def down():
mounts = [os.path.join(settings.ROOTFS, pkg[1])
for pkg in processPkgPath(settings.ROOT_PKG_DIR)]
stdDir = _STD_DIR[:]
stdDir.reverse()
# Add the system relevant directories which have to be unmounted as well in
# reversed order and unmount all directories
for target in mounts + [os.path.join(settings.ROOTFS, path[1:])
for path in stdDir]:
try:
subprocess.check_output(['umount', target])
except subprocess.CalledProcessError as e:
sys.stderr.write("Could not unmount '{0}'.\n\tExitcode: "
'{1}'.format(target, e.returncode))
if e.output:
sys.stderr.write('\tOutput: {0}'.format(e.output))
# Delete all the extra created mount points
for mount in mounts:
os.rmdir(mount)
def up():
mounts = [(pkg[0], os.path.join(settings.ROOTFS, pkg[1]))
for pkg in processPkgPath(settings.ROOT_PKG_DIR)]
# Create all the necessary mount points
for mount in mounts:
os.makedirs(mount[1])
# Add the system relevant directories which have to be mounted as well and
# mount all directories
for source, target in [(path, os.path.join(settings.ROOTFS, path[1:]))
for path in _STD_DIR] + mounts:
try:
subprocess.check_output(['mount', '--bind', source, target])
except subprocess.CalledProcessError as e:
sys.stderr.write("Could not mount '{0}'.\n\tExitcode: "
'{1}'.format(source, e.returncode))
if e.output:
sys.stderr.write('\tOutput: {0}'.format(e.output))
# Return the directory to the root of the container filesystem
sys.stdout.write(settings.ROOTFS)
def main(reactor, cred, masterIP, masterPort, extIF, extPort, commPort, pkgPath, customConverters):
log.startLogging(sys.stdout)
def _err(reason):
print(reason)
reactor.stop()
factory = PBClientFactory()
reactor.connectTCP(masterIP, masterPort, factory)
rosPath = []
for path in get_ros_paths() + [p for p, _ in processPkgPath(pkgPath)]:
if path not in rosPath:
rosPath.append(path)
loader = Loader(rosPath)
converter = Converter(loader)
for customConverter in customConverters:
# Get correct path/name of the converter
module, className = customConverter.rsplit(".", 1)
# Load the converter
mod = __import__(module, fromlist=[className])
converter.addCustomConverter(getattr(mod, className))
client = RobotClient(reactor, commPort, extIF, extPort, loader, converter)
d = factory.login(cred, client)
d.addCallback(lambda ref: setattr(client, "_avatar", ref))
d.addErrback(_err)
portal = Portal(client, (client,))
robot = CloudEngineWebSocketFactory(portal, "ws://localhost:{0}".format(extPort))
listenWS(robot)
reactor.addSystemEventTrigger("before", "shutdown", client.terminate)
reactor.run()
def __init__(self, reactor, masterIP, intIF, bridgeIF, envPort, rootfsDir,
confDir, dataDir, srcDir, pkgDir):
""" Initialize the Container Client.
@param reactor: Reference to the twisted reactor.
@type reactor: twisted::reactor
@param masterIP: IP address of the Master process.
@type masterIP: str
@param intIF: Name of the network interface used for the
internal network.
@type intIF: str
@param bridgeIF: Name of the bridge interface used for the
container network.
@type bridgeIF: str
@param envPort: Port where the environment process running
inside the container is listening for
connections to other endpoints. (Used for
port forwarding.)
@type envPort: int
@param rootfsDir: Filesystem path to the root directory of the
container filesystem.
@type rootfsDir: str
@param confDir: Filesystem path to the directory where
container configuration files should be stored.
@type confDir: str
@param dataDir: Filesystem path to the directory where
temporary data of a container should be stored.
@type dataDir: str
@param srcDir: Filesystem path to the directory where the
source of the cloud engine is located.
@type srcDir: str
@param pkgDir: Filesystem paths to the package directories
as a list of tuples where each tuple contains
the path to the directory in the host machine
and the path to the directory to which the
host directory will be bound in the container
filesystem (without the @param rootfsDir).
@type pkgDir: [(str, str)]
"""
self._reactor = reactor
self._internalIP = getIP(intIF)
self._envPort = envPort
bridgeIP = getIP(bridgeIF)
if masterIP in ('localhost', '127.0.0.1'):
self._masterIP = bridgeIP
else:
self._masterIP = masterIP
self._rootfs = rootfsDir
self._confDir = confDir
self._dataDir = dataDir
self._srcDir = srcDir
# Validate directory paths
checkPath(self._confDir, 'Configuration')
checkPath(self._dataDir, 'Data')
checkPath(self._rootfs, 'Container file system')
checkPath(self._srcDir, 'RCE source')
# Validate executable paths
checkExe(self._srcDir, 'environment.py')
#checkExe(self._srcDir, 'launcher.py')
# Process ROS package paths
self._pkgDir = processPkgPath(pkgDir)
for _, path in self._pkgDir:
os.mkdir(os.path.join(self._rootfs, path))
self._nrs = set(range(100, 200))
self._containers = set()
# Network configuration
self._network = bridgeIP[:bridgeIP.rfind('.')]
self._networkConf = _NETWORK_INTERFACES.format(network=self._network)
# Common iptables references
nat = iptc.Table(iptc.Table.NAT)
self._prerouting = iptc.Chain(nat, 'PREROUTING')
self._output = iptc.Chain(nat, 'OUTPUT')