def abort_current_task():
print_it('start_complete_demo: abort_current_task')
global __aborting_task
global subproc
global __clock_subscriber
global __quit
if __quit:
print_it('Already quitting. Nothing to do here.')
elif __aborting_task:
print_it('Already aborting task. Nothing to do here.')
else:
__aborting_task = True
if __clock_subscriber is not None:
print_it('Unsubscribing clock subscriber.')
__clock_subscriber.unregister()
if subproc is not None:
try:
print_it('Killing subproc with pid ' + str(subproc.pid))
exterminate(subproc.pid, signal.SIGINT)
print_it(
'Waiting for subproc to terminate. Please be patient.')
utils.wait_for_process(subproc, 90)
poll = subproc.poll()
if poll is None:
print_it('Could not kill task process. Forcing!'
' (pid: ' + str(subproc.pid) +
', subproc.poll(): ' + str(poll) + ')')
exterminate(subproc.pid, signal.SIGKILL, r=True)
except Exception, e:
print_it(e)
__aborting_task = False
def abort_current_task():
print_it('start_complete_demo: abort_current_task')
global __aborting_task
global subproc
global __clock_subscriber
global __quit
if __quit:
print_it('Already quitting. Nothing to do here.')
elif __aborting_task:
print_it('Already aborting task. Nothing to do here.')
else:
__aborting_task = True
if __clock_subscriber is not None:
print_it('Unsubscribing clock subscriber.')
__clock_subscriber.unregister()
if subproc is not None:
try:
print_it('Killing subproc with pid ' + str(subproc.pid))
exterminate(subproc.pid, signal.SIGINT)
print_it('Waiting for subproc to terminate. Please be patient.')
utils.wait_for_process(subproc, 90)
poll = subproc.poll()
if poll is None:
print_it('Could not kill task process. Forcing!'
' (pid: ' + str(subproc.pid) + ', subproc.poll(): ' + str(poll) + ')')
exterminate(subproc.pid, signal.SIGKILL, r=True)
except Exception, e:
print_it(e)
__aborting_task = False
def check_node(initialization_time, logging):
global executed_test_node_check
rospy.loginfo('Executing TestNode check.')
rospy.loginfo('rospy.is_shutdown(): ' + str(rospy.is_shutdown()))
test_node, test_node_logger = utils.start_node('rosrun euroc_launch TestNode --check', initialization_time,
logging, 'TestNode check')
if not utils.wait_for_process(test_node, 15):
rospy.loginfo('Killing TestNode check.')
exterminate(test_node.pid, signal.SIGKILL)
executed_test_node_check = True
rospy.loginfo('Finished TestNode check.')
def check_node(initialization_time, logging):
global executed_test_node_check
rospy.loginfo('Executing TestNode check.')
rospy.loginfo('rospy.is_shutdown(): ' + str(rospy.is_shutdown()))
test_node, test_node_logger = utils.start_node(
'rosrun euroc_launch TestNode --check', initialization_time, logging,
'TestNode check')
if not utils.wait_for_process(test_node, 15):
rospy.loginfo('Killing TestNode check.')
exterminate(test_node.pid, signal.SIGKILL)
executed_test_node_check = True
rospy.loginfo('Finished TestNode check.')
def exit_handler(signum=None, frame=None):
print('start_nodes: exit_handler')
global __handling_exit
if __handling_exit:
print('start_nodes: Already handling exit.')
return
__handling_exit = True
global manipulation_process
if manipulation_process is not None:
print 'Killing manipulation'
exterminate(manipulation_process.pid, signal.SIGKILL, r=True)
global manipulation_conveyor_frames_process
if manipulation_conveyor_frames_process is not None:
print('Killing manipulation_conveyor_frames_process.')
exterminate(manipulation_conveyor_frames_process.pid,
signal.SIGKILL,
r=True)
global perception_process
if perception_process is not None:
print 'Killing perception'
exterminate(perception_process.pid, signal.SIGKILL, r=True)
global classifier_process
if classifier_process is not None:
print 'Killing classifier'
exterminate(classifier_process.pid, signal.SIGKILL, r=True)
time.sleep(3)
rospy.signal_shutdown('Finished handling exit. Shutting down Node.')
print('start_nodes: Exiting exit_handler')
def exit_handler(signum=None, frame=None):
print('start_nodes: exit_handler')
global __handling_exit
if __handling_exit:
print('start_nodes: Already handling exit.')
return
__handling_exit = True
global manipulation_process
if manipulation_process is not None:
print 'Killing manipulation'
exterminate(manipulation_process.pid, signal.SIGKILL, r=True)
global manipulation_conveyor_frames_process
if manipulation_conveyor_frames_process is not None:
print('Killing manipulation_conveyor_frames_process.')
exterminate(manipulation_conveyor_frames_process.pid, signal.SIGKILL, r=True)
global perception_process
if perception_process is not None:
print 'Killing perception'
exterminate(perception_process.pid, signal.SIGKILL, r=True)
global classifier_process
if classifier_process is not None:
print 'Killing classifier'
exterminate(classifier_process.pid, signal.SIGKILL, r=True)
time.sleep(3)
rospy.signal_shutdown('Finished handling exit. Shutting down Node.')
print('start_nodes: Exiting exit_handler')
def exit_handler(signum=None, frame=None):
print('start_task: exit_handler')
print('start_task: signum: ' + str(signum) + ', frame: ' + str(frame))
global __handling_exit
global _save_log
print 'rospy.is_shutdown() = ' + str(rospy.is_shutdown())
if __handling_exit:
print('start_task: Already handling exit.')
return
__handling_exit = True
print('start_task: Checking for task selector.')
global _pro_task_selector
if _pro_task_selector is not None:
print 'Stopping TaskSelector'
print 'Stopping gazebo'
exterminate(_pro_task_selector.pid, signal.SIGINT)
#print('Exiting moveit_commander.')
#moveit_commander.os._exit(0)
print('start_task: Exiting exit_handler')
def exit_handler(signum=None, frame=None):
print('start_task: exit_handler')
print('start_task: signum: ' + str(signum) + ', frame: ' + str(frame))
global __handling_exit
global _save_log
print 'rospy.is_shutdown() = ' + str(rospy.is_shutdown())
if __handling_exit:
print('start_task: Already handling exit.')
return
__handling_exit = True
print('start_task: Checking for task selector.')
global _pro_task_selector
if _pro_task_selector is not None:
print 'Stopping TaskSelector'
print 'Stopping gazebo'
exterminate(_pro_task_selector.pid, signal.SIGINT)
#print('Exiting moveit_commander.')
#moveit_commander.os._exit(0)
print('start_task: Exiting exit_handler')
def execute(self, userdata):
rospy.loginfo('Executing state StopNodes.')
if userdata.perception_process is not None:
exterminate(userdata.perception_process.pid, signal.SIGKILL, r=True)
if userdata.manipulation_process is not None:
exterminate(userdata.manipulation_process.pid, signal.SIGKILL, r=True)
if userdata.manipulation_conveyor_frames_process is not None:
exterminate(userdata.manipulation_conveyor_frames_process.pid, signal.SIGKILL, r=True)
if userdata.classifier_process is not None:
exterminate(userdata.classifier_process.pid, signal.SIGKILL, r=True)
rospy.signal_shutdown('Finished plan. Shutting down Node.')
time.sleep(3)
rospy.loginfo('Finished state StopNodes.')
return 'success'
def stop_nodes(self, req):
resp = TaskDataServiceResponse()
resp.taskdata = req.taskdata
rospy.loginfo('Executing state StopNodes.')
if perception_process is not None:
exterminate(perception_process.pid, signal.SIGKILL, r=True)
if manipulation_process is not None:
exterminate(manipulation_process.pid, signal.SIGKILL, r=True)
if manipulation_conveyor_frames_process is not None:
exterminate(manipulation_conveyor_frames_process.pid, signal.SIGKILL, r=True)
if classifier_process is not None:
exterminate(classifier_process.pid, signal.SIGKILL, r=True)
rospy.signal_shutdown('Finished plan. Shutting down Node.')
time.sleep(3)
rospy.loginfo('Finished state StopNodes.')
resp.result = 'success'
return resp
def stop_nodes(self, req):
resp = TaskDataServiceResponse()
resp.taskdata = req.taskdata
rospy.loginfo('Executing state StopNodes.')
if perception_process is not None:
exterminate(perception_process.pid, signal.SIGKILL, r=True)
if manipulation_process is not None:
exterminate(manipulation_process.pid, signal.SIGKILL, r=True)
if manipulation_conveyor_frames_process is not None:
exterminate(manipulation_conveyor_frames_process.pid,
signal.SIGKILL,
r=True)
if classifier_process is not None:
exterminate(classifier_process.pid, signal.SIGKILL, r=True)
rospy.signal_shutdown('Finished plan. Shutting down Node.')
time.sleep(3)
rospy.loginfo('Finished state StopNodes.')
resp.result = 'success'
return resp
def execute(self, userdata):
rospy.loginfo('Executing state StopNodes.')
if userdata.perception_process is not None:
exterminate(userdata.perception_process.pid,
signal.SIGKILL,
r=True)
if userdata.manipulation_process is not None:
exterminate(userdata.manipulation_process.pid,
signal.SIGKILL,
r=True)
if userdata.manipulation_conveyor_frames_process is not None:
exterminate(userdata.manipulation_conveyor_frames_process.pid,
signal.SIGKILL,
r=True)
if userdata.classifier_process is not None:
exterminate(userdata.classifier_process.pid,
signal.SIGKILL,
r=True)
rospy.signal_shutdown('Finished plan. Shutting down Node.')
time.sleep(3)
rospy.loginfo('Finished state StopNodes.')
return 'success'
def kill_like_a_berserk():
print_it('start_complete_demo: kill_like_a_berserk')
global subproc
print_it('Killing subproc like a berserk.')
exterminate(subproc.pid, signal.SIGKILL, r=True)
print_it('start_complete_demo: Exiting kill_like_a_berserk.')
def kill_like_a_berserk():
print_it('start_complete_demo: kill_like_a_berserk')
global subproc
print_it('Killing subproc like a berserk.')
exterminate(subproc.pid, signal.SIGKILL, r=True)
print_it('start_complete_demo: Exiting kill_like_a_berserk.')
