def start(self):
"""
Start the process.
@raise FatalProcessLaunch: if process cannot be started and it
is not likely to ever succeed
"""
super(LocalProcess, self).start()
try:
self.lock.acquire()
if self.started:
_logger.info("process[%s]: restarting os process", self.name)
else:
_logger.info("process[%s]: starting os process", self.name)
self.started = self.stopped = False
full_env = self.env
# _configure_logging() can mutate self.args
try:
logfileout, logfileerr = self._configure_logging()
except Exception, e:
_logger.error(traceback.format_exc())
printerrlog("[%s] ERROR: unable to configure logging [%s]"%(self.name, str(e)))
# it's not safe to inherit from this process as
# rostest changes stdout to a StringIO, which is not a
# proper file.
logfileout, logfileerr = subprocess.PIPE, subprocess.PIPE
if self.cwd == 'node':
cwd = os.path.dirname(self.args[0])
elif self.cwd == 'cwd':
cwd = os.getcwd()
elif self.cwd == 'ros-root':
cwd = get_ros_root()
else:
cwd = roslib.rosenv.get_ros_home()
_logger.info("process[%s]: start w/ args [%s]", self.name, self.args)
_logger.info("process[%s]: cwd will be [%s]", self.name, cwd)
try:
self.popen = subprocess.Popen(self.args, cwd=cwd, stdout=logfileout, stderr=logfileerr, env=full_env, close_fds=True, preexec_fn=os.setsid)
except OSError, (errno, msg):
self.started = True # must set so is_alive state is correct
_logger.error("OSError(%d, %s)", errno, msg)
if errno == 8: #Exec format error
raise FatalProcessLaunch("Unable to launch [%s]. \nIf it is a script, you may be missing a '#!' declaration at the top."%self.name)
elif errno == 2: #no such file or directory
raise FatalProcessLaunch("""Roslaunch got a '%s' error while attempting to run:
%s
Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix."""%(msg, ' '.join(self.args)))
else:
raise FatalProcessLaunch("unable to launch [%s]: %s"%(' '.join(self.args), msg))
def start(self):
"""
Start the process.
@raise FatalProcessLaunch: if process cannot be started and it
is not likely to ever succeed
"""
super(LocalProcess, self).start()
try:
self.lock.acquire()
if self.started:
_logger.info("process[%s]: restarting os process", self.name)
else:
_logger.info("process[%s]: starting os process", self.name)
self.started = self.stopped = False
full_env = self.env
# _configure_logging() can mutate self.args
try:
logfileout, logfileerr = self._configure_logging()
except Exception as e:
_logger.error(traceback.format_exc())
printerrlog("[%s] ERROR: unable to configure logging [%s]" %
(self.name, str(e)))
# it's not safe to inherit from this process as
# rostest changes stdout to a StringIO, which is not a
# proper file.
logfileout, logfileerr = subprocess.PIPE, subprocess.PIPE
if self.cwd == 'node':
cwd = os.path.dirname(self.args[0])
elif self.cwd == 'cwd':
cwd = os.getcwd()
elif self.cwd == 'ros-root':
cwd = get_ros_root()
else:
cwd = rospkg.get_ros_home()
if not os.path.exists(cwd):
try:
os.makedirs(cwd)
except OSError:
# exist_ok=True
pass
_logger.info("process[%s]: start w/ args [%s]", self.name,
self.args)
_logger.info("process[%s]: cwd will be [%s]", self.name, cwd)
try:
self.popen = subprocess.Popen(self.args,
cwd=cwd,
stdout=logfileout,
stderr=logfileerr,
env=full_env,
close_fds=True,
preexec_fn=os.setsid)
except OSError as e:
self.started = True # must set so is_alive state is correct
_logger.error("OSError(%d, %s)", e.errno, e.strerror)
if e.errno == 8: #Exec format error
raise FatalProcessLaunch(
"Unable to launch [%s]. \nIf it is a script, you may be missing a '#!' declaration at the top."
% self.name)
elif e.errno == 2: #no such file or directory
raise FatalProcessLaunch(
"""Roslaunch got a '%s' error while attempting to run:
%s
Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix.""" %
(e.strerror, ' '.join(self.args)))
else:
raise FatalProcessLaunch("unable to launch [%s]: %s" %
(' '.join(self.args), e.strerror))
self.started = True
# Check that the process is either still running (poll returns
# None) or that it completed successfully since when we
# launched it above (poll returns the return code, 0).
poll_result = self.popen.poll()
if poll_result is None or poll_result == 0:
self.pid = self.popen.pid
printlog_bold("process[%s]: started with pid [%s]" %
(self.name, self.pid))
return True
else:
printerrlog("failed to start local process: %s" %
(' '.join(self.args)))
return False
finally:
self.lock.release()
def start(self):
"""
Start the process.
@raise FatalProcessLaunch: if process cannot be started and it
is not likely to ever succeed
"""
super(LocalProcess, self).start()
try:
self.lock.acquire()
if self.started:
_logger.info("process[%s]: restarting os process", self.name)
else:
_logger.info("process[%s]: starting os process", self.name)
self.started = self.stopped = False
full_env = self.env
# _configure_logging() can mutate self.args
process_logger = None
try:
process_logger = self._configure_logging() # Must always return an object even if we log only on screen.
except Exception as e:
_logger.error(traceback.format_exc())
printerrlog("[%s] ERROR: unable to configure logging [%s]"%(self.name, str(e)))
# it's not safe to inherit from this process as
# rostest changes stdout to a StringIO, which is not a
# proper file.
#logfileout, logfileerr = subprocess.PIPE, subprocess.PIPE
#if we must log into a file (so process_logger exists) :
if process_logger:
# stdout and stderr must of subprocess must be redirected to a pipe
logfileout, logfileerr = subprocess.PIPE, subprocess.PIPE
else:
# stdout and stderr must of subprocess must be displayed on the screen because a problem occur when
# configuring the logger
logfileout, logfileerr = None, None
if self.cwd == 'node':
cwd = os.path.dirname(self.args[0])
elif self.cwd == 'cwd':
cwd = os.getcwd()
elif self.cwd == 'ros-root':
cwd = get_ros_root()
else:
cwd = rospkg.get_ros_home()
if not os.path.exists(cwd):
try:
os.makedirs(cwd)
except OSError:
# exist_ok=True
pass
_logger.info("process[%s]: start w/ args [%s]", self.name, self.args)
_logger.info("process[%s]: cwd will be [%s]", self.name, cwd)
try:
if sys.platform.startswith('linux'):
# the two arguments 'stdbuf' and '-oL' are necessary to have real time logging,
# instead of all at once. only necessary if stdout is not a tty
self.args = ['stdbuf', '-oL'] + self.args
self.popen = subprocess.Popen(self.args, cwd=cwd, stdout=logfileout, stderr=logfileerr, env=full_env, close_fds=True, preexec_fn=os.setsid)
except OSError as e:
self.started = True # must set so is_alive state is correct
_logger.error("OSError(%d, %s)", e.errno, e.strerror)
if e.errno == errno.ENOEXEC: #Exec format error
raise FatalProcessLaunch("Unable to launch [%s]. \nIf it is a script, you may be missing a '#!' declaration at the top."%self.name)
elif e.errno == errno.ENOENT: #no such file or directory
raise FatalProcessLaunch("""Roslaunch got a '%s' error while attempting to run:
%s
Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix."""%(e.strerror, ' '.join(self.args)))
else:
raise FatalProcessLaunch("unable to launch [%s]: %s"%(' '.join(self.args), e.strerror))
# we redirect subprocess output to proper loglevel in a dedicated thread :
if logfileout:
self.logThreadInfo = threading.Thread(target=stream_reader, args=(self.popen.stdout, logging.INFO,
process_logger, self.popen))
self.logThreadInfo.start()
if logfileerr:
self.logThreadError = threading.Thread(target=stream_reader, args=(self.popen.stderr, logging.ERROR,
process_logger, self.popen))
self.logThreadError.start()
self.started = True
# Check that the process is either still running (poll returns
# None) or that it completed successfully since when we
# launched it above (poll returns the return code, 0).
poll_result = self.popen.poll()
if poll_result is None or poll_result == 0:
self.pid = self.popen.pid
printlog_bold("process[%s]: started with pid [%s]"%(self.name, self.pid))
return True
else:
printerrlog("failed to start local process: %s"%(' '.join(self.args)))
return False
finally:
self.lock.release()