def on_shortcut_goto(self):
'''
Opens a C{goto} dialog.
'''
value = 1
ok = False
try:
value, ok = QInputDialog.getInt(self,
"Goto",
self.tr("Line number:"),
QLineEdit.Normal,
minValue=1,
step=1)
except:
value, ok = QInputDialog.getInt(self,
"Goto",
self.tr("Line number:"),
QLineEdit.Normal,
min=1,
step=1)
if ok:
if value > self.tabWidget.currentWidget().document().blockCount():
value = self.tabWidget.currentWidget().document().blockCount()
curpos = self.tabWidget.currentWidget().textCursor().blockNumber(
) + 1
while curpos != value:
mov = QTextCursor.NextBlock if curpos < value else QTextCursor.PreviousBlock
self.tabWidget.currentWidget().moveCursor(mov)
curpos = self.tabWidget.currentWidget().textCursor(
).blockNumber() + 1
self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)
def mergeTracks(self, unused=None):
(track1Id, ok) = QInputDialog.getInteger(
self.widget, "Merge two tracks",
"Please enter the ID of the 1st person track you want to merge.")
if not ok:
return
(track2Id, ok) = QInputDialog.getInteger(
self.widget, "Merge two tracks",
"Please enter the ID of the 2nd person track you want to merge.")
if not ok:
return
if track1Id == track2Id:
QMessageBox.critical(self.widget, "Merge two tracks",
"Track IDs cannot be identical!")
return
if self.verifyTrackExists(track1Id) and self.verifyTrackExists(
track2Id):
self.editor.mergeTracks(track1Id, track2Id)
self.updateTrackCount()
QMessageBox.information(
self.widget, "Merge two tracks",
"Person tracks %d and %d have been merged!" %
(track1Id, track2Id))
def on_shortcut_goto(self):
'''
Opens a C{goto} dialog.
'''
value = 1
ok = False
try:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, minValue=1, step=1)
except Exception:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, min=1, step=1)
if ok:
self._goto(value)
self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)
def on_shortcut_goto(self):
'''
Opens a C{goto} dialog.
'''
value = 1
ok = False
try:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, minValue=1, step=1)
except Exception:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, min=1, step=1)
if ok:
self._goto(value)
self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(
self._menu_manager.menu,
self._menu_manager.tr('Remove perspective'),
self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
if name not in self.perspectives:
raise UserWarning('unknown perspective: %s' % name)
qDebug('PerspectiveManager._on_remove_perspective(%s)' % str(name))
# remove from list of perspectives
self.perspectives.remove(name)
self._settings_proxy.set_value('', 'perspectives', self.perspectives)
# remove settings
settings = self._get_perspective_settings(name)
settings.remove('')
# remove from menu
self._menu_manager.remove_item(name)
# disable remove-action
if self._menu_manager.count_items() < 2:
self._remove_action.setEnabled(False)
def trigger_configuration(self):
(text, ok) = QInputDialog.getText(self._widget,
'Settings for %s' % self._widget.windowTitle(),
'Command to edit launch files (vim, gedit, ...), can accept args:',
text = self._widget.editor
)
if ok:
self._widget.editor = text
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(self._menu_manager.menu, self._menu_manager.tr('Remove perspective'), self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
self._remove_perspective(name)
def on_shortcut_goto(self):
'''
Opens a C{goto} dialog.
'''
value = 1
ok = False
try:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, minValue=1, step=1)
except:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, min=1, step=1)
if ok:
if value > self.tabWidget.currentWidget().document().blockCount():
value = self.tabWidget.currentWidget().document().blockCount()
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
while curpos != value:
mov = QTextCursor.NextBlock if curpos < value else QTextCursor.PreviousBlock
self.tabWidget.currentWidget().moveCursor(mov)
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(
self._menu_manager.menu,
self._menu_manager.tr('Remove perspective'),
self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
self._remove_perspective(name)
def getNewButtonLabel(self):
'''
Requests a new button label from the user.
Returns None if user canceled out, or a string
with the new button label.
@return: None if user canceled, else string from input field.
@rtype: {None | string}
'''
prompt = "New label for this button:";
dialogBox = QInputDialog(parent=self);
dialogBox.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
dialogBox.setLabelText(prompt);
dialogBox.setCancelButtonText("Keep existing label");
userChoice = dialogBox.exec_();
if userChoice == QDialog.Accepted:
return dialogBox.textValue();
else:
return None;
def paste_from_clipboard(self):
'''
Copy the file or folder to new position...
'''
if QApplication.clipboard().mimeData().hasText() and self.currentPath:
text = QApplication.clipboard().mimeData().text()
if text.startswith('file://'):
path = text.replace('file://', '')
basename = os.path.basename(text)
ok = True
if os.path.exists(os.path.join(self.currentPath, basename)):
basename, ok = QInputDialog.getText(None, 'File exists', 'New name (or override):', QLineEdit.Normal, basename)
if ok and basename:
if os.path.isdir(path):
shutil.copytree(path, os.path.join(self.currentPath, basename))
elif os.path.isfile(path):
shutil.copy2(path, os.path.join(self.currentPath, basename))
self.reloadCurrentPath()
def paste_from_clipboard(self):
'''
Copy the file or folder to new position...
'''
if QApplication.clipboard().mimeData().hasText() and self.currentPath:
text = QApplication.clipboard().mimeData().text()
if text.startswith('file://'):
path = text.replace('file://', '')
basename = os.path.basename(text)
ok = True
if os.path.exists(os.path.join(self.currentPath, basename)):
basename, ok = QInputDialog.getText(None, 'File exists', 'New name (or override):', QLineEdit.Normal, basename)
if ok and basename:
if os.path.isdir(path):
shutil.copytree(path, os.path.join(self.currentPath, basename))
elif os.path.isfile(path):
shutil.copy2(path, os.path.join(self.currentPath, basename))
self.reloadCurrentPath()
def runNode(cls, runcfg):
'''
Start the node with given name from the given configuration.
@param runcfg: the configuration containing the start parameter
@type runcfg: AdvRunCfg
@raise StartException: if the screen is not available on host.
@raise Exception: on errors while resolving host
@see: L{node_manager_fkie.is_local()}
'''
# 'print "RUN node", node, time.time()
n = runcfg.roslaunch_config.getNode(runcfg.node)
if n is None:
raise StartException(''.join(["Node '", runcfg.node, "' not found!"]))
env = list(n.env_args)
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('console_format'):
env.append(('ROSCONSOLE_FORMAT', '%s' % runcfg.logging.console_format))
if n.respawn:
# set the respawn environment variables
respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), runcfg.roslaunch_config.Roscfg.params)
if respawn_params['max'] > 0:
env.append(('RESPAWN_MAX', '%d' % respawn_params['max']))
if respawn_params['min_runtime'] > 0:
env.append(('RESPAWN_MIN_RUNTIME', '%d' % respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
env.append(('RESPAWN_DELAY', '%d' % respawn_params['delay']))
prefix = n.launch_prefix if n.launch_prefix is not None else ''
if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1:
rospy.loginfo("SCREEN prefix removed before start!")
prefix = ''
args = ['__ns:=%s' % n.namespace.rstrip(rospy.names.SEP), '__name:=%s' % n.name]
if n.cwd is not None:
args.append('__cwd:=%s' % n.cwd)
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
# get host of the node
host = runcfg.roslaunch_config.hostname
env_loader = ''
if n.machine_name:
machine = runcfg.roslaunch_config.Roscfg.machines[n.machine_name]
if machine.address not in ['localhost', '127.0.0.1']:
host = machine.address
if runcfg.masteruri is None:
runcfg.masteruri = nm.nameres().masteruri(n.machine_name)
# TODO: env-loader support?
# if hasattr(machine, "env_loader") and machine.env_loader:
# env_loader = machine.env_loader
# set the host to the given host
if runcfg.force2host is not None:
host = runcfg.force2host
# set the ROS_MASTER_URI
if runcfg.masteruri is None:
runcfg.masteruri = masteruri_from_ros()
env.append(('ROS_MASTER_URI', runcfg.masteruri))
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
env.append(('ROS_HOSTNAME', ros_hostname))
abs_paths = list() # tuples of (parameter name, old value, new value)
not_found_packages = list() # package names
# set the global parameter
if runcfg.masteruri is not None and runcfg.masteruri not in runcfg.roslaunch_config.global_param_done:
global_node_names = cls.getGlobalParams(runcfg.roslaunch_config.Roscfg)
rospy.loginfo("Register global parameter:\n %s", '\n '.join("%s%s" % (utf8(v)[:80], '...' if len(utf8(v)) > 80 else'') for v in global_node_names.values()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, global_node_names, [], runcfg.user, runcfg.pw, runcfg.auto_pw_request)
runcfg.roslaunch_config.global_param_done.append(runcfg.masteruri)
# add params
if runcfg.masteruri is not None:
nodens = ''.join([n.namespace, n.name, rospy.names.SEP])
params = dict()
for param, value in runcfg.roslaunch_config.Roscfg.params.items():
if param.startswith(nodens):
params[param] = value
clear_params = []
for cparam in runcfg.roslaunch_config.Roscfg.clear_params:
if cparam.startswith(nodens):
clear_params.append(cparam)
rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params))
rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s" % (utf8(v)[:80], '...' if len(utf8(v)) > 80 else'') for v in params.values()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, params, clear_params, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
# 'print "RUN prepared", node, time.time()
if nm.is_local(host, wait=True):
nm.screen().testScreen()
if runcfg.executable:
cmd_type = runcfg.executable
else:
try:
cmd = roslib.packages.find_node(n.package, n.type)
except (Exception, roslib.packages.ROSPkgException) as starterr:
# multiple nodes, invalid package
raise StartException("Can't find resource: %s" % starterr)
# handle diferent result types str or array of string
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException("%s in package [%s] not found!\n\nThe package "
"was created?\nIs the binary executable?\n" % (n.type, n.package))
if len(cmd) > 1:
if runcfg.auto_pw_request:
# Open selection for executables, only if the method is called from the main GUI thread
try:
try:
from python_qt_binding.QtGui import QInputDialog
except:
from python_qt_binding.QtWidgets import QInputDialog
item, result = QInputDialog.getItem(None, 'Multiple executables %s in %s' % (n.type, n.package),
'Select an executable',
cmd, 0, False)
if result:
# open the selected screen
cmd_type = item
else:
return
except:
raise StartException('Multiple executables with same name in package found!')
else:
err = BinarySelectionRequest(cmd, 'Multiple executables')
raise nm.InteractionNeededError(err, cls.runNode,
(runcfg,))
else:
cmd_type = cmd[0]
# determine the current working path, Default: the package of the node
cwd = get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd_type)
cls._prepareROSMaster(runcfg.masteruri)
node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type]
cmd_args = [nm.screen().getSceenCmd(runcfg.node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(utf8(n.args))
cmd_args[len(cmd_args):] = args
rospy.loginfo("RUN: %s", ' '.join(cmd_args))
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = runcfg.masteruri
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
# add the namespace environment parameter to handle some cases,
# e.g. rqt_cpp plugins
if n.namespace:
new_env['ROS_NAMESPACE'] = n.namespace
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
env.append(('ROSCONSOLE_CONFIG_FILE', nm.settings().rosconsole_cfg_file(n.package)))
for key, value in env:
new_env[key] = value
SupervisedPopen(shlex.split(utf8(' '.join(cmd_args))), cwd=cwd,
env=new_env, object_id="Run node", description="Run node "
"[%s]%s" % (utf8(n.package), utf8(n.type)))
nm.filewatcher().add_binary(cmd_type, runcfg.node, runcfg.masteruri, runcfg.roslaunch_config.Filename)
else:
# 'print "RUN REMOTE", node, time.time()
# start remote
if runcfg.roslaunch_config.PackageName is None:
raise StartException("Can't run remote without a valid package name!")
# thus the prefix parameters while the transfer are not separated
if prefix:
prefix = ''.join(['"', prefix, '"'])
# setup environment
env_command = ''
if env_loader:
rospy.logwarn("env_loader in machine tag currently not supported")
raise StartException("env_loader in machine tag currently not supported")
if env:
new_env = dict()
try:
for (k, v) in env:
v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
new_env[k] = v_value
if is_abs_path:
abs_paths.append(('ENV', "%s=%s" % (k, v), "%s=%s" % (k, v_value)))
if not found and package:
not_found_packages.append(package)
env_command = "env " + ' '.join(["%s=\'%s\'" % (k, v) for (k, v) in new_env.items()])
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
startcmd = [env_command, nm.settings().start_remote_script,
'--package', utf8(n.package),
'--node_type', utf8(n.type),
'--node_name', utf8(runcfg.node),
'--node_respawn true' if n.respawn else '']
if runcfg.masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(runcfg.masteruri)
if prefix:
startcmd[len(startcmd):] = ['--prefix', prefix]
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
startcmd.append('--loglevel')
startcmd.append(nm.settings().logging.loglevel)
# rename the absolute paths in the args of the node
node_args = []
try:
for a in n.args.split():
a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
node_args.append(a_value)
if is_abs_path:
abs_paths.append(('ARGS', a, a_value))
if not found and package:
not_found_packages.append(package)
startcmd[len(startcmd):] = node_args
startcmd[len(startcmd):] = args
rospy.loginfo("Run remote on %s: %s", host, utf8(' '.join(startcmd)))
# 'print "RUN CALL", node, time.time()
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, runcfg.user, runcfg.pw, runcfg.auto_pw_request, close_stdin=True)
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
# 'print "RUN CALLOK", node, time.time()
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
if ok:
if error:
rospy.logwarn("ERROR while start '%s': %s", runcfg.node, error)
raise StartException(utf8(''.join(['The host "', host, '" reports:\n', error])))
if output:
rospy.loginfo("STDOUT while start '%s': %s", runcfg.node, output)
# inform about absolute paths in parameter value
if len(abs_paths) > 0:
rospy.loginfo("Absolute paths found while start:\n%s", utf8('\n'.join([''.join([p, '\n OLD: ', ov, '\n NEW: ', nv]) for p, ov, nv in abs_paths])))
if len(not_found_packages) > 0:
packages = '\n'.join(not_found_packages)
raise StartException(utf8('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))
def runNode(cls, runcfg):
'''
Start the node with given name from the given configuration.
@param runcfg: the configuration containing the start parameter
@type runcfg: AdvRunCfg
@raise StartException: if the screen is not available on host.
@raise Exception: on errors while resolving host
@see: L{node_manager_fkie.is_local()}
'''
# 'print "RUN node", node, time.time()
n = runcfg.roslaunch_config.getNode(runcfg.node)
if n is None:
raise StartException(''.join(["Node '", runcfg.node, "' not found!"]))
env = list(n.env_args)
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('console_format'):
env.append(('ROSCONSOLE_FORMAT', '%s' % runcfg.logging.console_format))
if n.respawn:
# set the respawn environment variables
respawn_params = cls._get_respawn_params(rospy.names.ns_join(n.namespace, n.name), runcfg.roslaunch_config.Roscfg.params)
if respawn_params['max'] > 0:
env.append(('RESPAWN_MAX', '%d' % respawn_params['max']))
if respawn_params['min_runtime'] > 0:
env.append(('RESPAWN_MIN_RUNTIME', '%d' % respawn_params['min_runtime']))
if respawn_params['delay'] > 0:
env.append(('RESPAWN_DELAY', '%d' % respawn_params['delay']))
prefix = n.launch_prefix if n.launch_prefix is not None else ''
if prefix.lower() == 'screen' or prefix.lower().find('screen ') != -1:
rospy.loginfo("SCREEN prefix removed before start!")
prefix = ''
args = ['__ns:=%s' % n.namespace.rstrip(rospy.names.SEP), '__name:=%s' % n.name]
if n.cwd is not None:
args.append('__cwd:=%s' % n.cwd)
# add remaps
for remap in n.remap_args:
args.append(''.join([remap[0], ':=', remap[1]]))
# get host of the node
host = runcfg.roslaunch_config.hostname
env_loader = ''
if n.machine_name:
machine = runcfg.roslaunch_config.Roscfg.machines[n.machine_name]
if machine.address not in ['localhost', '127.0.0.1']:
host = machine.address
if runcfg.masteruri is None:
runcfg.masteruri = nm.nameres().masteruri(n.machine_name)
# TODO: env-loader support?
# if hasattr(machine, "env_loader") and machine.env_loader:
# env_loader = machine.env_loader
# set the host to the given host
if runcfg.force2host is not None:
host = runcfg.force2host
# set the ROS_MASTER_URI
if runcfg.masteruri is None:
runcfg.masteruri = masteruri_from_ros()
env.append(('ROS_MASTER_URI', runcfg.masteruri))
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
env.append(('ROS_HOSTNAME', ros_hostname))
abs_paths = list() # tuples of (parameter name, old value, new value)
not_found_packages = list() # package names
# set the global parameter
if runcfg.masteruri is not None and runcfg.masteruri not in runcfg.roslaunch_config.global_param_done:
global_node_names = cls.getGlobalParams(runcfg.roslaunch_config.Roscfg)
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()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, global_node_names, [], runcfg.user, runcfg.pw, runcfg.auto_pw_request)
runcfg.roslaunch_config.global_param_done.append(runcfg.masteruri)
# add params
if runcfg.masteruri is not None:
nodens = ''.join([n.namespace, n.name, rospy.names.SEP])
params = dict()
for param, value in runcfg.roslaunch_config.Roscfg.params.items():
if param.startswith(nodens):
params[param] = value
clear_params = []
for cparam in runcfg.roslaunch_config.Roscfg.clear_params:
if cparam.startswith(nodens):
clear_params.append(cparam)
rospy.loginfo("Delete parameter:\n %s", '\n '.join(clear_params))
rospy.loginfo("Register parameter:\n %s", '\n '.join("%s%s" % (str(v)[:80], '...' if len(str(v)) > 80 else'') for v in params.values()))
abs_paths[len(abs_paths):], not_found_packages[len(not_found_packages):] = cls._load_parameters(runcfg.masteruri, params, clear_params, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
# 'print "RUN prepared", node, time.time()
if nm.is_local(host, wait=True):
nm.screen().testScreen()
if runcfg.executable:
cmd_type = runcfg.executable
else:
try:
cmd = roslib.packages.find_node(n.package, n.type)
except (Exception, roslib.packages.ROSPkgException) as starterr:
# multiple nodes, invalid package
raise StartException("Can't find resource: %s" % starterr)
# handle diferent result types str or array of string
if isinstance(cmd, types.StringTypes):
cmd = [cmd]
cmd_type = ''
if cmd is None or len(cmd) == 0:
raise StartException("%s in package [%s] not found!\n\nThe package "
"was created?\nIs the binary executable?\n" % (n.type, n.package))
if len(cmd) > 1:
if runcfg.auto_pw_request:
# Open selection for executables, only if the method is called from the main GUI thread
try:
try:
from python_qt_binding.QtGui import QInputDialog
except:
from python_qt_binding.QtWidgets import QInputDialog
item, result = QInputDialog.getItem(None, 'Multiple executables %s in %s' % (n.type, n.package),
'Select an executable',
cmd, 0, False)
if result:
# open the selected screen
cmd_type = item
else:
return
except:
raise StartException('Multiple executables with same name in package found!')
else:
err = BinarySelectionRequest(cmd, 'Multiple executables')
raise nm.InteractionNeededError(err, cls.runNode,
(runcfg,))
else:
cmd_type = cmd[0]
# determine the current working path, Default: the package of the node
cwd = get_ros_home()
if not (n.cwd is None):
if n.cwd == 'ROS_HOME':
cwd = get_ros_home()
elif n.cwd == 'node':
cwd = os.path.dirname(cmd_type)
cls._prepareROSMaster(runcfg.masteruri)
node_cmd = [nm.settings().respawn_script if n.respawn else '', prefix, cmd_type]
cmd_args = [nm.screen().getSceenCmd(runcfg.node)]
cmd_args[len(cmd_args):] = node_cmd
cmd_args.append(str(n.args))
cmd_args[len(cmd_args):] = args
rospy.loginfo("RUN: %s", ' '.join(cmd_args))
new_env = dict(os.environ)
new_env['ROS_MASTER_URI'] = runcfg.masteruri
ros_hostname = NameResolution.get_ros_hostname(runcfg.masteruri)
if ros_hostname:
new_env['ROS_HOSTNAME'] = ros_hostname
# add the namespace environment parameter to handle some cases,
# e.g. rqt_cpp plugins
if n.namespace:
new_env['ROS_NAMESPACE'] = n.namespace
# set logging options
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
env.append(('ROSCONSOLE_CONFIG_FILE', nm.settings().rosconsole_cfg_file(n.package)))
for key, value in env:
new_env[key] = value
SupervisedPopen(shlex.split(str(' '.join(cmd_args))), cwd=cwd,
env=new_env, object_id="Run node", description="Run node "
"[%s]%s" % (str(n.package), str(n.type)))
nm.filewatcher().add_binary(cmd_type, runcfg.node, runcfg.masteruri, runcfg.roslaunch_config.Filename)
else:
# 'print "RUN REMOTE", node, time.time()
# start remote
if runcfg.roslaunch_config.PackageName is None:
raise StartException("Can't run remote without a valid package name!")
# thus the prefix parameters while the transfer are not separated
if prefix:
prefix = ''.join(['"', prefix, '"'])
# setup environment
env_command = ''
if env_loader:
rospy.logwarn("env_loader in machine tag currently not supported")
raise StartException("env_loader in machine tag currently not supported")
if env:
new_env = dict()
try:
for (k, v) in env:
v_value, is_abs_path, found, package = cls._resolve_abs_paths(v, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
new_env[k] = v_value
if is_abs_path:
abs_paths.append(('ENV', "%s=%s" % (k, v), "%s=%s" % (k, v_value)))
if not found and package:
not_found_packages.append(package)
env_command = "env " + ' '.join(["%s=\'%s\'" % (k, v) for (k, v) in new_env.items()])
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
startcmd = [env_command, nm.settings().start_remote_script,
'--package', str(n.package),
'--node_type', str(n.type),
'--node_name', str(runcfg.node),
'--node_respawn true' if n.respawn else '']
if runcfg.masteruri is not None:
startcmd.append('--masteruri')
startcmd.append(runcfg.masteruri)
if prefix:
startcmd[len(startcmd):] = ['--prefix', prefix]
if runcfg.logging is not None:
if not runcfg.logging.is_default('loglevel'):
startcmd.append('--loglevel')
startcmd.append(nm.settings().logging.loglevel)
# rename the absolute paths in the args of the node
node_args = []
try:
for a in n.args.split():
a_value, is_abs_path, found, package = cls._resolve_abs_paths(a, host, runcfg.user, runcfg.pw, runcfg.auto_pw_request)
node_args.append(a_value)
if is_abs_path:
abs_paths.append(('ARGS', a, a_value))
if not found and package:
not_found_packages.append(package)
startcmd[len(startcmd):] = node_args
startcmd[len(startcmd):] = args
rospy.loginfo("Run remote on %s: %s", host, str(' '.join(startcmd)))
# 'print "RUN CALL", node, time.time()
_, stdout, stderr, ok = nm.ssh().ssh_exec(host, startcmd, runcfg.user, runcfg.pw, runcfg.auto_pw_request, close_stdin=True)
output = stdout.read()
error = stderr.read()
stdout.close()
stderr.close()
# 'print "RUN CALLOK", node, time.time()
except nm.AuthenticationRequest as e:
raise nm.InteractionNeededError(e, cls.runNode, (runcfg,))
if ok:
if error:
rospy.logwarn("ERROR while start '%s': %s", runcfg.node, error)
raise StartException(str(''.join(['The host "', host, '" reports:\n', error])))
if output:
rospy.loginfo("STDOUT while start '%s': %s", runcfg.node, output)
# inform about absolute paths in parameter value
if len(abs_paths) > 0:
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])))
if len(not_found_packages) > 0:
packages = '\n'.join(not_found_packages)
raise StartException(str('\n'.join(['Some absolute paths are not renamed because following packages are not found on remote host:', packages])))
