added reduced_nm.py to node_manager

fkie_node_manager/src/fkie_node_manager/reduced_nm.py

@@ -0,0 +1,172 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Fraunhofer FKIE/US, Alexander Tiderko
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Fraunhofer nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+import os
+import shlex
+import socket
+import subprocess
+import time
+try:
+    import xmlrpclib as xmlrpcclient
+except ImportError:
+    import xmlrpc.client as xmlrpcclient
+
+import rospy
+from rosgraph.network import get_local_addresses
+
+from fkie_master_discovery.common import masteruri_from_ros
+from fkie_master_discovery.common import get_hostname, get_port
+from fkie_node_manager_daemon import host as nmdhost
+from fkie_node_manager_daemon import screen
+
+
+class StartException(Exception):
+    pass
+
+
+def get_ros_home():
+    '''
+    Returns the ROS HOME depending on ROS distribution API.
+
+    :return: ROS HOME path
+    :rtype: str
+    '''
+    try:
+        import rospkg.distro
+        distro = rospkg.distro.current_distro_codename()
+        if distro in ['electric', 'diamondback', 'cturtle']:
+            import roslib.rosenv
+            return roslib.rosenv.get_ros_home()
+        else:
+            from rospkg import get_ros_home
+            return get_ros_home()
+    except Exception:
+        from roslib import rosenv
+        return rosenv.get_ros_home()
+
+
+class Settings(object):
+    LOG_VIEWER = "/usr/bin/less -fKLnQrSU"
+    STARTER_SCRIPT = 'rosrun fkie_node_manager remote_nm.py'
+    RESPAWN_SCRIPT = 'rosrun fkie_node_manager respawn'
+
+
+class StartHandler(object):
+
+    @classmethod
+    def is_local(cls, hostname, wait=False):
+        '''
+        Test whether the given host name is the name of the local host or not.
+
+        :param str hostname: the name or IP of the host
+        :return: True if the hostname is local or None
+        :rtype: bool
+        :raise Exception: on errors while resolving host
+        '''
+        if (hostname is None):
+            return True
+        try:
+            socket.inet_aton(hostname)
+            local_addresses = ['localhost'] + get_local_addresses()
+            # check 127/8 and local addresses
+            result = hostname.startswith('127.') or hostname in local_addresses
+            return result
+        except socket.error:
+            # the hostname must be resolved => do it in a thread
+            if wait:
+                result = cls.__is_local(hostname)
+                return result
+        return False
+
+    @classmethod
+    def __is_local(cls, hostname):
+        try:
+            machine_addr = socket.gethostbyname(hostname)
+        except socket.gaierror:
+            import traceback
+            print(traceback.format_exc())
+            return False
+        local_addresses = ['localhost'] + get_local_addresses()
+        # check 127/8 and local addresses
+        result = machine_addr.startswith('127.') or machine_addr in local_addresses
+        return result
+
+    @classmethod
+    def _prepareROSMaster(cls, masteruri):
+        if not masteruri:
+            masteruri = masteruri_from_ros()
+        # start roscore, if needed
+        try:
+            if not os.path.isdir(screen.LOG_PATH):
+                os.makedirs(screen.LOG_PATH)
+            socket.setdefaulttimeout(3)
+            master = xmlrpcclient.ServerProxy(masteruri)
+            master.getUri(rospy.get_name())
+        except Exception:
+            # run a roscore
+            screen.test_screen()
+            master_host = get_hostname(masteruri)
+            if cls.is_local(master_host, True):
+                print("Start ROS-Master with %s ..." % masteruri)
+                master_port = get_port(masteruri)
+                new_env = dict(os.environ)
+                new_env['ROS_MASTER_URI'] = masteruri
+                ros_hostname = nmdhost.get_ros_hostname(masteruri)
+                if ros_hostname:
+                    new_env['ROS_HOSTNAME'] = ros_hostname
+                cmd_args = '%s roscore --port %d' % (screen.get_cmd('/roscore--%d' % master_port), master_port)
+                try:
+                    subprocess.Popen(shlex.split(cmd_args), env=new_env)
+                    # wait for roscore to avoid connection problems while init_node
+                    result = -1
+                    count = 1
+                    while result == -1 and count < 11:
+                        try:
+                            print("  retry connect to ROS master %d/10" % count)
+                            master = xmlrpcclient.ServerProxy(masteruri)
+                            result, _, _ = master.getUri(rospy.get_name())  # _:=uri, msg
+                        except Exception:
+                            time.sleep(1)
+                            count += 1
+                    if count >= 11:
+                        raise StartException('Cannot connect to the ROS-Master: ' + str(masteruri))
+                except Exception as e:
+                    import sys
+                    sys.stderr.write("%s\n" % e)
+                    raise
+            else:
+                raise Exception("ROS master '%s' is not reachable" % masteruri)
+        finally:
+            socket.setdefaulttimeout(None)