moved remote_nm.py and respawn scripts from node_manager to daemon

fkie_node_manager/CMakeLists.txt

@@ -28,13 +28,6 @@ catkin_install_python(
         nodes/dynamic_reconfigure
         nodes/node_manager
         nodes/script_runner.py
-        scripts/remote_nm.py
-    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(
-    PROGRAMS
-        scripts/respawn
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

fkie_node_manager/src/fkie_node_manager/settings.py

@@ -122,7 +122,7 @@ class Settings(object):
     CURRENT_DIALOG_PATH = os.path.expanduser('~')
     LOG_PATH = screen.LOG_PATH
     LOG_VIEWER = "/usr/bin/less -fKLnQrSU"
-    STARTER_SCRIPT = 'rosrun fkie_node_manager remote_nm.py'
+    STARTER_SCRIPT = 'rosrun fkie_node_manager_daemon remote_nm.py'
     ''':ivar STARTER_SCRIPT: the script used on remote hosts to start new ROS nodes.'''
 
     LAUNCH_HISTORY_FILE = 'launch.history'

fkie_node_manager_daemon/CMakeLists.txt

@@ -24,6 +24,13 @@ generate_version(TARGETS version_TARGETS)
 catkin_install_python(
     PROGRAMS 
         nodes/node_manager_daemon
+        scripts/remote_nm.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+    PROGRAMS
+        scripts/respawn
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

fkie_node_manager/scripts/remote_nm.py → fkie_node_manager_daemon/scripts/remote_nm.py

@@ -13,21 +13,43 @@
 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_master_discovery.udp import DiscoverSocket
 from fkie_node_manager_daemon import host as nmdhost
 from fkie_node_manager_daemon import screen
 from fkie_node_manager_daemon.common import isstring
 from fkie_node_manager_daemon.settings import RESPAWN_SCRIPT
+from fkie_node_manager_daemon.settings import LOG_VIEWER
+
 try:
-    from fkie_node_manager import get_ros_home
-    from fkie_node_manager import Settings
-    from fkie_node_manager import StartHandler
-    from fkie_node_manager import StartException
-except Exception:
-    from fkie_node_manager.reduced_nm import get_ros_home
-    from fkie_node_manager.reduced_nm import Settings
-    from fkie_node_manager.reduced_nm import StartHandler
-    from fkie_node_manager.reduced_nm import StartException
+    import xmlrpclib as xmlrpcclient
+except ImportError:
+    import xmlrpc.client as xmlrpcclient
+
+
+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()
 
 
 def _get_optparse():
@@ -116,7 +138,7 @@ def main(argv=sys.argv):
             logfile = screen.get_logfile(node=options['show_screen_log'])
             if not os.path.isfile(logfile):
                 raise Exception('screen logfile not found for: %s' % options['show_screen_log'])
-            cmd = ' '.join([Settings.LOG_VIEWER, str(logfile)])
+            cmd = ' '.join([LOG_VIEWER, str(logfile)])
             print(cmd)
             p = subprocess.Popen(shlex.split(cmd))
             p.wait()
@@ -134,7 +156,7 @@ def main(argv=sys.argv):
             logfile = screen.get_ros_logfile(node=options['show_ros_log'])
             if not os.path.isfile(logfile):
                 raise Exception('ros logfile not found for: %s' % options['show_ros_log'])
-            cmd = ' '.join([Settings.LOG_VIEWER, str(logfile)])
+            cmd = ' '.join([LOG_VIEWER, str(logfile)])
             print(cmd)
             p = subprocess.Popen(shlex.split(cmd))
             p.wait()
@@ -201,14 +223,62 @@ def remove_src_binary(cmdlist):
     return result
 
 
+def _prepareROSMaster(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 nmdhost.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)
+
+
 def runNode(package, executable, name, args, prefix='', repawn=False, masteruri=None, loglevel=''):
     '''
     Runs a ROS node. Starts a roscore if needed.
     '''
     if not masteruri:
         masteruri = masteruri_from_ros()
     # start roscore, if needed
-    StartHandler._prepareROSMaster(masteruri)
+    _prepareROSMaster(masteruri)
     # start node
     try:
         cmd = roslib.packages.find_node(package, executable)

fkie_node_manager_daemon/src/fkie_node_manager_daemon/settings.py

@@ -42,7 +42,9 @@
 GRPC_TIMEOUT = 15.0
 ''':var GRPC_TIMEOUT: timeout for connection to remote gRPC-server'''
 
-RESPAWN_SCRIPT = 'rosrun fkie_node_manager respawn'
+LOG_VIEWER = "/usr/bin/less -fKLnQrSU"
+
+RESPAWN_SCRIPT = 'rosrun fkie_node_manager_daemon respawn'
 ''':var RESPAWN_SCRIPT: start prefix to launch ROS-Nodes with respawn script'''
 
 LOG_PATH = ''.join([os.environ.get('ROS_LOG_DIR'), os.path.sep]) if os.environ.get('ROS_LOG_DIR') else os.path.join(os.path.expanduser('~'), '.ros/log/')