added daemon version to crossbar

fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/runtime_interface.py

@@ -367,3 +367,16 @@ def __init__(self,
         self.size = size
         self.size_min = size_min
         self.size_max = size_max
+
+class DaemonVersion:
+    '''
+    Version of the daemon node.
+    :param str version: version string.
+    :param str date: Date string.
+    '''
+
+    def __init__(self,
+                 version: str,
+                 date: str) -> None:
+        self.version = version
+        self.date = date

fkie_node_manager_daemon/fkie_node_manager_daemon/server.py

@@ -47,6 +47,7 @@
 from fkie_node_manager_daemon.parameter_servicer import ParameterServicer
 from fkie_node_manager_daemon.rosstate_servicer import RosStateServicer
 from fkie_node_manager_daemon.screen_servicer import ScreenServicer
+from fkie_node_manager_daemon.version_servicer import VersionServicer
 
 
 class Server:
@@ -74,6 +75,8 @@ def __init__(self, rosnode, *, default_domain_id=-1):
             self.crossbar_loop, self.crossbar_realm, self.crossbar_port)
         self.launch_servicer = LaunchServicer(
             self.crossbar_loop, self.crossbar_realm, self.crossbar_port, ros_domain_id=self.ros_domain_id)
+        self.version_servicer = VersionServicer(
+            self.crossbar_loop, self.crossbar_realm, self.crossbar_port)
 
         rosnode.create_service(LoadLaunch, '~/start_launch',
                                self._rosservice_start_launch)
@@ -93,6 +96,7 @@ def __init__(self, rosnode, *, default_domain_id=-1):
 
     def __del__(self):
         self.crossbar_loop.stop()
+        self.version_servicer = None
         self.launch_servicer = None
         self.monitor_servicer = None
         self.screen_servicer = None
@@ -131,6 +135,7 @@ def _crossbar_notify_if_regsitered(self):
             registration_finished &= self.screen_servicer.crossbar_registered
             registration_finished &= self.rosstate_servicer.crossbar_registered
             registration_finished &= self.parameter_servicer.crossbar_registered
+            registration_finished &= self.version_servicer.crossbar_registered
             time.sleep(0.5)
         self.publish_daemon_state(True)
         self._crossbar_send_status(True)
@@ -154,6 +159,7 @@ def shutdown(self):
         WAIT_TIMEOUT = 3
         self.publish_daemon_state(False)
         self._crossbar_send_status(False)
+        self.version_servicer.stop()
         self.screen_servicer.stop()
         self.launch_servicer.stop()
         self.file_servicer.stop()

fkie_node_manager_daemon/fkie_node_manager_daemon/version_servicer.py

@@ -16,23 +16,27 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
-import fkie_node_manager_daemon.grpc_proto.version_pb2_grpc as vgrpc
-import fkie_node_manager_daemon.grpc_proto.version_pb2 as vmsg
+import asyncio
+from autobahn import wamp
+import json
+from fkie_multimaster_pylib.crossbar.base_session import CrossbarBaseSession
+from fkie_multimaster_pylib.crossbar.base_session import SelfEncoder
+from fkie_multimaster_pylib.crossbar.runtime_interface import DaemonVersion
+from fkie_multimaster_pylib.logging.logging import Log
 import fkie_node_manager_daemon as nmd
 from . import version
 
 
-class VersionServicer(vgrpc.VersionServiceServicer):
+class VersionServicer(CrossbarBaseSession):
 
-    def __init__(self):
-        nmd.ros_node.get_logger().info("Create version servicer")
-        vgrpc.VersionServiceServicer.__init__(self)
+    def __init__(self, loop: asyncio.AbstractEventLoop, realm: str = 'ros', port: int = 11911):
+        Log.info("Create ROS2 version servicer")
+        CrossbarBaseSession.__init__(self, loop, realm, port)
         self._version, self._date = version.detect_version(
             nmd.ros_node, 'fkie_node_manager_daemon')
 
-    def GetVersion(self, request, context):
-        reply = vmsg.Version()
-        reply.version = self._version
-        reply.date = self._date
-        return reply
+    @wamp.register('ros.daemon.get_version')
+    def get_version(self) -> DaemonVersion:
+        Log.info(f"{self.__class__.__name__}: get daemon version ")
+        reply = DaemonVersion(f"{self._version}", f"{self._date}")
+        return json.dumps(reply, cls=SelfEncoder)

fkie_node_manager_daemon/src/fkie_node_manager_daemon/server.py

@@ -94,6 +94,8 @@ def __init__(self, test_env=False):
             self.crossbar_loop, self.crossbar_realm, self.crossbar_port, test_env=self._test_env)
         self.screen_servicer = ScreenServicer(
             self.crossbar_loop, self.crossbar_realm, self.crossbar_port, test_env=self._test_env)
+        self.version_servicer = VersionServicer(
+            self.crossbar_loop, self.crossbar_realm, self.crossbar_port, test_env=self._test_env)
 
         rospy.Service('~start_launch', LoadLaunch,
                       self._rosservice_start_launch)
@@ -102,6 +104,7 @@ def __init__(self, test_env=False):
         rospy.Service('~list_nodes', ListNodes, self._rosservice_list_nodes)
 
     def __del__(self):
+        self.version_servicer = None
         self.launch_servicer = None
         self.monitor_servicer = None
         self.settings_servicer = None
@@ -151,6 +154,8 @@ def restart(self):
             self.crossbar_loop, self.crossbar_realm, self.crossbar_port, test_env=self._test_env)
         self.screen_servicer = ScreenServicer(
             self.crossbar_loop, self.crossbar_realm, self.crossbar_port, test_env=self._test_env)
+        self.version_servicer = VersionServicer(
+            self.crossbar_loop, self.crossbar_realm, self.crossbar_port, test_env=self._test_env)
         self.start(self._launch_url)
 
     def start(self, url='[::]:12311'):
@@ -184,7 +189,7 @@ def start(self, url='[::]:12311'):
             stgrpc.add_SettingsServiceServicer_to_server(
                 self.settings_servicer, self.server)
             vgrpc.add_VersionServiceServicer_to_server(
-                VersionServicer(), self.server)
+                self.version_servicer, self.server)
             self.server.start()
             Log.info("Server at '%s' started!" % url)
         #Log.info(f"Connect to crossbar server @ ws://localhost:{self.crossbar_port}/ws, realm: {self.crossbar_realm}")
@@ -207,6 +212,7 @@ def _crossbar_notify_if_regsitered(self):
             registration_finished &= self.screen_servicer.crossbar_registered
             registration_finished &= self.file_servicer.crossbar_registered
             registration_finished &= self.parameter_servicer.crossbar_registered
+            registration_finished &= self.version_servicer.crossbar_registered
             time.sleep(0.5)
         self._crossbar_send_status(True)
 
@@ -219,6 +225,7 @@ def shutdown(self):
         self._crossbar_send_status(False)
         shutdown_task = self.crossbar_loop.create_task(
             self.crossbar_loop.shutdown_asyncgens())
+        self.version_servicer.stop()
         self.launch_servicer.stop()
         self.monitor_servicer.stop()
         self.parameter_servicer.shutdown()

fkie_node_manager_daemon/src/fkie_node_manager_daemon/version_servicer.py

@@ -30,18 +30,24 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-
+import asyncio
+from autobahn import wamp
+import json
+from fkie_multimaster_pylib.crossbar.base_session import CrossbarBaseSession
+from fkie_multimaster_pylib.crossbar.base_session import SelfEncoder
+from fkie_multimaster_pylib.crossbar.runtime_interface import DaemonVersion
 import fkie_multimaster_msgs.grpc.version_pb2_grpc as vgrpc
 import fkie_multimaster_msgs.grpc.version_pb2 as vmsg
 from . import version
 from fkie_multimaster_pylib.logging.logging import Log
 
 
-class VersionServicer(vgrpc.VersionServiceServicer):
+class VersionServicer(vgrpc.VersionServiceServicer, CrossbarBaseSession):
 
-    def __init__(self):
+    def __init__(self, loop: asyncio.AbstractEventLoop, realm: str = 'ros', port: int = 11911, test_env=False):
         Log.info("Create version servicer")
         vgrpc.VersionServiceServicer.__init__(self)
+        CrossbarBaseSession.__init__(self, loop, realm, port, test_env=test_env)
         self._version, self._date = version.detect_version(
             'fkie_node_manager_daemon')
 
@@ -50,3 +56,9 @@ def GetVersion(self, request, context):
         reply.version = self._version
         reply.date = self._date
         return reply
+
+    @wamp.register('ros.daemon.get_version')
+    def get_version(self) -> DaemonVersion:
+        Log.info(f"{self.__class__.__name__}: get daemon version ")
+        reply = DaemonVersion(f"{self._version}", f"{self._date}")
+        return json.dumps(reply, cls=SelfEncoder)