def handle_start_app(self, req):
rospy.loginfo("start_app: %s"%(req.name))
if self._current_app:
if self._current_app_definition.name == req.name:
return StartAppResponse(started=True, message="app [%s] already started"%(req.name), app_namespace=self._app_interface)
else:
self.stop_app(self._current_app_definition.name)
#return StartAppResponse(started=False, message="Please stop the running app before starting another app.", error_code=StatusCodes.MULTIAPP_NOT_SUPPORTED)
# TODO: the app list has already loaded the App data. We should use that instead for consistency
appname = req.name
rospy.loginfo("Loading app: %s"%(appname))
try:
app = load_AppDefinition_by_name(appname)
except ValueError as e:
return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.BAD_REQUEST)
except InvalidAppException as e:
return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.INTERNAL_ERROR)
except NotFoundException as e:
return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.NOT_FOUND)
try:
self._set_current_app(App(name=appname), app)
rospy.loginfo("Launching: %s"%(app.launch))
self._status_pub.publish(AppStatus(AppStatus.INFO, 'launching %s'%(app.display_name)))
#TODO:XXX This is a roslaunch-caller-like abomination. Should leverage a true roslaunch API when it exists.
self._launch = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"),
[app.launch], is_core=False,
process_listeners=())
self._launch._load_config()
#TODO: convert to method
for N in self._launch.config.nodes:
for t in app.interface.published_topics.keys():
N.remap_args.append((t, self._app_interface + '/' + t))
for t in app.interface.subscribed_topics.keys():
N.remap_args.append((t, self._app_interface + '/' + t))
self._launch.start()
fp = [self._app_interface + '/' + x for x in app.interface.subscribed_topics.keys()]
lp = [self._app_interface + '/' + x for x in app.interface.published_topics.keys()]
self._interface_sync = MasterSync(self._interface_master, foreign_pub_names=fp, local_pub_names=lp)
thread.start_new_thread(self.app_monitor,())
return StartAppResponse(started=True, message="app [%s] started"%(appname), app_namespace=self._app_interface)
except Exception as e:
try:
# attempt to kill any launched resources
self._stop_current()
except:
pass
self._status_pub.publish(AppStatus(AppStatus.INFO, 'app start failed'))
rospy.logerr("app start failed")
return StartAppResponse(started=False, message="internal error [%s]"%(str(e)), error_code=StatusCodes.INTERNAL_ERROR)
def __init__(self, robot_name, interface_master, app_list, exchange):
self._robot_name = robot_name
self._interface_master = interface_master
self._app_list = app_list
self._current_app = self._current_app_definition = None
self._exchange = exchange
rospy.loginfo("Starting app manager for %s"%self._robot_name)
self._app_interface = self.scoped_name('application')
# note: we publish into the application namespace
self._status_pub = rospy.Publisher(self.scoped_name('application/app_status'), AppStatus, latch=True)
self._list_apps_pub = rospy.Publisher(self.scoped_name('app_list'), AppList, latch=True)
self._list_apps_srv = rospy.Service(self.scoped_name('list_apps'), ListApps, self.handle_list_apps)
self._start_app_srv = rospy.Service(self.scoped_name('start_app'), StartApp, self.handle_start_app)
self._stop_app_srv = rospy.Service(self.scoped_name('stop_app'), StopApp, self.handle_stop_app)
if (self._exchange):
self._exchange_list_apps_pub = rospy.Publisher(self.scoped_name('exchange_app_list'), AppInstallationState, latch=True)
self._list_exchange_apps_srv = rospy.Service(self.scoped_name('list_exchange_apps'), GetInstallationState, self.handle_list_exchange_apps)
self._get_app_details_srv = rospy.Service(self.scoped_name('get_app_details'), GetAppDetails, self.handle_get_app_details)
self._install_app_srv = rospy.Service(self.scoped_name('install_app'), InstallApp, self.handle_install_app)
self._uninstall_app_srv = rospy.Service(self.scoped_name('uninstall_app'), UninstallApp, self.handle_uninstall_app)
pub_names = [x.resolved_name for x in [self._list_apps_pub, self._status_pub, self._exchange_list_apps_pub]]
service_names = [x.resolved_name for x in [self._list_apps_srv, self._start_app_srv, self._stop_app_srv, self._get_app_details_srv, self._list_exchange_apps_srv, self._install_app_srv, self._uninstall_app_srv]]
else:
pub_names = [x.resolved_name for x in [self._list_apps_pub, self._status_pub]]
service_names = [x.resolved_name for x in [self._list_apps_srv, self._start_app_srv, self._stop_app_srv]]
self._api_sync = MasterSync(self._interface_master,
local_service_names=service_names,
local_pub_names=pub_names)
self._launch = None
self._interface_sync = None
roslaunch.pmon._init_signal_handlers()
if (self._exchange):
self._exchange.update_local()
self._app_list.update()
self.publish_exchange_list_apps()
self.publish_list_apps()
class AppManager(object):
def __init__(self, robot_name, interface_master, app_list, exchange):
self._robot_name = robot_name
self._interface_master = interface_master
self._app_list = app_list
self._current_app = self._current_app_definition = None
self._exchange = exchange
rospy.loginfo("Starting app manager for %s"%self._robot_name)
self._app_interface = self.scoped_name('application')
# note: we publish into the application namespace
self._status_pub = rospy.Publisher(self.scoped_name('application/app_status'), AppStatus, latch=True)
self._list_apps_pub = rospy.Publisher(self.scoped_name('app_list'), AppList, latch=True)
self._list_apps_srv = rospy.Service(self.scoped_name('list_apps'), ListApps, self.handle_list_apps)
self._start_app_srv = rospy.Service(self.scoped_name('start_app'), StartApp, self.handle_start_app)
self._stop_app_srv = rospy.Service(self.scoped_name('stop_app'), StopApp, self.handle_stop_app)
if (self._exchange):
self._exchange_list_apps_pub = rospy.Publisher(self.scoped_name('exchange_app_list'), AppInstallationState, latch=True)
self._list_exchange_apps_srv = rospy.Service(self.scoped_name('list_exchange_apps'), GetInstallationState, self.handle_list_exchange_apps)
self._get_app_details_srv = rospy.Service(self.scoped_name('get_app_details'), GetAppDetails, self.handle_get_app_details)
self._install_app_srv = rospy.Service(self.scoped_name('install_app'), InstallApp, self.handle_install_app)
self._uninstall_app_srv = rospy.Service(self.scoped_name('uninstall_app'), UninstallApp, self.handle_uninstall_app)
pub_names = [x.resolved_name for x in [self._list_apps_pub, self._status_pub, self._exchange_list_apps_pub]]
service_names = [x.resolved_name for x in [self._list_apps_srv, self._start_app_srv, self._stop_app_srv, self._get_app_details_srv, self._list_exchange_apps_srv, self._install_app_srv, self._uninstall_app_srv]]
else:
pub_names = [x.resolved_name for x in [self._list_apps_pub, self._status_pub]]
service_names = [x.resolved_name for x in [self._list_apps_srv, self._start_app_srv, self._stop_app_srv]]
self._api_sync = MasterSync(self._interface_master,
local_service_names=service_names,
local_pub_names=pub_names)
self._launch = None
self._interface_sync = None
roslaunch.pmon._init_signal_handlers()
if (self._exchange):
self._exchange.update_local()
self._app_list.update()
self.publish_exchange_list_apps()
self.publish_list_apps()
def shutdown(self):
if self._api_sync:
self._api_sync.stop()
if self._launch:
self._launch.shutdown()
self._interface_sync.stop()
def _get_current_app(self):
return self._current_app
def _set_current_app(self, app, app_definition):
self._current_app = app
self._current_app_definition = app_definition
if self._list_apps_pub:
if app is not None:
self._list_apps_pub.publish([app], self._app_list.get_app_list())
else:
self._list_apps_pub.publish([], self._app_list.get_app_list())
def scoped_name(self, name):
return roslib.names.canonicalize_name('/%s/%s'%(self._robot_name, rospy.remap_name(name)))
def handle_get_app_details(self, req):
return GetAppDetailsResponse(app=self._exchange.get_app_details(req.name))
def handle_list_exchange_apps(self, req):
if (self._exchange == None):
return None
if (req.remote_update):
print "UPDATE"
self._exchange.update()
i_apps = self._exchange.get_installed_apps()
a_apps = self._exchange.get_available_apps()
return GetInstallationStateResponse(installed_apps=i_apps, available_apps=a_apps)
def publish_list_apps(self):
if self._current_app:
self._list_apps_pub.publish([self._current_app], self._app_list.get_app_list())
else:
self._list_apps_pub.publish([], self._app_list.get_app_list())
def publish_exchange_list_apps(self):
if (self._exchange == None):
return
i_apps = self._exchange.get_installed_apps()
a_apps = self._exchange.get_available_apps()
self._exchange_list_apps_pub.publish(i_apps, a_apps)
def handle_install_app(self, req):
appname = req.name
print "[INFO] App Manager : installing app [exchange.install_app()]"
if (self._exchange.install_app(appname)):
self._app_list.update()
self.publish_list_apps()
self.publish_exchange_list_apps()
return InstallAppResponse(installed=True, message="app [%s] installed"%(appname))
else:
return InstallAppResponse(installed=False, message="app [%s] could not be installed"%(appname))
def handle_uninstall_app(self, req):
appname = req.name
if (self._exchange.uninstall_app(appname)):
self._app_list.update()
self.publish_list_apps()
self.publish_exchange_list_apps()
return UninstallAppResponse(uninstalled=True, message="app [%s] uninstalled"%(appname))
else:
return UninstallAppResponse(uninstalled=False, message="app [%s] could not be uninstalled"%(appname))
def handle_list_apps(self, req):
rospy.loginfo("Listing apps")
current = self._current_app
if current:
running_apps = [current]
else:
running_apps = []
self._app_list.update()
rospy.loginfo("done listing apps")
return ListAppsResponse(running_apps=running_apps, available_apps=self._app_list.get_app_list())
def handle_start_app(self, req):
rospy.loginfo("start_app: %s"%(req.name))
if self._current_app:
if self._current_app_definition.name == req.name:
return StartAppResponse(started=True, message="app [%s] already started"%(req.name), app_namespace=self._app_interface)
else:
self.stop_app(self._current_app_definition.name)
#return StartAppResponse(started=False, message="Please stop the running app before starting another app.", error_code=StatusCodes.MULTIAPP_NOT_SUPPORTED)
# TODO: the app list has already loaded the App data. We should use that instead for consistency
appname = req.name
rospy.loginfo("Loading app: %s"%(appname))
try:
app = load_AppDefinition_by_name(appname)
except ValueError as e:
return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.BAD_REQUEST)
except InvalidAppException as e:
return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.INTERNAL_ERROR)
except NotFoundException as e:
return StartAppResponse(started=False, message=str(e), error_code=StatusCodes.NOT_FOUND)
try:
self._set_current_app(App(name=appname), app)
rospy.loginfo("Launching: %s"%(app.launch))
self._status_pub.publish(AppStatus(AppStatus.INFO, 'launching %s'%(app.display_name)))
#TODO:XXX This is a roslaunch-caller-like abomination. Should leverage a true roslaunch API when it exists.
self._launch = roslaunch.parent.ROSLaunchParent(rospy.get_param("/run_id"),
[app.launch], is_core=False,
process_listeners=())
self._launch._load_config()
#TODO: convert to method
for N in self._launch.config.nodes:
for t in app.interface.published_topics.keys():
N.remap_args.append((t, self._app_interface + '/' + t))
for t in app.interface.subscribed_topics.keys():
N.remap_args.append((t, self._app_interface + '/' + t))
self._launch.start()
fp = [self._app_interface + '/' + x for x in app.interface.subscribed_topics.keys()]
lp = [self._app_interface + '/' + x for x in app.interface.published_topics.keys()]
self._interface_sync = MasterSync(self._interface_master, foreign_pub_names=fp, local_pub_names=lp)
thread.start_new_thread(self.app_monitor,())
return StartAppResponse(started=True, message="app [%s] started"%(appname), app_namespace=self._app_interface)
except Exception as e:
try:
# attempt to kill any launched resources
self._stop_current()
except:
pass
self._status_pub.publish(AppStatus(AppStatus.INFO, 'app start failed'))
rospy.logerr("app start failed")
return StartAppResponse(started=False, message="internal error [%s]"%(str(e)), error_code=StatusCodes.INTERNAL_ERROR)
def _stop_current(self):
try:
self._launch.shutdown()
finally:
self._launch = None
try:
self._interface_sync.stop()
finally:
self._interface_sync = None
def handle_stop_app(self, req):
#rospy.logerr("handle stop app: %s"%(req.name))
return self.stop_app(req.name)
def app_monitor(self):
while self._launch:
time.sleep(0.1)
launch = self._launch
if launch:
pm = launch.pm
if pm:
if pm.done:
time.sleep(1.0)
self.stop_app(self._current_app_definition.name)
break
def stop_app(self, appname):
resp = StopAppResponse(stopped=False)
try:
app = self._current_app_definition
# request to stop all apps.
if app is not None and appname == '*':
appname = app.name
if app is None or app.name != appname:
rospy.loginfo("handle stop app: app [%s] is not running [x]"%(appname))
resp.error_code = StatusCodes.NOT_RUNNING
resp.message = "app %s is not running"%(appname)
else:
try:
if self._launch:
rospy.loginfo("handle stop app: stopping app [%s]"%(appname))
self._status_pub.publish(AppStatus(AppStatus.INFO, 'stopping %s'%(app.display_name)))
self._stop_current()
rospy.loginfo("handle stop app: app [%s] stopped"%(appname))
resp.stopped = True
resp.message = "%s stopped"%(appname)
else:
rospy.loginfo("handle stop app: app [%s] is not running"%(appname))
resp.message = "app [%s] is not running"%(appname)
resp.error_code = StatusCodes.NOT_RUNNING
finally:
self._launch = None
self._set_current_app(None, None)
except Exception as e:
rospy.logerr("handle stop app: internal error %s"%(e))
resp.error_code = StatusCodes.INTERNAL_ERROR
resp.message = "internal error: %s"%(str(e))
return resp
