def update_instance_host(cluster_name, instance_id):
cluster = ResourceManager.get_cluster(cluster_name)
if not cluster:
message = "ResourceManager--Update the instance to cluster failed. The cluster is not found. (cluster_name = %s)" % cluster_name
# result = {"code": "1", "cluster_name":cluster_name, "message":message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
else:
try:
result = cluster.update_instance_host(instance_id)
if result.code == 'failed':
return result
ResourceManager.sync_to_database()
#logging.info("ResourceManager--Update instance success , instance_id : %s , cluster_name : %s" % (instance_id, cluster_name))
return result
except Exception as e:
message = "ResourceManager--Update the instacne fail.instance_id : %s , cluster_name : %s " % (
instance_id, cluster_name) + str(e)
logging.error(message)
# result = {"code": "1", "cluster_name": cluster_name, "message": message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
def _add_to_cluster_list(cluster_name, layers_string):
try:
cluster = Cluster(cluster_name, layers_string)
ResourceManager._cluster_dict[cluster_name] = cluster
message = "ResourceManager -sync to db -- create_cluster._add_to_cluster_list success, cluster_name : %s , protected_layers_string : %s" % (
cluster_name, layers_string)
logging.info(message)
result = Response(code="succeed",
message=message,
data={
"cluster_name": cluster_name,
"protected_layers_string": layers_string
})
return result
except Exception as e:
message = "ResourceManager - create_cluster._add_to_cluster_list fail,cluster_name : %s, protected_layers_string : %s" % (
cluster_name, layers_string) + str(e)
logging.error(message)
# result = {"code": "1","cluster_name":cluster_name, "message": message}
result = Response(code="failed",
message=message,
data={
"cluster_name": cluster_name,
"protected_layers_string": layers_string
})
return result
def delete_instance(cluster_name, instance_id):
cluster = ResourceManager.get_cluster(cluster_name)
if not cluster:
message = "delete the instance to cluster failed. The cluster is not found. (cluster_name = %s)" % cluster_name
# result = {"code": "1", "cluster_name": cluster_name, "instance id ": instance_id, "message": message}
result = Response(code="failed",
message=message,
data={
"cluster_name": cluster_name,
"instance id": instance_id
})
return result
else:
try:
result = cluster.delete_instance(instance_id)
ResourceManager.sync_to_database()
#logging.info("ResourceManager--delete instance success")
return result
except Exception as e:
message = "ResourceManager--delete instance failed. this instance is not being protected (instance_id = %s)" % instance_id + str(
e)
logging.error(message)
# result = {"code": "1", "cluster_name":cluster_name, "message":message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
def add_instance(cluster_name, instance_id):
cluster = ResourceManager.get_cluster(cluster_name)
message = ""
if not cluster:
message = "ResourceManager--Add the instance to cluster failed. The cluster is not found. (cluster_name = %s)" % cluster_name
# result = {"code": "1", "cluster_name":cluster_name, "message":message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
else:
try:
if not ResourceManager._check_instance_not_overlapping_for_all_cluster(
instance_id):
return Response(
code="failed",
message="instance %s is already being protected" %
instance_id,
data={"instance": instance_id})
result = cluster.add_instance(instance_id)
if result.code == 'failed':
return result
ResourceManager.sync_to_database()
#logging.info("ResourceManager--Add instance success , instance_id : %s , cluster_name : %s" % (instance_id, cluster_name))
return result
except Exception as e:
print str(e)
message = "ResourceManager --add the instacne fail.instance_id : %s , cluster_name : %s " % (
instance_id, cluster_name) + str(e)
logging.error(message)
# result = {"code": "1", "cluster_name": cluster_name, "message": message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
def list_node(cluster_name):
try:
cluster = ResourceManager.get_cluster(cluster_name)
if not cluster:
message = "list the node failed. The cluster is not found. (cluster_name = %s)" % cluster_name
# result = {"code": "1", "cluster_name":cluster_name, "message":message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
nodelist = cluster.get_all_node_info()
message = "ResourceManager-list_node--get all node info finish"
result = Response(code="succeed",
message=message,
data={
"cluster_name": cluster_name,
"nodeList": nodelist
})
return result
except Exception as e:
message = "ResourceManager--list_node-- get all node info fail" + str(
e)
logging.error(message)
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
def parse_rules(self, request):
response = Response()
response.type = ResponseType.ASK
response.value = "Sorry, we cannot find your appointment. Could you repeat your full name?"
response.state_change = False
self.count = self.count + 1
return response
def get(pageNumber):
retList = []
datasets = []
user = AuthenticationService.verifySessionAndReturnUser(
request.cookies["SID"])
allDatasets = Dataset.objects.filter(Q(public=True) | Q(
author=user)).order_by('-dateCreated')
if pageNumber == "all":
datasets = allDatasets
elif pageNumber == "0":
datasets = allDatasets[:16]
else:
datasetIndex = 16 + 12 * (int(pageNumber) - 1)
datasets = allDatasets[datasetIndex:datasetIndex + 12]
if len(datasets) == 0:
return Response("No datasets matching the query were found",
status=400)
for dataset in datasets:
retList.append(DatasetService.createDatasetInfoObject(dataset))
return Response(retList)
def addNode(cluster_id, node_name_list, write_DB=True):
message = ""
for node_name in node_name_list[:]:
if not ClusterManager._checkNodeOverlappingForAllCluster(node_name):
print "%s is already in a HA cluster. " % node_name
message += "%s is overlapping node" % node_name
node_name_list.remove(node_name)
if node_name_list == []: raise Exception("all node in node list are(is) illegal")
cluster = ClusterManager.getCluster(cluster_id)
if not cluster:
message += "ClusterManager--Add the node to cluster failed. The cluster is not found. (cluster_id = %s)" % cluster_id
# result = {"code": "1", "clusterId":cluster_id, "message":message}
result = Response(code="failed",
message=message,
data={"cluster_id": cluster_id})
return result
else:
try:
result = cluster.addNode(node_name_list)
logging.info(
"ClusterManager--add node success.cluster id is %s ,node is %s " % (cluster_id, node_name_list))
if result.code == "succeed" and write_DB:
ClusterManager.syncToDatabase()
return result
except:
message += "add node fail. node not found. (node_name = %s)" % node_name_list
logging.error(message)
# result = {"code": "1", "clusterId": cluster_id, "message": message}
result = Response(code="failed",
message=message,
data={"cluster_id": cluster_id})
return result
def send_message(self, message: str) -> tuple: try: self.client.sendall(bytearray([1, 125]) + bytes(message, 'utf-8')) return Response(ResponseType.CLIENT_MESSAGE_SENT).message() except BrokenPipeError: self.stop_client() return Response(ResponseType.CLIENT_CONNECTION_LOST).message()
def handle(self, request):
response = Response()
file_path = path.join(path.dirname(path.realpath(__file__)),
request.get_path())
if not path.isfile(file_path):
response.set_status("404 Not Found")
return response
chunk = 200
f = open(file_path, "r")
while True:
data = f.read(chunk)
if not data:
break
response.write_body(str.encode(data))
size = path.getsize(file_path)
f.close()
response.set_header("Content-Length", str(size))
response.set_status("200 OK")
return response
def getDatasetObjectsPrimary(dataset_id):
user = AuthenticationService.verifySessionAndReturnUser(
request.cookies["SID"])
if (Dataset.objects.get(
Q(id=dataset_id) & (Q(public=True) | Q(author=user))) != None):
filename = dataset_id + ".csv"
fileFromS3 = s3.get_object(Bucket="agriworks-user-datasets",
Key=filename)
dataset = pd.read_csv(fileFromS3["Body"], dtype=str)
else:
return Response("You do not have access to that dataset.", status=403)
if (len(dataset) <= 1000):
return Response({
"datasetObjects":
DatasetService.buildDatasetObjectsList(dataset)
})
else:
cacheId = str(uuid4())
DatasetCache[cacheId] = dataset[1000:]
return Response({
"datasetObjects":
DatasetService.buildDatasetObjectsList(dataset[:1000]),
"cacheId":
cacheId
})
def deleteInstance(self, instance_id, send_flag=True):
result = None
for instance in self.instance_list:
host = instance.host
if instance.id == instance_id:
self.instance_list.remove(instance)
if send_flag: self.sendUpdateInstance(host)
message = "Cluster--delete instance success. this instance is deleted (instance_id = %s)" % instance_id
logging.info(message)
# result = {"code": "0", "clusterId": self.id, "instance id": instance_id, "message": message}
result = Response(code="succeed",
message=message,
data={
"cluster_id": self.id,
"instance_id": instance_id
})
# if instanceid not in self.instacne_list:
if result == None:
message = "Cluster--delete instance fail ,please check again! The instance id is %s." % instance_id
logging.error(message)
# result = {"code": "1", "cluster id": self.id, "instance id": instance_id, "message": message}
result = Response(code="failed",
message=message,
data={
"cluster_id": self.id,
"instance_id": instance_id
})
return result
def addNode(self, node_name_list):
# create node list
message = ""
try:
if node_name_list == []: raise Exception
for node_name in node_name_list:
if self._isInComputePool(node_name):
# print node_name_list
node = Node(name=node_name, cluster_id=self.id)
self.node_list.append(node)
node.startDetectionThread()
message = "Cluster--The node %s is added to cluster." % self.getAllNodeStr(
)
logging.info(message)
# result = {"code": "0","clusterId": self.id,"node":node_name, "message": message}
result = Response(code="succeed",
message=message,
data={
"cluster_id": self.id,
"node": node_name
})
else:
message += "the node %s is illegal. " % node_name
logging.error(message)
except Exception as e:
print str(e)
message = "Cluster-- add node fail , some node maybe overlapping or not in compute pool please check again! The node list is %s." % (
self.getAllNodeStr())
logging.error(message)
# result = {"code": "1", "clusterId": self.id, "message": message}
result = Response(code="failed",
message=message,
data={"cluster_id": self.id})
finally:
return result
def logout():
try:
sessionId = request.form["sessionId"]
AuthenticationService.logout(sessionId)
return Response("Successfully logged out.", status=200)
except:
return Response("Unable to process request. Please reload and try again later.", status=400)
def addNode(cluster_id, node_name_list, write_DB=True):
message = ""
tmp = list(set(node_name_list)) # remove duplicate
for node_name in tmp[:]:
if not ClusterManager._checkNodeOverlappingForAllCluster(node_name):
print "%s is already in a HA cluster. " % node_name
message += "%s is overlapping node" % node_name
tmp.remove(node_name)
if tmp == []:
return Response(code="failed",
message="node overlapping %s" % (str(node_name_list)),
data={"overlapping_node":node_name_list})
cluster = ClusterManager.getCluster(cluster_id)
if not cluster:
message += "ClusterManager--Add the node to cluster failed. The cluster is not found. (cluster_id = %s)" % cluster_id
# result = {"code": "1", "clusterId":cluster_id, "message":message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
else:
try:
result = cluster.addNode(tmp)
logging.info("ClusterManager--add node success.cluster id is %s ,node is %s " % (cluster_id, tmp))
if result.code == "succeed" and write_DB:
ClusterManager.syncToDatabase()
return result
except Exception as e:
message += "add node fail. node not found. (node_name = %s)" % tmp +str(e)
logging.error(message)
# result = {"code": "1", "clusterId": cluster_id, "message": message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
def deleteNode(self, node_name):
try:
node = self.getNodeByName(node_name)
# stop Thread
node.deleteDetectionThread()
self.deleteInstanceByNode(node)
self.node_list.remove(node)
# ret = self.getAllNodeInfo()
for node in self.node_list:
if node.name == node_name:
raise Exception
message = "Cluster delete node success! node is %s , node list is %s,cluster id is %s." % (
node_name, self.getAllNodeStr(), self.id)
logging.info(message)
# result = {"code": "0","clusterId": self.id, "node":node_name, "message": message}
result = Response(code="succeed",
message=message,
data={
"cluster_id": self.id,
"node": node_name
})
except Exception as e:
print str(e)
message = "Cluster delete node fail , node maybe not in compute pool please check again! node is %s The node list is %s." % (
node_name, self.getAllNodeStr())
logging.error(message)
# result = {"code": "1", "node":node_name,"clusterId": self.id, "message": message}
result = Response(code="failed",
message=message,
data={
"cluster_id": self.id,
"node": node_name
})
finally:
return result
def addInstance(cluster_id, instance_id, write_DB=True):
cluster = ClusterManager.getCluster(cluster_id)
message = ""
if not cluster:
message = "ClusterManager--Add the instance to cluster failed. The cluster is not found. (cluster_id = %s)" % cluster_id
# result = {"code": "1", "clusterId":cluster_id, "message":message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
else:
try:
if not ClusterManager._checkInstanceNOTOverlappingForAllCluster(instance_id):
return Response(code="failed",
message="instance %s is already being protected" % instance_id,
data={"instance": instance_id})
result = cluster.addInstance(instance_id)
if write_DB:
ClusterManager.syncToDatabase()
logging.info(
"ClusterManager--Add instance success , instance_id : %s , cluster_id : %s" % (
instance_id, cluster_id))
return result
except Exception as e:
print str(e)
message = "ClusterManager --add the instacne fail.instance_id : %s , cluster_id : %s" % (
instance_id, cluster_id) + str(e)
logging.error(message)
# result = {"code": "1", "clusterId": cluster_id, "message": message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
def deleteNode(cluster_id, node_name, write_DB=True):
cluster = ClusterManager.getCluster(cluster_id)
if not cluster:
message = "delete the node failed. The cluster is not found. (cluster_id = %s)" % cluster_id
# result = {"code": "1", "clusterId":cluster_id, "message":message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
else:
try:
result = cluster.deleteNode(node_name)
logging.info(
"ClusterManager-- delete node success ,cluster id is %s node is %s" % (cluster_id, node_name))
if write_DB:
ClusterManager.syncToDatabase()
return result
except Exception as e:
# code = "1"
message = "delete node fail. node not found. (node_name = %s)" % node_name + str(e)
logging.error(message)
# result = {"code": "1", "clusterId":cluster_id, "message":message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
def deleteInstance(cluster_id, instance_id, send_flag=True, write_DB=True):
cluster = ClusterManager.getCluster(cluster_id)
if not cluster:
message = "delete the instance to cluster failed. The cluster is not found. (cluster_id = %s)" % cluster_id
# result = {"code": "1", "clusterId": cluster_id, "instance id ": instance_id, "message": message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id, "instance id": instance_id})
return result
else:
try:
result = cluster.deleteInstance(instance_id, send_flag)
if write_DB:
ClusterManager.syncToDatabase()
logging.info("ClusterManager--delete instance success")
return result
except Exception as e:
#logging.error(str(e))
print str(e)
message = "ClusterManager--delete instance failed. this instance is not being protected (instance_id = %s)" % instance_id +str(e)
logging.error(message)
# result = {"code": "1", "clusterId":cluster_id, "message":message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
def get(self, datasetId):
try:
return Response(Dataset.objects.get(id=datasetId)["filters"])
except Dataset.DoesNotExist:
return Response("Invalid dataset requested.", status=400)
except Exception as e:
return Response(e, status=500)
def send_frame_to_neighbours(
out_frame: Frame, timetables: dict, outstanding_frames: dict
) -> None:
orig_src = out_frame.src
for port, name in NEIGHBOURS.items():
if out_frame.src == name or out_frame.origin == name:
# Don't forward frames to senders
print(f"{NAME} skipping sending a frame to {name}")
continue
try:
neighbour_tt = timetables[name]
except KeyError:
print(
f"Couldn't find {name} in neighbours,"
f"skipping sending a frame to them"
)
continue
out_frame.src = NAME
out_frame.time = calc_arrival_time(neighbour_tt)
UDP_SOCKET.sendto(out_frame.to_bytes(), (HOST, port))
out_frame.src = orig_src
if out_frame.origin not in outstanding_frames.keys():
outstanding_frames[out_frame.origin] = []
if out_frame.origin == NAME:
# This is our request
outstanding_frames[NAME].append(
Response(len(NEIGHBOURS), out_frame, -1)
)
else:
# We are forwarding a request
outstanding_frames[out_frame.origin].append(
Response(len(NEIGHBOURS) - 1, out_frame, -1)
)
def _addToClusterList(cluster_name, cluster_id=None):
try:
# result = None
if cluster_id:
cluster = Cluster(id=cluster_id, name=cluster_name)
ClusterManager._cluster_dict[cluster_id] = cluster
message = "ClusterManager -syncofromDB-- createCluster._addToCluster success,cluster id = %s" % cluster_id
logging.info(message)
# result = {"code": "0", "clusterId":cluster_id,"message": message}
result = Response(code="succeed",
message=message,
data={"clusterId": cluster_id})
return result
else:
# start add to cluster list
cluster_id = str(uuid.uuid4())
cluster = Cluster(id=cluster_id, name=cluster_name)
ClusterManager._cluster_dict[cluster_id] = cluster
message = "ClusterManager - createCluster._addToClusterList success,cluster id = %s" % cluster_id
logging.info(message)
# result = {"code": "0","clusterId":cluster_id, "message":message}
result = Response(code="succeed",
message=message,
data={"clusterId": cluster_id})
return result
except Exception as e:
message = "ClusterManager - createCluster._addToCluster fail,cluster id : %s" % cluster_id + str(e)
logging.error(message)
# result = {"code": "1","clusterId":cluster_id, "message": message}
result = Response(code="failed",
message=message,
data={"clusterId": cluster_id})
return result
def speech_command_cb(self, command):
'''Callback for when a speech command is received'''
if command.command in self.responses.keys():
rospy.loginfo('\033[32m Calling response for command ' +
command.command + '\033[0m')
response = self.responses[command.command]
if (not self.arms.is_executing() and not self._is_busy):
response.respond()
else:
if command.command == Command.STOP_EXECUTION:
response.respond()
else:
rospy.logwarn('Ignoring speech command during execution or busy: '
+ command.command)
else:
switch_command = 'SWITCH_TO_ACTION'
if (switch_command in command.command):
action_no = command.command[
len(switch_command):len(command.command)]
action_no = int(action_no)
if (self.session.n_actions() > 0):
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(self.default_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
else:
response = Response(self.default_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
def publish_module(module_name,
stdin=sys.stdin, stdout=sys.stdout, stderr=sys.stderr,
environ=os.environ, debug=0, request=None, response=None,
extra={}):
must_die=0
status=200
after_list=[None]
from Response import Response
from Request import Request
from Publish import publish
try:
try:
if response is None:
response=Response(stdout=stdout, stderr=stderr)
else:
stdout=response.stdout
if request is None:
request=Request(stdin, environ, response)
for k, v in extra.items(): request[k]=v
response = publish(request, module_name, after_list, debug=debug)
except SystemExit, v:
if hasattr(sys, 'exc_info'): must_die=sys.exc_info()
else: must_die = SystemExit, v, sys.exc_info()[2]
response.exception(must_die)
except ImportError, v:
if type(v) is type(()) and len(v)==3: must_die=v
elif hasattr(sys, 'exc_info'): must_die=sys.exc_info()
else: must_die = SystemExit, v, sys.exc_info()[2]
response.exception(1, v)
def delete_instance(self, instance_id):
result = None
for instance in self.instance_list:
host = instance.host
if instance.id == instance_id:
self.instance_list.remove(instance)
# send instance deletion information to node detection thread
update_action = InstanceQueueConfig.REMOVE_INSTANCE
instance_name = instance.get_name()
host = self.get_node_by_name(host)
host.send_update_instance(update_action, instance_name)
message = "Cluster--delete instance success. this instance is deleted (instance_id = %s)" % instance_id
logging.info(message)
# result = {"code": "0", "cluster_name": self.name, "instance id": instance_id, "message": message}
result = Response(code="succeed",
message=message,
data={
"cluster_name": self.name,
"instance_id": instance_id
})
# if instanceid not in self.instacne_list:
if result == None:
message = "Cluster--delete instance fail ,please check again! The instance id is %s." % instance_id
logging.error(message)
# result = {"code": "1", "cluster id": self.name, "instance id": instance_id, "message": message}
result = Response(code="failed",
message=message,
data={
"cluster_name": self.name,
"instance_id": instance_id
})
return result
def test_GitHubApiDefault(self):
top_level_type = 'application'
sub_type = 'json'
mime_type = '{top_level_type}/{sub_type}'.format(
top_level_type=top_level_type, sub_type=sub_type)
char_set = 'utf-8'
content_type = '{mime_type}; charset={char_set}'.format(
mime_type=mime_type, char_set=char_set)
response = Response()
# c = Response.__Headers.__ContentType(content_type)
res = requests.Response()
res.headers = {}
res.headers[
'Content-Type'] = '{mime_type}; charset={char_set};'.format(
mime_type=mime_type, char_set=char_set)
h = response._Response__Headers(res)
c = h._Headers__ContentType(content_type)
self.assertEqual(content_type, c.String)
print(c.String)
print(c.MimeType.TopLevelType)
print(c.MimeType.String)
self.assertEqual(mime_type, c.MimeType.String)
self.assertTrue('charset' in c.Parameters.keys())
self.assertEqual(char_set, c.Parameters['charset'])
self.assertEqual(top_level_type, c.MimeType.TopLevelType)
self.assertEqual(sub_type, c.MimeType.SubType.String)
self.assertEqual(None, c.MimeType.SubType.Facet)
self.assertEqual(None, c.MimeType.SubType.Suffix)
self.assertEqual(sub_type, c.MimeType.SubType.MediaType)
def listInstance(cluster_id, send_flag=True):
cluster = ClusterManager.getCluster(cluster_id)
try:
if not cluster:
raise Exception(
"ClusterManager--listInstance,get instance list fail , not find the cluster %s" % cluster_id)
instance_list, illegal_instance = cluster.getAllInstanceInfo()
# delete illegal instance
if illegal_instance != []:
for instance in illegal_instance:
ClusterManager.deleteInstance(cluster_id, instance[0], send_flag=False)
# send upadte host of legal instacne and prev_host of illegal instance
if send_flag == True:
for instance in instance_list[:]:
cluster.sendUpdateInstance(instance[2]) # info[2]
for instance in illegal_instance[:]:
cluster.sendUpdateInstance(instance[1]) # prev_host
message = "ClusterManager--listInstance,getInstanceList success,instanceList is %s" % instance_list
logging.info(message)
# result = {"code": "0", "instanceList": instance_list}
result = Response(code="succeed",
message=message,
data={"instance_list": instance_list})
return result
except Exception as e:
# print str(e)
# result = {"code": "1", "instanceList": []}
message = "ClusterManager--listInstance,getInstanceList fail" + str(e)
logging.error(message)
result = Response(code="failed",
message=message,
data={"instance_list": []})
return result
def shutOffNode(self, node_name):
message = ""
# result =None
if self._checkNodeIPMI(node_name) and self._checkNodeNotInCluster(
node_name):
try:
ipmi_result = self.ipmi_module.shutOffNode(node_name)
# check power status in IPMIModule
if ipmi_result.code == "succeed":
message += "shut off node success.The node is %s." % node_name
logging.info(message)
# result = {"code": "0", "node_name": node_name, "message": message}
result = Response(code="succeed",
message=message,
data={"node_name": node_name})
else:
raise Exception("IpmiModule shut off node fail")
except Exception as e:
# shut off fail
message += "IPMIOperator--shut off node fail.The node is %s.%s" % (
node_name, e)
logging.error(message)
# result = {"code": "1", "node_name": node_name, "message": message}
result = Response(code="failed",
message=message,
data={"node_name": node_name})
else:
message += " IPMIOperator--node is not in compute pool or is not a IPMI PC or is already be protected. The node is %s." % node_name
logging.error(message)
# result = {"code": "1", "node_name": node_name, "message": message}
result = Response(code="failed",
message=message,
data={"node_name": node_name})
return result
def delete_node(cluster_name, node_name):
cluster = ResourceManager.get_cluster(cluster_name)
if not cluster:
message = "delete the node failed. The cluster is not found. (cluster_name = %s)" % cluster_name
# result = {"code": "1", "cluster_name":cluster_name, "message":message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
else:
try:
result = cluster.delete_node(node_name)
#logging.info("ResourceManager-- delete node success ,cluster name is %s node is %s" % (cluster_name, node_name))
ResourceManager.sync_to_database()
return result
except Exception as e:
# code = "1"
message = "delete node fail. node not found. (node_name = %s)" % node_name + str(
e)
logging.error(message)
# result = {"code": "1", "cluster_name":cluster_name, "message":message}
result = Response(code="failed",
message=message,
data={"cluster_name": cluster_name})
return result
def handleGet(self, request, transport):
if self.checkVersion(request):
fpath = self.getResource(request.resourceUrl)
if fpath == '':
blob = [ResponseCode.NotFound, '']
resp = Response(blob, 0)
transport.interface.reply(resp)
else:
tsz = os.path.getsize(fpath)
step = transport.interface.datarate
count = 0
f = open(fpath, 'rb')
while count < tsz:
count += step
buff = f.read(step)
if count < tsz:
blob = [ResponseCode.Continue, buff]
resp = Response(blob, tsz - count)
transport.interface.reply(resp)
else:
blob = [ResponseCode.OK, buff]
resp = Response(blob, 0)
transport.interface.reply(resp)
else:
blob = [ResponseCode.BadRequest, '']
resp = Response(blob, 0)
transport.interface.reply(resp)
def getMeeting(meetingID):
dict = getMeetingDict(meetingID)
if (meeting == None):
return Response("No meeting", status=400)
print(dict)
print("Id: " + dict["meetingID"])
return Response(dict, status=200)
def closeMeeting(meetingID):
print("Hello2")
active = MeetingService.closeMeeting(meetingID)
if (not active):
return Response({"active": active}, status=200)
else:
return Response("Meeting not found", status=400)
def __init__(self,respId,respName,respType,mitDesc,mitCost,mitRoles,mitProps,detPt,detMech,mitRisks,mitTargets): Response.__init__(self,respId,respName,mitRisks,mitCost,mitRoles) PropertyHolder.__init__(self,mitProps) self.theDescription = mitDesc self.theDetectionPoint = detPt self.theDetectionMechanism = detMech self.theTargets = mitTargets self.theMitigationType = respType
def stop_execution(self, dummy=None):
'''Stops ongoing execution'''
if (self._demo_state == DemoState.PLAYING_DEMO and
self.arms.is_executing()):
self.arms.stop_execution()
Respoonse.say(RobotSpeech.STOPPING_EXECUTION)
Response.perform_gaze_action(GazeGoal.NOD)
else:
Response.perform_gaze_action(GazeGoal.SHAKE)
Respoonse.say(RobotSpeech.ERROR_IS_NOT_PLAYING)
def __init__(self, transaction, strmOut, headers=None):
"""Initialize the request."""
Response.__init__(self, transaction, strmOut)
self._committed = False
if headers is None:
self._headers = {}
self.setHeader('Content-type', 'text/html')
else:
self._headers = headers
self._cookies = {}
def take_tool(self, arm_index):
'''Robot's response to TAKE_TOOL'''
self._is_busy = True
if self._demo_state == DemoState.READY_TO_TAKE:
## Robot closes the hand
Arms.set_gripper_state(arm_index, GripperState.CLOSED, wait=True)
## Robot moves the hand near the camera to take a look at the tool
self._move_to_arm_pose('look', arm_index, wait=True)
self.tool_id = self.world.get_tool_id()
if self.tool_id is None:
## Robot moves the arm back to the person can take the tool
self._move_to_arm_pose('take', 0, wait=True)
Response.say(RobotSpeech.ERROR_TOOL_NOT_RECOGNIZED)
Response.perform_gaze_action(GazeGoal.SHAKE)
self._demo_state = DemoState.NO_TOOL_NO_SURFACE
else:
self.session.new_action(self.tool_id)
Response.say(RobotSpeech.RECOGNIZED_TOOL + str(self.tool_id))
self._demo_state = DemoState.HAS_TOOL_NO_SURFACE
self.detect_surface()
else:
Response.say(RobotSpeech.ERROR_NOT_IN_TAKE_STATE)
rospy.loginfo('Current state: ' + self._demo_state)
self._is_busy = False
def setupTransfer(self, f):
self.setFile(f)
if not self.checkFileExists(self.config.get("data_stream.directory") + "/" + f):
rc = ResponseCode(False)
grv = Response(rc, "Not attempting file transfer")
return grv
file_name = (TransferUtils.getPlainFileName(self.config.get(
"data_stream.directory"), f, self.config.get("outgoing.dir_size_limit")))
if not file_name:
(TransferUtils.quarantine(f, self.config.get("data_stream.directory"),
self.config.get("outgoing.quarantine_dir")))
grv = Response.failure("Did not attempt transfer of %s" % f)
self.info("Did not attempt transfer of %s" % f)
return grv
else:
self.setFile(os.path.basename(file_name))
fn = os.path.join(self.config.get("data_stream.directory"), file_name)
filesize = os.path.getsize(fn)
try:
self.checkVars()
except Exception, ex:
rc = ResponseCode(False)
r = Response(rc, "not all required variables in GridFTPTransfer are set : ", str(ex))
self.info("not all required variables in GridFTPTransfer are set : %s " % str(ex))
return r
def publish_module(
module_name,
stdin=sys.stdin,
stdout=sys.stdout,
stderr=sys.stderr,
environ=os.environ,
debug=0,
request=None,
response=None,
extra={},
):
must_die = 0
status = 200
after_list = [None]
from Response import Response
from Request import Request
from Publish import publish
try:
try:
if response is None:
response = Response(stdout=stdout, stderr=stderr)
else:
stdout = response.stdout
if request is None:
request = Request(stdin, environ, response)
# make sure that the request we hand over has the
# default layer/skin set on it; subsequent code that
# wants to look up views will likely depend on it
from zope.app.publication.browser import setDefaultSkin
setDefaultSkin(request)
for k, v in extra.items():
request[k] = v
response = publish(request, module_name, after_list, debug=debug)
except SystemExit, v:
must_die = sys.exc_info()
response.exception(must_die)
except ImportError, v:
if isinstance(v, TupleType) and len(v) == 3:
must_die = v
else:
must_die = sys.exc_info()
response.exception(1, v)
def generateResponse(self, module, operation):
response = Response()
if module == 'google':
response.texts.append(Google.getResult(operation))
if module == 'wikipedia':
response.texts.append(Wikipedia.getSummary(operation))
if module == 'imdb':
response.texts = IMDB.getMovieInfo(operation)
if module == 'releases':
response.texts.append(Releases.getReleaseDate(operation))
if module == 'lyrics':
response.texts.append(Lyrics.getLyrics(operation))
if module == 'reddit':
response.texts = self.handleReddit(operation)
if module == 'wolfram':
response.images = Wolfram.getImages(operation)
if module == 'network':
response.text = network.scan()
if module == 'hltb':
response.text = (hltb.getTimes(opertaion))
if module == 'hltr':
response.texts.append(hltr.getInfo(operation))
if module == 'espeak':
espeak.speak(operation)
response.texts.append('Done, sir')
if not response.texts and not response.images and not response.audios:
response.texts = ['I\'m sorry dave, I\'m afraid I can\'t do that']
return response
def stop_recording(self, dummy=None):
'''Stops recording continuous motion'''
self.busy = True
if (self._demo_state == DemoState.RECORDING_DEMO):
traj_step = ActionStep()
traj_step.type = ActionStep.ARM_TRAJECTORY
waited_time = Interaction._arm_trajectory.timing[0]
for i in range(len(Interaction._arm_trajectory.timing)):
Interaction._arm_trajectory.timing[i] -= waited_time
Interaction._arm_trajectory.timing[i] += rospy.Duration(0.1)
'''If motion was relative, record transformed pose'''
traj_step.armTrajectory = ArmTrajectory(
Interaction._arm_trajectory.rArm[:],
Interaction._arm_trajectory.lArm[:],
Interaction._arm_trajectory.timing[:],
Interaction._arm_trajectory.rRefFrame,
Interaction._arm_trajectory.lRefFrame,
Interaction._arm_trajectory.rRefFrameObject,
Interaction._arm_trajectory.lRefFrameObject)
traj_step.gripperAction = GripperAction(
self.arms.get_gripper_state(0),
self.arms.get_gripper_state(1))
self.session.add_step_to_action(traj_step,
self.world.get_frame_list())
Interaction._arm_trajectory = None
Interaction._trajectory_start_time = None
self.session.save_current_action()
self.freeze_arm(0)
self._demo_state = DemoState.HAS_RECORDED_DEMO
Response.say(RobotSpeech.STOPPED_RECORDING)
Response.perform_gaze_action(GazeGoal.NOD)
else:
Response.say(RobotSpeech.ERROR_NOT_RECORDING)
Response.perform_gaze_action(GazeGoal.SHAKE)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def gui_command_cb(self, command):
'''Callback for when a GUI command is received'''
if (not self.arms.is_executing()):
if (self.session.n_actions() > 0):
if (command.command == GuiCommand.SWITCH_TO_ACTION):
action_no = command.param
self.session.switch_to_action(action_no,
self.world.get_frame_list())
response = Response(Interaction.empty_response,
[RobotSpeech.SWITCH_SKILL + str(action_no),
GazeGoal.NOD])
response.respond()
elif (command.command == GuiCommand.SELECT_ACTION_STEP):
step_no = command.param
self.session.select_action_step(step_no)
rospy.loginfo('Selected action step ' + str(step_no))
else:
rospy.logwarn('\033[32m This command (' + command.command
+ ') is unknown. \033[0m')
else:
response = Response(Interaction.empty_response,
[RobotSpeech.ERROR_NO_SKILLS, GazeGoal.SHAKE])
response.respond()
else:
rospy.logwarn('Ignoring GUI command during execution: ' +
command.command)
def item2():
# print 'this is a post item'
# initialize in case no answer
response = Response()
response.order = app.order[app.num - 1]
response.recog = request.form["recog"]
response.comp = request.form["comp"]
response.comp_conf = request.form["comp_conf"]
response.piece = request.form["piece"]
response.piece_conf = request.form["piece_conf"]
response.name = app.progvars["name"]
response.age = app.progvars["age"]
db.saveResponse(response)
return redirect(url_for("main"))
def __init__(self):
self.arms = Arms()
self.world = World()
self.session = Session(object_list=self.world.get_frame_list(),
is_debug=True)
self._viz_publisher = rospy.Publisher('visualization_marker_array', MarkerArray)
self._demo_state = None
self._is_busy = True
rospy.Subscriber('recognized_command', Command, self.speech_command_cb)
rospy.Subscriber('gui_command', GuiCommand, self.gui_command_cb)
self.responses = {
Command.TEST_MICROPHONE: Response(self.default_response,
[RobotSpeech.TEST_RESPONSE, GazeGoal.NOD]),
Command.TAKE_TOOL: Response(self.take_tool, 0),
Command.RELEASE_TOOL: Response(self.release_tool, 0),
Command.START_RECORDING: Response(self.start_recording, None),
Command.STOP_RECORDING: Response(self.stop_recording, None),
Command.REPLAY_DEMONSTRATION: Response(self.replay_demonstration, None)
Command.DETECT_SURFACE: Response(self.detect_surface, None)
}
rospy.loginfo('Will wait until arms ready to respond.')
while ((self.arms.get_ee_state(0) is None) or
(self.arms.get_ee_state(1) is None)):
time.sleep(0.1)
rospy.loginfo('Starting to move to the initial pose.')
# TODO: Make it possible to take with either hand
self._move_to_arm_pose('take', 0)
self._move_to_arm_pose('away', 1)
self._wait_for_arms()
self._demo_state = DemoState.READY_TO_TAKE
Response.say(RobotSpeech.HAND_TOOL_REQUEST)
Response.perform_gaze_action(GazeGoal.GLANCE_RIGHT_EE)
self._is_busy = False
rospy.loginfo('Interaction initialized.')
def release_tool(self, arm_index):
self.busy = True
if (self._demo_state != DemoState.READY_TO_TAKE and
self._demo_state != DemoState.PLAYING_DEMO and
self._demo_state != DemoState.RECORDING_DEMO):
self._move_to_arm_pose('take', 0, wait=True)
self.arms.set_gripper_state(arm_index, GripperState.OPEN, wait=True)
Response.say(RobotSpeech.TOOL_RELEASED)
Response.perform_gaze_action(GazeGoal.GLANCE_RIGHT_EE)
self._demo_state = DemoState.READY_TO_TAKE
else:
Response.perform_gaze_action(GazeGoal.SHAKE)
Response.say(RobotSpeech.ERROR_NOT_IN_RELEASE_STATE)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def test_insertsResponseIntoTable(self):
oldCount = self.db.countResponses()
resp = Response()
resp.recog = "True"
resp.comp = "Composer"
resp.comp_conf = "5"
resp.piece = "Piece"
resp.piece_conf = "3"
resp.name = "Name"
resp.age = "23"
self.db.saveResponse(resp)
newCount = self.db.countResponses()
newResponses = newCount - oldCount
self.assertEquals(newResponses, 1)
def detect_surface(self):
self._is_busy = True
if self._demo_state == DemoState.HAS_TOOL_NO_SURFACE:
## Robot moves the arm away and looks at the surface
self._move_to_arm_pose('away', 0, wait=True)
self.surface = self.world.get_surface()
if self.surface is None:
Response.say(RobotSpeech.ERROR_NO_SURFACE)
Response.perform_gaze_action(GazeGoal.SHAKE)
else:
Response.say(RobotSpeech.SURFACE_DETECTED)
self._move_to_arm_pose('ready', arm_index, wait=True)
Response.say(RobotSpeech.READY_FOR_DEMO)
self._demo_state = DemoState.READY_FOR_DEMO
self._is_busy = False
def move_to_joints(self, r_arm, l_arm):
'''Makes the arms move to indicated joint poses'''
time_to_r_pose = Arms._get_time_to_pose(r_arm, 0)
time_to_l_pose = Arms._get_time_to_pose(l_arm, 1)
# If both arms are moving adjust velocities and find most moving arm
is_r_moving = (time_to_r_pose != None)
is_l_moving = (time_to_l_pose != None)
if (not is_r_moving):
Response.look_at_point(l_arm.ee_pose.position)
elif (not is_l_moving):
Response.look_at_point(r_arm.ee_pose.position)
else:
if (time_to_r_pose > time_to_l_pose):
time_to_l_pose = time_to_r_pose
Response.look_at_point(r_arm.ee_pose.position)
else:
time_to_r_pose = time_to_l_pose
Response.look_at_point(l_arm.ee_pose.position)
# Move arms to target
if (is_r_moving):
Arms.arms[0].move_to_joints(r_arm.joint_pose, time_to_r_pose)
if (is_l_moving):
Arms.arms[1].move_to_joints(l_arm.joint_pose, time_to_l_pose)
# Wait until both arms complete the trajectory
while((Arms.arms[0].is_executing() or
Arms.arms[1].is_executing()) and not self.preempt):
time.sleep(0.01)
rospy.loginfo('Arms reached target.')
# Verify that both arms succeeded
if ((not Arms.arms[0].is_successful() and is_r_moving) or
(not Arms.arms[1].is_successful() and is_l_moving)):
rospy.logwarn('Aborting because arms failed to move to pose.')
return False
else:
return True
def update(self):
'''Periodic update for the two arms'''
Arms.arms[0].update(self.is_executing())
Arms.arms[1].update(self.is_executing())
moving_arm = Arms._get_most_moving_arm()
if (moving_arm != self.attended_arm and not self.is_executing()):
if (moving_arm == -1):
Response.perform_gaze_action(GazeGoal.LOOK_FORWARD)
elif (moving_arm == 0):
Response.perform_gaze_action(GazeGoal.FOLLOW_RIGHT_EE)
else:
Response.perform_gaze_action(GazeGoal.FOLLOW_LEFT_EE)
self.attended_arm = moving_arm
def replay_demonstration(self, dummy=None):
'''Starts the execution of the current demonstration'''
self.busy = True
execution_z_offset = 0.00
if (self._demo_state == DemoState.HAS_RECORDED_DEMO):
self.session.save_current_action()
action = self.session.get_current_action()
self.arms.start_execution(action, execution_z_offset)
Response.say(RobotSpeech.STARTED_REPLAY)
self._demo_state = DemoState.PLAYING_DEMO
else:
Response.say(RobotSpeech.ERROR_CANNOT_REPLAY)
Response.perform_gaze_action(GazeGoal.SHAKE)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def default_response(self, responses):
'''Default response to speech commands'''
self.busy = True
speech_resp = responses[0]
gaze_resp = responses[1]
# Speech response
if (speech_resp != None):
Response.say(speech_resp)
Response.respond_with_sound(speech_resp)
# Gaze response
if (gaze_resp != None):
Response.perform_gaze_action(gaze_resp)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def setupTransfer(self, f):
self.setFile(f)
if not self.checkFileExists(self.config.get("data_stream.directory") + "/" + f):
rc = ResponseCode(False)
grv = Response(rc, "Not attempting file transfer")
return grv
# if we are mirroring - then do not zip directories - (we pass False
# to getPlainFileName)
if self.config.get("rsync_native.transfer_mode") == "mirror":
self.mirror = True
file_name = (TransferUtils.getPlainFileName(self.config.get(
"data_stream.directory"), f, self.config.get(
"outgoing.dir_size_limit"), False))
else:
file_name = (TransferUtils.getPlainFileName(self.config.get(
"data_stream.directory"), f, self.config.get(
"outgoing.dir_size_limit")))
if not file_name:
(TransferUtils.quarantine(f, self.config.get(
"data_stream.directory"), self.config.get(
"outgoing.quarantine_dir")))
grv = Response.failure("Did not attempt transfer of %s" % f)
self.info("Did not attempt transfer of %s" % f)
return grv
else:
self.setFile(os.path.basename(file_name))
fn = os.path.join(self.config.get("data_stream.directory"), file_name)
filesize = os.path.getsize(fn)
try:
self.checkVars()
except Exception, ex:
rc = ResponseCode(False)
r = (Response(rc, "not all variables in RsyncNativeTransfer ",
str(ex)))
self.info("not all variables in RsyncNativeTransfer %s " % str(ex))
return r
def start_recording(self, dummy=None):
'''Starts recording continuous motion'''
self.busy = True
if (self._demo_state == DemoState.READY_FOR_DEMO or
self._demo_state == DemoState.HAS_RECORDED_DEMO):
Interaction._arm_trajectory = ArmTrajectory()
Interaction._trajectory_start_time = rospy.Time.now()
if self.session.n_frames() > 0:
self.session.clear_current_action()
self.relax_arm(0)
self._demo_state = DemoState.RECORDING_DEMO
Response.say(RobotSpeech.STARTED_RECORDING)
Response.perform_gaze_action(GazeGoal.NOD)
elif (self._demo_state == DemoState.RECORDING_DEMO):
Response.perform_gaze_action(GazeGoal.SHAKE)
Response.say(RobotSpeech.ERROR_ALREADY_RECORDING)
else:
Response.perform_gaze_action(GazeGoal.SHAKE)
Response.say(RobotSpeech.ERROR_NOT_READY_TO_RECORD)
rospy.loginfo('Current state: ' + self._demo_state)
self.busy = False
def _execute_action_step(self, action_step):
'''Executes the motion part of an action step'''
# For each step check step type
# If arm target action
if (action_step.type == ActionStep.ARM_TARGET):
rospy.loginfo('Will perform arm target action step.')
if (not self.move_to_joints(action_step.armTarget.rArm,
action_step.armTarget.lArm)):
self.status = ExecutionStatus.OBSTRUCTED
return False
# If arm trajectory action
elif (action_step.type == ActionStep.ARM_TRAJECTORY):
rospy.loginfo('Will perform arm trajectory action step.')
# First move to the start frame
if (not self.move_to_joints(action_step.armTrajectory.rArm[0],
action_step.armTrajectory.lArm[0])):
self.status = ExecutionStatus.OBSTRUCTED
return False
# Then execute the trajectory
Arms.arms[0].exectute_joint_traj(action_step.armTrajectory.rArm,
action_step.armTrajectory.timing)
Arms.arms[1].exectute_joint_traj(action_step.armTrajectory.lArm,
action_step.armTrajectory.timing)
# Wait until both arms complete the trajectory
while((Arms.arms[0].is_executing() or Arms.arms[1].is_executing())
and not self.preempt):
time.sleep(0.01)
rospy.loginfo('Trajectory complete.')
# Verify that both arms succeeded
if ((not Arms.arms[0].is_successful()) or
(not Arms.arms[1].is_successful())):
rospy.logwarn('Aborting execution; ' +
'arms failed to follow trajectory.')
self.status = ExecutionStatus.OBSTRUCTED
return False
# If hand action do it for both sides
if (action_step.gripperAction.rGripper !=
Arms.arms[0].get_gripper_state()):
rospy.loginfo('Will perform right gripper action ' +
str(action_step.gripperAction.rGripper))
Arms.arms[0].set_gripper(action_step.gripperAction.rGripper)
Response.perform_gaze_action(GazeGoal.FOLLOW_RIGHT_EE)
if (action_step.gripperAction.lGripper !=
Arms.arms[1].get_gripper_state()):
rospy.loginfo('Will perform LEFT gripper action ' +
str(action_step.gripperAction.lGripper))
Arms.arms[1].set_gripper(action_step.gripperAction.lGripper)
Response.perform_gaze_action(GazeGoal.FOLLOW_LEFT_EE)
# Wait for grippers to be done
while(Arms.arms[0].is_gripper_moving() or
Arms.arms[1].is_gripper_moving()):
time.sleep(0.01)
rospy.loginfo('Hands done moving.')
# Verify that both grippers succeeded
if ((not Arms.arms[0].is_gripper_at_goal()) or
(not Arms.arms[1].is_gripper_at_goal())):
rospy.logwarn('Hand(s) did not fully close or open!')
return True
def _end_execution(self):
'''Responses for when the action execution ends'''
if (self.arms.status == ExecutionStatus.SUCCEEDED):
Response.say(RobotSpeech.EXECUTION_ENDED)
Response.perform_gaze_action(GazeGoal.NOD)
elif (self.arms.status == ExecutionStatus.PREEMPTED):
Response.say(RobotSpeech.EXECUTION_PREEMPTED)
Response.perform_gaze_action(GazeGoal.SHAKE)
else:
Response.say(RobotSpeech.EXECUTION_ERROR_NOIK)
Response.perform_gaze_action(GazeGoal.SHAKE)
self.arms.status = ExecutionStatus.NOT_EXECUTING
def update_object_pose(self):
''' Function to externally update an object pose'''
Response.perform_gaze_action(GazeGoal.LOOK_DOWN)
while (Response.gaze_client.get_state() == GoalStatus.PENDING or
Response.gaze_client.get_state() == GoalStatus.ACTIVE):
time.sleep(0.1)
if (Response.gaze_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logerr('Could not look down to take table snapshot')
return False
rospy.loginfo('Looking at table now.')
goal = UserCommandGoal(UserCommandGoal.RESET, False)
self._object_action_client.send_goal(goal)
while (self._object_action_client.get_state() == GoalStatus.ACTIVE or
self._object_action_client.get_state() == GoalStatus.PENDING):
time.sleep(0.1)
rospy.loginfo('Object recognition has been reset.')
rospy.loginfo('STATUS: ' +
self._object_action_client.get_goal_status_text())
self._reset_objects()
if (self._object_action_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logerr('Could not reset recognition.')
return False
# Do segmentation
goal = UserCommandGoal(UserCommandGoal.SEGMENT, False)
self._object_action_client.send_goal(goal)
while (self._object_action_client.get_state() == GoalStatus.ACTIVE or
self._object_action_client.get_state() == GoalStatus.PENDING):
time.sleep(0.1)
rospy.loginfo('Table segmentation is complete.')
rospy.loginfo('STATUS: ' +
self._object_action_client.get_goal_status_text())
if (self._object_action_client.get_state() != GoalStatus.SUCCEEDED):
rospy.logerr('Could not segment.')
return False
# Do recognition
goal = UserCommandGoal(UserCommandGoal.RECOGNIZE, False)
self._object_action_client.send_goal(goal)
while (self._object_action_client.get_state() == GoalStatus.ACTIVE or
self._object_action_client.get_state() == GoalStatus.PENDING):
time.sleep(0.1)
rospy.loginfo('Objects on the table have been recognized.')
rospy.loginfo('STATUS: ' +
self._object_action_client.get_goal_status_text())
# Record the result
if (self._object_action_client.get_state() == GoalStatus.SUCCEEDED):
wait_time = 0
total_wait_time = 5
while (not World.has_objects() and wait_time < total_wait_time):
time.sleep(0.1)
wait_time += 0.1
if (not World.has_objects()):
rospy.logerr('Timeout waiting for a recognition result.')
return False
else:
rospy.loginfo('Got the object list.')
return True
else:
rospy.logerr('Could not recognize.')
return False
def publish_module(module_name,
stdin=sys.stdin, stdout=sys.stdout, stderr=sys.stderr,
environ=os.environ, debug=0, request=None, response=None,
extra={}):
must_die=0
status=200
after_list=[None]
from Response import Response
from Request import Request
from Publish import publish
from zope.publisher.interfaces import ISkinnable
from zope.publisher.skinnable import setDefaultSkin
try:
try:
if response is None:
response=Response(stdout=stdout, stderr=stderr)
else:
stdout=response.stdout
# debug is just used by tests (has nothing to do with debug_mode!)
response.handle_errors = not debug
if request is None:
request=Request(stdin, environ, response)
# make sure that the request we hand over has the
# default layer/skin set on it; subsequent code that
# wants to look up views will likely depend on it
if ISkinnable.providedBy(request):
setDefaultSkin(request)
for k, v in extra.items(): request[k]=v
response = publish(request, module_name, after_list, debug=debug)
except (SystemExit, ImportError):
# XXX: Rendered ImportErrors were never caught here because they
# were re-raised as string exceptions. Maybe we should handle
# ImportErrors like all other exceptions. Currently they are not
# re-raised at all, so they don't show up here.
must_die = sys.exc_info()
request.response.exception(1)
except:
# debug is just used by tests (has nothing to do with debug_mode!)
if debug:
raise
request.response.exception()
status = response.getStatus()
if response:
outputBody=getattr(response, 'outputBody', None)
if outputBody is not None:
outputBody()
else:
response=str(response)
if response: stdout.write(response)
# The module defined a post-access function, call it
if after_list[0] is not None: after_list[0]()
finally:
if request is not None: request.close()
if must_die:
# Try to turn exception value into an exit code.
try:
if hasattr(must_die[1], 'code'):
code = must_die[1].code
else: code = int(must_die[1])
except:
code = must_die[1] and 1 or 0
if hasattr(request.response, '_requestShutdown'):
request.response._requestShutdown(code)
try: raise must_die[0], must_die[1], must_die[2]
finally: must_die=None
return status
def _end_replay(self):
'''Responses for when the action execution ends'''
if (self.arms.status == ExecutionStatus.SUCCEEDED):
if self._demo_state == DemoState.PLAYING_DEMO:
Response.say(RobotSpeech.ENDED_REPLAY)
Response.perform_gaze_action(GazeGoal.NOD)
self._demo_state = DemoState.HAS_RECORDED_DEMO
else:
rospy.loginfo('Non-replay motion successful.')
elif (self.arms.status == ExecutionStatus.PREEMPTED):
if self._demo_state == DemoState.PLAYING_DEMO:
Response.say(RobotSpeech.ERROR_PREEMPTED_REPLAY)
Response.perform_gaze_action(GazeGoal.SHAKE)
self._demo_state = DemoState.HAS_RECORDED_DEMO
else:
rospy.loginfo('Non-replay motion pre-empted.')
else:
if self._demo_state == DemoState.PLAYING_DEMO:
Response.say(RobotSpeech.ERROR_REPLAY_NOT_POSSIBLE)
Response.perform_gaze_action(GazeGoal.SHAKE)
self._demo_state = DemoState.HAS_RECORDED_DEMO
else:
rospy.loginfo('Non-replay motion has no IK.')
self.arms.status = ExecutionStatus.NOT_EXECUTING