def run(self, result=None):
# argv is rosargs but these have no effect on client, so no need to pass anything here
with pyros.pyros_ctx(name='rostful',
argv=[],
mock_client=True,
base_path=os.path.join(os.path.dirname(__file__),
'..', '..',
'..')) as node_ctx:
self.node_ctx = node_ctx
set_pyros_client(self.node_ctx.client)
super(TestTopicsPyros, self).run(result)
def run(host, port, server, config, logfile, ros_args):
"""
Start rostful server.
:param host: the local IP on which to serve rostful (0.0.0.0 for all)
:param port: the local port on which to serve rostful
:param server: the server to run our WSGI app (flask or tornado)
:param config: the config file path, absolute, or relative to working directory
:param logfile: the logfile path, absolute, or relative to working directory
:param ros_args: the ros arguments (useful to absorb additional args when launched with roslaunch)
TODO : get doctests to work here
>>> run('127.0.0.1', '8888', False, 'flask', None, None)
[]
>>> run('127.0.0.1', '8888', True, 'flask', None, None)
>>> run('127.0.0.1', '4444', False, 'tornado', None, None)
>>> run()
"""
if port and isinstance(port, (str, unicode)):
port = int(port)
app = create_app(configfile_override=config, logfile=logfile)
# Some logic for defaults value (might depend on config)
server = server or app.config.get('SERVER_TYPE', 'tornado')
app.logger.info(
'rostful started with : host {host} port {port} config {config} logfile {logfile} ros_args {ros_args}'
.format(host=host,
port=port,
config=config,
logfile=logfile,
ros_args=ros_args))
# Starting pyros with latest config
# TODO : move this out of here and let the user do it :
# in ROS case : it should be done in launch file, and connect on user request (maybe even pass the zmq socket url)
# in pyzmp case : it should be done dynamically, as much as possible outside of here.
with pyros_start(config=app.config, ros_args=ros_args) as node_ctx:
set_pyros_client(app, node_ctx.client)
# configure logger
# add log handler for warnings and more to sys.stderr.
app.logger.addHandler(logging.StreamHandler())
app.logger.setLevel(logging.WARN)
import socket # just to catch the "Address already in use" error
port_retries = 5
while port_retries > 0: # keep trying
try:
# default server should be solid and production ready
if server == 'flask':
log = logging.getLogger('werkzeug')
log.setLevel(logging.DEBUG)
app.logger.info(
'Starting Flask server on port {0}'.format(port))
# debug is needed to investigate server errors.
# use_reloader set to False => killing the ros node also kills the server child.
app.run(
host=host,
port=port,
debug=True,
use_reloader=False,
)
elif server == 'tornado':
# Only import if needed
from tornado.wsgi import WSGIContainer
from tornado.httpserver import HTTPServer
from tornado.ioloop import IOLoop
from tornado.log import enable_pretty_logging
port = port or '5000' # same default as flask
host = host or '127.0.0.1' # same default as flask
app.logger.info(
'Starting Tornado server on {0}:{1}'.format(
host, port))
# enable_pretty_logging() # enable this for debugging during development
http_server = HTTPServer(WSGIContainer(app))
http_server.listen(port)
IOLoop.instance().start()
# TODO : support more wsgi server setup : http://www.markjberger.com/flask-with-virtualenv-uwsgi-nginx/
break
except socket.error as msg:
port_retries -= 1
port += 1
app.logger.error('Socket Error : {0}'.format(msg))
def launch(self, host=None, port=None, ros_args='', serv_type='tornado', pyros_ctx_impl=None):
"""
Launch the current WSGI app in a web server (tornado or flask simple server)
Will block until server is killed.
:param host: the local ip to listen for connection on
:param port: the local port to listen for connection on
:param ros_args: the provided ros arguments that will be passed onto pyros node
:param serv_type: the server type (tornado or flask)
:param pyros_ctx_impl: the implementation of pyros context manager ( if different from normal module ).
This is useful for mocking it.
:return: None
"""
# default to real module, if no other implementation passed as parameter (used for mock)
pyros_ctx_impl = pyros_ctx_impl or pyros_ctx
if port and isinstance(port, (str, unicode)):
port = int(port)
# implementing Config.get_namespace() for flask version < 1.0:
namespace = 'PYROS_'
trim_namespace = True
lowercase = False
rv = {}
for k, v in six.iteritems(self.app.config):
if not k.startswith(namespace):
continue
if trim_namespace:
key = k[len(namespace):]
else:
key = k
if lowercase:
key = key.lower()
rv[key] = v
# rv should now contain a dictionary of namespaced key:value from self.app.config
# One PyrosNode is needed for Flask.
# TODO : check everything works as expected, even if the WSGI app is used by multiple processes
try:
node_ctx_gen = pyros_ctx_impl(name='rostful', argv=ros_args, pyros_config=rv)
except TypeError as te:
# bwcompat trick
node_ctx_gen = pyros_ctx_impl(name='rostful', argv=ros_args,
base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..'))
with node_ctx_gen as node_ctx:
set_pyros_client(node_ctx.client)
# configure logger
#if not debug:
# add log handler for warnings and more to sys.stderr.
# self.logger.addHandler(logging.StreamHandler())
# self.logger.setLevel(logging.WARN)
import socket # just to catch the "Address already in use" error
port_retries = 5
while port_retries > 0: # keep trying
try:
# default server should be solid and production ready
serv_type = serv_type or self.app.config.get('SERVER_TYPE', 'tornado')
if serv_type == 'flask':
log = logging.getLogger('werkzeug')
log.setLevel(logging.DEBUG)
self.app.logger.info('Starting Flask server on port {0}'.format(port))
# debug is needed to investigate server errors.
# use_reloader set to False => killing the ros node also kills the server child.
self.app.run(
host=host,
port=port,
debug=True,
use_reloader=False,
)
elif serv_type == 'tornado':
port = port or '5000' # same default as flask
host = host or '127.0.0.1' # same default as flask
self.app.logger.info('Starting Tornado server on {0}:{1}'.format(host, port))
# enable_pretty_logging() # enable this for debugging during development
http_server = HTTPServer(WSGIContainer(self.app))
http_server.listen(port)
IOLoop.instance().start()
# TODO : support more wsgi server setup : http://www.markjberger.com/flask-with-virtualenv-uwsgi-nginx/
break
except socket.error as msg:
port_retries -= 1
port += 1
self.app.logger.error('Socket Error : {0}'.format(msg))
def run(self, result=None):
# argv is rosargs but these have no effect on client, so no need to pass anything here
with pyros.pyros_ctx(name='rostful', argv=[], mock_client=True, base_path=os.path.join(os.path.dirname(__file__), '..', '..', '..')) as node_ctx:
self.node_ctx = node_ctx
set_pyros_client(self.node_ctx.client)
super(TestServicesPyros, self).run(result)
def run(host, port, server, config, logfile, ros_args):
"""
Start rostful server.
:param host: the local IP on which to serve rostful (0.0.0.0 for all)
:param port: the local port on which to serve rostful
:param server: the server to run our WSGI app (flask or tornado)
:param config: the config file path, absolute, or relative to working directory
:param logfile: the logfile path, absolute, or relative to working directory
:param ros_args: the ros arguments (useful to absorb additional args when launched with roslaunch)
TODO : get doctests to work here
>>> run('127.0.0.1', '8888', False, 'flask', None, None)
[]
>>> run('127.0.0.1', '8888', True, 'flask', None, None)
>>> run('127.0.0.1', '4444', False, 'tornado', None, None)
>>> run()
"""
if port and isinstance(port, (str, unicode)):
port = int(port)
app = create_app(configfile_override=config, logfile=logfile)
# Some logic for defaults value (might depend on config)
server = server or app.config.get('SERVER_TYPE', 'tornado')
app.logger.info(
'rostful started with : host {host} port {port} config {config} logfile {logfile} ros_args {ros_args}'.format(
host=host, port=port, config=config, logfile=logfile, ros_args=ros_args))
# Starting pyros with latest config
# TODO : move this out of here and let the user do it :
# in ROS case : it should be done in launch file, and connect on user request (maybe even pass the zmq socket url)
# in pyzmp case : it should be done dynamically, as much as possible outside of here.
with pyros_start(config=app.config, ros_args=ros_args) as node_ctx:
set_pyros_client(app, node_ctx.client)
# configure logger
# add log handler for warnings and more to sys.stderr.
app.logger.addHandler(logging.StreamHandler())
app.logger.setLevel(logging.WARN)
import socket # just to catch the "Address already in use" error
port_retries = 5
while port_retries > 0: # keep trying
try:
# default server should be solid and production ready
if server == 'flask':
log = logging.getLogger('werkzeug')
log.setLevel(logging.DEBUG)
app.logger.info('Starting Flask server on port {0}'.format(port))
# debug is needed to investigate server errors.
# use_reloader set to False => killing the ros node also kills the server child.
app.run(
host=host,
port=port,
debug=True,
use_reloader=False,
)
elif server == 'tornado':
# Only import if needed
from tornado.wsgi import WSGIContainer
from tornado.httpserver import HTTPServer
from tornado.ioloop import IOLoop
from tornado.log import enable_pretty_logging
port = port or '5000' # same default as flask
host = host or '127.0.0.1' # same default as flask
app.logger.info('Starting Tornado server on {0}:{1}'.format(host, port))
# enable_pretty_logging() # enable this for debugging during development
http_server = HTTPServer(WSGIContainer(app))
http_server.listen(port)
IOLoop.instance().start()
# TODO : support more wsgi server setup : http://www.markjberger.com/flask-with-virtualenv-uwsgi-nginx/
break
except socket.error as msg:
port_retries -= 1
port += 1
app.logger.error('Socket Error : {0}'.format(msg))
def run(self, result=None):
# argv is rosargs but these have no effect on client, so no need to pass anything here
with pyros.pyros_ctx(name='rostful', argv=[], mock_client=True) as node_ctx:
self.node_ctx = node_ctx
set_pyros_client(self.node_ctx.client)
super(TestAppPyros, self).run(result)
def setUp(self):
super(TestAppPyros, self).setUp()
set_pyros_client(self.app, self.node_ctx.client)
def setUp(self):
super(TestAppPyros, self).setUp()
set_pyros_client(self.app, self.node_ctx.client)