def test_create_master_process2(self):
# accidentally wrote two versions of this, need to merge
from roslaunch.core import Master, RLException
import roslib.rosenv
from roslaunch.nodeprocess import create_master_process
ros_root = roslib.rosenv.get_ros_root()
# test failures
failed = False
try:
create_master_process('runid-unittest',
Master.ROSMASTER,
roslib.rosenv.get_ros_root(),
0,
log_output=True)
failed = True
except RLException:
pass
self.failIf(failed, "invalid port should have triggered error")
# test success with ROSMASTER
m1 = create_master_process('runid-unittest',
Master.ROSMASTER,
ros_root,
1234,
log_output=True)
self.assertEquals('runid-unittest', m1.run_id)
self.assertEquals(True, m1.log_output)
self.failIf(m1.started)
self.failIf(m1.stopped)
self.assertEquals(None, m1.cwd)
self.assertEquals('master', m1.name)
master_p = os.path.join(ros_root, 'bin', 'rosmaster')
self.assert_(master_p in m1.args)
# - it should have the default environment
self.assertEquals(os.environ, m1.env)
# - check args
self.assert_('--core' in m1.args)
# - make sure port arguent is correct
idx = m1.args.index('-p')
self.assertEquals('1234', m1.args[idx + 1])
# test port argument
m2 = create_master_process('runid-unittest',
Master.ROSMASTER,
ros_root,
1234,
log_output=False)
self.assertEquals('runid-unittest', m2.run_id)
self.assertEquals(False, m2.log_output)
# test ros_root argument as well as log_output default
m3 = create_master_process('runid-unittest', Master.ROSMASTER,
ros_root, 1234)
self.assertEquals('runid-unittest', m3.run_id)
self.assertEquals(False, m3.log_output)
master_p = os.path.join(ros_root, 'bin', 'rosmaster')
self.assert_(master_p in m3.args)
def test_create_master_process(self):
from roslaunch.core import Node, Machine, Master, RLException
from roslaunch.nodeprocess import create_master_process, LocalProcess
ros_root = '/ros/root'
port = 1234
type = Master.ROSMASTER
run_id = 'foo'
# test invalid params
try:
create_master_process(run_id, type, ros_root, -1)
self.fail("shoud have thrown RLException")
except RLException: pass
try:
create_master_process(run_id, type, ros_root, 10000000)
self.fail("shoud have thrown RLException")
except RLException: pass
try:
create_master_process(run_id, 'foo', ros_root, port)
self.fail("shoud have thrown RLException")
except RLException: pass
# test valid params
p = create_master_process(run_id, type, ros_root, port)
self.assert_(isinstance(p, LocalProcess))
self.assertEquals(p.args[0], 'rosmaster')
idx = p.args.index('-p')
self.failIf(idx < 1)
self.assertEquals(p.args[idx+1], str(port))
self.assert_('--core' in p.args)
self.assertEquals(p.package, 'rosmaster')
p = create_master_process(run_id, type, ros_root, port)
def _launch_master(self):
"""
Launches master if requested.
@return: True if a master was launched, False if a master was
already running.
@rtype: bool
@raise RLException: if master launch fails
"""
m = self.config.master
is_running = m.is_running()
if self.is_core and is_running:
raise RLException(
"roscore cannot run as another roscore/master is already running. \nPlease kill other roscore/master processes before relaunching.\nThe ROS_MASTER_URI is %s"
% (m.uri))
if not is_running:
validate_master_launch(m, self.is_core, self.is_rostest)
printlog("auto-starting new master")
p = create_master_process(self.run_id, m.type, get_ros_root(),
m.get_port(), self.num_workers,
self.timeout)
self.pm.register_core_proc(p)
success = p.start()
if not success:
raise RLException("ERROR: unable to auto-start master process")
timeout_t = time.time() + _TIMEOUT_MASTER_START
while not m.is_running() and time.time() < timeout_t:
time.sleep(0.1)
if not m.is_running():
raise RLException("ERROR: could not contact master [%s]" % m.uri)
printlog_bold("ROS_MASTER_URI=%s" % m.uri)
# TODO: although this dependency doesn't cause anything bad,
# it's still odd for launch to know about console stuff. This
# really should be an event.
update_terminal_name(m.uri)
# Param Server config params
param_server = m.get()
# #773: unique run ID
self._check_and_set_run_id(param_server, self.run_id)
if self.server_uri:
# store parent XML-RPC URI on param server
# - param name is the /roslaunch/hostname:port so that multiple roslaunches can store at once
hostname, port = rosgraph.network.parse_http_host_and_port(
self.server_uri)
hostname = _hostname_to_rosname(hostname)
self.logger.info("setting /roslaunch/uris/%s__%s' to %s" %
(hostname, port, self.server_uri))
param_server.setParam(_ID,
'/roslaunch/uris/%s__%s' % (hostname, port),
self.server_uri)
return not is_running
def test_create_master_process2(self):
# accidentally wrote two versions of this, need to merge
from roslaunch.core import Master, RLException
import rospkg
from roslaunch.nodeprocess import create_master_process
ros_root = rospkg.get_ros_root()
# test failures
failed = False
try:
create_master_process('runid-unittest', Master.ROSMASTER, rospkg.get_ros_root(), 0)
failed = True
except RLException: pass
self.failIf(failed, "invalid port should have triggered error")
# test success with ROSMASTER
m1 = create_master_process('runid-unittest', Master.ROSMASTER, ros_root, 1234)
self.assertEquals('runid-unittest', m1.run_id)
self.failIf(m1.started)
self.failIf(m1.stopped)
self.assertEquals(None, m1.cwd)
self.assertEquals('master', m1.name)
master_p = 'rosmaster'
self.assert_(master_p in m1.args)
# - it should have the default environment
self.assertEquals(os.environ, m1.env)
# - check args
self.assert_('--core' in m1.args)
# - make sure port arguent is correct
idx = m1.args.index('-p')
self.assertEquals('1234', m1.args[idx+1])
# test port argument
m2 = create_master_process('runid-unittest', Master.ROSMASTER, ros_root, 1234)
self.assertEquals('runid-unittest', m2.run_id)
# test ros_root argument
m3 = create_master_process('runid-unittest', Master.ROSMASTER, ros_root, 1234)
self.assertEquals('runid-unittest', m3.run_id)
master_p = 'rosmaster'
self.assert_(master_p in m3.args)
def _launch_master(self):
"""
Launches master if requested.
@return: True if a master was launched, False if a master was
already running.
@rtype: bool
@raise RLException: if master launch fails
"""
m = self.config.master
is_running = m.is_running()
if self.is_core and is_running:
raise RLException("roscore cannot run as another roscore/master is already running. \nPlease kill other roscore/master processes before relaunching.\nThe ROS_MASTER_URI is %s"%(m.uri))
if not is_running:
validate_master_launch(m, self.is_core, self.is_rostest)
printlog("auto-starting new master")
p = create_master_process(self.run_id, m.type, get_ros_root(), m.get_port(), self.num_workers, self.timeout)
self.pm.register_core_proc(p)
success = p.start()
if not success:
raise RLException("ERROR: unable to auto-start master process")
timeout_t = time.time() + _TIMEOUT_MASTER_START
while not m.is_running() and time.time() < timeout_t:
time.sleep(0.1)
if not m.is_running():
raise RLException("ERROR: could not contact master [%s]"%m.uri)
printlog_bold("ROS_MASTER_URI=%s"%m.uri)
# TODO: although this dependency doesn't cause anything bad,
# it's still odd for launch to know about console stuff. This
# really should be an event.
update_terminal_name(m.uri)
# Param Server config params
param_server = m.get()
# #773: unique run ID
self._check_and_set_run_id(param_server, self.run_id)
if self.server_uri:
# store parent XML-RPC URI on param server
# - param name is the /roslaunch/hostname:port so that multiple roslaunches can store at once
hostname, port = rosgraph.network.parse_http_host_and_port(self.server_uri)
hostname = _hostname_to_rosname(hostname)
self.logger.info("setting /roslaunch/uris/%s__%s' to %s"%(hostname, port, self.server_uri))
param_server.setParam(_ID, '/roslaunch/uris/%s__%s'%(hostname, port),self.server_uri)
return not is_running
def test_create_master_process(self):
from roslaunch.core import Node, Machine, Master, RLException
from roslaunch.nodeprocess import create_master_process, LocalProcess
ros_root = '/ros/root'
port = 1234
type = Master.ROSMASTER
run_id = 'foo'
# test invalid params
try:
create_master_process(run_id, type, ros_root, -1)
self.fail("shoud have thrown RLException")
except RLException:
pass
try:
create_master_process(run_id, type, ros_root, 10000000)
self.fail("shoud have thrown RLException")
except RLException:
pass
try:
create_master_process(run_id, 'foo', ros_root, port)
self.fail("shoud have thrown RLException")
except RLException:
pass
# test valid params
p = create_master_process(run_id, type, ros_root, port)
self.assert_(isinstance(p, LocalProcess))
self.assertEquals(p.args[0], os.path.join(ros_root, 'bin',
'rosmaster'))
idx = p.args.index('-p')
self.failIf(idx < 1)
self.assertEquals(p.args[idx + 1], str(port))
self.assert_('--core' in p.args)
self.assertEquals(p.package, 'rosmaster')
self.failIf(p.log_output)
p = create_master_process(run_id,
type,
ros_root,
port,
log_output=True)
self.assert_(p.log_output)
def test_create_master_process(self):
from roslaunch.core import Node, Machine, Master, RLException
from roslaunch.nodeprocess import create_master_process, LocalProcess
ros_root = '/ros/root'
port = 1234
type = Master.ROSMASTER
run_id = 'foo'
# test invalid params
try:
create_master_process(run_id, type, ros_root, -1)
self.fail("shoud have thrown RLException")
except RLException:
pass
try:
create_master_process(run_id, type, ros_root, 10000000)
self.fail("shoud have thrown RLException")
except RLException:
pass
try:
create_master_process(run_id, 'foo', ros_root, port)
self.fail("shoud have thrown RLException")
except RLException:
pass
# test valid params
p = create_master_process(run_id, type, ros_root, port)
self.assert_(isinstance(p, LocalProcess))
self.assertEquals(p.args[0], 'rosmaster')
idx = p.args.index('-p')
self.failIf(idx < 1)
self.assertEquals(p.args[idx + 1], str(port))
self.assert_('--core' in p.args)
self.assertEquals(p.package, 'rosmaster')
p = create_master_process(run_id, type, ros_root, port)
self.assertEquals(
create_master_process(run_id,
type,
ros_root,
port,
sigint_timeout=3).sigint_timeout, 3)
self.assertEquals(
create_master_process(run_id,
type,
ros_root,
port,
sigint_timeout=1).sigint_timeout, 1)
self.assertRaises(RLException,
create_master_process,
run_id,
type,
ros_root,
port,
sigint_timeout=0)
self.assertEquals(
create_master_process(run_id,
type,
ros_root,
port,
sigterm_timeout=3).sigterm_timeout, 3)
self.assertEquals(
create_master_process(run_id,
type,
ros_root,
port,
sigterm_timeout=1).sigterm_timeout, 1)
self.assertRaises(RLException,
create_master_process,
run_id,
type,
ros_root,
port,
sigterm_timeout=0)
def _launch_master(self):
"""
Launches master if requested. Must be run after L{_setup_master()}.
@raise RLException: if master launch fails
"""
m = self.config.master
auto = m.auto
is_running = m.is_running()
if self.is_core and is_running:
raise RLException(
"roscore cannot run as another roscore/master is already running. \nPlease kill other roscore/master processes before relaunching.\nThe ROS_MASTER_URI is %s"
% (m.uri))
self.logger.debug("launch_master [%s]", auto)
if auto in [m.AUTO_START, m.AUTO_RESTART] and not is_running:
if auto == m.AUTO_START:
printlog(
"starting new master (master configured for auto start)")
elif auto == m.AUTO_RESTART:
printlog(
"starting new master (master configured for auto restart)")
_, urlport = roslib.network.parse_http_host_and_port(m.uri)
if urlport <= 0:
raise RLException(
"ERROR: master URI is not a valid XML-RPC URI. Value is [%s]"
% m.uri)
p = create_master_process(self.run_id, m.type, get_ros_root(),
urlport, m.log_output)
self.pm.register_core_proc(p)
success = p.start()
if not success:
raise RLException("ERROR: unable to auto-start master process")
timeout_t = time.time() + _TIMEOUT_MASTER_START
while not m.is_running() and time.time() < timeout_t:
time.sleep(0.1)
if not m.is_running():
raise RLException("ERROR: could not contact master [%s]" % m.uri)
printlog_bold("ROS_MASTER_URI=%s" % m.uri)
# TODO: although this dependency doesn't cause anything bad,
# it's still odd for launch to know about console stuff. This
# really should be an event.
update_terminal_name(m.uri)
# Param Server config params
param_server = m.get()
# #773: unique run ID
self._check_and_set_run_id(param_server, self.run_id)
if self.server_uri:
# store parent XML-RPC URI on param server
# - param name is the /roslaunch/hostname:port so that multiple roslaunches can store at once
hostname, port = roslib.network.parse_http_host_and_port(
self.server_uri)
hostname = _hostname_to_rosname(hostname)
self.logger.info("setting /roslaunch/uris/%s__%s' to %s" %
(hostname, port, self.server_uri))
param_server.setParam(_ID,
'/roslaunch/uris/%s__%s' % (hostname, port),
self.server_uri)
