def _register_with_server(self):
"""
Register child node with server
"""
name = self.name
self.logger.info("attempting to register with roslaunch parent [%s]"%self.server_uri)
try:
server = ServerProxy(self.server_uri)
code, msg, _ = server.register(name, self.uri)
if code != 1:
raise RLException("unable to register with roslaunch server: %s"%msg)
except Exception as e:
self.logger.error("Exception while registering with roslaunch parent [%s]: %s"%(self.server_uri, traceback.format_exc()))
# fail
raise RLException("Exception while registering with roslaunch parent [%s]: %s"%(self.server_uri, traceback.format_exc()))
self.logger.debug("child registered with server")
# register printlog handler so messages are funneled to remote
def serverlog(msg):
server.log(name, Log.INFO, msg)
def servererrlog(msg):
server.log(name, Log.ERROR, msg)
add_printlog_handler(serverlog)
add_printerrlog_handler(servererrlog)
# register process listener to forward process death events to main server
self.pm.add_process_listener(_ProcessListenerForwarder(server))
def _register_with_server(self):
"""
Register child node with server
"""
name = self.name
self.logger.info("attempting to register with roslaunch parent [%s]"%self.server_uri)
try:
server = ServerProxy(self.server_uri)
code, msg, _ = server.register(name, self.uri)
if code != 1:
raise RLException("unable to register with roslaunch server: %s"%msg)
except Exception as e:
self.logger.error("Exception while registering with roslaunch parent [%s]: %s"%(self.server_uri, traceback.format_exc()))
# fail
raise RLException("Exception while registering with roslaunch parent [%s]: %s"%(self.server_uri, traceback.format_exc()))
self.logger.debug("child registered with server")
# register printlog handler so messages are funneled to remote
def serverlog(msg):
server.log(name, Log.INFO, msg)
def servererrlog(msg):
server.log(name, Log.ERROR, msg)
add_printlog_handler(serverlog)
add_printerrlog_handler(servererrlog)
# register process listener to forward process death events to main server
self.pm.add_process_listener(_ProcessListenerForwarder(server))
def test_printlog(self):
from roslaunch.core import add_printlog_handler, add_printerrlog_handler, printlog, printlog_bold, printerrlog
add_printlog_handler(printlog_cb)
add_printlog_handler(printlog_cb_exception)
add_printerrlog_handler(printlog_cb)
add_printerrlog_handler(printlog_cb_exception)
#can't really test functionality, just make sure it doesn't crash
global _lastmsg
_lastmsg = None
printlog('foo')
self.assertEquals('foo', _lastmsg)
printlog_bold('bar')
self.assertEquals('bar', _lastmsg)
printerrlog('baz')
self.assertEquals('baz', _lastmsg)
def test_printlog(self):
from roslaunch.core import add_printlog_handler, add_printerrlog_handler, printlog, printlog_bold, printerrlog
add_printlog_handler(printlog_cb)
add_printlog_handler(printlog_cb_exception)
add_printerrlog_handler(printlog_cb)
add_printerrlog_handler(printlog_cb_exception)
#can't really test functionality, just make sure it doesn't crash
global _lastmsg
_lastmsg = None
printlog('foo')
self.assertEquals('foo', _lastmsg)
printlog_bold('bar')
self.assertEquals('bar', _lastmsg)
printerrlog('baz')
self.assertEquals('baz', _lastmsg)
class ROSLaunchChildNode(ROSLaunchNode):
"""
XML-RPC server for roslaunch child processes
"""
def __init__(self, run_id, name, server_uri, pm):
"""
## Startup roslaunch remote client XML-RPC services. Blocks until shutdown
## @param name: name of remote client
## @type name: str
## @param server_uri: XML-RPC URI of roslaunch server
## @type server_uri: str
## @return: XML-RPC URI
## @rtype: str
"""
self.logger = logging.getLogger("roslaunch.server")
self.run_id = run_id
self.name = name
self.server_uri = server_uri
self.pm = pm
if self.pm is None:
raise RLException(
"cannot create child node: pm is not initialized")
handler = ROSLaunchChildHandler(self.run_id, self.name,
self.server_uri, self.pm)
super(ROSLaunchChildNode, self).__init__(handler)
def _register_with_server(self):
"""
Register child node with server
"""
name = self.name
self.logger.info("attempting to register with roslaunch parent [%s]" %
self.server_uri)
try:
server = xmlrpclib.ServerProxy(self.server_uri)
code, msg, _ = server.register(name, self.uri)
if code != 1:
raise RLException(
"unable to register with roslaunch server: %s" % msg)
except Exception, e:
self.logger.error(
"Exception while registering with roslaunch parent [%s]: %s" %
(self.server_uri, traceback.format_exc(e)))
# fail
raise RLException(
"Exception while registering with roslaunch parent [%s]: %s" %
(self.server_uri, traceback.format_exc(e)))
self.logger.debug("child registered with server")
# register printlog handler so messages are funneled to remote
def serverlog(msg):
server.log(name, Log.INFO, msg)
def servererrlog(msg):
server.log(name, Log.ERROR, msg)
add_printlog_handler(serverlog)
add_printerrlog_handler(servererrlog)
# register process listener to forward process death events to main server
self.pm.add_process_listener(_ProcessListenerForwarder(server))
