def getInternalIP(self):
""" Get the IP address of the network interface used for the internal
communication.
@return: IP address of the network interface.
@rtype: str
"""
if self._intIP is None:
self._intIP = getIP(self._intIF)
return self._intIP
def __init__(self, reactor, commPort, extIF, extPort, loader, converter):
""" Initialize the Robot Client.
@param reactor: Reference to the twisted reactor used in this
robot process.
@type reactor: twisted::reactor
@param commPort: Port where the server for the cloud engine
internal communication is listening for
incoming connections.
@type commPort: int
@param extIF: Name of network interface used for the external
communication.
@type extIF: str
@param extPort: Port where the server for the external
communication is listening for websocket
connections.
@type extPort: int
@param loader: Object which is used to load python modules
from ROS packages.
@type loader: rce.util.loader.Loader
@param converter: Converter which takes care of converting the
messages from JSON to ROS message and vice
versa.
@type converter: rce.util.converter.Converter
"""
Endpoint.__init__(self, reactor, commPort)
self._extAddress = "{0}:{1}".format(getIP(extIF), extPort)
self._converter = converter
self._loader = loader
self._robots = set()
self._pendingRobots = {}
self._deathCandidates = {}
def __init__(self, reactor, masterIP, intIF, bridgeIF, envPort, rootfsDir,
confDir, dataDir, srcDir, pkgDir):
""" Initialize the Container Client.
@param reactor: Reference to the twisted reactor.
@type reactor: twisted::reactor
@param masterIP: IP address of the Master process.
@type masterIP: str
@param intIF: Name of the network interface used for the
internal network.
@type intIF: str
@param bridgeIF: Name of the bridge interface used for the
container network.
@type bridgeIF: str
@param envPort: Port where the environment process running
inside the container is listening for
connections to other endpoints. (Used for
port forwarding.)
@type envPort: int
@param rootfsDir: Filesystem path to the root directory of the
container filesystem.
@type rootfsDir: str
@param confDir: Filesystem path to the directory where
container configuration files should be stored.
@type confDir: str
@param dataDir: Filesystem path to the directory where
temporary data of a container should be stored.
@type dataDir: str
@param srcDir: Filesystem path to the directory where the
source of the cloud engine is located.
@type srcDir: str
@param pkgDir: Filesystem paths to the package directories
as a list of tuples where each tuple contains
the path to the directory in the host machine
and the path to the directory to which the
host directory will be bound in the container
filesystem (without the @param rootfsDir).
@type pkgDir: [(str, str)]
"""
self._reactor = reactor
self._internalIP = getIP(intIF)
self._envPort = envPort
bridgeIP = getIP(bridgeIF)
if masterIP in ('localhost', '127.0.0.1'):
self._masterIP = bridgeIP
else:
self._masterIP = masterIP
self._rootfs = rootfsDir
self._confDir = confDir
self._dataDir = dataDir
self._srcDir = srcDir
# Validate directory paths
checkPath(self._confDir, 'Configuration')
checkPath(self._dataDir, 'Data')
checkPath(self._rootfs, 'Container file system')
checkPath(self._srcDir, 'RCE source')
# Validate executable paths
checkExe(self._srcDir, 'environment.py')
#checkExe(self._srcDir, 'launcher.py')
# Process ROS package paths
self._pkgDir = processPkgPath(pkgDir)
for _, path in self._pkgDir:
os.mkdir(os.path.join(self._rootfs, path))
self._nrs = set(range(100, 200))
self._containers = set()
# Network configuration
self._network = bridgeIP[:bridgeIP.rfind('.')]
self._networkConf = _NETWORK_INTERFACES.format(network=self._network)
# Common iptables references
nat = iptc.Table(iptc.Table.NAT)
self._prerouting = iptc.Chain(nat, 'PREROUTING')
self._output = iptc.Chain(nat, 'OUTPUT')