputDialog.getItem(None, ' '.join(['Multiple executables', n.type, 'in', n.package]), 186 'Select an executable', 187 cmd, 0, False) 188 if result: 189 #open the selected screen 190 cmd_type = item 191 else: 192 return 193 except: 194 raise StartException('Multiple executables with same name in package found!') 195 else: 196 err = BinarySelectionRequest(cmd, 'Multiple executables') 197 raise nm.InteractionNeededError(err, 198 cls.runNode, (node, launch_config, force2host, masteruri, auto_pw_request, user, pw)) 199 else: 200 cmd_type = cmd[0] 201 # determine the current working path, Default: the package of the node 202 cwd = get_ros_home() 203 if not (n.cwd is None): 204 if n.cwd == 'ROS_HOME': 205 cwd = get_ros_home() 206 elif n.cwd == 'node': 207 cwd = os.path.dirname(cmd_type) 208 cls._prepareROSMaster(masteruri) 209 node_cmd = [nm.Settings().respawn_script if n.respawn else '', prefix, cmd_type] 210 cmd_args = [nm.screen().getSceenCmd(node)] 211 cmd_args[len(cmd_args):] = node_cmd 212 cmd_args.append(str(n.args)) 213 cmd_args[len(cmd_args):] = args 214 rospy.loginfo("RUN: %s", ' '.join(cmd_args)) 215 new_env = dict(os.environ) 216 new_env['ROS_MASTER_URI'] = masteruri 217 # add the namespace environment parameter to handle some cases, e.g. rqt_cpp plugins 218 if n.namespace: 219 new_env['ROS_NAMESPACE'] = n.namespace 220 for k, v in env: 221 new_env[k] = v 222 ps = subprocess.Popen(shlex.split(str(' '.join(cmd_args))), cwd=cwd, env=new_env) 223 # wait for process to avoid 'defunct' processes 224 thread = threading.Thread(target=ps.wait) 225 thread.setDaemon(True) 226 thread.start() 227 else: 228 #'print "RUN REMOTE", node, time.time() 229 # start remote 230 if launch_config.PackageName is None: 231 raise StartException(''.join(["Can't run remote without a valid package name!"])) 232 # thus the prefix parameters while the transfer are not separated 233 if prefix: 234 prefix = ''.join(['"', prefix, '"']) 235 # setup environment 236 env_command = '' 237 if env_loader: 238 rospy.logwarn("env_loader in machine tag currently not supported") 239 raise StartException("env_loader in machine tag currently not supported") 240 if env: 241 new_env = dict() 242 try: 243 for (k, v) in env: 244 v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, user, pw, auto_pw_request) 245 new_env[k] = v_value 246 if is_abs_path: 247 abs_paths.append(('ENV', "%s=%s"%(k,v), "%s=%s"%(k,v_value))) 248 if not found and package: 249 not_found_packages.append(package) 250 env_command = "env "+' '.join(["%s=%s"%(k,v) for (k, v) in new_env.items()]) 251 except nm.AuthenticationRequest as e: 252 raise nm.InteractionNeededError(e, cls.runNode, (node, launch_config, force2host, masteruri, auto_pw_request)) 253 254 startcmd = [env_command, nm.Settings().start_remote_script, 255 '--package', str(n.package), 256 '--node_type', str(n.type), 257 '--node_name', str(node), 258 '--node_respawn true' if n.respawn else ''] 259 if not masteruri is None: 260 startcmd.append('--masteruri') 261 startcmd.append(masteruri) 262 if prefix: 263 startcmd[len(startcmd):] = ['--prefix', prefix] 264 265 #rename the absolute paths in the args of the node 266 node_args = [] 267 try: 268 for a in n.args.split(): 269 a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, user, pw, auto_pw_request) 270 node_args.append(a_value) 271 if is_abs_path: 272 abs_paths.append(('ARGS', a, a_value)) 273 if not found and package: 274 not_found_packages.append(package) 275 276 startcmd[len(startcmd):] = node_args 277 startcmd[len(startcmd):] = args 278 rospy.loginfo("Run remote on %s: %s", host, str(' '.join(startcmd))) 279 #'print "RUN CALL", node, time.time() 280 output, error, ok = nm.ssh().ssh_exec(host, startcmd, user, pw, auto_pw_request) 281 #'print "RUN CALLOK", node, time.time() 282 except nm.AuthenticationRequest as e: 283 raise nm.InteractionNeededError(e, cls.runNode, (node, launch_config, force2host, masteruri, auto_pw_request)) 284 285 if ok: 286 if error: 287 rospy.logwarn("ERROR while start '%s': %s", node, error) 288 raise StartException(str(''.join(['The host "', host, '" reports:\n', error]))) 289 if output: 290 rospy.loginfo("STDOUT while start '%s': %s", node, output) 291 # inform about absolute paths in parameter value 292 if len(abs_paths) > 0: 293 rospy.loginfo("Absolute paths found while start:\n%s", str('\n'.join([''.join([p, '\n OLD: ', ov, '\n NEW: ', nv]) for p, ov, nv in abs_paths]))) 294 295 if len(not_found_packages) > 0: 296 packages = '\n'.join(not_found_packages) 297 raise StartException(str('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))

298 # if len(abs_paths) > 0: 299 # parameters = '\n'.join(abs_paths) 300 # raise nm.StartException(str('\n'.join(['Following parameter seems to use an absolute local path for remote host:', parameters, 'Use "cwd" attribute of the "node" tag to specify relative paths for remote usage!']))) 301 #'print "RUN OK", node, time.time() 302 303 304 @classmethod

305 - def _get_respawn_params(cls, node, params):

306 result = { 'max' : 0, 'min_runtime' : 0, 'delay': 0 } 307 respawn_max = rospy.names.ns_join(node, 'respawn/max') 308 respawn_min_runtime = rospy.names.ns_join(node, 'respawn/min_runtime') 309 respawn_delay = rospy.names.ns_join(node, 'respawn/delay') 310 try: 311 result['max'] = int(params[respawn_max].value) 312 except: 313 pass 314 try: 315 result['min_runtime'] = int(params[respawn_min_runtime].value) 316 except: 317 pass 318 try: 319 result['delay'] = int(params[respawn_delay].value) 320 except: 321 pass 322 return result

323 324 @classmethod

325 - def _load_parameters(cls, masteruri, params, clear_params, user, pw, auto_pw_request):

326 """ 327 Load parameters onto the parameter server 328 """ 329 import roslaunch 330 import roslaunch.launch 331 param_server = xmlrpclib.ServerProxy(masteruri) 332 p = None 333 abs_paths = list() # tuples of (parameter name, old value, new value) 334 not_found_packages = list() # packages names 335 try: 336 socket.setdefaulttimeout(6+len(clear_params)) 337 # multi-call style xmlrpc 338 param_server_multi = xmlrpclib.MultiCall(param_server) 339 340 # clear specified parameter namespaces 341 # #2468 unify clear params to prevent error 342 for p in clear_params: 343 param_server_multi.deleteParam(rospy.get_name(), p) 344 r = param_server_multi() 345 for code, msg, _ in r: 346 if code != 1 and not msg.find("is not set"): 347 rospy.logwarn("Failed to clear parameter: %s", msg) 348 # raise StartException("Failed to clear parameter: %s"%(msg)) 349 350 # multi-call objects are not reusable 351 socket.setdefaulttimeout(6+len(params)) 352 param_server_multi = xmlrpclib.MultiCall(param_server) 353 for p in params.itervalues(): 354 # suppressing this as it causes too much spam 355 value, is_abs_path, found, package = cls._resolve_abs_paths(p.value, nm.nameres().address(masteruri), user, pw, auto_pw_request) 356 if is_abs_path: 357 abs_paths.append((p.key, p.value, value)) 358 if not found and package: 359 not_found_packages.append(package) 360 if p.value is None: 361 rospy.logwarn("The parameter '%s' is invalid: '%s'"%(p.key, p.value)) 362 #raise StartException("The parameter '%s' is invalid: '%s'"%(p.key, p.value)) 363 else: 364 param_server_multi.setParam(rospy.get_name(), p.key, value if is_abs_path else p.value) 365 r = param_server_multi() 366 for code, msg, _ in r: 367 if code != 1: 368 raise StartException("Failed to set parameter: %s"%(msg)) 369 except roslaunch.core.RLException, e: 370 raise StartException(e) 371 except Exception as e: 372 raise #re-raise as this is fatal 373 finally: 374 socket.setdefaulttimeout(None) 375 return abs_paths, not_found_packages

376 377 @classmethod

378 - def _resolve_abs_paths(cls, value, host, user, pw, auto_pw_request):

379 ''' 380 Replaces the local absolute path by remote absolute path. Only valid ROS 381 package paths are resolved. 382 @return: value, is absolute path, remote package found (ignore it on local host or if is not absolute path!), package name (if absolute path and remote package NOT found) 383 ''' 384 if isinstance(value, types.StringTypes) and value.startswith('/') and (os.path.isfile(value) or os.path.isdir(value)): 385 if nm.is_local(host): 386 return value, True, True, '' 387 else: 388 # print "ABS PATH:", value, os.path.dirname(value), host 389 dir = os.path.dirname(value) if os.path.isfile(value) else value 390 package, package_path = package_name(dir) 391 if package: 392 output, error, ok = nm.ssh().ssh_exec(host, ['rospack', 'find', package], user, pw, auto_pw_request) 393 if ok: 394 if output: 395 # print " RESOLVED:", output 396 # print " PACK_PATH:", package_path 397 value.replace(package_path, output) 398 # print " RENAMED:", value.replace(package_path, output.strip()) 399 return value.replace(package_path, output.strip()), True, True, package 400 else: 401 # package on remote host not found! 402 # TODO add error message 403 # error = stderr.read() 404 pass 405 return value, True, False, '' 406 else: 407 return value, False, False, ''

408 409 @classmethod

410 - def runNodeWithoutConfig(cls, host, package, type, name, args=[], masteruri=None, auto_pw_request=False, user=None, pw=None):

411 ''' 412 Start a node with using a launch configuration. 413 @param host: the host or ip to run the node 414 @type host: C{str} 415 @param package: the ROS package containing the binary 416 @type package: C{str} 417 @param type: the binary of the node to execute 418 @type type: C{str} 419 @param name: the ROS name of the node (with name space) 420 @type name: C{str} 421 @param args: the list with arguments passed to the binary 422 @type args: C{[str, ...]} 423 @param auto_pw_request: opens question dialog directly, use True only if the method is called from the main GUI thread 424 @type auto_pw_request: bool 425 @raise Exception: on errors while resolving host 426 @see: L{node_manager_fkie.is_local()} 427 ''' 428 # create the name with namespace 429 args2 = list(args) 430 fullname = roslib.names.ns_join(roslib.names.SEP, name) 431 namespace = '' 432 for a in args: 433 if a.startswith('__ns:='): 434 namespace = a.replace('__ns:=', '') 435 fullname = roslib.names.ns_join(namespace, name) 436 args2.append(''.join(['__name:=', name])) 437 # run on local host 438 if nm.is_local(host): 439 try: 440 cmd = roslib.packages.find_node(package, type) 441 except roslib.packages.ROSPkgException as e: 442 # multiple nodes, invalid package 443 raise StartException(str(e)) 444 # handle different result types str or array of string 445 import types 446 if isinstance(cmd, types.StringTypes): 447 cmd = [cmd] 448 cmd_type = '' 449 if cmd is None or len(cmd) == 0: 450 raise StartException(' '.join([type, 'in package [', package, '] not found!'])) 451 if len(cmd) > 1: 452 # Open selection for executables 453 # try: 454 # from python_qt_binding import QtGui 455 # item, result = QtGui.QInputDialog.getItem(None, ' '.join(['Multiple executables', type, 'in', package]), 456 # 'Select an executable', 457 # cmd, 0, False) 458 # if result: 459 # #open the selected screen 460 # cmd_type = item 461 # else: 462 # return 463 # except: 464 err = [''.join(['Multiple executables with same name in package [', package, '] found:'])] 465 err.extend(cmd) 466 raise StartException('\n'.join(err)) 467 else: 468 cmd_type = cmd[0] 469 cmd_str = str(' '.join([nm.screen().getSceenCmd(fullname), cmd_type, ' '.join(args2)])) 470 rospy.loginfo("Run without config: %s", cmd_str) 471 ps = None 472 new_env=dict(os.environ) 473 if namespace: 474 new_env['ROS_NAMESPACE'] = namespace 475 if not masteruri is None: 476 cls._prepareROSMaster(masteruri) 477 new_env['ROS_MASTER_URI'] = masteruri 478 ps = subprocess.Popen(shlex.split(cmd_str), env=new_env) 479 else: 480 ps = subprocess.Popen(shlex.split(cmd_str), env=new_env) 481 # wait for process to avoid 'defunct' processes 482 thread = threading.Thread(target=ps.wait) 483 thread.setDaemon(True) 484 thread.start() 485 else: 486 # run on a remote machine 487 startcmd = [nm.Settings().start_remote_script, 488 '--package', str(package), 489 '--node_type', str(type), 490 '--node_name', str(fullname)] 491 startcmd[len(startcmd):] = args2 492 if not masteruri is None: 493 startcmd.append('--masteruri') 494 startcmd.append(masteruri) 495 rospy.loginfo("Run remote on %s: %s", host, ' '.join(startcmd)) 496 try: 497 output, error, ok = nm.ssh().ssh_exec(host, startcmd, user, pw, auto_pw_request) 498 if ok: 499 if error: 500 rospy.logwarn("ERROR while start '%s': %s", name, error) 501 raise StartException(''.join(['The host "', host, '" reports:\n', error])) 502 # from python_qt_binding import QtGui 503 # QtGui.QMessageBox.warning(None, 'Error while remote start %s'%str(name), 504 # str(''.join(['The host "', host, '" reports:\n', error])), 505 # QtGui.QMessageBox.Ok) 506 if output: 507 rospy.logdebug("STDOUT while start '%s': %s", name, output) 508 else: 509 if error: 510 rospy.logwarn("ERROR while start '%s': %s", name, error) 511 raise StartException(''.join(['The host "', host, '" reports:\n', error])) 512 except nm.AuthenticationRequest as e: 513 raise nm.InteractionNeededError(e, cls.runNodeWithoutConfig, (host, package, type, name, args, masteruri, auto_pw_request))

514 515 @classmethod

516 - def _prepareROSMaster(cls, masteruri):

517 if not masteruri: 518 masteruri = roslib.rosenv.get_master_uri() 519 #start roscore, if needed 520 try: 521 if not os.path.isdir(nm.ScreenHandler.LOG_PATH): 522 os.makedirs(nm.ScreenHandler.LOG_PATH) 523 socket.setdefaulttimeout(3) 524 master = xmlrpclib.ServerProxy(masteruri) 525 master.getUri(rospy.get_name()) 526 except: 527 # socket.setdefaulttimeout(None) 528 # import traceback 529 # print traceback.format_exc() 530 # run a roscore 531 from urlparse import urlparse 532 master_host = urlparse(masteruri).hostname 533 if nm.is_local(master_host, True): 534 print "Start ROS-Master with", masteruri, "..." 535 master_port = urlparse(masteruri).port 536 new_env = dict(os.environ) 537 new_env['ROS_MASTER_URI'] = masteruri 538 cmd_args = '%s roscore --port %d'%(nm.ScreenHandler.getSceenCmd('/roscore--%d'%master_port), master_port) 539 print " %s"%cmd_args 540 try: 541 subprocess.Popen(shlex.split(cmd_args), env=new_env) 542 # wait for roscore to avoid connection problems while init_node 543 result = -1 544 count = 1 545 while result == -1 and count < 11: 546 try: 547 print " retry connect to ROS master", count, '/', 10 548 master = xmlrpclib.ServerProxy(masteruri) 549 result, uri, msg = master.getUri(rospy.get_name()) 550 except: 551 time.sleep(1) 552 count += 1 553 if count >= 11: 554 raise StartException('Cannot connect to the ROS-Master: '+ str(masteruri)) 555 except Exception as e: 556 import sys 557 print >> sys.stderr, e 558 raise 559 else: 560 raise Exception("ROS master '%s' is not reachable"%masteruri) 561 finally: 562 socket.setdefaulttimeout(None)

563

564 - def callService(self, service_uri, service, service_type, service_args=[]):

565 ''' 566 Calls the service and return the response. 567 To call the service the ServiceProxy can't be used, because it uses 568 environment variables to determine the URI of the running service. In our 569 case this service can be running using another ROS master. The changes on the 570 environment variables is not thread safe. 571 So the source code of the rospy.SerivceProxy (tcpros_service.py) was modified. 572 573 @param service_uri: the URI of the service 574 @type service_uri: C{str} 575 @param service: full service name (with name space) 576 @type service: C{str} 577 @param service_type: service class 578 @type service_type: ServiceDefinition: service class 579 @param args: arguments 580 @return: the tuple of request and response. 581 @rtype: C{(request object, response object)} 582 @raise StartException: on error 583 584 @see: L{rospy.SerivceProxy} 585 586 ''' 587 service = str(service) 588 rospy.loginfo("Call service %s[%s]: %s, %s", str(service), str(service_uri), str(service_type), str(service_args)) 589 from rospy.core import parse_rosrpc_uri, is_shutdown 590 # from rospy.msg import args_kwds_to_message 591 from rospy.exceptions import TransportInitError, TransportException 592 from rospy.impl.tcpros_base import TCPROSTransport, DEFAULT_BUFF_SIZE#,TCPROSTransportProtocol 593 from rospy.impl.tcpros_service import TCPROSServiceClient 594 from rospy.service import ServiceException 595 request = service_type._request_class() 596 import genpy 597 try: 598 now = rospy.get_rostime() 599 import std_msgs.msg 600 keys = { 'now': now, 'auto': std_msgs.msg.Header(stamp=now) } 601 genpy.message.fill_message_args(request, service_args, keys) 602 except genpy.MessageException as e: 603 def argsummary(args): 604 if type(args) in [tuple, list]: 605 return '\n'.join([' * %s (type %s)'%(a, type(a).__name__) for a in args]) 606 else: 607 return ' * %s (type %s)'%(args, type(args).__name__)

608 raise StartException("Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"%(e, argsummary(service_args), genpy.message.get_printable_message_args(request))) 609 610 # request = args_kwds_to_message(type._request_class, args, kwds) 611 transport = None 612 protocol = TCPROSServiceClient(service, service_type, headers={}) 613 transport = TCPROSTransport(protocol, service) 614 # initialize transport 615 dest_addr, dest_port = parse_rosrpc_uri(service_uri) 616 # connect to service 617 transport.buff_size = DEFAULT_BUFF_SIZE 618 try: 619 transport.connect(dest_addr, dest_port, service_uri, timeout=5) 620 except TransportInitError as e: 621 # can be a connection or md5sum mismatch 622 raise StartException(''.join(["unable to connect to service: ", str(e)])) 623 transport.send_message(request, 0) 624 try: 625 responses = transport.receive_once() 626 if len(responses) == 0: 627 raise StartException("service [%s] returned no response"%service) 628 elif len(responses) > 1: 629 raise StartException("service [%s] returned multiple responses: %s"%(service, len(responses))) 630 except TransportException as e: 631 # convert lower-level exception to exposed type 632 if is_shutdown(): 633 raise StartException("node shutdown interrupted service call") 634 else: 635 raise StartException("transport error completing service call: %s"%(str(e))) 636 except ServiceException, e: 637 raise StartException("Service error: %s"%(str(e))) 638 finally: 639 transport.close() 640 transport = None 641 return request, responses[0] if len(responses) > 0 else None

Source Code for Module node_manager_fkie.start_handler