def start_node(robot, proc_pipe, msg):
"""Start node."""
try:
# Set process name
setproctitle.setproctitle("PYRO4BOT." + robot["node"]["name"] + "." +
"ROBOT")
# Daemon proxy for node robot
robot["node"]["port_node"] = utils.get_free_port(
robot["node"]["port_node"])
daemon = Pyro4.Daemon(host=robot["node"]["ip"],
port=robot["node"]["port_node"])
daemon._pyroHmacKey = robot["node"]["password"].encode()
pyro4bot_class = control.Pyro4bot_Loader(globals()["Robot"], **robot)
new_object = pyro4bot_class()
# Associate object to the daemon
uri_node = daemon.register(new_object, objectId=robot["node"]["name"])
# Get and save exposed methods
exposed = Pyro4.core.DaemonObject(daemon).get_metadata(
robot["node"]["name"], True)
# Hide methods from Control
safe_exposed = {}
for k in exposed.keys():
safe_exposed[k] = list(set(exposed[k]) - set(dir(control.Control)))
safe_exposed["methods"].extend(["__docstring__", "__exposed__"])
new_object.exposed = safe_exposed
new_object.mypid = os.getpid()
new_object.uri_node = uri_node
# Get docstring from exposed methods on node
new_object.docstring = new_object.get_docstring(new_object, exposed)
# Printing info
print(
colored(
"____________STARTING PYRO4BOT NODE %s_______________________"
% robot["node"]["name"], "yellow"))
print("[%s] PYRO4BOT: %s" % (colored("OK", 'green'), uri_node))
new_object.start_components()
msg.put((uri_node, os.getpid()))
proc_pipe.send("OK")
new_object.register_node()
daemon.requestLoop()
print("[%s] Final shutting %s" % (colored("Down", 'green'), uri_node))
os._exit(0)
except Exception:
print("ERROR: start_node in robotstarter.py")
proc_pipe.send("ERROR")
raise
def get_ns(self):
if self.nameserver is None:
default_ns = Pyro4.config.BROADCAST_ADDRS
# Looking for Network NameServer
for x in utils.get_all_ip_address(broadcast=True):
if (self.nameserver):
break
try:
Pyro4.config.BROADCAST_ADDRS = x
self.broadcast_ns = x
self.nameserver = Pyro4.locateNS()
self.nameserver.ping()
printInfo("NameServer located.")
except Exception:
self.nameserver = None
if (self.nameserver):
# ¿BigBrother or Random NS?
try:
ns_uri = self.nameserver.lookup("bigbrother")
possible_ns = utils.get_pyro4proxy(ns_uri, ROUTER_PASSWORD)
if (possible_ns.ready()):
self.ns_uri = ns_uri
self.nameserver = possible_ns
printInfo("[NS_Type] BigBrother ----> %s" %
self.ns_uri)
self.usingBB = True
except Pyro4.errors.NamingError:
printInfo("[NS_Type] Generic NameServer ----> %s" %
self.nameserver.lookup("Pyro.NameServer"))
if self.nameserver is None:
printInfo("NameServer not found.", "red")
# Creating a NameServer
try:
port = utils.get_free_port(self.port_ns, ip=self.ip)
Pyro4.config.SERIALIZERS_ACCEPTED = ["json", "marshal", "serpent", "pickle"]
self.nsThread = threading.Thread(
target=nm.startNSloop,
kwargs={'host': self.ip, 'port': port})
self.nsThread.start()
time.sleep(1)
printInfo("NameServer created.")
except Exception:
printInfo("Error creating NameServer", "red")
self.nameserver = None
# Locate NS
attempts = 0
while attempts < 10:
try:
Pyro4.config.BROADCAST_ADDRS = default_ns
self.nameserver = Pyro4.locateNS()
self.nameserver.ping()
break
except Exception:
attempts += 1
time.sleep(0.3)
return self.nameserver if self.nameserver else None
def new_uri(self, name, mode="public"):
if mode == "local":
ip = "127.0.0.1"
else:
ip = self.ip
port_node = utils.get_free_port(self.port, interval=10, ip=ip)
start_port = utils.get_free_port(self.start_port, ip=ip)
if name.find(self.botName) > -1:
if name != self.botName:
uri = "PYRO:" + name + "@" + ip + ":" + str(start_port)
else:
uri = "PYRO:" + name + "@" + ip + ":" + str(port_node)
else:
uri = "PYRO:" + name + "@" + self.ip + ":" + str(start_port)
self.URIS[name] = uri
self.start_port = start_port + 1
self.port_node = port_node + 1
return uri
def start_pyro4bot_object(self, d, proc_pipe):
"""Start PYRO4BOT component."""
(name_ob, ip, ports) = utils.uri_split(d["pyro4id"])
try:
# Daemon proxy for sensor
daemon = Pyro4.Daemon(host=ip,
port=utils.get_free_port(ports, ip=ip))
daemon._pyroHmacKey = self.node["password"].encode()
proc_pipe.send("CONTINUE")
deps = utils.prepare_proxys(d, self.node["password"])
# assinging tty out and err for object
default_tty = utils.get_tty()
utils.set_tty_err(d["tty_err"])
# Preparing class for pyro4
pyro4bot_class = control.Pyro4bot_Loader(globals()[d["cls"]],
**deps)
new_object = pyro4bot_class()
# Associate object to the daemon
uri = daemon.register(new_object, objectId=name_ob)
# Get and save exposed methods
exposed = Pyro4.core.DaemonObject(daemon).get_metadata(
name_ob, True)
# Hide methods from Control
safe_exposed = {}
for k in exposed.keys():
safe_exposed[k] = list(
set(exposed[k]) - set(dir(control.Control)))
safe_exposed["methods"].extend(["__docstring__", "__exposed__"])
new_object.exposed.update(safe_exposed)
setproctitle.setproctitle("PYRO4BOT." + name_ob)
# Save dosctring documentation inside sensor object
new_object.docstring.update(
self.get_docstring(new_object, safe_exposed))
daemon.requestLoop()
# getting tty default to exit
utils.set_tty_out(default_tty)
utils.set_tty_err(default_tty)
print("[%s] Shutting %s" %
(colored("Down", 'green'), d["pyro4id"]))
except Exception as e:
proc_pipe.send("FAIL")
print("ERROR: creating sensor robot object: " + d["pyro4id"])
print(utils.format_exception(e))
def create_uriresolver_proxy(self):
try:
Pyro4.config.HOST = "localhost"
Pyro4.config.SERIALIZERS_ACCEPTED = ["json", "marshal", "serpent", "pickle"]
self.port = utils.get_free_port(self.port)
self.daemonproxy = Pyro4.Daemon(
host="127.0.0.1", port=self.port) # Daemon proxy for NODE
self.daemonproxy._pyroHmacKey = bytes(self.password)
self.daemonproxy.requestLoop()
except Pyro4.errors.ConnectionClosedError:
print("Error al conectar al proxy")
except Exception:
print("ERROR: creating _client_robot")
finally:
if (self.uri is not None):
print("[%s] Shutting %s" %
(colored("Down", 'green'), self.uri.asString()))
os._exit(0)
