def start(self):
"""
Startup roslaunch server XML-RPC services
@raise RLException: if server fails to start
"""
logger = logging.getLogger('roslaunch.server')
logger.info("starting roslaunch XML-RPC server")
super(ROSLaunchNode, self).start()
# wait for node thread to initialize
timeout_t = time.time() + _STARTUP_TIMEOUT
logger.info("waiting for roslaunch XML-RPC server to initialize")
while not self.uri and time.time() < timeout_t:
time.sleep(0.01)
if not self.uri:
raise RLException("XML-RPC initialization failed")
# Make sure our xmlrpc server is actually up. We've seen very
# odd cases where remote nodes are unable to contact the
# server but have been unable to prove this is the cause.
server_up = False
while not server_up and time.time() < timeout_t:
try:
code, msg, val = ServerProxy(self.uri).get_pid()
if val != os.getpid():
raise RLException(
"Server at [%s] did not respond with correct PID. There appears to be something wrong with the networking configuration"
% self.uri)
server_up = True
except IOError:
# presumably this can occur if we call in a small time
# interval between the server socket port being
# assigned and the XMLRPC server initializing, but it
# is highly unlikely and unconfirmed
time.sleep(0.1)
except socket.error as e:
if e.errno == 113:
p = urlparse(self.uri)
raise RLException(
"Unable to contact the address [%s], which should be local.\nThis is generally caused by:\n * bad local network configuration\n * bad ROS_IP environment variable\n * bad ROS_HOSTNAME environment variable\nCan you ping %s?"
% (self.uri, p.hostname))
else:
time.sleep(0.1)
if not server_up:
p = urlparse(self.uri)
raise RLException("""Unable to contact my own server at [%s].
This usually means that the network is not configured properly.
A common cause is that the machine cannot connect to itself. Please check
for errors by running:
\tping %s
For more tips, please see
\thttp://www.ros.org/wiki/ROS/NetworkSetup
""" % (self.uri, p.hostname))
printlog_bold("started roslaunch server %s" % (self.uri))
def start(self):
"""
Startup roslaunch server XML-RPC services
@raise RLException: if server fails to start
"""
logger = logging.getLogger('roslaunch.server')
logger.info("starting roslaunch XML-RPC server")
super(ROSLaunchNode, self).start()
# wait for node thread to initialize
timeout_t = time.time() + _STARTUP_TIMEOUT
logger.info("waiting for roslaunch XML-RPC server to initialize")
while not self.uri and time.time() < timeout_t:
time.sleep(0.01)
if not self.uri:
raise RLException("XML-RPC initialization failed")
# Make sure our xmlrpc server is actually up. We've seen very
# odd cases where remote nodes are unable to contact the
# server but have been unable to prove this is the cause.
server_up = False
while not server_up and time.time() < timeout_t:
try:
code, msg, val = ServerProxy(self.uri).get_pid()
if val != os.getpid():
raise RLException("Server at [%s] did not respond with correct PID. There appears to be something wrong with the networking configuration"%self.uri)
server_up = True
except IOError:
# presumably this can occur if we call in a small time
# interval between the server socket port being
# assigned and the XMLRPC server initializing, but it
# is highly unlikely and unconfirmed
time.sleep(0.1)
except socket.error as e:
if e.errno == 113:
p = urlparse(self.uri)
raise RLException("Unable to contact the address [%s], which should be local.\nThis is generally caused by:\n * bad local network configuration\n * bad ROS_IP environment variable\n * bad ROS_HOSTNAME environment variable\nCan you ping %s?"%(self.uri, p.hostname))
else:
time.sleep(0.1)
if not server_up:
p = urlparse(self.uri)
raise RLException("""Unable to contact my own server at [%s].
This usually means that the network is not configured properly.
A common cause is that the machine cannot ping itself. Please check
for errors by running:
\tping %s
For more tips, please see
\thttp://www.ros.org/wiki/ROS/NetworkSetup
"""%(self.uri, p.hostname))
printlog_bold("started roslaunch server %s"%(self.uri))
def test_printlog(self):
from roslaunch.core import add_printlog_handler, add_printerrlog_handler, printlog, printlog_bold, printerrlog
add_printlog_handler(printlog_cb)
add_printlog_handler(printlog_cb_exception)
add_printerrlog_handler(printlog_cb)
add_printerrlog_handler(printlog_cb_exception)
#can't really test functionality, just make sure it doesn't crash
global _lastmsg
_lastmsg = None
printlog('foo')
self.assertEquals('foo', _lastmsg)
printlog_bold('bar')
self.assertEquals('bar', _lastmsg)
printerrlog('baz')
self.assertEquals('baz', _lastmsg)
def test_printlog(self):
from roslaunch.core import add_printlog_handler, add_printerrlog_handler, printlog, printlog_bold, printerrlog
add_printlog_handler(printlog_cb)
add_printlog_handler(printlog_cb_exception)
add_printerrlog_handler(printlog_cb)
add_printerrlog_handler(printlog_cb_exception)
#can't really test functionality, just make sure it doesn't crash
global _lastmsg
_lastmsg = None
printlog('foo')
self.assertEquals('foo', _lastmsg)
printlog_bold('bar')
self.assertEquals('bar', _lastmsg)
printerrlog('baz')
self.assertEquals('baz', _lastmsg)
class ROSLaunchNode(xmlrpc.XmlRpcNode):
"""
Base XML-RPC server for roslaunch parent/child processes
"""
def __init__(self, handler):
"""
@param handler: xmlrpc api handler
@type handler: L{ROSLaunchBaseHandler}
"""
super(ROSLaunchNode, self).__init__(0, handler)
def start(self):
"""
Startup roslaunch server XML-RPC services
@raise RLException: if server fails to start
"""
logger = logging.getLogger('roslaunch.server')
logger.info("starting roslaunch XML-RPC server")
super(ROSLaunchNode, self).start()
# wait for node thread to initialize
timeout_t = time.time() + _STARTUP_TIMEOUT
logger.info("waiting for roslaunch XML-RPC server to initialize")
while not self.uri and time.time() < timeout_t:
time.sleep(0.01)
if not self.uri:
raise RLException("XML-RPC initialization failed")
# Make sure our xmlrpc server is actually up. We've seen very
# odd cases where remote nodes are unable to contact the
# server but have been unable to prove this is the cause.
server_up = False
while not server_up and time.time() < timeout_t:
try:
code, msg, val = xmlrpclib.ServerProxy(self.uri).get_pid()
if val != os.getpid():
raise RLException(
"Server at [%s] did not respond with correct PID. There appears to be something wrong with the networking configuration"
% self.uri)
server_up = True
except IOError:
# presumably this can occur if we call in a small time
# interval between the server socket port being
# assigned and the XMLRPC server initializing, but it
# is highly unlikely and unconfirmed
time.sleep(0.1)
except socket.error, (errno, msg):
if errno == 113:
p = urlparse.urlparse(self.uri)
raise RLException(
"Unable to contact the address [%s], which should be local.\nThis is generally caused by:\n * bad local network configuration\n * bad ROS_IP environment variable\n * bad ROS_HOSTNAME environment variable\nCan you ping %s?"
% (self.uri, p.hostname))
else:
time.sleep(0.1)
if not server_up:
raise RLException(
"Unable to contact my own XML-RPC server, this is a highly unusual error and should be reported immediately.\nMy URI is [%s]"
% self.uri)
printlog_bold("started roslaunch server %s" % self.uri)
def _init_remote(self):
"""
Initialize the remote process runner, if required. Subroutine
of _start_remote, separated out for easier testing
"""
if self.config is None:
raise RLException("config is not initialized")
if self.pm is None:
raise RLException("pm is not initialized")
if self.server is None:
raise RLException("server is not initialized")
if not self.local_only and self.config.has_remote_nodes():
# keep the remote package lazy-imported
import roslaunch.remote
self.remote_runner = roslaunch.remote.ROSRemoteRunner(self.run_id, self.config, self.pm, self.server)
elif self.local_only:
printlog_bold("LOCAL\nlocal only launch specified, will not launch remote nodes\nLOCAL\n")
def _init_remote(self):
"""
Initialize the remote process runner, if required. Subroutine
of _start_remote, separated out for easier testing
"""
if self.config is None:
raise RLException("config is not initialized")
if self.pm is None:
raise RLException("pm is not initialized")
if self.server is None:
raise RLException("server is not initialized")
if not self.local_only and self.config.has_remote_nodes():
# keep the remote package lazy-imported
import roslaunch.remote
self.remote_runner = roslaunch.remote.ROSRemoteRunner(self.run_id, self.config, self.pm, self.server)
elif self.local_only:
printlog_bold("LOCAL\nlocal only launch specified, will not launch remote nodes\nLOCAL\n")
def log(self, client, level, message):
"""
Report a log message to the server
@param client: name of client
@type client: str
@param level: log level (uses rosgraph_msgs.msg.Log levels)
@type level: int
@param message: message to log
@type message: str
"""
try:
if level >= Log.ERROR:
printerrlog("[%s]: %s" % (client, message))
else:
#hack due to the fact that we only have one INFO level
if 'started with pid' in message:
printlog_bold("[%s]: %s" % (client, message))
else:
printlog("[%s]: %s" % (client, message))
except:
# can't trust the logging system at this point, so just dump to screen
traceback.print_exc()
return 1, '', 1
def log(self, client, level, message):
"""
Report a log message to the server
@param client: name of client
@type client: str
@param level: log level (uses roslib.msg.Log levels)
@type level: int
@param message: message to log
@type message: str
"""
try:
if level >= Log.ERROR:
printerrlog("[%s]: %s"%(client, message))
else:
#hack due to the fact that we only have one INFO level
if 'started with pid' in message:
printlog_bold("[%s]: %s"%(client, message))
else:
printlog("[%s]: %s"%(client, message))
except:
# can't trust the logging system at this point, so just dump to screen
traceback.print_exc()
return 1, '', 1
def _run(self):
"""
Internal run loop of ProcessMonitor
"""
plock = self.plock
dead = []
respawn = []
while not self._registrations_complete:
logger.info("mirko hack")
time.sleep(0.1) #yield thread
while not self.is_shutdown:
with plock: #copy self.procs
procs = self.procs[:]
if self.is_shutdown:
break
# check current signal handlers to see if children have stolen them away
# TODO: this code may not be necessary anymore (have to test)
for s in _signal_list:
if signal.getsignal(s) != rl_signal:
self.reacquire_signals.add(s)
for p in procs:
try:
if not p.is_alive():
logger.debug(
"Process[%s] has died, respawn=%s, required=%s, exit_code=%s",
p.name, "True(%f)" %
p.respawn_delay if p.respawn else p.respawn,
p.required, p.exit_code)
exit_code_str = p.get_exit_description()
if p.required:
printerrlog(
'=' * 80 +
"REQUIRED process [%s] has died!\n%s\nInitiating shutdown!\n"
% (p.name, exit_code_str) + '=' * 80)
self.is_shutdown = True
elif not p in respawn:
if p.exit_code:
printerrlog("[%s] %s" %
(p.name, exit_code_str))
else:
printlog_bold("[%s] %s" %
(p.name, exit_code_str))
dead.append(p)
## no need for lock as we require listeners be
## added before process monitor is launched
for l in self.listeners:
l.process_died(p.name, p.exit_code)
except Exception as e:
traceback.print_exc()
#don't respawn as this is an internal error
dead.append(p)
if self.is_shutdown:
break #stop polling
for d in dead:
try:
# when should_respawn() returns 0.0, bool(0.0) evaluates to False
# work around this by checking if the return value is False
if d.should_respawn() is not False:
respawn.append(d)
else:
self.unregister(d)
# stop process, don't accumulate errors
d.stop([])
# save process data to dead list
with plock:
self.dead_list.append(DeadProcess(d))
except:
logger.error(traceback.format_exc())
# dead check is to make sure that ProcessMonitor at least
# waits until its had at least one process before exiting
if self._registrations_complete and dead and not self.procs and not respawn:
printlog(
"all processes on machine have died, roslaunch will exit")
self.is_shutdown = True
del dead[:]
_respawn = []
for r in respawn:
try:
if self.is_shutdown:
break
if r.should_respawn() <= 0.0:
printlog("[%s] restarting process" % r.name)
# stop process, don't accumulate errors
r.stop([])
r.start()
else:
# not ready yet, keep it around
_respawn.append(r)
except:
traceback.print_exc()
logger.error("Restart failed %s", traceback.format_exc())
respawn = _respawn
time.sleep(0.1) #yield thread
def _run(self):
"""
Internal run loop of ProcessMonitor
"""
plock = self.plock
dead = []
respawn = []
while not self.is_shutdown:
with plock: # copy self.procs
procs = self.procs[:]
if self.is_shutdown:
break
# check current signal handlers to see if children have stolen them away
# TODO: this code may not be necessary anymore (have to test)
for s in _signal_list:
if signal.getsignal(s) != rl_signal:
self.reacquire_signals.add(s)
for p in procs:
try:
if not p.is_alive():
logger.debug(
"Process[%s] has died, respawn=%s, required=%s, exit_code=%s",
p.name,
"True(%f)" % p.respawn_delay if p.respawn else p.respawn,
p.required,
p.exit_code,
)
exit_code_str = p.get_exit_description()
if p.required:
printerrlog(
"=" * 80
+ "REQUIRED process [%s] has died!\n%s\nInitiating shutdown!\n"
% (p.name, exit_code_str)
+ "=" * 80
)
self.is_shutdown = True
elif not p in respawn:
if p.exit_code:
printerrlog("[%s] %s" % (p.name, exit_code_str))
else:
printlog_bold("[%s] %s" % (p.name, exit_code_str))
dead.append(p)
## no need for lock as we require listeners be
## added before process monitor is launched
for l in self.listeners:
l.process_died(p.name, p.exit_code)
except Exception as e:
traceback.print_exc()
# don't respawn as this is an internal error
dead.append(p)
if self.is_shutdown:
break # stop polling
for d in dead:
try:
if d.should_respawn():
respawn.append(d)
else:
self.unregister(d)
# stop process, don't accumulate errors
d.stop([])
# save process data to dead list
with plock:
self.dead_list.append(DeadProcess(d))
except:
logger.error(traceback.format_exc())
# dead check is to make sure that ProcessMonitor at least
# waits until its had at least one process before exiting
if self._registrations_complete and dead and not self.procs and not respawn:
printlog("all processes on machine have died, roslaunch will exit")
self.is_shutdown = True
del dead[:]
_respawn = []
for r in respawn:
try:
if self.is_shutdown:
break
if r.should_respawn() <= 0.0:
printlog("[%s] restarting process" % r.name)
# stop process, don't accumulate errors
r.stop([])
r.start()
else:
# not ready yet, keep it around
_respawn.append(r)
except:
traceback.print_exc()
logger.error("Restart failed %s", traceback.format_exc())
respawn = _respawn
time.sleep(0.1) # yield thread