def relaunch_nodes(self):
succeeded = []
failed = []
api = self.getapi()
if self.nodes_xml is not None:
try:
_logger.debug("sending [%s] XML [\n%s\n]" %
(self.uri, self.nodes_xml))
code, msg, val = api.launch(self.nodes_xml)
if code == 1:
c_succ, c_fail = val
succeeded.extend(c_succ)
failed.extend(c_fail)
else:
printerrlog('error launching on [%s, uri %s]: %s' %
(self.name, self.uri, msg))
except socket.error as e:
errno, msg = e
printerrlog('error launching on [%s, uri %s]: %s' %
(self.name, self.uri, str(msg)))
except socket.gaierror as e:
errno, msg = e
# usually errno == -2. See #815.
child_host, _ = network.parse_http_host_and_port(self.uri)
printerrlog(
"Unable to contact remote roslaunch at [%s]. This is most likely due to a network misconfiguration with host lookups. Please make sure that you can contact '%s' from this machine"
% (child.uri, child_host))
except Exception as e:
printerrlog('error launching on [%s, uri %s]: %s' %
(self.name, self.uri, str(e)))
else:
_logger.error("xml provided is not defined")
def __init__(self, run_id, name, server_uri, pm, sigint_timeout=DEFAULT_TIMEOUT_SIGINT, sigterm_timeout=DEFAULT_TIMEOUT_SIGTERM):
"""
@param server_uri: XML-RPC URI of server
@type server_uri: str
@param pm: process monitor to use
@type pm: L{ProcessMonitor}
@param sigint_timeout: The SIGINT timeout used when killing nodes (in seconds).
@type sigint_timeout: float
@param sigterm_timeout: The SIGTERM timeout used when killing nodes if SIGINT does not stop the node (
in seconds).
@type sigterm_timeout: float
@raise RLException: If parameters are invalid
"""
super(ROSLaunchChildHandler, self).__init__(pm)
if server_uri is None:
raise RLException("server_uri is not initialized")
self.run_id = run_id
# parse the URI to make sure it's valid
_, urlport = network.parse_http_host_and_port(server_uri)
if urlport <= 0:
raise RLException("ERROR: roslaunch server URI is not a valid XML-RPC URI. Value is [%s]"%m.uri)
self.name = name
self.pm = pm
self.server_uri = server_uri
self.sigint_timeout = sigint_timeout
self.sigterm_timeout = sigterm_timeout
self.server = ServerProxy(server_uri)
def launch_remote_nodes(self):
"""
Contact each child to launch remote nodes
"""
succeeded = []
failed = []
# initialize remote_nodes. we use the machine config key as
# the key for the dictionary so that we can bin the nodes.
self.remote_nodes = {}
for m in self.machine_list:
self.remote_nodes[m.config_key()] = []
# build list of nodes that will be launched by machine
nodes = [x for x in self.rosconfig.nodes if not is_machine_local(x.machine)]
for n in nodes:
self.remote_nodes[n.machine.config_key()].append(n)
for child in self.remote_processes:
nodes = self.remote_nodes[child.machine.config_key()]
body = '\n'.join([n.to_remote_xml() for n in nodes])
# #3799: force utf-8 encoding
xml = '<?xml version="1.0" encoding="utf-8"?>\n<launch>\n%s</launch>'%body
api = child.getapi()
# TODO: timeouts
try:
self.logger.debug("sending [%s] XML [\n%s\n]"%(child.uri, xml))
code, msg, val = api.launch(xml)
if code == 1:
c_succ, c_fail = val
succeeded.extend(c_succ)
failed.extend(c_fail)
else:
printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, msg))
self._assume_failed(nodes, failed)
except socket.error as e:
errno, msg = e
printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, str(msg)))
self._assume_failed(nodes, failed)
except socket.gaierror as e:
errno, msg = e
# usually errno == -2. See #815.
child_host, _ = network.parse_http_host_and_port(child.uri)
printerrlog("Unable to contact remote roslaunch at [%s]. This is most likely due to a network misconfiguration with host lookups. Please make sure that you can contact '%s' from this machine"%(child.uri, child_host))
self._assume_failed(nodes, failed)
except Exception as e:
printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, str(e)))
self._assume_failed(nodes, failed)
return succeeded, failed
def test_parse_http_host_and_port(self):
from rosgraph.network import parse_http_host_and_port
invalid = ['', 'http://', 'http://localhost:bar', None]
for t in invalid:
try:
parse_http_host_and_port(t)
assert False, "should have failed: %s"%t
except ValueError:
pass
assert ('localhost', 80) == parse_http_host_and_port('http://localhost')
assert ('localhost', 1234) == parse_http_host_and_port('http://localhost:1234')
assert ('localhost', 1) == parse_http_host_and_port('http://localhost:1')
assert ('willowgarage.com', 1) == parse_http_host_and_port('http://willowgarage.com:1')
def __init__(self, run_id, name, server_uri, pm):
"""
@param server_uri: XML-RPC URI of server
@type server_uri: str
@param pm: process monitor to use
@type pm: L{ProcessMonitor}
@raise RLException: If parameters are invalid
"""
super(ROSLaunchChildHandler, self).__init__(pm)
if server_uri is None:
raise RLException("server_uri is not initialized")
self.run_id = run_id
# parse the URI to make sure it's valid
_, urlport = network.parse_http_host_and_port(server_uri)
if urlport <= 0:
raise RLException("ERROR: roslaunch server URI is not a valid XML-RPC URI. Value is [%s]"%m.uri)
self.name = name
self.pm = pm
self.server_uri = server_uri
self.server = ServerProxy(server_uri)
def __init__(self, run_id, name, server_uri, pm):
"""
@param server_uri: XML-RPC URI of server
@type server_uri: str
@param pm: process monitor to use
@type pm: L{ProcessMonitor}
@raise RLException: If parameters are invalid
"""
super(ROSLaunchChildHandler, self).__init__(pm)
if server_uri is None:
raise RLException("server_uri is not initialized")
self.run_id = run_id
# parse the URI to make sure it's valid
_, urlport = network.parse_http_host_and_port(server_uri)
if urlport <= 0:
raise RLException("ERROR: roslaunch server URI is not a valid XML-RPC URI. Value is [%s]"%m.uri)
self.name = name
self.pm = pm
self.server_uri = server_uri
self.server = ServerProxy(server_uri)
def test_parse_http_host_and_port(self):
from rosgraph.network import parse_http_host_and_port
invalid = ['', 'http://', 'http://localhost:bar', None]
for t in invalid:
try:
parse_http_host_and_port(t)
assert False, "should have failed: %s" % t
except ValueError:
pass
assert ('localhost',
80) == parse_http_host_and_port('http://localhost')
assert ('localhost',
1234) == parse_http_host_and_port('http://localhost:1234')
assert ('localhost',
1) == parse_http_host_and_port('http://localhost:1')
assert ('willowgarage.com',
1) == parse_http_host_and_port('http://willowgarage.com:1')
assert ('FEDC:BA98:7654:3210:FEDC:BA98:7654:3210'.lower(),
81) == parse_http_host_and_port(
'http://[FEDC:BA98:7654:3210:FEDC:BA98:7654:3210]:81')
def launch_remote_nodes(self):
"""
Contact each child to launch remote nodes
"""
succeeded = []
failed = []
# initialize remote_nodes. we use the machine config key as
# the key for the dictionary so that we can bin the nodes.
self.remote_nodes = {}
for m in self.machine_list:
self.remote_nodes[m.config_key()] = []
# build list of nodes that will be launched by machine
nodes = [
x for x in self.rosconfig.nodes if not is_machine_local(x.machine)
]
for n in nodes:
self.remote_nodes[n.machine.config_key()].append(n)
for child in self.remote_processes:
nodes = self.remote_nodes[child.machine.config_key()]
body = '\n'.join([n.to_remote_xml() for n in nodes])
# #3799: force utf-8 encoding
xml = '<?xml version="1.0" encoding="utf-8"?>\n<launch>\n%s</launch>' % body
api = child.getapi()
# TODO: timeouts
try:
self.logger.debug("sending [%s] XML [\n%s\n]" %
(child.uri, xml))
code, msg, val = api.launch(xml)
if code == 1:
c_succ, c_fail = val
succeeded.extend(c_succ)
failed.extend(c_fail)
else:
printerrlog('error launching on [%s, uri %s]: %s' %
(child.name, child.uri, msg))
self._assume_failed(nodes, failed)
except socket.error as e:
errno, msg = e
printerrlog('error launching on [%s, uri %s]: %s' %
(child.name, child.uri, str(msg)))
self._assume_failed(nodes, failed)
except socket.gaierror as e:
errno, msg = e
# usually errno == -2. See #815.
child_host, _ = network.parse_http_host_and_port(child.uri)
printerrlog(
"Unable to contact remote roslaunch at [%s]. This is most likely due to a network misconfiguration with host lookups. Please make sure that you can contact '%s' from this machine"
% (child.uri, child_host))
self._assume_failed(nodes, failed)
except Exception as e:
printerrlog('error launching on [%s, uri %s]: %s' %
(child.name, child.uri, str(e)))
self._assume_failed(nodes, failed)
return succeeded, failed
def test_create_local_xmlrpc_uri(self):
from rosgraph.network import parse_http_host_and_port, create_local_xmlrpc_uri
os.environ['ROS_HOSTNAME'] = 'localhost'
assert ('localhost', 1234) == parse_http_host_and_port(
create_local_xmlrpc_uri(1234))
def test_create_local_xmlrpc_uri(self):
from rosgraph.network import parse_http_host_and_port, create_local_xmlrpc_uri
os.environ['ROS_HOSTNAME'] = 'localhost'
assert ('localhost', 1234) == parse_http_host_and_port(create_local_xmlrpc_uri(1234))
