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1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2008, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 # 33 # Revision $Id$ 34 35 """ 36 ROS Master. 37 38 This module integrates the lower-level implementation modules into a 39 single interface for running and stopping the ROS Master. 40 """ 41 42 import logging 43 import time 44 45 import rosgraph.xmlrpc 46 47 import rosmaster.master_api 48 49 DEFAULT_MASTER_PORT=11311 #default port for master's to bind to 5052 569058 """ 59 Start the ROS Master. 60 """ 61 self.handler = None 62 self.master_node = None 63 self.uri = None 64 65 handler = rosmaster.master_api.ROSMasterHandler(self.num_workers) 66 master_node = rosgraph.xmlrpc.XmlRpcNode(self.port, handler) 67 master_node.start() 68 69 # poll for initialization 70 while not master_node.uri: 71 time.sleep(0.0001) 72 73 # save fields 74 self.handler = handler 75 self.master_node = master_node 76 self.uri = master_node.uri 77 78 logging.getLogger('rosmaster.master').info("Master initialized: port[%s], uri[%s]", self.port, self.uri)7981 if self.master_node is not None: 82 return self.master_node.handler._ok() 83 else: 84 return False8587 if self.master_node is not None: 88 self.master_node.shutdown('Master.stop') 89 self.master_node = None
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