def summary(self, local=False):
"""
Get a human-readable string summary of the launch
@param local bool: if True, only print local nodes
@return: summary
@rtype: str
"""
summary = '\nSUMMARY\n========'
if self.clear_params:
summary += '\n\nCLEAR PARAMETERS\n' + '\n'.join(
[' * %s' % p for p in self.clear_params])
if self.params:
summary += '\n\nPARAMETERS\n' + '\n'.join(
[' * %s' % k for k in self.params])
if not local:
summary += '\n\nMACHINES\n' + '\n'.join(
[' * %s' % k for k in self.machines if k])
summary += '\n\nNODES\n'
namespaces = {}
if local:
nodes = [n for n in self.nodes if is_machine_local(n.machine)]
else:
nodes = self.nodes
for n in nodes:
ns = n.namespace
if ns not in namespaces:
namespaces[ns] = [n]
else:
namespaces[ns].append(n)
for k, v in namespaces.iteritems():
summary += ' %s\n' % k + '\n'.join(
[' %s' % _summary_name(n) for n in v])
summary += '\n'
return summary
def summary(self, local=False):
"""
Get a human-readable string summary of the launch
@param local bool: if True, only print local nodes
@return: summary
@rtype: str
"""
summary = '\nSUMMARY\n========'
if self.clear_params:
summary += '\n\nCLEAR PARAMETERS\n' + '\n'.join([' * %s'%p for p in self.clear_params])
if self.params:
summary += '\n\nPARAMETERS\n' + '\n'.join([' * %s'%k for k in self.params])
if not local:
summary += '\n\nMACHINES\n' + '\n'.join([' * %s'%k for k in self.machines if k])
summary += '\n\nNODES\n'
namespaces = {}
if local:
nodes = [n for n in self.nodes if is_machine_local(n.machine)]
else:
nodes = self.nodes
for n in nodes:
ns = n.namespace
if ns not in namespaces:
namespaces[ns] = [n]
else:
namespaces[ns].append(n)
for k,v in namespaces.iteritems():
summary += ' %s\n'%k + '\n'.join([' %s'%_summary_name(n) for n in v])
summary += '\n'
return summary
def start_children(self):
"""
Start the child roslaunch processes
"""
server_node_uri = self.server.uri
if not server_node_uri:
raise RLException("server URI is not initialized")
# TODOXXX: break out table building code into a separate
# routine so we can unit test it _start_child() should not be
# determining the process name
# Build table of unique machines that we are going to launch on
machines = {}
for n in self.rosconfig.nodes:
if not is_machine_local(n.machine):
machines[n.machine.config_key()] = n.machine
# Launch child roslaunch processes on remote machines
counter = 0
# - keep a list of procs so we can check for those that failed to launch
procs = []
for m in machines:
p = self._start_child(server_node_uri, machines[m], counter)
procs.append(p)
counter += 1
# Wait for all children to call register() callback. The machines can have
# non-uniform registration timeouts. We consider the failure to occur once
# one of the machines has failed to meet it's timeout.
start_t = time.time()
while True:
pending = []
for p in procs:
if not p.is_alive():
raise RLException("remote roslaunch failed to launch: %s"%p.machine.name)
elif not p.uri:
pending.append(p.machine)
if not pending:
break
# timeout is the minimum of the remaining timeouts of the machines
timeout_t = start_t + min([m.timeout for m in pending])
if time.time() > timeout_t:
break
time.sleep(0.1)
if pending:
raise RLException(
"""The following roslaunch remote processes failed to register:
%s
If this is a network latency issue, you may wish to consider setting
<machine timeout="NUMBER OF SECONDS" ... />
in your launch"""%'\n'.join([" * %s (timeout %ss)"%(m.name, m.timeout) for m in pending]))
# convert machine dictionary to a list
self.machine_list = machines.values()
# save a list of the remote processes
self.remote_processes = procs
def start_children(self):
"""
Start the child roslaunch processes
"""
server_node_uri = self.server.uri
if not server_node_uri:
raise RLException("server URI is not initialized")
# TODOXXX: break out table building code into a separate
# routine so we can unit test it _start_child() should not be
# determining the process name
# Build table of unique machines that we are going to launch on
machines = {}
for n in self.rosconfig.nodes:
if not is_machine_local(n.machine):
machines[n.machine.config_key()] = n.machine
# Launch child roslaunch processes on remote machines
counter = 0
# - keep a list of procs so we can check for those that failed to launch
procs = []
for m in machines:
p = self._start_child(server_node_uri, machines[m], counter)
procs.append(p)
counter += 1
# Wait for all children to call register() callback. The machines can have
# non-uniform registration timeouts. We consider the failure to occur once
# one of the machines has failed to meet it's timeout.
start_t = time.time()
while True:
pending = []
for p in procs:
if not p.is_alive():
raise RLException("remote roslaunch failed to launch: %s"%p.machine.name)
elif not p.uri:
pending.append(p.machine)
if not pending:
break
# timeout is the minimum of the remaining timeouts of the machines
timeout_t = start_t + min([m.timeout for m in pending])
if time.time() > timeout_t:
break
time.sleep(0.1)
if pending:
raise RLException(
"""The following roslaunch remote processes failed to register:
%s
If this is a network latency issue, you may wish to consider setting
<machine timeout="NUMBER OF SECONDS" ... />
in your launch"""%'\n'.join([" * %s (timeout %ss)"%(m.name, m.timeout) for m in pending]))
# convert machine dictionary to a list
self.machine_list = machines.values()
# save a list of the remote processes
self.remote_processes = procs
def launch_remote_nodes(self):
"""
Contact each child to launch remote nodes
"""
succeeded = []
failed = []
# initialize remote_nodes. we use the machine config key as
# the key for the dictionary so that we can bin the nodes.
self.remote_nodes = {}
for m in self.machine_list:
self.remote_nodes[m.config_key()] = []
# build list of nodes that will be launched by machine
nodes = [
x for x in self.rosconfig.nodes if not is_machine_local(x.machine)
]
for n in nodes:
self.remote_nodes[n.machine.config_key()].append(n)
for child in self.remote_processes:
nodes = self.remote_nodes[child.machine.config_key()]
body = '\n'.join([n.to_remote_xml() for n in nodes])
# force utf-8 encoding, #3799
xml = '<?xml version="1.0" encoding="utf-8"?>\n<launch>\n%s</launch>' % body
if 0:
print xml
api = child.getapi()
# TODO: timeouts
try:
self.logger.debug("sending [%s] XML [\n%s\n]" %
(child.uri, xml))
code, msg, val = api.launch(xml)
if code == 1:
c_succ, c_fail = val
succeeded.extend(c_succ)
failed.extend(c_fail)
else:
printerrlog('error launching on [%s, uri %s]: %s' %
(child.name, child.uri, msg))
self._assume_failed(nodes, failed)
except socket.error, (errno, msg):
printerrlog('error launching on [%s, uri %s]: %s' %
(child.name, child.uri, str(msg)))
self._assume_failed(nodes, failed)
except socket.gaierror, (errno, msg):
# usually errno == -2. See #815.
child_host, _ = network.parse_http_host_and_port(child.uri)
printerrlog(
"Unable to contact remote roslaunch at [%s]. This is most likely due to a network misconfiguration with host lookups. Please make sure that you can contact '%s' from this machine"
% (child.uri, child_host))
self._assume_failed(nodes, failed)
def launch_remote_nodes(self):
"""
Contact each child to launch remote nodes
"""
succeeded = []
failed = []
# initialize remote_nodes. we use the machine config key as
# the key for the dictionary so that we can bin the nodes.
self.remote_nodes = {}
for m in self.machine_list:
self.remote_nodes[m.config_key()] = []
# build list of nodes that will be launched by machine
nodes = [x for x in self.rosconfig.nodes if not is_machine_local(x.machine)]
for n in nodes:
self.remote_nodes[n.machine.config_key()].append(n)
for child in self.remote_processes:
nodes = self.remote_nodes[child.machine.config_key()]
body = '\n'.join([n.to_remote_xml() for n in nodes])
# #3799: force utf-8 encoding
xml = '<?xml version="1.0" encoding="utf-8"?>\n<launch>\n%s</launch>'%body
api = child.getapi()
# TODO: timeouts
try:
self.logger.debug("sending [%s] XML [\n%s\n]"%(child.uri, xml))
code, msg, val = api.launch(xml)
if code == 1:
c_succ, c_fail = val
succeeded.extend(c_succ)
failed.extend(c_fail)
else:
printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, msg))
self._assume_failed(nodes, failed)
except socket.error as e:
errno, msg = e
printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, str(msg)))
self._assume_failed(nodes, failed)
except socket.gaierror as e:
errno, msg = e
# usually errno == -2. See #815.
child_host, _ = network.parse_http_host_and_port(child.uri)
printerrlog("Unable to contact remote roslaunch at [%s]. This is most likely due to a network misconfiguration with host lookups. Please make sure that you can contact '%s' from this machine"%(child.uri, child_host))
self._assume_failed(nodes, failed)
except Exception as e:
printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, str(e)))
self._assume_failed(nodes, failed)
return succeeded, failed
def assign_machines(self):
"""
Assign nodes to machines and determine whether or not there are any remote machines
"""
# don't repeat machine assignment
if self._assign_machines_complete:
return
machine_unify_dict = {}
self._assign_machines_complete = True
# #653: current have to set all core nodes to local launch
local_machine = self.machines['']
for n in self.nodes_core:
n.machine = local_machine
#for n in self.nodes_core + self.nodes + self.tests:
for n in self.nodes + self.tests:
m = self._select_machine(n)
# if machines have the same config keys it means that they are identical except
# for their name. we unify the machine assignments so that we don't use
# extra resources.
config_key = m.config_key()
if config_key in machine_unify_dict:
new_m = machine_unify_dict[config_key]
if m != new_m:
self.logger.info(
"... changing machine assignment from [%s] to [%s] as they are equivalent",
m.name, new_m.name)
m = new_m
else:
machine_unify_dict[config_key] = m
n.machine = m
self.logger.info(
"... selected machine [%s] for node of type [%s/%s]", m.name,
n.package, n.type)
# determine whether or not there are any machines we will need
# to setup remote roslaunch clients for
self._remote_nodes_present = False
if [
m for m in machine_unify_dict.itervalues()
if not is_machine_local(m)
]:
self._remote_nodes_present = True
def assign_machines(self):
"""
Assign nodes to machines and determine whether or not there are any remote machines
"""
# don't repeat machine assignment
if self._assign_machines_complete:
return
machine_unify_dict = {}
self._assign_machines_complete = True
# #653: current have to set all core nodes to local launch
local_machine = self.machines['']
for n in self.nodes_core:
n.machine = local_machine
#for n in self.nodes_core + self.nodes + self.tests:
for n in self.nodes + self.tests:
m = self._select_machine(n)
# if machines have the same config keys it means that they are identical except
# for their name. we unify the machine assignments so that we don't use
# extra resources.
config_key = m.config_key()
if config_key in machine_unify_dict:
new_m = machine_unify_dict[config_key]
if m != new_m:
self.logger.info("... changing machine assignment from [%s] to [%s] as they are equivalent", m.name, new_m.name)
m = new_m
else:
machine_unify_dict[config_key] = m
n.machine = m
self.logger.info("... selected machine [%s] for node of type [%s/%s]", m.name, n.package, n.type)
# determine whether or not there are any machines we will need
# to setup remote roslaunch clients for
self._remote_nodes_present = False
if [m for m in machine_unify_dict.itervalues() if not is_machine_local(m)]:
self._remote_nodes_present = True