class SheriffHeadless(ScriptListener):
def __init__(self, lcm_obj, config, spawn_deputy, script_name,
script_done_action):
self.sheriff = Sheriff(lcm_obj)
self.script_manager = ScriptManager(self.sheriff)
self.spawn_deputy = spawn_deputy
self.spawned_deputy = None
self.config = config
self.script_name = script_name
self.script = None
self.mainloop = None
self.lcm_obj = lcm_obj
self._should_exit = False
if script_done_action is None:
self.script_done_action = "exit"
else:
self.script_done_action = script_done_action
def _shutdown(self):
if self.spawned_deputy:
print("Terminating local deputy..")
try:
self.spawned_deputy.terminate()
except AttributeError:
os.kill(self.spawned_deputy.pid, signal.SIGTERM)
self.spawned_deputy.wait()
self.spawned_deputy = None
self.sheriff.shutdown()
self.script_manager.shutdown()
def _start_script(self):
if not self.script:
return False
print("Running script %s" % self.script_name)
errors = self.script_manager.execute_script(self.script)
if errors:
print("Script failed to run. Errors detected:\n" +
"\n".join(errors))
self._shutdown()
sys.exit(1)
return False
def script_finished(self, script_object):
# Overriden from ScriptListener. Called by ScriptManager when a
# script is finished.
if self.script_done_action == "exit":
self._request_exit()
elif self.script_done_action == "observe":
self.sheriff.set_observer(True)
def _request_exit(self):
self._should_exit = True
def run(self):
# parse the config file
if self.config is not None:
self.sheriff.load_config(self.config)
self.script_manager.load_config(self.config)
# start a local deputy?
if self.spawn_deputy:
procman_deputy_cmd = find_procman_deputy_cmd()
args = [procman_deputy_cmd, "-i", "localhost"]
if not procman_deputy_cmd:
sys.stderr.write("Can't find procman-deputy.")
sys.exit(1)
self.spawned_deputy = subprocess.Popen(args)
else:
self.spawned_deputy = None
# run a script
if self.script_name:
self.script = self.script_manager.get_script(self.script_name)
if not self.script:
print "No such script: %s" % self.script_name
self._shutdown()
sys.exit(1)
errors = self.script_manager.check_script_for_errors(self.script)
if errors:
print "Unable to run script. Errors were detected:\n\n"
print "\n ".join(errors)
self._shutdown()
sys.exit(1)
self.script_manager.add_listener(self)
signal.signal(signal.SIGINT, lambda *s: self._request_exit())
signal.signal(signal.SIGTERM, lambda *s: self._request_exit())
signal.signal(signal.SIGHUP, lambda *s: self._request_exit())
try:
if self.script:
time.sleep(0.2)
self._start_script()
while not self._should_exit:
self.lcm_obj.handle_timeout(200)
except KeyboardInterrupt:
pass
except IOError:
pass
finally:
print("Sheriff terminating..")
self._shutdown()
return 0
class SheriffHeadless(ScriptListener):
def __init__(self, lcm_obj, config, spawn_deputy, script_name, script_done_action):
self.sheriff = Sheriff(lcm_obj)
self.script_manager = ScriptManager(self.sheriff)
self.spawn_deputy = spawn_deputy
self.spawned_deputy = None
self.config = config
self.script_name = script_name
self.script = None
self.mainloop = None
self.lcm_obj = lcm_obj
self._should_exit = False
if script_done_action is None:
self.script_done_action = "exit"
else:
self.script_done_action = script_done_action
def _shutdown(self):
if self.spawned_deputy:
print("Terminating local deputy..")
try:
self.spawned_deputy.terminate()
except AttributeError:
os.kill(self.spawned_deputy.pid, signal.SIGTERM)
self.spawned_deputy.wait()
self.spawned_deputy = None
self.sheriff.shutdown()
self.script_manager.shutdown()
def _start_script(self):
if not self.script:
return False
print("Running script %s" % self.script_name)
errors = self.script_manager.execute_script(self.script)
if errors:
print("Script failed to run. Errors detected:\n" + "\n".join(errors))
self._shutdown()
sys.exit(1)
return False
def script_finished(self, script_object):
# Overriden from ScriptListener. Called by ScriptManager when a
# script is finished.
if self.script_done_action == "exit":
self._request_exit()
elif self.script_done_action == "observe":
self.sheriff.set_observer(True)
def _request_exit(self):
self._should_exit = True
def run(self):
# parse the config file
if self.config is not None:
self.sheriff.load_config(self.config)
self.script_manager.load_config(self.config)
# start a local deputy?
if self.spawn_deputy:
procman_deputy_cmd = find_procman_deputy_cmd()
args = [ procman_deputy_cmd, "-i", "localhost" ]
if not procman_deputy_cmd:
sys.stderr.write("Can't find procman-deputy.")
sys.exit(1)
self.spawned_deputy = subprocess.Popen(args)
else:
self.spawned_deputy = None
# run a script
if self.script_name:
self.script = self.script_manager.get_script(self.script_name)
if not self.script:
print "No such script: %s" % self.script_name
self._shutdown()
sys.exit(1)
errors = self.script_manager.check_script_for_errors(self.script)
if errors:
print "Unable to run script. Errors were detected:\n\n"
print "\n ".join(errors)
self._shutdown()
sys.exit(1)
self.script_manager.add_listener(self)
signal.signal(signal.SIGINT, lambda *s: self._request_exit())
signal.signal(signal.SIGTERM, lambda *s: self._request_exit())
signal.signal(signal.SIGHUP, lambda *s: self._request_exit())
try:
if self.script:
time.sleep(0.2)
self._start_script()
while not self._should_exit:
self.lcm_obj.handle_timeout(200)
except KeyboardInterrupt:
pass
except IOError:
pass
finally:
print("Sheriff terminating..")
self._shutdown()
return 0
