def __init__(self, appOptions):
port = appOptions.port
self.manager = procman.CProcessManager("localhost")
self._options = options.CCastOptions()
self._options.loadConfig(appOptions.config)
self._options.configEnvironment()
self.address = "tcp -p %d" % port
self.agent = None
self.mainLog = None
self.serverManager = CServerManager()
fn = os.path.join(os.path.dirname(pconfig.__file__), "castservers.txt")
self.serverManager.addServersFromFile(fn)
fn = os.path.join(os.path.dirname(pconfig.__file__), "cogxservers.txt")
self.serverManager.addServersFromFile(fn)
self._options.appOptions = appOptions
self._initLocalProcesses(appOptions)
class CConsoleAgent:
def __init__(self, appOptions):
port = appOptions.port
self.manager = procman.CProcessManager("localhost")
self._options = options.CCastOptions()
self._options.loadConfig(appOptions.config)
self._options.configEnvironment()
self.address = "tcp -p %d" % port
self.agent = None
self.mainLog = None
self.serverManager = CServerManager()
fn = os.path.join(os.path.dirname(pconfig.__file__), "castservers.txt")
self.serverManager.addServersFromFile(fn)
fn = os.path.join(os.path.dirname(pconfig.__file__), "cogxservers.txt")
self.serverManager.addServersFromFile(fn)
self._options.appOptions = appOptions
self._initLocalProcesses(appOptions)
def __del__(self):
self.manager.stopReaderThread()
def _addProcess(self, name, dictParams=None):
csi = self.serverManager.getServerInfo(name)
if csi == None:
LOGGER.error("Server '%s' is not registered." % name)
return
if dictParams != None:
for (k,v) in dictParams.iteritems():
p = csi.getProperty(k)
if p == None:
LOGGER.error("Server '%s' has no property named '%s'." % (name, k))
continue
p.value = v
extenv = self._options.getExtendedEnviron(defaults=csi.getEnvVarScript())
command = self._options.xe(csi.getCommand(extenv), environ=extenv)
workdir = self._options.xe(csi.workdir, environ=extenv) if csi.workdir != None else None
#print command
#print csi.getParameters()
proc = procman.CProcess(name=name, command=command, params=csi.getParameters(),
workdir=workdir, allowTerminate=not csi.isServer)
self.manager.addProcess(proc)
def _initLocalProcesses(self, appOptions):
self._addProcess('cast-java')
self._addProcess('cast-cpp')
self._addProcess('cast-python')
p = procman.CProcess(procman.LOG4J_PROCESS, self._options.xe("${CMD_LOG4J_SERVER}"))
p.messageProcessor = log4util.CLog4MessageProcessor()
self.manager.addProcess(p)
if appOptions.player_cfg != None:
# TODO: Player configuration (file contents) could also be sent from the remote machine
if not os.path.exists(appOptions.player_cfg):
LOGGER.warn("Player configuration file '%s' not found." % appOptions.player_cfg)
else:
self._addProcess('Player', { 'CONFIG': appOptions.player_cfg })
if appOptions.golem_cfg != None:
self._addProcess('Golem') # NOTE: No configuration is needed any more.
if appOptions.gazebo_world != None:
if not os.path.exists(appOptions.gazebo_world):
LOGGER.warn("Gazebo world file '%s' not found." % appOptions.gazebo_world)
else:
self._addProcess('Gazebo', { 'WORLD': appOptions.gazebo_world })
if appOptions.abducer != None and appOptions.abducer:
self._addProcess('Abducer')
if appOptions.display_srv != None and appOptions.display_srv:
self._addProcess('Display')
if appOptions.peekabot != None and appOptions.peekabot:
self._addProcess('Peekabot')
if appOptions.text2speech != None and appOptions.text2speech:
self._addProcess('Mary.tts')
if appOptions.can_build:
cmd = "make [TARGET]"
proc = procman.CProcess("BUILD", cmd)
proc.allowTerminate = True
self.manager.addProcess(proc)
if appOptions.can_rsync:
RSYNC_DAEMON.port = appOptions.rsync_port
cmd = RSYNC_DAEMON.getDaemonCommand()
p = procman.CProcess("RSYNC", cmd)
self.manager.addProcess(p)
if appOptions.cleanup_script != None:
self._addProcess('Cleanup', { 'SCRIPT': appOptions.cleanup_script })
def _initMessagePump(self):
self.mainLog = CLogDisplayer()
for proc in self.manager.proclist:
self.mainLog.log.addSource(proc)
# XXX LOGGER not added if it's a CStdoutLogger - it will print it's own messages
self.mainLog.log.addSource(LOGGER)
self.mainLog.start()
def _shutdown(self, agent):
count = 10
agent.shutdown()
LOGGER.log("Shutdown")
time.sleep(0.5)
while agent.isAlive():
count -= 1
LOGGER.log("... waiting for shutdown (%d)" % count)
if count <= 0: break
time.sleep(1.0)
if agent.isAlive():
LOGGER.warn("ICE Server didn't shut down")
else:
LOGGER.log("ICE Server stopped.")
def startLogging(self):
self._initMessagePump()
def startServing(self):
if self.agent != None: self.stopServing()
self.agent = castagentsrv.CCastSlave(self.manager, self._options, self.address)
self.agent.start()
time.sleep(0.2)
def stopServing(self):
if self.agent != None: self._shutdown(self.agent)
self.agent = None
self.manager.stopReaderThread()
if self.mainLog != None:
self.mainLog.shutdown()
