def __init__(self, reactor):
""" Initialize the Container Manager.
@raise: ValueError, if the paths/names are invalid.
"""
super(ContainerManager, self).__init__(reactor)
self._relayID = None
# Keys: Container tag
# Values: bool (True = ok; False = delete again)
self._pending = {}
self._rootfs = self._ROOTFS
self._confDir = self._CONF_DIR
self._dataDir = self._DATA_DIR
self._srcDir = self._ROOT_SRC_DIR
# Validate directory paths
pathUtil.checkPath(self._confDir, 'Configuration')
pathUtil.checkPath(self._dataDir, 'Data')
pathUtil.checkPath(self._rootfs, 'Container file system')
pathUtil.checkPath(self._srcDir, 'RCE source')
# Validate executable paths
pathUtil.checkExe(self._srcDir, 'environment.py')
pathUtil.checkExe(self._srcDir, 'launcher.py')
# Process ROS package paths
self._pkgDir = pathUtil.processPackagePaths(self._ROOT_PKG_DIR)
for _, path in self._pkgDir:
os.mkdir(os.path.join(self._rootfs, path))
def down():
mounts = [os.path.join(settings.ROOTFS, pkg[1])
for pkg in pathUtil.processPackagePaths(settings.ROOT_PKG_DIR)]
stdDir = _STD_DIR[:]
stdDir.reverse()
# Add the system relevant directories which have to be unmounted as well in
# reversed order and unmount all directories
for target in mounts + [os.path.join(settings.ROOTFS, path[1:])
for path in stdDir]:
try:
subprocess.check_output(['umount', target])
except subprocess.CalledProcessError as e:
sys.stderr.write("Could not unmount '{0}'.\n\tExitcode: "
'{1}'.format(target, e.returncode))
if e.output:
sys.stderr.write('\tOutput: {0}'.format(e.output))
# Delete all the extra created mount points
for mount in mounts:
os.rmdir(mount)
def up():
mounts = [(pkg[0], os.path.join(settings.ROOTFS, pkg[1]))
for pkg in pathUtil.processPackagePaths(settings.ROOT_PKG_DIR)]
# Create all the necessary mount points
for mount in mounts:
os.mkdir(mount[1])
# Add the system relevant directories which have to be mounted as well and
# mount all directories
for source, target in [(path, os.path.join(settings.ROOTFS, path[1:]))
for path in _STD_DIR] + mounts:
try:
subprocess.check_output(['mount', '--bind', source, target])
except subprocess.CalledProcessError as e:
sys.stderr.write("Could not mount '{0}'.\n\tExitcode: "
'{1}'.format(source, e.returncode))
if e.output:
sys.stderr.write('\tOutput: {0}'.format(e.output))
# Return the directory to the root filesystem
sys.stdout.write(settings.ROOTFS)
