def __monitor_process(self, proc):
try:
with self.__running_launch_files_lock:
if proc.pid not in self.__running_launch_files:
raise RuntimeError("Unknown process id: " + str(proc.pid))
provider = self.__running_launch_files[proc.pid][2]
if proc.stdout is not None:
while proc.returncode is None:
try:
for line in iter(proc.stdout.readline, ''):
for output in self.__outputs:
output.write(line)
except KeyboardInterrupt: # pragma: no cover
pass
proc.poll()
else:
proc.wait()
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.type = msg.TERMINATED
msg.pid = proc.pid
self.__event_publisher.publish(msg)
except Exception as exc:
rospy.logerr('{0}: {1}'.format(exc.__class__.__name__, str(exc)))
raise
def __monitor_process(self, proc):
try:
with self.__running_launch_files_lock:
if proc.pid not in self.__running_launch_files:
raise RuntimeError("Unknown process id: " + str(proc.pid))
provider = self.__running_launch_files[proc.pid][2]
if proc.stdout is not None:
while proc.returncode is None:
try:
for line in iter(proc.stdout.readline, ''):
for output in self.__outputs:
output.write(line)
except KeyboardInterrupt: # pragma: no cover
pass
proc.poll()
else:
proc.wait()
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.type = msg.TERMINATED
msg.pid = proc.pid
self.__event_publisher.publish(msg)
except Exception as exc:
rospy.logerr('{0}: {1}'.format(exc.__class__.__name__, str(exc)))
raise
def run_launch_file(self, launch_file, provider, manager=False):
with self.__running_launch_files_lock:
if launch_file is not None and launch_file in [x[3] for x in self.__running_launch_files.values()]:
raise RuntimeError("Launch file at '{0}' is already running."
.format(launch_file))
if launch_file is None:
cmd = [self.__python_exec, _placeholder_script]
else:
if self.__screen:
cmd = [self.__roslaunch_exec, '--screen', launch_file]
else:
cmd = [self.__roslaunch_exec, launch_file]
if manager:
cmd.append("capability_server_nodelet_manager_name:=" + self.__nodelet_manager_name.split('/')[-1])
else:
cmd.append("capability_server_nodelet_manager_name:=" + self.__nodelet_manager_name)
if self.__quiet:
env = copy.deepcopy(os.environ)
env['PYTHONUNBUFFERED'] = 'x'
proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, env=env)
else:
proc = subprocess.Popen(cmd)
thread = self.__start_communication_thread(proc)
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.pid = proc.pid
msg.type = msg.LAUNCHED
self.__running_launch_files[proc.pid] = [
proc, thread, provider, launch_file
]
self.__event_publisher.publish(msg)
thread.start()
def run_launch_file(self, launch_file, provider, manager=False):
with self.__running_launch_files_lock:
if launch_file is not None and launch_file in [x[3] for x in self.__running_launch_files.values()]:
raise RuntimeError("Launch file at '{0}' is already running."
.format(launch_file))
if launch_file is None:
cmd = [self.__python_exec, _placeholder_script]
else:
if self.__screen:
cmd = [self.__roslaunch_exec, '--screen', launch_file]
else:
cmd = [self.__roslaunch_exec, launch_file]
if manager:
cmd.append("capability_server_nodelet_manager_name:=" + self.__nodelet_manager_name.split('/')[-1])
else:
cmd.append("capability_server_nodelet_manager_name:=" + self.__nodelet_manager_name)
if self.__quiet:
env = copy.deepcopy(os.environ)
env['PYTHONUNBUFFERED'] = 'x'
proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, env=env)
else:
proc = subprocess.Popen(cmd)
thread = self.__start_communication_thread(proc)
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.pid = proc.pid
msg.type = msg.LAUNCHED
self.__running_launch_files[proc.pid] = [
proc, thread, provider, launch_file
]
self.__event_publisher.publish(msg)
thread.start()
def run_capability_provider(self, provider, provider_path):
"""Runs a given capability provider by launching its launch file
:param provider: provider that should be launched
:type provider: :py:class:`capabilities.specs.provider.CapabilityProvider`
:param provider_path: path which the provider spec file is located at
:type provider_path: str
"""
if os.path.isfile(provider_path):
provider_path = os.path.dirname(provider_path)
launch_file = os.path.join(provider_path, provider.launch_file)
with self.__running_launch_files_lock:
if launch_file in [x[3] for x in self.__running_launch_files]:
raise RuntimeError("Launch file at '{0}' is already running."
.format(launch_file))
cmd = [self.__roslaunch_exec, launch_file]
proc = subprocess.Popen(
cmd)
thread = self.__start_communication_thread(proc)
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.pid = proc.pid
msg.type = msg.LAUNCHED
self.__running_launch_files[proc.pid] = [
proc, thread, provider, launch_file
]
self.__event_publisher.publish(msg)
thread.start()
def run_capability_provider(self, provider, provider_path):
"""Runs a given capability provider by launching its launch file
:param provider: provider that should be launched
:type provider: :py:class:`capabilities.specs.provider.CapabilityProvider`
:param provider_path: path which the provider spec file is located at
:type provider_path: str
"""
if os.path.isfile(provider_path):
provider_path = os.path.dirname(provider_path)
if provider.launch_file is None:
launch_file = None
rospy.loginfo(
"Provider '{0}' does not have a launch file, running a placeholder."
.format(provider.name))
else:
launch_file = os.path.join(provider_path, provider.launch_file)
with self.__running_launch_files_lock:
if launch_file is not None and launch_file in [
x[3] for x in self.__running_launch_files.values()
]:
raise RuntimeError(
"Launch file at '{0}' is already running.".format(
launch_file))
if launch_file is None:
cmd = [self.__python_exec, _placeholder_script]
else:
if self.__screen:
cmd = [self.__roslaunch_exec, '--screen', launch_file]
else:
cmd = [self.__roslaunch_exec, launch_file]
if self.__quiet:
env = copy.deepcopy(os.environ)
env['PYTHONUNBUFFERED'] = 'x'
proc = subprocess.Popen(cmd,
stdout=subprocess.PIPE,
stderr=subprocess.STDOUT,
env=env)
else:
proc = subprocess.Popen(cmd)
thread = self.__start_communication_thread(proc)
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.pid = proc.pid
msg.type = msg.LAUNCHED
self.__running_launch_files[proc.pid] = [
proc, thread, provider, launch_file
]
self.__event_publisher.publish(msg)
thread.start()
def test_event_handler(self):
invalid_specs_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces', 'invalid_specs')
ros_package_path = [invalid_specs_dir]
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
capability_server._CapabilityServer__populate_default_providers()
rospy.Subscriber('~events', CapabilityEvent, capability_server.handle_capability_events)
pub = rospy.Publisher("~events", CapabilityEvent)
rospy.sleep(1)
msg = CapabilityEvent()
msg.capability = 'some_pkg/NotACapability'
msg.provider = 'doesnt matter'
msg.type = 'doesnt matter'
pub.publish(msg)
rospy.sleep(1) # Allow time for the publish to happen
def run_capability_provider(self, provider, provider_path):
"""Runs a given capability provider by launching its launch file
:param provider: provider that should be launched
:type provider: :py:class:`capabilities.specs.provider.CapabilityProvider`
:param provider_path: path which the provider spec file is located at
:type provider_path: str
"""
if os.path.isfile(provider_path):
provider_path = os.path.dirname(provider_path)
if provider.launch_file is None:
launch_file = None
rospy.loginfo("Provider '{0}' does not have a launch file, running a placeholder."
.format(provider.name))
else:
launch_file = os.path.join(provider_path, provider.launch_file)
with self.__running_launch_files_lock:
if launch_file is not None and launch_file in [x[3] for x in self.__running_launch_files.values()]:
raise RuntimeError("Launch file at '{0}' is already running."
.format(launch_file))
if launch_file is None:
cmd = [self.__python_exec, _placeholder_script]
else:
if self.__screen:
cmd = [self.__roslaunch_exec, '--screen', launch_file]
else:
cmd = [self.__roslaunch_exec, launch_file]
if self.__quiet:
env = copy.deepcopy(os.environ)
env['PYTHONUNBUFFERED'] = 'x'
proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, env=env)
else:
proc = subprocess.Popen(cmd)
thread = self.__start_communication_thread(proc)
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.pid = proc.pid
msg.type = msg.LAUNCHED
self.__running_launch_files[proc.pid] = [
proc, thread, provider, launch_file
]
self.__event_publisher.publish(msg)
thread.start()
def test_event_handler(self):
invalid_specs_dir = os.path.join(TEST_DIR, 'unit',
'discovery_workspaces',
'invalid_specs')
ros_package_path = [invalid_specs_dir]
capability_server = server.CapabilityServer(ros_package_path)
capability_server._CapabilityServer__load_capabilities()
capability_server._CapabilityServer__populate_default_providers()
rospy.Subscriber('~events', CapabilityEvent,
capability_server.handle_capability_events)
pub = rospy.Publisher("~events", CapabilityEvent)
rospy.sleep(1)
msg = CapabilityEvent()
msg.capability = 'some_pkg/NotACapability'
msg.provider = 'doesnt matter'
msg.type = 'doesnt matter'
pub.publish(msg)
rospy.sleep(1) # Allow time for the publish to happen
def __monitor_process(self, proc):
try:
with self.__running_launch_files_lock:
if proc.pid not in self.__running_launch_files:
raise RuntimeError("Unknown process id: " + str(proc.pid))
provider = self.__running_launch_files[proc.pid][2]
if proc.stdout is not None:
while proc.returncode is None:
for line in iter(proc.stdout.readline, ''):
for outputs in self.__outputs:
outputs.write(line)
proc.wait()
msg = CapabilityEvent()
msg.header.stamp = rospy.Time.now()
msg.capability = provider.implements
msg.provider = provider.name
msg.type = msg.TERMINATED
msg.pid = proc.pid
self.__event_publisher.publish(msg)
except Exception as e:
print(str(e), file=sys.stderr)
