class GroundStation(CommandLineHandler):
def __init__(self, config, ident):
print "GROUNDSTATION launching as '%s'" % ident
self.ident = ident
self.config = config
self.modules = ModuleHandler(self, 'groundstation')
self.dying = False
self.init_death()
self.command_map = {
'exit' : (self.cmd_stop, 'exit gracefully'),
'status' : (self.cmd_status, 'show status'),
'module' : (self.modules.cmd_module, 'manage modules'),
'config' : (self.config.cmd_config, 'manage configuration'),
'reinit' : (self.cmd_reinit, 'reconfigures network from config'),
'trigger' : (self.cmd_trigger, 'triggers a message across modules'),
'psim' : (self.cmd_piksisim, 'toggles the piksi simulator on connected piksis'),
'preset' : (self.cmd_piksireset, 'sends a reset message to a connected piksi (optionally specify an IP)'),
'shutdown' : (self.cmd_shutdown, '(IP) shuts down a single or all nodes in network'),
'restart' : (self.cmd_restart, '(IP) restart a single or all nodes in network (specify an IP to restart a specific node)'),
'update' : (self.cmd_update, '(IP) does a git pull and restart on a single or all nodes in network'),
'record' : (self.cmd_record, 'start or stop recording data for a session')
}
CommandLineHandler.__init__(self, self.command_map)
def init_death(self):
'''Setup Graceful Death'''
def quit_handler(signum = None, frame = None):
#print 'Signal handler called with signal', signum
if self.dying:
print 'Clean shutdown impossible, forcing an exit'
sys.exit(0)
else:
self.dying = True
self.stop()
# Listen for kill signals to cleanly shutdown modules
fatalsignals = [signal.SIGTERM]
try:
fatalsignals.append(signal.SIGHUP, signal.SIGQUIT)
except Exception:
pass
for sig in fatalsignals:
signal.signal(sig, quit_handler)
def stop(self, hard=False):
print ""
print "Shutting down"
self.dying = True
self.modules.unload_all_modules()
if hard:
sys.exit(1)
def cmd_trigger(self, args):
if len(args) != 1:
print "we need one and only one argument"
return
self.modules.trigger(args[0])
def cmd_stop(self, args):
self.stop()
def cmd_record(self, args):
if len(args) > 0:
if 'start' in args:
return self.modules.trigger('cmd_record_start')
elif 'stop' in args:
return self.modules.trigger('cmd_record_stop')
elif 'next' in args:
return self.modules.trigger('cmd_record_next')
print 'USAGE: record (start|stop|next)'
def cmd_status(self, args):
self.modules.trigger("cmd_status")
def cmd_reinit(self, args):
if len(args):
if "--force" in args:
self.modules.unload_all_modules()
return self.configure_network_from_config()
def cmd_piksisim(self, args):
if len(args) > 0:
if "t" in args:
self.modules.trigger("enable_piksi_sim")
else:
self.modules.trigger("disable_piksi_sim")
else:
self.modules.trigger("enable_piksi_sim")
print "enabling. use 't' for true and 'f' for false to toggle state."
def cmd_piksireset(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "reset_piksi")
else:
self.modules.trigger("reset_piksi")
def cmd_shutdown(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "cmd_shutdown")
else:
self.modules.trigger("cmd_shutdown")
def cmd_restart(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "cmd_restart")
else:
self.modules.trigger("cmd_restart")
def cmd_update(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "cmd_update")
else:
self.modules.trigger("cmd_update")
def configure_network_from_config(self):
'''
Will attempt to instantiate everything on our end.
Won't reinstantiate running threads,
won't interact with remote processes
'''
self.modules.load_module('systemstate')
if self.config.get_my("be-the-basestation"):
print "I AM THE BASE STATION"
self.modules.load_module('SBPUDPBroadcast')
else:
print "I AM NOT THE BASE STATION"
for client in self.config.get_network('odroidperson'):
self.modules.load_module('odroidperson_cc', instance_name=client)
self.modules.load_module('odroidperson_sbp', instance_name=client)
self.modules.load_module('odroidperson_mav', instance_name=client)
self.modules.load_module('basestation_sbp')
solo = self.modules.load_module('solo', waitTimeout=15.0)
# NJ HACK SIGGRAPH 2016: USB broke off...
solosbp = self.modules.load_module('solo_sbp')
print "CONFIGURATON DONE! Spooky is ready for your commands:"
def set_systemstate(self, module):
self.systemstate = module
def unset_systemstate(self):
self.systemstate = None
def get_systemstate(self):
if self.systemstate:
return self.systemstate
else:
return None
def mainloop(self):
#Set up our network!
self.configure_network_from_config()
# Main command line interface, ensures cleanup on exit
while not self.dying:
# Error handling on the INSIDE so we don't kill app
try:
self.handle_terminal_input()
self.modules.check_modules_integrity()
except EOFError:
self.stop(hard=True)
except KeyboardInterrupt:
self.stop()
except Exception:
#CRUCIAL! This prevents death from exception
traceback.print_exc()
class GroundStation(CommandLineHandler):
def __init__(self, config, ident):
print "GROUNDSTATION launching as '%s'" % ident
self.ident = ident
self.config = config
self.modules = ModuleHandler(self, 'groundstation')
self.dying = False
self.init_death()
self.command_map = {
'exit': (self.cmd_stop, 'exit gracefully'),
'status': (self.cmd_status, 'show status'),
'module': (self.modules.cmd_module, 'manage modules'),
'config': (self.config.cmd_config, 'manage configuration'),
'reinit': (self.cmd_reinit, 'reconfigures network from config'),
'trigger': (self.cmd_trigger, 'triggers a message across modules'),
'psim': (self.cmd_piksisim,
'toggles the piksi simulator on connected piksis'),
'preset':
(self.cmd_piksireset,
'sends a reset message to a connected piksi (optionally specify an IP)'
),
'shutdown': (self.cmd_shutdown,
'(IP) shuts down a single or all nodes in network'),
'restart':
(self.cmd_restart,
'(IP) restart a single or all nodes in network (specify an IP to restart a specific node)'
),
'update':
(self.cmd_update,
'(IP) does a git pull and restart on a single or all nodes in network'
),
'record':
(self.cmd_record, 'start or stop recording data for a session')
}
CommandLineHandler.__init__(self, self.command_map)
def init_death(self):
'''Setup Graceful Death'''
def quit_handler(signum=None, frame=None):
#print 'Signal handler called with signal', signum
if self.dying:
print 'Clean shutdown impossible, forcing an exit'
sys.exit(0)
else:
self.dying = True
self.stop()
# Listen for kill signals to cleanly shutdown modules
fatalsignals = [signal.SIGTERM]
try:
fatalsignals.append(signal.SIGHUP, signal.SIGQUIT)
except Exception:
pass
for sig in fatalsignals:
signal.signal(sig, quit_handler)
def stop(self, hard=False):
print ""
print "Shutting down"
self.dying = True
self.modules.unload_all_modules()
if hard:
sys.exit(1)
def cmd_trigger(self, args):
if len(args) != 1:
print "we need one and only one argument"
return
self.modules.trigger(args[0])
def cmd_stop(self, args):
self.stop()
def cmd_record(self, args):
if len(args) > 0:
if 'start' in args:
return self.modules.trigger('cmd_record_start')
elif 'stop' in args:
return self.modules.trigger('cmd_record_stop')
elif 'next' in args:
return self.modules.trigger('cmd_record_next')
print 'USAGE: record (start|stop|next)'
def cmd_status(self, args):
self.modules.trigger("cmd_status")
def cmd_reinit(self, args):
if len(args):
if "--force" in args:
self.modules.unload_all_modules()
return self.configure_network_from_config()
def cmd_piksisim(self, args):
if len(args) > 0:
if "t" in args:
self.modules.trigger("enable_piksi_sim")
else:
self.modules.trigger("disable_piksi_sim")
else:
self.modules.trigger("enable_piksi_sim")
print "enabling. use 't' for true and 'f' for false to toggle state."
def cmd_piksireset(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "reset_piksi")
else:
self.modules.trigger("reset_piksi")
def cmd_shutdown(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "cmd_shutdown")
else:
self.modules.trigger("cmd_shutdown")
def cmd_restart(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "cmd_restart")
else:
self.modules.trigger("cmd_restart")
def cmd_update(self, args):
if len(args) > 0:
self.modules.trigger_on("odroidperson_cc", args[0], "cmd_update")
else:
self.modules.trigger("cmd_update")
def configure_network_from_config(self):
'''
Will attempt to instantiate everything on our end.
Won't reinstantiate running threads,
won't interact with remote processes
'''
self.modules.load_module('systemstate')
if self.config.get_my("be-the-basestation"):
print "I AM THE BASE STATION"
self.modules.load_module('SBPUDPBroadcast')
else:
print "I AM NOT THE BASE STATION"
for client in self.config.get_network('odroidperson'):
self.modules.load_module('odroidperson_cc', instance_name=client)
self.modules.load_module('odroidperson_sbp', instance_name=client)
self.modules.load_module('odroidperson_mav', instance_name=client)
solo = self.modules.load_module('solo', waitTimeout=15.0)
# NJ HACK SIGGRAPH 2016: USB broke off...
solosbp = self.modules.load_module('solo_sbp')
print "CONFIGURATON DONE! Spooky is ready for your commands:"
def set_systemstate(self, module):
self.systemstate = module
def unset_systemstate(self):
self.systemstate = None
def get_systemstate(self):
if self.systemstate:
return self.systemstate
else:
return None
def mainloop(self):
#Set up our network!
self.configure_network_from_config()
# Main command line interface, ensures cleanup on exit
while not self.dying:
# Error handling on the INSIDE so we don't kill app
try:
self.handle_terminal_input()
self.modules.check_modules_integrity()
except EOFError:
self.stop(hard=True)
except KeyboardInterrupt:
self.stop()
except Exception:
#CRUCIAL! This prevents death from exception
traceback.print_exc()
