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