From 58ce7b75df209fbd9453a99b919ea2643344c06c Mon Sep 17 00:00:00 2001 From: William Woodall Date: Thu, 6 Mar 2014 14:54:57 -0600 Subject: [PATCH] added a builtin nodelet manager to the server All launch files now get the argument capability_server_nodelet_manager_name set to the name of the nodelet manager so that they may use it to load their nodelet's into. --- .coveralls.yml | 1 + .travis.yml | 4 ++- Makefile | 3 +-- package.xml | 1 + .../capability_server_nodelet_manager.launch | 6 +++++ src/capabilities/launch_manager.py | 26 ++++++++++++++++--- src/capabilities/server.py | 9 +++++++ .../test_launch_manager.py | 11 +++++--- .../rostest/test_server/test_invalid_specs.py | 6 +++++ 9 files changed, 56 insertions(+), 11 deletions(-) create mode 100644 .coveralls.yml create mode 100644 src/capabilities/capability_server_nodelet_manager.launch diff --git a/.coveralls.yml b/.coveralls.yml new file mode 100644 index 0000000..9160059 --- /dev/null +++ b/.coveralls.yml @@ -0,0 +1 @@ +service_name: travis-ci diff --git a/.travis.yml b/.travis.yml index afefaf8..c5361ce 100644 --- a/.travis.yml +++ b/.travis.yml @@ -7,7 +7,9 @@ install: - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list' - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - - sudo apt-get update - - sudo apt-get install ros-hydro-roslaunch ros-hydro-rospy ros-hydro-std-msgs ros-hydro-std-srvs ros-hydro-geometry-msgs ros-hydro-message-generation ros-hydro-message-runtime ros-hydro-catkin ros-hydro-rostest ros-hydro-rosservice + - sudo apt-get install ros-hydro-nodelet ros-hydro-roslaunch ros-hydro-rospy ros-hydro-std-msgs ros-hydro-std-srvs ros-hydro-geometry-msgs ros-hydro-message-generation ros-hydro-message-runtime ros-hydro-catkin ros-hydro-rostest ros-hydro-rosservice +# Install image_proc to get a nodelet instaleld as a workaround to https://github.com/ros/pluginlib/pull/22 + - sudo apt-get install ros-hydro-image-proc # command to run tests script: - source /opt/ros/hydro/setup.bash diff --git a/Makefile b/Makefile index 0ef19fa..81749b8 100644 --- a/Makefile +++ b/Makefile @@ -17,8 +17,7 @@ coverage: -rm ~/.ros/.coverage -rm ${BUILD_DIR}/.coverage -rm ./.coverage - cd ${BUILD_DIR} && mkdir src - ln -s ${SRC_DIR} ${BUILD_DIR}/src + -ln -s ${SRC_DIR} ${BUILD_DIR}/src cd ${BUILD_DIR} && catkin_make cd ${BUILD_DIR} && catkin_make tests cd ${BUILD_DIR} && catkin_make -j1 run_tests diff --git a/package.xml b/package.xml index 518b58b..7868ebb 100644 --- a/package.xml +++ b/package.xml @@ -25,6 +25,7 @@ std_srvs message_runtime + nodelet python-yaml roslaunch rospy diff --git a/src/capabilities/capability_server_nodelet_manager.launch b/src/capabilities/capability_server_nodelet_manager.launch new file mode 100644 index 0000000..7d2aa69 --- /dev/null +++ b/src/capabilities/capability_server_nodelet_manager.launch @@ -0,0 +1,6 @@ + + + + diff --git a/src/capabilities/launch_manager.py b/src/capabilities/launch_manager.py index d69ab2f..04388b5 100644 --- a/src/capabilities/launch_manager.py +++ b/src/capabilities/launch_manager.py @@ -75,7 +75,10 @@ def is_exe(fpath): return exe_file return None -_placeholder_script = os.path.join(os.path.dirname(__file__), 'placeholder_script') +_this_dir = os.path.dirname(__file__) +_placeholder_script = os.path.join(_this_dir, 'placeholder_script') +_nodelet_manager_launch_file = os.path.join(_this_dir, 'capability_server_nodelet_manager.launch') +_special_nodelet_manager_capability = '!!nodelet_manager' class LaunchManager(object): @@ -83,7 +86,7 @@ class LaunchManager(object): __roslaunch_exec = which('roslaunch') __python_exec = which('python') - def __init__(self, quiet=False, screen=False): + def __init__(self, quiet=False, screen=False, nodelet_manager_name=None): self.__running_launch_files_lock = threading.Lock() with self.__running_launch_files_lock: self.__running_launch_files = {} @@ -94,6 +97,8 @@ def __init__(self, quiet=False, screen=False): self.stopping = False self.__quiet = quiet self.__screen = screen + self.__nodelet_manager_name = nodelet_manager_name or (rospy.get_name().lstrip('/') + '_nodelet_manager') + self.__start_nodelet_manager() def stop(self): """Stops the launch manager, also stopping any running launch files""" @@ -112,8 +117,9 @@ def __stop_by_pid(self, pid): if pid not in self.__running_launch_files: raise RuntimeError("No running launch file with PID of '{0}'".format(pid)) proc, thread, _, _ = self.__running_launch_files[pid] - proc.terminate() - proc.wait() + if proc.poll() is None: + proc.terminate() + proc.wait() thread.join() def stop_capability_provider(self, pid): @@ -157,6 +163,9 @@ def run_capability_provider(self, provider, provider_path): .format(provider.name)) else: launch_file = os.path.join(provider_path, provider.launch_file) + self.run_launch_file(launch_file, provider) + + def run_launch_file(self, launch_file, provider): with self.__running_launch_files_lock: if launch_file is not None and launch_file in [x[3] for x in self.__running_launch_files.values()]: raise RuntimeError("Launch file at '{0}' is already running." @@ -168,6 +177,7 @@ def run_capability_provider(self, provider, provider_path): cmd = [self.__roslaunch_exec, '--screen', launch_file] else: cmd = [self.__roslaunch_exec, launch_file] + cmd.append("capability_server_nodelet_manager_name:=" + self.__nodelet_manager_name) if self.__quiet: env = copy.deepcopy(os.environ) env['PYTHONUNBUFFERED'] = 'x' @@ -187,6 +197,14 @@ def run_capability_provider(self, provider, provider_path): self.__event_publisher.publish(msg) thread.start() + def __start_nodelet_manager(self): + class MockProvider: + implements = _special_nodelet_manager_capability + name = rospy.get_name().lstrip('/') + provider = MockProvider() + launch_file = _nodelet_manager_launch_file + self.run_launch_file(launch_file, provider) + def __start_communication_thread(self, proc): return threading.Thread(target=self.__monitor_process, args=(proc,)) diff --git a/src/capabilities/server.py b/src/capabilities/server.py index f0514c8..39ce0be 100644 --- a/src/capabilities/server.py +++ b/src/capabilities/server.py @@ -76,6 +76,7 @@ from capabilities.discovery import spec_file_index_from_package_index from capabilities.discovery import spec_index_from_spec_file_index +from capabilities.launch_manager import _special_nodelet_manager_capability from capabilities.launch_manager import LaunchManager from capabilities.msg import Capability @@ -473,6 +474,14 @@ def _handle_capability_events(self, event): # Ignore the `server_ready` event if event.type == event.SERVER_READY: return + # Specially handle the nodelet manager + if event.capability == _special_nodelet_manager_capability: + if event.type == event.LAUNCHED: + return + elif event.type == event.TERMINATED: + if not rospy.is_shutdown(): + rospy.logerr("Capability server's nodelet manager terminated unexpectedly.") + self.shutdown() # Update the capability capability = event.capability with self.__graph_lock: diff --git a/test/rostest/test_launch_manager/test_launch_manager.py b/test/rostest/test_launch_manager/test_launch_manager.py index dcbeb69..658ee1d 100755 --- a/test/rostest/test_launch_manager/test_launch_manager.py +++ b/test/rostest/test_launch_manager/test_launch_manager.py @@ -77,10 +77,13 @@ def test_launch_manager_no_launch_file_provider(self): def test_process_monitoring(self): lm = launch_manager.LaunchManager() - with assert_raises_regex(RuntimeError, 'Unknown process id'): - proc = Mock() - proc.pid = -1 - lm._LaunchManager__monitor_process(proc) + try: + with assert_raises_regex(RuntimeError, 'Unknown process id'): + proc = Mock() + proc.pid = -1 + lm._LaunchManager__monitor_process(proc) + finally: + lm.stop() if __name__ == '__main__': import rospy diff --git a/test/rostest/test_server/test_invalid_specs.py b/test/rostest/test_server/test_invalid_specs.py index 69a09d4..82bde51 100755 --- a/test/rostest/test_server/test_invalid_specs.py +++ b/test/rostest/test_server/test_invalid_specs.py @@ -28,6 +28,7 @@ def test_invalid_specs(self): capability_server._CapabilityServer__load_capabilities() capability_server._CapabilityServer__populate_default_providers() capability_server._CapabilityServer__stop_capability('not_a_running_capability') + capability_server.shutdown() def test_no_default_provider_pedantic(self): no_default_provider = os.path.join(TEST_DIR, 'rostest', 'test_server', 'no_default_provider') @@ -37,6 +38,7 @@ def test_no_default_provider_pedantic(self): capability_server._CapabilityServer__load_capabilities() with assert_raises(SystemExit): capability_server._CapabilityServer__populate_default_providers() + capability_server.shutdown() def test_no_default_provider(self): no_default_provider = os.path.join(TEST_DIR, 'rostest', 'test_server', 'no_default_provider') @@ -45,6 +47,7 @@ def test_no_default_provider(self): capability_server = server.CapabilityServer(ros_package_path) capability_server._CapabilityServer__load_capabilities() capability_server._CapabilityServer__populate_default_providers() + capability_server.shutdown() def test_invalid_default_provider(self): minimal_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces', 'minimal') @@ -54,6 +57,7 @@ def test_invalid_default_provider(self): capability_server._CapabilityServer__load_capabilities() with assert_raises(SystemExit): capability_server._CapabilityServer__populate_default_providers() + capability_server.shutdown() def test_wrong_default_provider(self): dc_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces', 'dependent_capabilities') @@ -64,6 +68,7 @@ def test_wrong_default_provider(self): capability_server._CapabilityServer__load_capabilities() with assert_raises(SystemExit): capability_server._CapabilityServer__populate_default_providers() + capability_server.shutdown() def test_event_handler(self): invalid_specs_dir = os.path.join(TEST_DIR, 'unit', 'discovery_workspaces', 'invalid_specs') @@ -80,6 +85,7 @@ def test_event_handler(self): msg.type = 'doesnt matter' pub.publish(msg) rospy.sleep(1) # Allow time for the publish to happen + capability_server.shutdown() if __name__ == '__main__': rospy.init_node(TEST_NAME, anonymous=True)