More preparations for #3

Added argsparser and some Arguments (currently not working)

scripts/core.py

@@ -26,45 +26,77 @@
 # logwarn
 
 # Import required Python code.
+import json
+import os
 import sys
 import copy
 import rospy
 import signal
+import argparse
 
-from setup import launchSetup
+current_path = os.path.dirname(os.path.abspath(__file__))
+FIROS_CONF_PATH = [current_path + "/../config"]
 
-from include.constants import *
+# Main function.
+if __name__ == '__main__':
+    # Input Parsing
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-P', action='store', dest='port', help='Set the Port of the Firos-Server')
+    parser.add_argument('--conf', action='store', dest='conf_Fold', help='Set the config-Folder for Firos')
+    parser.add_argument('--ros-port', action='store', dest='ros_port', help='Set the ROS-Port for Firos')
+    parser.add_argument('--ros-node-name', action='store', dest='ros_node_name', help='Set the ROS-Node-Name')
+    parser.add_argument('--loglevel', action='store', dest='loglevel', help='Set the LogLevel (INFO, WARNING, ERROR,  CRITICAL)')
 
-from include import confManager
-from include.logger import Log
-from include.mapServer import MapServer
-from include.server.firosServer import FirosServer
+                    
+    # Get Input
+    results = parser.parse_args()
+    
 
-from include.ros.topicHandler import RosTopicHandler, loadMsgHandlers, createConnectionListeners
-from include.rcm import topicManager
 
-# Main function.
-if __name__ == '__main__':
+    if results.conf_Fold is not None:
+        current_path = os.getcwd()
+        FIROS_CONF_PATH[0] = current_path + "/" + results.conf_Fold
+        # TODO DL This re-assignment is currently not working!
+
+
+    # Importing firos specific scripts
+    from setup import launchSetup
+    from include import constants as c
+
+    from include import confManager
+    from include.logger import Log
+    from include.mapServer import MapServer
+    from include.server.firosServer import FirosServer
+
+    from include.ros.topicHandler import RosTopicHandler, loadMsgHandlers, createConnectionListeners
+    from include.rcm import topicManager
 
-    Log("INFO", "Initializing ROS node: " + NODE_NAME)
-    rospy.init_node(NODE_NAME)
+
+
+
+    if results.port is not None and type(results.port) is int:
+        c.MAP_SERVER_PORT = results.port
+
+    if results.ros_port is not None and type(results.ros_port) is int:
+        c.ROSBRIDGE_PORT = results.ros_port
+
+    if results.ros_node_name is not None and type(results.ros_node_name) is str:
+        c.ROS_NODE_NAME = results.ros_node_name
+
+    if results.loglevel is not None and type(results.loglevel) is int:
+        c.LOGLEVEL = results.loglevel
+
+
+    Log("INFO", "Initializing ROS node: " + c.ROS_NODE_NAME)
+    rospy.init_node(c.ROS_NODE_NAME)
     Log("INFO", "Initialized")
 
-    port = None
 
-    args = copy.deepcopy(sys.argv)
-    args.pop(0)
 
-    for i in range(len(args)-1):
-        if args[i].upper() == "-P":
-            i = i + 1
-            port = int(args[i])
 
-    if port is None:
-        port = SERVER_PORT
 
     try:
-        server = FirosServer("0.0.0.0", port)
+        server = FirosServer("0.0.0.0", c.MAP_SERVER_PORT)
     except Exception as ex:
         sys.stderr.write('CB_COMMUNICATION_FAILED')
         exit(1)
@@ -92,3 +124,4 @@ def signal_handler(signal, frame):
 
         Log("INFO", "\nPress Ctrl+C to Exit\n")
         server.start()
+

scripts/include/constants.py

@@ -19,71 +19,94 @@
 import urllib2
 import netifaces
 
+from core import FIROS_CONF_PATH
 
-def setConfiguration():
+
+
+def setConfiguration(path):
     try:
-        current_path = os.path.dirname(os.path.abspath(__file__))
-        json_path = current_path.replace("scripts/include", "config/config.json")
-        data = json.load(open(json_path))
+        data = json.load(open(path + "/config.json"))
         return data[data["environment"]]
     except:
         return {}
 
 configured = False
 
+# All Constants with their default value!
+PATH = None
+
+LOGLEVEL = "INFO"
+INTERFACE = "public"
+
+MAP_SERVER_ADRESS = None
+MAP_SERVER_PORT = 10100
+ROSBRIDGE_PORT = 9090
+CONTEXTBROKER_ADRESS = None
+CONTEXTBROKER_PORT = None
+
+CB_THROTTLING = 0
+CB_SUB_LENGTH = 300             # In Seconds!
+CB_SUB_REFRESH = 0.9            # After 90% of time is exceeded
+CB_CONTEXT_TYPE = "ROBOT"   
+
+ROS_NODE_NAME = "firos"
+ROS_SUB_QUEUE_SIZE = 10 
+
+
+
 if not configured:
     configured = True
-    configData = setConfiguration()
-    INTERFACE = configData["interface"] if "interface" in configData else "public"
-    LOGLEVEL = configData["log_level"] if "log_level" in configData else "INFO"
-
-
-SERVER_PORT = configData["server"]["port"]
-if("index" in configData["contextbroker"]):
-    INDEX_CONTEXTBROKER = {
-        "ADDRESS": configData["contextbroker"]["index"]["address"],
-        "PORT": configData["contextbroker"]["index"]["port"],
-    }
-
-    DATA_CONTEXTBROKER = {
-        "ADDRESS": configData["contextbroker"]["data"]["address"],
-        "PORT": configData["contextbroker"]["data"]["port"],
-    }
-else:
-    INDEX_CONTEXTBROKER = {
-        "ADDRESS": configData["contextbroker"]["address"],
-        "PORT": configData["contextbroker"]["port"],
-    }
-
-    DATA_CONTEXTBROKER = {
-        "ADDRESS": configData["contextbroker"]["address"],
-        "PORT": configData["contextbroker"]["port"],
-    }
-
-# THROTTLING = "PT1S"
-THROTTLING = configData["contextbroker"]["subscription"]["throttling"]
-SUBSCRIPTION_LENGTH = configData["contextbroker"]["subscription"]["subscription_length"]
-SUBSCRIPTION_REFRESH_DELAY = configData["contextbroker"]["subscription"]["subscription_refresh_delay"]
-
-SEPARATOR_CHAR = "%27"
-
-# ROS CONFIG
-NODE_NAME = "firos"
-DEFAULT_CONTEXT_TYPE = "ROBOT"
-DEFAULT_QUEUE_SIZE = 10
-
-if INTERFACE == "public":
-    IP = urllib2.urlopen('http://ip.42.pl/raw').read()
-else:
-    netifaces.ifaddresses(INTERFACE)
-    IP = netifaces.ifaddresses(INTERFACE)[2][0]['addr']
-
-if "map_server_port" in configData:
-    MAP_SERVER_PORT = configData["map_server_port"]
-else:
-    MAP_SERVER_PORT = None
-
-if "rosbridge_port" in configData:
-    ROSBRIDGE_PORT = configData["rosbridge_port"]
-else:
-    ROSBRIDGE_PORT = 9090
+    PATH = FIROS_CONF_PATH[0]
+    print PATH
+
+    configData = setConfiguration(PATH)
+
+    if "interface" in configData:
+        INTERFACE = configData["interface"]
+
+    if "log_level" in configData:
+        LOGLEVEL = configData["log_level"]
+
+    if "server" in configData and "port" in configData["server"]:
+        MAP_SERVER_PORT = configData["server"]["port"]
+
+    try:
+        CONTEXTBROKER_ADRESS = configData["contextbroker"]["address"]
+        CONTEXTBROKER_PORT = configData["contextbroker"]["port"]
+    except:
+        print "TODO DL"
+
+    if "contextbroker" in configData and "subscription" in configData["contextbroker"]:
+        # Configuration for Subscription
+        subConfig = configData["contextbroker"]["subscription"]
+        if "throttling" in subConfig:
+            CB_THROTTLING = subConfig["throttling"]
+        
+        if "subscription_length" in subConfig:
+            CB_SUB_LENGTH = subConfig["subscription_length"]
+        
+        if "subscription_refresh_delay" in subConfig:
+            CB_SUB_REFRESH = subConfig["subscription_refresh_delay"]
+
+
+    if "node_name" in configData:
+        ROS_NODE_NAME = configData["node_name"]
+    
+    if "ros_subscriber_queue" in configData:
+        ROS_SUB_QUEUE_SIZE = configData["ros_subscriber_queue"]
+
+    if "cb_type" in configData:
+        CB_CONTEXT_TYPE = configData["cb_type"]
+
+
+    if INTERFACE == "public":
+        MAP_SERVER_ADRESS = urllib2.urlopen('http://ip.42.pl/raw').read()
+    else:
+        netifaces.ifaddresses(INTERFACE)
+        MAP_SERVER_ADRESS = netifaces.ifaddresses(INTERFACE)[2][0]['addr']
+
+    if "rosbridge_port" in configData:
+        ROSBRIDGE_PORT = configData["rosbridge_port"]
+
+
+

scripts/include/contextbroker/cbPublisher.py

@@ -20,16 +20,15 @@
 __version__ = "0.0.1a"
 __status__ = "Developement"
 
-import os
 import json
 import requests
 
 from include.logger import Log
-from include.constants import DATA_CONTEXTBROKER
+from include.constants import CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT, PATH
 from include.FiwareObjectConverter.objectFiwareConverter import ObjectFiwareConverter
 
 
-CB_BASE_URL = "http://{}:{}/v2/entities/".format(DATA_CONTEXTBROKER["ADDRESS"], DATA_CONTEXTBROKER["PORT"])
+CB_BASE_URL = "http://{}:{}/v2/entities/".format(CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT)
 CB_HEADER = {'Content-Type': 'application/json'}
 
 class CbPublisher(object):
@@ -117,9 +116,7 @@ def _loadDescriptions(self, robotID):
 
             robotID: The Robot-Id-String
         '''
-        # TODO DL no hardcoded reference to files!
-        current_path = os.path.dirname(os.path.abspath(__file__))
-        json_path = current_path.replace("scripts/include/contextbroker", "config/robotdescriptions.json")
+        json_path = PATH + "/robotdescriptions.json"
         description_data = json.load(open(json_path))
 
         # Check if a robotID has descriptions

scripts/include/contextbroker/cbSubscriber.py

@@ -26,12 +26,13 @@
 import json
 
 from include.FiwareObjectConverter.objectFiwareConverter import ObjectFiwareConverter
-from include.constants import DATA_CONTEXTBROKER, IP, SERVER_PORT
+# from include.constants import CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT, MAP_SERVER_ADRESS, MAP_SERVER_PORT, CB_SUB_REFRESH, CB_SUB_LENGTH
+from include.constants import CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT, MAP_SERVER_ADRESS, MAP_SERVER_PORT, CB_SUB_LENGTH, CB_SUB_REFRESH
 from include.logger import Log
 
 
-CB_BASE_URL = "http://{}:{}".format(DATA_CONTEXTBROKER["ADDRESS"], DATA_CONTEXTBROKER["PORT"])
-FIROS_NOTIFY_URL = "http://{}:{}/firos".format(IP, SERVER_PORT)                                    # TODO DL HTTP?
+CB_BASE_URL = "http://{}:{}".format(CONTEXTBROKER_ADRESS, CONTEXTBROKER_PORT)
+FIROS_NOTIFY_URL = "http://{}:{}/firos".format(MAP_SERVER_ADRESS, MAP_SERVER_PORT)                                    # TODO DL HTTP?
 
 class CbSubscriber(object):
     ''' The CbSubscriber handles the subscriptions on the ContextBroker.
@@ -99,7 +100,7 @@ def subscribeThread(self, robotID, topic):
             self.subscriptionIds[robotID][topic] = newSubID
 
             # Wait
-            time.sleep(290) # sleep TODO DL from config loaded seconds
+            time.sleep(int(CB_SUB_LENGTH * CB_SUB_REFRESH)) # sleep TODO DL from config loaded seconds
             Log("INFO", "Refreshing Subscription for " + robotID + " and topics: " + str(topic))
 
 
@@ -130,7 +131,7 @@ def subscribeJSONGenerator(self, robotID, topic):
             },
             "attrs": [str(topic)]
             },
-            "expires": time.strftime("%Y-%m-%dT%H:%M:%S.00Z", time.gmtime(time.time() + 300)) # TODO DL load via Configuration, ISO 8601
+            "expires": time.strftime("%Y-%m-%dT%H:%M:%S.00Z", time.gmtime(time.time() + CB_SUB_LENGTH)) # TODO DL load via Configuration, ISO 8601
             # "throttling": 5  # TODO DL Maybe throttle?
             }
         return json.dumps(struct)

scripts/include/mapServer.py

@@ -42,12 +42,13 @@ def load():
 def _launchMapServer():
     ## \brief If map_server is configured launches it
     if(MAP_SERVER_PORT):
-        if not os.path.exists(os.path.join(mapserver_path, 'node_modules')):
-            text = "---------------------------------------------------------------------------------------\n"
-            text += "---------------------------------------------------------------------------------------\n"
-            text += "FIROS is going to install mapserver's dependencies, to do this it will need root access\n"
-            text += "---------------------------------------------------------------------------------------\n"
-            text += "---------------------------------------------------------------------------------------"
-            print text
-            os.system("cd {} && sudo npm install && sudo chown -R {} node_modules".format(mapserver_path, getpass.getuser()))
-        subprocess.Popen(["node", mapserver_path + "mapserver.js", str(MAP_SERVER_PORT), str(ROSBRIDGE_PORT)])
+        # if not os.path.exists(os.path.join(mapserver_path, 'node_modules')):
+        #     text = "---------------------------------------------------------------------------------------\n"
+        #     text += "---------------------------------------------------------------------------------------\n"
+        #     text += "FIROS is going to install mapserver's dependencies, to do this it will need root access\n"
+        #     text += "---------------------------------------------------------------------------------------\n"
+        #     text += "---------------------------------------------------------------------------------------"
+        #     print text
+        #     os.system("cd {} && sudo npm install && sudo chown -R {} node_modules".format(mapserver_path, getpass.getuser()))
+        # subprocess.Popen(["node", mapserver_path + "mapserver.js", str(MAP_SERVER_PORT), str(ROSBRIDGE_PORT)])
+        pass

scripts/include/rcm/topicManager.py

@@ -4,15 +4,15 @@
 
 from firos.srv import FIROS_Info
 from firos.msg import Robot_Event, CB_Event
-from include.constants import DEFAULT_QUEUE_SIZE
+from include.constants import ROS_SUB_QUEUE_SIZE, ROS_NODE_NAME
 from include.ros.topicHandler import robotDisconnection, loadMsgHandlers
 from include.rcm.rcmutils import getRobotConfig
 
 rcm_listener = None
 firos_connect_listener = None
 firos_disconnect_listener = None
 robot_topics_service = rospy.ServiceProxy('/firos_info', FIROS_Info)
-cb_publisher = rospy.Publisher("/firos/cb_event", CB_Event, queue_size=DEFAULT_QUEUE_SIZE)
+cb_publisher = rospy.Publisher("/" + ROS_NODE_NAME +  "/cb_event", CB_Event, queue_size=ROS_SUB_QUEUE_SIZE)
 
 
 def getRobotTopics(robot_name):
@@ -66,8 +66,8 @@ def setListeners():
     global firos_disconnect_listener
     global firos_connect_listener
     rcm_listener = rospy.Subscriber("/rcm/robot_event", Robot_Event, onRcmEvent, {})
-    firos_disconnect_listener = rospy.Subscriber("firos/disconnect", std_msgs.msg.String, onDisconnect)
-    firos_connect_listener = rospy.Subscriber("firos/connect", std_msgs.msg.String, onConnect)
+    firos_disconnect_listener = rospy.Subscriber(ROS_NODE_NAME + "/disconnect", std_msgs.msg.String, onDisconnect)
+    firos_connect_listener = rospy.Subscriber(ROS_NODE_NAME + "/connect", std_msgs.msg.String, onConnect)
 
 
 def removeListeners():

scripts/include/ros/rosConfigurator.py

@@ -21,7 +21,7 @@
 import rostopic
 import rosgraph
 
-from include.constants import NODE_NAME
+from include.constants import ROS_NODE_NAME
 
 # map_regex = re.compile(ur'^.*\/(map)[\/]*$')
 map_regex = re.compile(ur'^.*\/(map).*$')
@@ -201,7 +201,7 @@ def _isInFiros(topic_name, list2Check, nodes):
     if topic_name not in list2Check:
         return False
     for node in list2Check[topic_name]:
-        if node == "/" + NODE_NAME:
+        if node == "/" + ROS_NODE_NAME:
             using = True
             break