def _process_start_client(self, client, branch):
'''
Used to start a single client. This is done when a client dynamically joins after the solution has started.
'''
app_name = branch.node.tuple.split('.')[3]
node_name = branch.node.id
remappings = []
implementation = self._implementation.to_msg()
link_graph = implementation.link_graph
for edge in link_graph.edges:
if edge.start == node_name or edge.finish == node_name:
remappings.append((edge.remap_from, edge.remap_to))
rospy.loginfo(" node: %s/%s" % (node_name, client.name))
rospy.loginfo(" app: %s" % app_name)
rospy.loginfo(" remaps")
for (remap_from, remap_to) in remappings:
rospy.loginfo(" %s->%s" % (remap_from, remap_to))
# Check to see if start app service exists for the node, abort if not
start_app_name = '/' + client.gateway_name + '/start_app'
rospy.wait_for_service(start_app_name)
start_app = rospy.ServiceProxy(start_app_name,
rapp_manager_srvs.StartApp)
req = rapp_manager_srvs.StartAppRequest()
req.name = app_name
req.remappings = []
for remapping in remappings:
req.remappings.append(
rapp_manager_msgs.Remapping(remapping[0], remapping[1]))
rospy.loginfo(" Starting...")
resp = start_app(req)
if not resp.started:
rospy.logwarn(" failed to start app %s" % (app_name))
def start_app(self, app_name, remappings):
'''
@param app_name : string unique identifier for the app
@type string
@param remappings : list of (from,to) pairs
@type list of tuples
'''
self._start_app_service.wait_for_service()
req = rapp_manager_srvs.StartAppRequest()
req.name = app_name
req.remappings = []
for remapping in remappings:
req.remappings.append(
rapp_manager_msgs.Remapping(remapping[0], remapping[1]))
unused_resp = self._start_app_service(req)
def _process_start_solution(self, req):
# Put in checks to see if a solution is already running
response = concert_srvs.StartSolutionResponse()
if not self._pruned_compatibility_tree.is_valid():
response.success = False
response.message = "cowardly refused to start the solution [%s]..." % self._pruned_compatibility_tree.error_message
rospy.loginfo("Orchestration : %s" % response.message)
self._pruned_compatibility_tree.print_branches()
return response
if self._solution_running:
rospy.logwarn("Orchestration : %s" % response.message)
response.message = "chincha? the solution is already running..."
response.success = False
return response
implementation = self._implementation.to_msg()
response.success = True
response.message = "bonza"
link_graph = implementation.link_graph
rospy.loginfo("Orchestra : starting solution [%s]" %
implementation.name)
for branch in self._pruned_compatibility_tree.branches:
app_name = branch.node.tuple.split('.')[3]
node_name = branch.node.id
remappings = []
for edge in link_graph.edges:
if edge.start == node_name or edge.finish == node_name:
remappings.append((edge.remap_from, edge.remap_to))
for leaf in branch.leaves:
concert_client_name = leaf.name
rospy.loginfo(" node: %s/%s" %
(node_name, concert_client_name))
rospy.loginfo(" app: %s" % app_name)
rospy.loginfo(" remaps")
for (remap_from, remap_to) in remappings:
rospy.loginfo(" %s->%s" %
(remap_from, remap_to))
# Check to see if start app service exists for the node, abort if not
start_app_name = '/' + self._concert_clients[
concert_client_name].gateway_name + '/start_app'
rospy.wait_for_service(start_app_name)
start_app = rospy.ServiceProxy(start_app_name,
rapp_manager_srvs.StartApp)
req = rapp_manager_srvs.StartAppRequest()
req.name = app_name
req.remappings = []
for remapping in remappings:
req.remappings.append(
rapp_manager_msgs.Remapping(remapping[0],
remapping[1]))
rospy.loginfo(" Starting...")
resp = start_app(req)
if not resp.started:
response.success = False
response.message = "aigoo, failed to start app %s of %s" % (
app_name, concert_client_name)
rospy.logwarn(" failed to start app %s" %
(app_name))
if response.success:
rospy.loginfo("Orchestra: All clients' app are started")
else:
rospy.logwarn("Orchestra: " + response.message)
self._solution_running = True
return response