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   
 45 -def configure_logging(): 
 46      """ 
 47      Setup filesystem logging for the master 
 48      """ 
 49      filename = 'master.log' 
 50      # #988 __log command-line remapping argument 
 51      import rosgraph.names 
 52      import rosgraph.roslogging 
 53      mappings = rosgraph.names.load_mappings(sys.argv) 
 54      if '__log' in mappings: 
 55          logfilename_remap = mappings['__log'] 
 56          filename = os.path.abspath(logfilename_remap) 
 57      _log_filename = rosgraph.roslogging.configure_logging('rosmaster', logging.DEBUG, filename=filename) 
 58   
 59 -def rosmaster_main(argv=sys.argv, stdout=sys.stdout, env=os.environ): 
 60      parser = optparse.OptionParser(usage="usage: zenmaster [options]") 
 61      parser.add_option("--core", 
 62                        dest="core", action="store_true", default=False, 
 63                        help="run as core") 
 64      parser.add_option("-p", "--port",  
 65                        dest="port", default=0, 
 66                        help="override port", metavar="PORT") 
 67      options, args = parser.parse_args(argv[1:]) 
 68   
 69      # only arg that zenmaster supports is __log remapping of logfilename 
 70      for arg in args: 
 71          if not arg.startswith('__log:='): 
 72              parser.error("unrecognized arg: %s"%arg) 
 73      configure_logging()    
 74       
 75      port = rosmaster.master.DEFAULT_MASTER_PORT 
 76      if options.port: 
 77          port = int(options.port) 
 78   
 79      if not options.core: 
 80          print """ 
 81   
 82   
 83  ACHTUNG WARNING ACHTUNG WARNING ACHTUNG 
 84  WARNING ACHTUNG WARNING ACHTUNG WARNING 
 85   
 86   
 87  Standalone zenmaster has been deprecated, please use 'roscore' instead 
 88   
 89   
 90  ACHTUNG WARNING ACHTUNG WARNING ACHTUNG 
 91  WARNING ACHTUNG WARNING ACHTUNG WARNING 
 92   
 93   
 94  """ 
 95   
 96      logger = logging.getLogger("rosmaster.main") 
 97      logger.info("initialization complete, waiting for shutdown") 
 98      try: 
 99          logger.info("Starting ROS Master Node") 
100          master = rosmaster.master.Master(port) 
101          master.start() 
102   
103          import time 
104          while master.ok(): 
105              time.sleep(.1) 
106      except KeyboardInterrupt: 
107          logger.info("keyboard interrupt, will exit") 
108      finally: 
109          logger.info("stopping master...") 
110          master.stop() 
111   
112  if __name__ == "__main__": 
113      main() 
114