def connect(self, argv):
def property_callback(option, opt, option_value, parser):
if option_value.count('=') != 1:
raise wasanbon.InvalidUsageException()
key, equals, value = option_value.partition('=')
if not getattr(parser.values, option.dest):
setattr(parser.values, option.dest, {})
if key in getattr(parser.values, option.dest):
raise wasanbon.InvalidUsageException()
getattr(parser.values, option.dest)[key] = value
self.parser.add_option('-n', '--name', help='Name of connection. (Default: None)',
type='string', default=None, dest='name')
self.parser.add_option('-i', '--id', help='id of connection. (Default: "")',
type='string', default='', dest='id')
self.parser.add_option('-p', '--property', help='Properties of connection. Use A=B Format (Default:"")',
type='string', dest='properties', action='callback', callback=property_callback)
options, argv = self.parse_args(argv[:])
verbose = options.verbose_flag # This is default option
if not getattr(options, 'properties'):
setattr(options, 'properties', {})
from rtshell import path
from rtshell.rtcon import connect_ports
paths = [(arg, path.cmd_path_to_full_path(arg)) for arg in argv[3:]]
try:
connect_ports(paths, options, tree=None)
sys.stdout.write('Success.\n')
except:
sys.stdout.write('Failed. Exception occurred.\n')
return 0
def exit_all_rtcs(self, package, verbose=False, try_count=5, wait_time=1.0):
""" Exit All RTCs on package. """
if verbose: sys.stdout.write('## Exitting All RTCS on package %s\n' % package.name)
mgr_addrs = admin.systeminstaller.get_rtcd_manager_addresses(package, verbose=verbose)
if verbose: sys.stdout.write('# Parsing manager : %s\n' % mgr_addrs)
for lang in ['C++', 'Java', 'Python']:
sys.stdout.write('# Getting Manager for language (%s)\n' % lang)
for mgr_addr in mgr_addrs[lang]:
cleaned = False
if not mgr_addr.startswith('/') : mgr_addr = '/' + mgr_addr
from rtshell import path
full_path = path.cmd_path_to_full_path(mgr_addr)
mgr = None
for i in range(0, try_count):
if verbose: sys.stdout.write('## Getting Manager [%s]\n' % mgr_addr)
from rtshell import rts_exceptions
from rtshell.rtmgr import get_manager
try:
tree, mgr = get_manager(mgr_addr, full_path)
break
except rts_exceptions.ZombieObjectError, e:
if i == try_count-1:
sys.stdout.write('# ZombieObjectError Occured when exit_all_rtcs\n')
traceback.print_exc()
return -1
except rts_exceptions.NoSuchObjectError, e:
break
if mgr:
if len(mgr.components) == 0:
if verbose: sys.stdout.write('### Manager (%s) has no RTCs.\n' % mgr_addr)
cleaned = True
else:
for r in mgr.components:
if verbose: sys.stdout.write('### Exitting RTC (%s)\n' % r.instance_name)
r.exit()
for i in range(0, try_count):
time.sleep(wait_time)
if verbose: sys.stdout.write('## Getting Manager [%s] Again\n' % mgr_addr)
tree, mgr = get_manager(mgr_addr, full_path)
if len(mgr.components) == 0:
if verbose: sys.stdout.write('### Manager (%s) has no RTCs.\n' % mgr_addr)
cleaned = True
break
else:
if verbose: sys.stdout.write('### Manager (%s) still have RTCs.\n' % mgr_addr)
pass
if cleaned: break
else:
if verbose: sys.stdout.write('## Getting Manager failed.\n')
break
def rtactivate(nameserver, tags, tree):
def activate_action(object, ec_index):
object.activate_in_ec(ec_index)
for tag in tags:
# check if/unless attribute in rtactivate tags
exec_flag = True
if tag.attributes.get(u'if'):
val = tag.attributes.get(u'if').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = get_flag_from_argv(arg)
if tag.attributes.get(u'unless'):
val = tag.attributes.get(u'unless').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = not get_flag_from_argv(arg)
if not exec_flag:
continue
cmd_path = nameserver + "/" + tag.attributes.get("component").value
full_path = path.cmd_path_to_full_path(cmd_path)
full_path = replace_arg_tag_by_env(full_path)
# print >>sys.stderr, "[rtmlaunch] activate %s"%(full_path)
try:
state = wait_component(full_path, tree)
if state == 'Active':
continue
else:
print >> sys.stderr, "[rtmlaunch] Activate <-", state, full_path
except Exception, e:
print >> sys.stderr, '\033[31m[rtmlaunch] Could not Activate (', cmd_path, ') : ', e, '\033[0m'
return 1
try:
options = optparse.Values({"ec_index": 0, 'verbose': False})
try:
state_control_base.alter_component_state(activate_action,
cmd_path,
full_path,
options,
tree=tree)
except Exception, e: # openrtm 1.1.0
state_control_base.alter_component_states(
activate_action, [(cmd_path, full_path)],
options,
tree=tree)
except Exception, e:
print >> sys.stderr, '[rtmlaunch] {0}: {1}'.format(
os.path.basename(sys.argv[0]), e)
return 1
def disconnect(self, argv):
self.parser.add_option('-i', '--id', help='id of connection. (Default: "")',
type='string', default='', dest='id')
options, argv = self.parse_args(argv[:])
verbose = options.verbose_flag # This is default option
from rtshell import path
from rtshell.rtdis import disconnect_ports
paths = [(arg, path.cmd_path_to_full_path(arg)) for arg in argv[3:]]
try:
disconnect_ports(paths, options, tree=None)
sys.stdout.write('Success.\n')
except:
sys.stdout.write('Failed. Exception occurred.\n')
return 0
def rtactivate(nameserver, tags, tree):
def activate_action(object, ec_index):
object.activate_in_ec(ec_index)
for tag in tags:
# check if/unless attribute in rtactivate tags
exec_flag = True
if tag.attributes.get(u'if'):
val = tag.attributes.get(u'if').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = get_flag_from_argv(arg)
if tag.attributes.get(u'unless'):
val = tag.attributes.get(u'unless').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = not get_flag_from_argv(arg)
if not exec_flag:
continue
cmd_path = nameserver+"/"+tag.attributes.get("component").value
full_path = path.cmd_path_to_full_path(cmd_path)
full_path = replace_arg_tag_by_env(full_path)
# print >>sys.stderr, "[rtmlaunch] activate %s"%(full_path)
try:
state = wait_component(full_path, tree)
if state == 'Active':
continue
else:
print >>sys.stderr, "[rtmlaunch] Activate <-",state,full_path
except Exception, e:
print >>sys.stderr, '\033[31m[rtmlaunch] Could not Activate (', cmd_path, ') : ', e,'\033[0m'
return 1
try:
options = optparse.Values({"ec_index": 0, 'verbose': False})
try :
state_control_base.alter_component_state(activate_action, cmd_path, full_path, options, tree=tree)
except Exception, e: # openrtm 1.1.0
state_control_base.alter_component_states(activate_action, [(cmd_path, full_path)], options, tree=tree)
except Exception, e:
print >>sys.stderr, '[rtmlaunch] {0}: {1}'.format(os.path.basename(sys.argv[0]), e)
return 1
def rtconnect(nameserver, tags, tree):
for tag in tags:
# check if/unless attribute in rtconnect tags
exec_flag = True
if tag.attributes.get(u'if'):
val = tag.attributes.get(u'if').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = get_flag_from_argv(arg)
if tag.attributes.get(u'unless'):
val = tag.attributes.get(u'unless').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = not get_flag_from_argv(arg)
if not exec_flag:
continue
source_path = nameserver + "/" + tag.attributes.get("from").value
dest_path = nameserver + "/" + tag.attributes.get("to").value
source_path = replace_arg_tag_by_env(source_path)
dest_path = replace_arg_tag_by_env(dest_path)
# print >>sys.stderr, "[rtmlaunch] Connecting from %s to %s"%(source_path,dest_path)
source_full_path = path.cmd_path_to_full_path(source_path)
dest_full_path = path.cmd_path_to_full_path(dest_path)
if tag.attributes.get("subscription_type") != None:
sub_type = tag.attributes.get("subscription_type").value
sub_type = replace_arg_tag_by_env(sub_type)
if not sub_type in ['flush', 'new', 'periodic']:
print >> sys.stderr, sub_type + ' is not a subscription type'
continue
else:
sub_type = 'flush' # this is default value
if sub_type == 'new':
push_policy = 'all'
# wait for proess
try:
wait_component(source_full_path, tree)
wait_component(dest_full_path, tree)
if check_connect(source_full_path, dest_full_path, tree):
continue
except Exception, e:
print >> sys.stderr, '\033[31m[rtmlaunch] [ERROR] Could not Connect (', source_full_path, ',', dest_full_path, '): ', e, '\033[0m'
return 1
#print source_path, source_full_path, dest_path, dest_full_path;
try:
sub_type = str(sub_type)
props = {'dataport.subscription_type': sub_type}
if tag.attributes.get("push_policy") != None:
push_policy = replace_arg_tag_by_env(
str(tag.attributes.get("push_policy").value))
else:
push_policy = 'all'
if sub_type == 'new':
props['dataport.publisher.push_policy'] = push_policy
elif sub_type == 'periodic':
props['dataport.publisher.push_policy'] = push_policy
if tag.attributes.get("push_rate") != None:
props['dataport.push_rate'] = replace_arg_tag_by_env(
str(tag.attributes.get("push_rate").value))
else:
props['dataport.push_rate'] = str('50.0')
if tag.attributes.get("buffer_length") != None:
props['dataport.buffer.length'] = replace_arg_tag_by_env(
str(tag.attributes.get("buffer_length").value))
options = optparse.Values({
'verbose': False,
'id': '',
'name': None,
'properties': props
})
print >> sys.stderr, "[rtmlaunch] Connected from", source_path
print >> sys.stderr, "[rtmlaunch] to", dest_path
print >> sys.stderr, "[rtmlaunch] with", options
try:
rtcon.connect_ports(source_path,
source_full_path,
dest_path,
dest_full_path,
options,
tree=tree)
except Exception, e_1_1_0: # openrtm 1.1.0
try:
rtcon.connect_ports([(source_path, source_full_path),
(dest_path, dest_full_path)],
options,
tree=tree)
except Exception, e_1_0_0: # openrtm 1.0.0
print >> sys.stderr, '\033[31m[rtmlaunch] {0} did not work on both OpenRTM 1.0.0 and 1.1.0'.format(
os.path.basename(sys.argv[1])), '\033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] OpenRTM 1.0.0 {0}'.format(
e_1_0_0), '\033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] OpenRTM 1.1.0 {0}'.format(
e_1_1_0), '\033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] This is very weird situation, Please check your network\033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] configuration with `ifconfig` on both robot and client side. \033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] Having multiple network interface sometimes causes problem, \033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d\033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33\033[0m'
print >> sys.stderr, '\033[31m[rtmlaunch] ~/.ros/log may contains usefully informations\033[0m'
def rtconnect(nameserver, tags, tree):
for tag in tags:
# check if/unless attribute in rtconnect tags
exec_flag = True
if tag.attributes.get(u'if'):
val = tag.attributes.get(u'if').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = get_flag_from_argv(arg)
if tag.attributes.get(u'unless'):
val = tag.attributes.get(u'unless').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = not get_flag_from_argv(arg)
if not exec_flag:
continue
source_path = nameserver+"/"+tag.attributes.get("from").value
dest_path = nameserver+"/"+tag.attributes.get("to").value
source_path = replace_arg_tag_by_env(source_path)
dest_path = replace_arg_tag_by_env(dest_path)
# print >>sys.stderr, "[rtmlaunch] Connecting from %s to %s"%(source_path,dest_path)
source_full_path = path.cmd_path_to_full_path(source_path)
dest_full_path = path.cmd_path_to_full_path(dest_path)
if tag.attributes.get("subscription_type") != None:
sub_type = tag.attributes.get("subscription_type").value
if not sub_type in ['flush','new','periodic']:
print >>sys.stderr, sub_type+' is not a subscription type'
continue
else:
sub_type = 'flush' # this is default value
if sub_type == 'new':
push_policy = 'all'
# wait for proess
try:
wait_component(source_full_path, tree)
wait_component(dest_full_path, tree)
if check_connect(source_full_path,dest_full_path, tree):
continue
except Exception, e:
print >>sys.stderr, '\033[31m[rtmlaunch] [ERROR] Could not Connect (', source_full_path, ',', dest_full_path, '): ', e,'\033[0m'
return 1
#print source_path, source_full_path, dest_path, dest_full_path;
try:
sub_type = str(sub_type)
props = {'dataport.subscription_type': sub_type}
if sub_type == 'new':
props['dataport.publisher.push_policy'] = 'all'
elif sub_type == 'periodic':
props['dataport.publisher.push_policy'] = 'all'
if tag.attributes.get("push_rate") != None:
props['dataport.push_rate'] = str(tag.attributes.get("push_rate").value)
else:
props['dataport.push_rate'] = str('50.0')
options = optparse.Values({'verbose': False, 'id': '', 'name': None, 'properties': props})
print >>sys.stderr, "[rtmlaunch] Connected from",source_path
print >>sys.stderr, "[rtmlaunch] to",dest_path
print >>sys.stderr, "[rtmlaunch] with",options
try :
rtcon.connect_ports(source_path, source_full_path, dest_path, dest_full_path, options, tree=tree)
except Exception, e_1_1_0: # openrtm 1.1.0
try:
rtcon.connect_ports([(source_path,source_full_path), (dest_path, dest_full_path)], options, tree=tree)
except Exception, e_1_0_0: # openrtm 1.0.0
print >>sys.stderr, '\033[31m[rtmlaunch] {0} did not work on both OpenRTM 1.0.0 and 1.1.0'.format(os.path.basename(sys.argv[1])),'\033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] OpenRTM 1.0.0 {0}'.format(e_1_0_0),'\033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] OpenRTM 1.1.0 {0}'.format(e_1_1_0),'\033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] This is very weird situation, Please check your network\033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] configuration with `ifconfig` on both robot and client side. \033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] Having multiple network interface sometimes causes problem, \033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] please see FAQ site http://www.openrtm.org/OpenRTM-aist/html/FAQ2FE38388E383A9E38396E383ABE382B7E383A5E383BCE38386E382A3E383B3E382B0.html#f2bc375d\033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] Issue related to this https://github.com/start-jsk/rtmros_hironx/issues/33\033[0m'
print >>sys.stderr, '\033[31m[rtmlaunch] ~/.ros/log may contains usefully informations\033[0m'
def rtconnect(nameserver, tags):
import re
for tag in tags:
# check if/unless attribute in rtconnect tags
exec_flag = True
if tag.attributes.get(u'if'):
val = tag.attributes.get(u'if').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = get_flag_from_argv(arg)
if tag.attributes.get(u'unless'):
val = tag.attributes.get(u'unless').value
arg = val.split(" ")[1].strip(")") # To "USE_WALKING"
exec_flag = not get_flag_from_argv(arg)
if not exec_flag:
continue
source_path = nameserver+"/"+tag.attributes.get("from").value
dest_path = nameserver+"/"+tag.attributes.get("to").value
source_path = re.sub("\$\(arg SIMULATOR_NAME\)",simulator,source_path);
dest_path = re.sub("\$\(arg SIMULATOR_NAME\)",simulator,dest_path);
# print >>sys.stderr, "[rtmlaunch] Connecting from %s to %s"%(source_path,dest_path)
source_full_path = path.cmd_path_to_full_path(source_path)
dest_full_path = path.cmd_path_to_full_path(dest_path)
if tag.attributes.get("subscription_type") != None:
sub_type = tag.attributes.get("subscription_type").value
if not sub_type in ['flush','new','periodic']:
print >>sys.stderr, sub_type+' is not a subscription type'
continue
else:
sub_type = 'flush' # this is default value
if sub_type == 'new':
push_policy = 'all'
# wait for proess
try:
wait_component(source_full_path)
wait_component(dest_full_path)
if check_connect(source_full_path,dest_full_path):
continue
except Exception, e:
print >>sys.stderr, '\033[31m[rtmlaunch] [ERROR] Could not Connect (', source_full_path, ',', dest_full_path, '): ', e,'\033[0m'
return 1
#print source_path, source_full_path, dest_path, dest_full_path;
try:
sub_type = str(sub_type)
props = {'dataport.subscription_type': sub_type}
if sub_type == 'new':
props['dataport.publisher.push_policy'] = 'all'
elif sub_type == 'periodic':
props['dataport.publisher.push_policy'] = 'all'
if tag.attributes.get("push_rate") != None:
props['dataport.push_rate'] = str(tag.attributes.get("push_rate").value)
else:
props['dataport.push_rate'] = str('50.0')
options = optparse.Values({'verbose': False, 'id': '', 'name': None, 'properties': props})
print >>sys.stderr, "[rtmlaunch] Connected from",source_path
print >>sys.stderr, "[rtmlaunch] to",dest_path
print >>sys.stderr, "[rtmlaunch] with",options
try :
rtcon.connect_ports(source_path, source_full_path, dest_path, dest_full_path, options, tree=None)
except Exception, e: # openrtm 1.1.0
rtcon.connect_ports([(source_path,source_full_path), (dest_path, dest_full_path)], options, tree=None)
except Exception, e:
print >>sys.stderr, '\033[31m[rtmlaunch] {0}: {1}'.format(os.path.basename(sys.argv[1]), e),'\033[0m'
