def __init__(self, script_name=None, use_path=True, robot_scripts_path=ROBOT_SCRIPTS_PATH_ROBOCUP, input_keys=[], output_keys=[]):
"""Constructor for RunScriptOnRobot.
@type script_name: string
@param script_name: The script name that you want execute.
@type use_path: boolean
@param use_path: If True, the variable robot_scripts_path will be considered. This was to be able to execute single commands, not scripts.
@type robot_scripts_path: string
@param robot_scripts_path: The path to your scripts. By default, the path is defined on ROBOT_SCRIPTS_PATH_ROBOCUP variable.
"""
smach.State.__init__(self, input_keys=input_keys, output_keys=output_keys, outcomes=[succeeded, aborted])
if script_name is None:
raise ValueError("You should set the variable 'script_name'")
self.YELLOW_BOLD = "\033[01;33m"
self.NATIVE_COLOR = "\033[m"
self.robot_scripts_path = robot_scripts_path
self.script_name = script_name
self.full_script_path = self.robot_scripts_path + self.script_name
self.use_path = use_path
self.check = CheckUsingRobot(print_checking=False)
class RunScriptOnRobot(smach.State):
"""RunScriptOnRobot State.
Use this state to execute a script on the robot.
If you are running this State from your computer, the robot name will be get from the variable ROS_MASTER_URI.
The default login and password are defined on the variables USERNAME and PASSWORD that can be found in this file.
If you are running directly on the robot (not from your computer), the command will be executed locally by RunCommandLocal State.
Be carefull: All commands executed on the robot will run as root user.
Important:
If you are running this State from your computer, with ROS_MASTER_URI pointing to the robot, the script will probably not works good.
The problem is because using ssh, the default executable on the target is '/bin/sh', not '/bin/bash'.
But if you are running this State directly on the robot, it will works perfectly.
"""
def __init__(self, script_name=None, use_path=True, robot_scripts_path=ROBOT_SCRIPTS_PATH_ROBOCUP, input_keys=[], output_keys=[]):
"""Constructor for RunScriptOnRobot.
@type script_name: string
@param script_name: The script name that you want execute.
@type use_path: boolean
@param use_path: If True, the variable robot_scripts_path will be considered. This was to be able to execute single commands, not scripts.
@type robot_scripts_path: string
@param robot_scripts_path: The path to your scripts. By default, the path is defined on ROBOT_SCRIPTS_PATH_ROBOCUP variable.
"""
smach.State.__init__(self, input_keys=input_keys, output_keys=output_keys, outcomes=[succeeded, aborted])
if script_name is None:
raise ValueError("You should set the variable 'script_name'")
self.YELLOW_BOLD = "\033[01;33m"
self.NATIVE_COLOR = "\033[m"
self.robot_scripts_path = robot_scripts_path
self.script_name = script_name
self.full_script_path = self.robot_scripts_path + self.script_name
self.use_path = use_path
self.check = CheckUsingRobot(print_checking=False)
def execute(self, userdata):
robot_scripts_path = self.robot_scripts_path
script_name = self.script_name
use_path = self.use_path
command = (str(robot_scripts_path) + str(script_name)) if use_path else str(script_name)
#If running ON THE ROBOT
if CheckUsingRobot(print_checking=False, check_ros_master_uri=False).execute(userdata) == succeeded:
return RunCommandLocal(command=command).execute(userdata)
using_robot = self.check.execute(userdata) == succeeded
status = aborted
if using_robot:
HOST = self.check.out_robot_name
ssh_client = SSHClient(HOST, username=USERNAME, password=PASSWORD)
class UserdataHacked():
def __init__(self):
self.in_command = command
status = ssh_client.execute(UserdataHacked())
else:
status = succeeded
rospy.logwarn(self.YELLOW_BOLD + "Not executed '%s'. ROS_MASTER_URI nor COMPUTER_NAME contains '%s'%s" % (self.script_name, ROBOTS_NAME, self.NATIVE_COLOR))
return status # succeeded/aborted
