def main(reactor, commID, port):
f = open('/home/ros/launcher.log', 'w')
log.startLogging(f)
rospy.init_node('RCE_Launcher')
manager = NodeManager(reactor)
commManager = CommManager(reactor, commID)
cmdSerializer = CommandSerializer()
cmdSerializer.registerCommand([NodeCommand])
commManager.registerContentSerializers([cmdSerializer,
TagSerializer()])
distributor = ControlDistributor()
distributor.addHandler(types.NODE, manager.addNode)
distributor.addHandler(types.RM_NODE, manager.removeNode)
commManager.registerMessageProcessors([CommandProcessor(distributor),
TagProcessor(distributor)])
factory = RCEServerFactory(commManager)
factory.addApprovedMessageTypes([msgTypes.COMMAND, msgTypes.TAG])
reactor.listenTCP(port, 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 main(reactor, commID, uidPort, containerPort, relayPort):
f = open('/home/rce-user/master.log', 'w')
log.startLogging(f)
#log.startLogging(sys.stdout)
manager = MasterManager(reactor)
commManager = CommManager(reactor, commID)
loadBalancer = LoadBalancer(commManager)
uidServer = UIDServer(loadBalancer, 30)
manager.registerLoadBalancer(loadBalancer)
manager.registerControlFactory(_createControlFactory(commManager))
cmdSerializer = CommandSerializer()
cmdSerializer.registerCommand(
[ContainerCommand, RobotCommand, NodeCommand,
ParameterCommand, ArrayCommand, FileCommand, ConnectionCommand,
ServiceInterfaceCommand, ServiceProviderInterfaceCommand,
PublisherInterfaceCommand, SubscriberInterfaceCommand,
ServiceConverterCommand, ServiceProviderConverterCommand,
PublisherConverterCommand, SubscriberConverterCommand,
ServiceForwarderCommand, ServiceProviderForwarderCommand,
PublisherForwarderCommand, SubscriberForwarderCommand])
commManager.registerContentSerializers([ConnectDirectiveSerializer(),
CommInfoSerializer(),
cmdSerializer,
TagSerializer(),
RequestSerializer()])
commManager.registerMessageProcessors([RequestProcessor(manager)])
reactor.listenTCP(uidPort, uidServer)
cb = MasterCallbackFromContainer(uidServer)
factory = RCEServerFactory(commManager, [cb], [cb])
reactor.listenTCP(containerPort, factory)
cb = MasterCallbackFromRelay(uidServer)
factory = RCEServerFactory(commManager, [cb], [cb])
factory.addApprovedMessageTypes([types.REQUEST])
reactor.listenTCP(relayPort, factory)
# factory = CloudEngineWebSocketFactory(MasterWebSocketProtocol, manager,
# 'ws://localhost:9000')
# listenWS(factory)
handler = AuthenticationHandler(manager)
reactor.listenTCP(9000, Site(MasterRobotAuthentication(handler)))
reactor.addSystemEventTrigger('before', 'shutdown', uidServer.shutdown)
reactor.addSystemEventTrigger('before', 'shutdown', manager.shutdown)
reactor.addSystemEventTrigger('before', 'shutdown', commManager.shutdown)
reactor.run()
f.close()
