def test_daemonize(self):
"""Detach(daemonize=True)"""
fd = tempfile.NamedTemporaryFile(delete=False)
try:
with detach.Detach(None, sys.stderr) as d1:
if not d1.pid:
with detach.Detach(None, sys.stderr, None, daemonize=True) as d2:
if not d2.pid:
fd.close()
fd.write('parent is still running')
fd.close()
except SystemExit as e:
self.assertEqual(e.code, 0)
time.sleep(0.5)
fd.seek(0)
self.assertEqual('', fd.read())
fd.close()
os.unlink(fd.name)
def test_exclude_fds(self):
"""Detach(close_fds=True, exclude_fds=[fd])"""
try:
fd = tempfile.NamedTemporaryFile(delete=False)
with detach.Detach(None, sys.stderr, None, close_fds=True, exclude_fds=[fd]) as d:
if d.pid:
fd.close()
else:
fd.close()
except SystemExit as e:
self.assertEqual(e.code, 0)
os.unlink(fd.name)
def __init__(self):
rospy.init_node('navigation_controller_node')
initial = InitialPosePublisher()
self.detach_controller = detach.Detach()
self.client = actionlib.SimpleActionClient('move_base', MoveBaseAction)
self.next_goal_publisher = rospy.Publisher('navigation/next_goal', Int32)
self.park_publisher = rospy.Publisher('navigation/park_request', Int32)
self.path_subscriber = rospy.Subscriber('navigation/path', Int32MultiArray, self.set_path)
self.client.wait_for_server()
self.path = None
self.cart_number = 1 # get from upper layer
self.current_pose_index = 0
self.goal_threshold_x = 0.1
self.goal_threshold_y = 0.1
self.next_goal_pose = None
self.next_goal = None
rospy.sleep(3)
def test_detach(self):
"""Detach()"""
fd = tempfile.NamedTemporaryFile(delete=False)
try:
want_pid = None
with detach.Detach(None, sys.stderr, None) as d:
if d.pid:
want_pid = d.pid
else:
pid = os.getpid()
fd.write(str(pid))
fd.close()
except SystemExit as e:
self.assertEqual(e.code, 0)
time.sleep(0.5)
fd.seek(0)
have_pid = int(fd.read())
fd.close()
self.assertEqual(want_pid, have_pid)
os.unlink(fd.name)
def test_close_fds(self):
"""Detach(close_fds=True)"""
fd = tempfile.NamedTemporaryFile(delete=False)
testfd = tempfile.NamedTemporaryFile(delete=False)
try:
with detach.Detach(None, sys.stderr, None, close_fds=True, exclude_fds=[fd]) as d:
if d.pid:
testfd.close()
else:
try:
testfd.close()
except IOError as e:
fd.write(str(e.errno))
fd.close()
except SystemExit as e:
self.assertEqual(e.code, 0)
time.sleep(0.5)
fd.seek(0)
self.assertEqual(9, int(fd.read()))
os.unlink(fd.name)
os.unlink(testfd.name)
parser.add_argument(
"--cul-path",
default="/dev/ttyACM0",
help="Path to usbmodem path of CUL, defaults to /dev/ttyACM0")
args = parser.parse_args()
db.create_all()
if args.detach:
# init logger
from logbook import FileHandler
log_handler = FileHandler('server.log')
log_handler.push_application()
import detach
with detach.Detach(daemonize=True) as d:
if d.pid:
print(
"started process {} in background with log to server.log".
format(d.pid))
else:
main(args)
else:
# init logger
from logbook.more import ColorizedStderrHandler
log_handler = ColorizedStderrHandler()
log_handler.push_application()
main(args)
