def main(reactor, commID, masterIP, masterPort, masterID):
f = open('/home/rce-user/container.log', 'w')
log.startLogging(f)
#log.startLogging(sys.stdout)
manager = ContainerManager(reactor)
commManager = CommManager(reactor, commID)
cmdSerializer = CommandSerializer()
cmdSerializer.registerCommand([ContainerCommand])
commManager.registerContentSerializers([CommInfoSerializer(),
cmdSerializer,
TagSerializer()])
distributor = ControlDistributor()
distributor.addHandler(types.CONTAINER, manager.createContainer)
distributor.addHandler(types.RM_CONTAINER, manager.destroyContainer)
commManager.registerMessageProcessors([CommInfoProcessor(manager),
CommandProcessor(distributor),
TagProcessor(distributor)])
factory = RCEClientFactory(commManager, masterID)
factory.addApprovedMessageTypes([msgTypes.COMM_INFO, msgTypes.COMMAND,
msgTypes.TAG])
reactor.connectTCP(masterIP, masterPort, factory)
reactor.addSystemEventTrigger('before', 'shutdown', manager.shutdown)
reactor.addSystemEventTrigger('before', 'shutdown', commManager.shutdown)
reactor.run()
f.close()
def main(reactor, commID, relayIP, relayPort, relayID, nodeIP, nodePort,
nodeID):
f = open('/opt/rce/data/env.log', 'w')
log.startLogging(f)
rospy.init_node('RCE_Master')
manager = Manager(reactor)
commManager = CommManager(reactor, commID)
manager.registerCommManager(commManager)
messenger = Messenger(manager, commManager)
manager.registerMessenger(messenger)
cmdSerializer = CommandSerializer()
cmdSerializer.registerCommand([NodeForwarderCommand, ConnectionCommand])
cmdSerializer.registerCommand(map(lambda x: x[1], _PARAMETER))
cmdSerializer.registerCommand(map(lambda x: x[1], _INTERFACE))
commManager.registerContentSerializers([cmdSerializer,
TagSerializer(),
ROSMsgSerializer()])
distributor = ControlDistributor()
distributor.addHandler(types.NODE, manager.addNode)
distributor.addHandler(types.RM_NODE, manager.removeNode)
distributor.addHandler(types.RM_PARAMETER, manager.removeParameter)
distributor.addHandler(types.RM_INTERFACE, manager.removeInterface)
distributor.addHandler(types.CONNECTION, manager.modifyConnection)
for conv in _PARAMETER:
distributor.addHandler(conv[0], manager.addParameter)
for conv in _INTERFACE:
distributor.addHandler(conv[0], manager.addInterface)
commManager.registerMessageProcessors([CommandProcessor(distributor),
TagProcessor(distributor),
messenger])
factory = RCEClientFactory(commManager, relayID)
factory.addApprovedMessageTypes([msgTypes.COMMAND, msgTypes.TAG,
msgTypes.ROS_MSG])
reactor.connectTCP(relayIP, relayPort, factory)
factory = RCEClientFactory(commManager, nodeID)
reactor.connectTCP(nodeIP, nodePort, factory)
def terminate():
reactor.callFromThread(manager.shutdown)
reactor.callFromThread(commManager.shutdown)
reactor.callFromThread(reactor.stop)
rospy.on_shutdown(terminate)
reactor.run(installSignalHandlers=False)
f.close()
def connectToRelays(self, relays):
""" Callback for remote.message.ConnectDirectiveProcessor to connect
to the specified relays.
@param relays: List of (commID, IP address) tuples describing the
relays to which connections should be established.
@type relay: [ (str, str) ]
"""
for relay in relays:
commID, ip = relay
if commID in self._relays:
continue # We are already connected to this relay.
# TODO: Small hack to circumvent problem with localhost IP
if ip == '127.0.0.1':
ip = self._masterIP
cb = RelayCallbackFromRelay(self, self._commManager)
factory = RCEClientFactory(self._commManager, commID, [cb], [cb])
factory.addApprovedMessageTypes([msgTypes.ROS_MSG])
self._reactor.connectTCP(ip, self._RELAY_PORT, factory)
