def initialize_environment_core(core_config=None, libraries=None, delete=False):
from rafcon.core.config import global_config
import rafcon.core.singleton
if rafcon.core.singleton.state_machine_manager.state_machines:
raise EnvironmentError("The environment has to have an empty StateMachineManager but here the following "
"state machines are still existing: \n{0}"
"".format(rafcon.core.singleton.state_machine_manager.state_machines))
test_multithreading_lock.acquire()
# preserve LIBRARY_PATHS if handed with dict -> can be already be the dict of the global_config object
if libraries is None and core_config is not None and 'LIBRARY_PATHS' in core_config:
libraries = copy.deepcopy(core_config['LIBRARY_PATHS'])
# initialize global core config
if isinstance(core_config, tuple) and exists(join(core_config[1], core_config[0])):
global_config.load(core_config[0], core_config[1])
if global_config.get_config_value('LIBRARY_PATHS') is not None:
libraries = copy.deepcopy(global_config.get_config_value('LIBRARY_PATHS'))
else:
global_config.load(path=RAFCON_TEMP_PATH_CONFIGS)
if isinstance(core_config, dict):
for key, value in core_config.items():
global_config.set_config_value(key, value)
rewind_and_set_libraries(libraries=libraries)
def run_turtle_demo():
import rafcon.core
import rafcon.core.start
signal.signal(signal.SIGINT, rafcon.core.start.signal_handler)
global_config.load()
global_gui_config.load()
# set the test_libraries path temporarily to the correct value
library_paths = rafcon.core.config.global_config.get_config_value(
"LIBRARY_PATHS")
if os.path.exists(
str(os.path.sep).join(
[rafcon.__path__[0], '..', '..', '..', 'share',
'libraries'])): # rm-pkg
os.environ['RAFCON_LIB_PATH'] = os.path.join(rafcon.__path__[0], '..',
'..', '..', 'share',
'libraries')
library_paths["ros_libraries"] = os.path.join(rafcon.__path__[0], '..',
'..', '..', 'share',
'examples', 'libraries',
'ros_libraries')
library_paths["turtle_libraries"] = os.path.join(
rafcon.__path__[0], '..', '..', '..', 'share', 'examples',
'libraries', 'turtle_libraries')
example_path = os.path.join(rafcon.__path__[0], os.pardir, '..', '..',
'share', 'examples', "tutorials")
else: # git repo
os.environ['RAFCON_LIB_PATH'] = os.path.join(
dirname(abspath(__file__)), '..', '..', '..', 'libraries')
library_paths["ros_libraries"] = os.path.join(
dirname(abspath(__file__)), '..', '..', 'libraries',
'ros_libraries')
library_paths["turtle_libraries"] = os.path.join(
dirname(abspath(__file__)), '..', '..', 'libraries',
'turtle_libraries')
example_path = os.path.join(dirname(abspath(__file__)), '..', '..',
"tutorials")
rafcon.core.singleton.library_manager.initialize()
rafcon.core.singleton.state_machine_manager.delete_all_state_machines()
base_path = os.path.dirname(os.path.abspath(__file__))
basic_turtle_demo_state = create_turtle_statemachine(
base_path, example_path)
state_machine = StateMachine(basic_turtle_demo_state)
# # load the state machine
# [state_machine, version, creation_time] = storage.load_statemachine_from_path(
# "../../share/examples/tutorials/basic_turtle_demo_sm")
rafcon.core.singleton.library_manager.initialize()
main_window_view = MainWindowView()
rafcon.core.singleton.state_machine_manager.add_state_machine(
state_machine)
sm_manager_model = rafcon.gui.singleton.state_machine_manager_model
main_window_controller = MainWindowController(sm_manager_model,
main_window_view)
gtk.main()
logger.debug("Gtk main loop exited!")
def setup_configuration(config_path):
"""Loads the core configuration from the specified path and uses its content for further setup
:param config_path: Path to the core config file
"""
if config_path is not None:
config_path, config_file = filesystem.separate_folder_path_and_file_name(config_path)
global_config.load(config_file=config_file, path=config_path)
else:
global_config.load(path=config_path)
# Initialize libraries
core_singletons.library_manager.initialize()
def start_server(interacting_function, queue_dict):
import sys
import os
import rafcon
from rafcon.utils import log
from rafcon.utils import plugins
from rafcon.core.config import global_config
import rafcon.core.singleton as core_singletons
from rafcon.core.storage import storage as global_storage
# needed for yaml parsing
from rafcon.core.states.hierarchy_state import HierarchyState
from rafcon.core.states.execution_state import ExecutionState
from rafcon.core.states.preemptive_concurrency_state import PreemptiveConcurrencyState
from rafcon.core.states.barrier_concurrency_state import BarrierConcurrencyState
from rafcon.core.start import signal_handler, register_signal_handlers
register_signal_handlers(signal_handler)
logger = log.get_logger("start-no-gui")
logger.info("initialize RAFCON ... ")
plugins.load_plugins()
plugins.run_pre_inits()
global_config.load(path=os.path.dirname(os.path.abspath(__file__)))
# Initialize libraries
core_singletons.library_manager.initialize()
from tests import utils as testing_utils
state_machine = global_storage.load_state_machine_from_path(
testing_utils.get_test_sm_path(os.path.join("unit_test_state_machines", "99_bottles_of_beer_monitoring")))
sm_id = rafcon.core.singleton.state_machine_manager.add_state_machine(state_machine)
sm_thread = threading.Thread(target=check_for_sm_finished, args=[state_machine, ])
sm_thread.start()
setup_config = dict()
setup_config["net_config_path"] = os.path.abspath(path=os.path.join(os.path.dirname(os.path.abspath(__file__)),
"server"))
plugins.run_post_inits(setup_config)
if "twisted" in sys.modules:
print("################# twisted found #######################")
interacting_thread = threading.Thread(target=interacting_function,
args=[queue_dict, sm_id])
interacting_thread.start()
from twisted.internet import reactor
reactor.run()
else:
logger.error("Server: Twisted is not in sys.modules or twisted is not working! Exiting program ... !")
import os
os._exit(0)
state_machine.root_state.join()
rafcon.core.singleton.state_machine_execution_engine.stop()
logger.info("State machine execution finished!")
def start_client(interacting_function, queue_dict):
from rafcon.gui.config import global_gui_config
import os
from rafcon.gui.controllers.main_window import MainWindowController
from rafcon.gui.views.main_window import MainWindowView
import rafcon.gui.singleton as gui_singletons
from rafcon.gui.runtime_config import global_runtime_config
from rafcon.gui.start import signal_handler
import rafcon
from rafcon.utils import log
from rafcon.utils import plugins
from rafcon.core.config import global_config
from rafcon.core.storage import storage as global_storage
from rafcon.core.state_machine import StateMachine
from rafcon.core.states.hierarchy_state import HierarchyState
import rafcon.core.singleton as core_singletons
from rafcon.core.start import setup_environment
# load all plugins specified in the RAFCON_PLUGIN_PATH
plugins.load_plugins()
import testing_utils
# check if twisted is imported
if "twisted" in sys.modules.keys():
from twisted.internet import gtk2reactor
# needed for glib.idle_add, and signals
gtk2reactor.install()
from twisted.internet import reactor
else:
print "Twisted not imported! Thus the gkt2reatcor is not installed!"
exit()
plugins.run_pre_inits()
setup_logger()
logger = log.get_logger("start")
logger.info("RAFCON launcher")
setup_environment()
signal.signal(signal.SIGINT, signal_handler)
global_config.load(path=os.path.dirname(os.path.abspath(__file__)))
global_gui_config.load(path=os.path.dirname(os.path.abspath(__file__)))
global_runtime_config.load(path=os.path.dirname(os.path.abspath(__file__)))
setup_config = dict()
setup_config["net_config_path"] = os.path.abspath(path=os.path.join(
os.path.dirname(os.path.abspath(__file__)), "client"))
# Initialize library
core_singletons.library_manager.initialize()
# Create the GUI
main_window_view = MainWindowView()
state_machine = global_storage.load_state_machine_from_path(
testing_utils.get_test_sm_path(
os.path.join("unit_test_state_machines",
"99_bottles_of_beer_monitoring")))
sm_id = rafcon.core.singleton.state_machine_manager.add_state_machine(
state_machine)
rafcon.core.singleton.state_machine_manager.active_state_machine_id = sm_id
sm_manager_model = gui_singletons.state_machine_manager_model
main_window_controller = MainWindowController(sm_manager_model,
main_window_view)
plugins.run_post_inits(setup_config)
import threading
# this is not recognized by pycharm as the module is loaded in plugins.load_plugins()
from monitoring.monitoring_manager import global_monitoring_manager
interacting_thread = threading.Thread(
target=interacting_function,
args=[main_window_controller, global_monitoring_manager, queue_dict])
testing_utils.wait_for_gui()
interacting_thread.start()
# check if twisted is imported
if "twisted" in sys.modules.keys():
reactor.run()
else:
logger.error(
"Client: Twisted is not in sys.modules or twisted is not working! Exiting program ... !"
)
os._exit(0)
logger.info("Joined root state")
# If there is a running state-machine, wait for it to be finished before exiting
sm = core_singletons.state_machine_manager.get_active_state_machine()
if sm:
sm.root_state.join()
logger.info("Exiting ...")
# this is a ugly process shutdown method but works if gtk or twisted process are still blocking
os._exit(0)
def convert(config_path, source_path, target_path=None, gui_config_path=None):
logger.info("RAFCON launcher")
rafcon.gui.start.setup_l10n(logger)
from rafcon.gui.controllers.main_window import MainWindowController
from rafcon.gui.views.main_window import MainWindowView
setup_environment()
gui_config_path = gui_config_path or get_default_config_path()
setup_config = {}
setup_config["config_path"] = config_path
setup_config["gui_config_path"] = gui_config_path
setup_config["source_path"] = [source_path]
if not target_path:
setup_config["target_path"] = [source_path]
else:
setup_config["target_path"] = [target_path]
global_config.load(path=setup_config['config_path'])
global_gui_config.load(path=setup_config['gui_config_path'])
global_runtime_config.load(path=setup_config['gui_config_path'])
# Initialize library
core_singletons.library_manager.initialize()
# Create the GUI
main_window_view = MainWindowView()
if setup_config['source_path']:
if len(setup_config['source_path']) > 1:
logger.error("Only one state machine is supported yet")
exit(-1)
for path in setup_config['source_path']:
try:
state_machine = gui_helper_state_machine.open_state_machine(
path)
except Exception as e:
logger.error("Could not load state machine {0}: {1}".format(
path, e))
else:
logger.error(
"You need to specify exactly one state machine to be converted!")
sm_manager_model = gui_singletons.state_machine_manager_model
main_window_controller = MainWindowController(sm_manager_model,
main_window_view)
if not os.getenv("RAFCON_START_MINIMIZED", False):
main_window = main_window_view.get_top_widget()
size = global_runtime_config.get_config_value("WINDOW_SIZE", None)
position = global_runtime_config.get_config_value("WINDOW_POS", None)
if size:
main_window.resize(size[0], size[1])
if position:
position = (max(0, position[0]), max(0, position[1]))
screen_width = Gdk.Screen.width()
screen_height = Gdk.Screen.height()
if position[0] < screen_width and position[1] < screen_height:
main_window.move(position[0], position[1])
wait_for_gui()
thread = threading.Thread(target=trigger_gui_signals,
args=[
sm_manager_model, main_window_controller,
setup_config, state_machine
])
thread.start()
Gtk.main()
logger.debug("Gtk main loop exited!")
logger.debug("Conversion done")
