def handle_request(data):
global exit_flag
global exit_flag_name
global dic
service = data.service_name
action = data.action_name
if action in startaction:
thread.start_new_thread(Switch, (service, action))
return 'received the service request '
elif action in stopaction:
if action == 'stopall':
exit_flag = 1
if action == 'stop':
exit_flag_name = service + '_exit_flag'
dic[exit_flag_name] = 1
url = cloud_service_port + "/cloud_service/" + service + "/" + action
bridge_client.cloud_service_request(url)
return 'received the service request'
def Switch(service, action):
#if request service start or services startall,encouter to switch circle
global exit_flag
global dic
global exit_flag_name
global qos_level
global cloud_ip
exit_flag_name = service + '_exit_flag'
dic[exit_flag_name] = 0
switch_flag = -1
if service == "stereo_proc": #在计算服务是stereo_proc时，我们才启动qos监控,updated on 2018-11-20
thread.start_new_thread(QosMonitor, (cloud_ip, ))
url = cloud_service_port + "/compute/" + service + "/" + action
while 1:
#initial the service
if switch_flag == -1:
if qos_level != 4: #initial cloud service
switch_flag = 1 # cloud serice start status
bridge_client.cloud_service_request(
url) #start service or startall services firstly in cloud
else:
switch_flag = 0 # local servie start status
localservice.local_service(
service, action
) #start service or startall services firstly in local
#-------SWITCH MECHANISM--------#
if switch_flag == 1: # qos mechanism work when cloud service start
if qos_level == 4: #switch to local service
print 'qos_level:4,switch to local service'
switch_flag = 0 # local servie start status
localservice.local_service(service,
action) #start local service
time.sleep(1)
if switch_flag == 0:
if qos_level != 4: #switch to cloud service
print 'switch to cloud service'
switch_flag = 1
bridge_client.cloud_service_request(url)
if exit_flag == 1:
break
if dic[exit_flag_name] == 1:
break
if "CLOUD_IP" not in os.environ:
print "Can't find environment variable CLOUD_IP."
sys.exit(1)
if "ROS_MASTER_URI" not in os.environ:
print "Can't find environment variable ROS_MASTER_URI."
sys.exit(1)
cloud_ip = os.environ['CLOUD_IP']
ros_master_uri = os.environ['ROS_MASTER_URI']
cloud_service_port = 'http://'+ cloud_ip + ':5566'
def handle(data):
service = data.service_name
action = data.action_name
bridge_client. cloud_param_set('http://'+cloud_ip+'/cloud_service/set_param', ros_master_uri)
url = cloud_service_port + '/cloud_service/' + service + '/' + action
return bridge_client.cloud_service_request(url)
def bridge_server():
rospy.init_node('bridge_server')
rospy.Service('bridge_service', call, handle)
print "bridge_server ready for client."
rospy.spin()
if __name__ == "__main__":
bridge_server()
def handle(data):
service = data.service_name
action = data.action_name
url = cloud_service_port + '/cloud_service/' + service + '/' + action
return bridge_client.cloud_service_request(url)
def handle(data):
number = data.number
url = cloud_service_port + '/cloud_service/monitor/'+number
return bridge_client.cloud_service_request(url)
def handle(data):
exo_id= data.number
action=data.action
url = "http://"+cloud_service_port + '/storage/'+exo_id+'/'+action
return bridge_client.cloud_service_request(url)