def __init__(self, run_id, config, server_uri=None, pmon=None, is_core=False, remote_runner=None, is_child=False, is_rostest=False):
"""
@param run_id: /run_id for this launch. If the core is not
running, this value will be used to initialize /run_id. If
the core is already running, this value will be checked
against the value stored on the core. L{ROSLaunchRunner} will
fail during L{launch()} if they do not match.
@type run_id: str
@param config: roslauch instance to run
@type config: L{ROSLaunchConfig}
@param server_uri: XML-RPC URI of roslaunch server.
@type server_uri: str
@param pmon: optionally override the process
monitor the runner uses for starting and tracking processes
@type pmon: L{ProcessMonitor}
@param is_core: if True, this runner is a roscore
instance. This affects the error behavior if a master is
already running -- aborts if is_core is True and a core is
detected.
@type is_core: bool
@param remote_runner: remote roslaunch process runner
@param is_rostest: if True, this runner is a rostest
instance. This affects certain validation checks.
@type is_rostest: bool
"""
if run_id is None:
raise RLException("run_id is None")
self.run_id = run_id
# In the future we should can separate the notion of a core
# config vs. the config being launched. In that way, we can
# start to migrate to a model where a config is a parameter to
# a launch() method, rather than a central thing to the
# runner.
self.config = config
self.server_uri = server_uri
self.is_child = is_child
self.is_core = is_core
self.is_rostest = is_rostest
self.logger = logging.getLogger('roslaunch')
self.pm = pmon or start_process_monitor()
# wire in ProcessMonitor events to our listeners
# aggregator. We similarly wire in the remote events when we
# create the remote runner.
self.listeners = _ROSLaunchListeners()
if self.pm is None:
raise RLException("unable to initialize roslaunch process monitor")
if self.pm.is_shutdown:
raise RLException("bad roslaunch process monitor initialization: process monitor is already dead")
self.pm.add_process_listener(self.listeners)
self.remote_runner = remote_runner
def __init__(self, run_id, config, server_uri=None, pmon=None, is_core=False, remote_runner=None, is_child=False, is_rostest=False):
"""
@param run_id: /run_id for this launch. If the core is not
running, this value will be used to initialize /run_id. If
the core is already running, this value will be checked
against the value stored on the core. L{ROSLaunchRunner} will
fail during L{launch()} if they do not match.
@type run_id: str
@param config: roslauch instance to run
@type config: L{ROSLaunchConfig}
@param server_uri: XML-RPC URI of roslaunch server.
@type server_uri: str
@param pmon: optionally override the process
monitor the runner uses for starting and tracking processes
@type pmon: L{ProcessMonitor}
@param is_core: if True, this runner is a roscore
instance. This affects the error behavior if a master is
already running -- aborts if is_core is True and a core is
detected.
@type is_core: bool
@param remote_runner: remote roslaunch process runner
@param is_rostest: if True, this runner is a rostest
instance. This affects certain validation checks.
@type is_rostest: bool
"""
if run_id is None:
raise RLException("run_id is None")
self.run_id = run_id
# In the future we should can separate the notion of a core
# config vs. the config being launched. In that way, we can
# start to migrate to a model where a config is a parameter to
# a launch() method, rather than a central thing to the
# runner.
self.config = config
self.server_uri = server_uri
self.is_child = is_child
self.is_core = is_core
self.is_rostest = is_rostest
self.logger = logging.getLogger('roslaunch')
self.pm = pmon or start_process_monitor()
# wire in ProcessMonitor events to our listeners
# aggregator. We similarly wire in the remote events when we
# create the remote runner.
self.listeners = _ROSLaunchListeners()
if self.pm is None:
raise RLException("unable to initialize roslaunch process monitor")
if self.pm.is_shutdown:
raise RLException("bad roslaunch process monitor initialization: process monitor is already dead")
self.pm.add_process_listener(self.listeners)
self.remote_runner = remote_runner
def __init__(self, run_id, server_uri=None, pmon=None, is_core=False, remote_runner=None):
"""
@param run_id: /run_id for this launch. If the core is not
running, this value will be used to initialize /run_id. If
the core is already running, this value will be checked
against the value stored on the core. L{ROSLaunchRunner} will
fail during L{launch()} if they do not match.
@type run_id: str
@param server_uri: XML-RPC URI of roslaunch server.
@type server_uri: str
@param pmon: optionally override the process
monitor the runner uses for starting and tracking processes
@type pmon: L{ProcessMonitor}
@param is_core: if True, this runner is a roscore
instance. This affects the error behavior if a master is
already running -- aborts if is_core is True and a core is
detected.
@type is_core: bool
@param remote_runner: remote roslaunch process runner
"""
if run_id is None:
raise RLException("run_id is None")
self.run_id = run_id
self.server_uri = server_uri
self.is_core = is_core
self.logger = logging.getLogger('roslaunch')
self.pm = pmon or start_process_monitor()
# wire in ProcessMonitor events to our listeners
# aggregator. We similarly wire in the remote events when we
# create the remote runner.
self.listeners = _ROSLaunchListeners()
if self.pm is None:
raise RLException("unable to initialize roslaunch process monitor")
if self.pm.is_shutdown:
raise RLException("bad roslaunch process monitor initialization: process monitor is already dead")
self.pm.add_process_listener(self.listeners)
self.remote_runner = remote_runner
def __init__(self,
run_id,
config,
server_uri=None,
pmon=None,
is_core=False,
remote_runner=None,
is_child=False,
is_rostest=False,
num_workers=NUM_WORKERS,
timeout=None,
master_logger_level=False,
sigint_timeout=DEFAULT_TIMEOUT_SIGINT,
sigterm_timeout=DEFAULT_TIMEOUT_SIGTERM):
"""
@param run_id: /run_id for this launch. If the core is not
running, this value will be used to initialize /run_id. If
the core is already running, this value will be checked
against the value stored on the core. L{ROSLaunchRunner} will
fail during L{launch()} if they do not match.
@type run_id: str
@param config: roslauch instance to run
@type config: L{ROSLaunchConfig}
@param server_uri: XML-RPC URI of roslaunch server.
@type server_uri: str
@param pmon: optionally override the process
monitor the runner uses for starting and tracking processes
@type pmon: L{ProcessMonitor}
@param is_core: if True, this runner is a roscore
instance. This affects the error behavior if a master is
already running -- aborts if is_core is True and a core is
detected.
@type is_core: bool
@param remote_runner: remote roslaunch process runner
@param is_rostest: if True, this runner is a rostest
instance. This affects certain validation checks.
@type is_rostest: bool
@param num_workers: If this is the core, the number of worker-threads to use.
@type num_workers: int
@param timeout: If this is the core, the socket-timeout to use.
@type timeout: Float or None
@param master_logger_level: Specify roscore's rosmaster.master logger level, use default if it is False.
@type master_logger_level: str or False
@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 sigint_timeout or sigterm_timeout are nonpositive.
"""
if run_id is None:
raise RLException("run_id is None")
if sigint_timeout <= 0:
raise RLException(
"sigint_timeout must be a positive number, received %f" %
sigint_timeout)
if sigterm_timeout <= 0:
raise RLException(
"sigterm_timeout must be a positive number, received %f" %
sigterm_timeout)
self.run_id = run_id
# In the future we should can separate the notion of a core
# config vs. the config being launched. In that way, we can
# start to migrate to a model where a config is a parameter to
# a launch() method, rather than a central thing to the
# runner.
self.config = config
self.server_uri = server_uri
self.is_child = is_child
self.is_core = is_core
self.is_rostest = is_rostest
self.num_workers = num_workers
self.timeout = timeout
self.master_logger_level = master_logger_level
self.logger = logging.getLogger('roslaunch')
self.pm = pmon or start_process_monitor()
self.sigint_timeout = sigint_timeout
self.sigterm_timeout = sigterm_timeout
# wire in ProcessMonitor events to our listeners
# aggregator. We similarly wire in the remote events when we
# create the remote runner.
self.listeners = _ROSLaunchListeners()
if self.pm is None:
raise RLException("unable to initialize roslaunch process monitor")
if self.pm.is_shutdown:
raise RLException(
"bad roslaunch process monitor initialization: process monitor is already dead"
)
self.pm.add_process_listener(self.listeners)
self.remote_runner = remote_runner
