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Web interaction handling for the remocon and... #99

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merged 3 commits into from
Apr 29, 2014
Merged

Web interaction handling for the remocon and... #99

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42a6b9a
web interaction handling, closes #76.
stonier Apr 28, 2014
36f7b0e
we can run more than one interaction in parallel, now we publish the …
stonier Apr 28, 2014
e14c21e
decouple rocon master lookups from the gui code.
stonier Apr 28, 2014
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2 changes: 1 addition & 1 deletion rocon_remocon/.project
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<comment></comment>
<projects>
<project>rocon_console</project>
<project>rocon_hue</project>
<project>rocon_interactions</project>
<project>rocon_python_comms</project>
<project>rocon_python_utils</project>
<project>rocon_uri</project>
Expand Down
1 change: 1 addition & 0 deletions rocon_remocon/package.xml
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Expand Up @@ -22,6 +22,7 @@
<run_depend>rocon_app_manager_msgs</run_depend>
<run_depend>rocon_console</run_depend>
<run_depend>rocon_icons</run_depend>
<run_depend>rocon_interactions</run_depend>
<run_depend>rocon_interaction_msgs</run_depend>
<run_depend>rocon_python_comms</run_depend>
<run_depend>rocon_python_utils</run_depend>
Expand Down
306 changes: 117 additions & 189 deletions rocon_remocon/src/rocon_remocon/remocon.py
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137 changes: 83 additions & 54 deletions rocon_remocon/src/rocon_remocon/remocon_info.py
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@
from rocon_app_manager_msgs.msg import ErrorCodes
import rocon_interaction_msgs.msg as rocon_interaction_msgs
import rocon_interaction_msgs.srv as rocon_interaction_srvs
import rocon_interactions.web_interactions as web_interactions
import rocon_python_comms

from . import utils
Expand All @@ -44,14 +45,12 @@ def __init__(self, stop_app_postexec_fn):
@type method with no args
'''
self._stop_app_postexec_fn = stop_app_postexec_fn
self.app_list = {}
self.interactions = {}
self.rocon_master_info = {}
self.is_connect = False
self.is_app_running = False
self.key = uuid.uuid4()

self.app_pid = 0

# this might be naive and only work well on ubuntu...
os_codename = OsDetect().get_codename()
# this would be great as a configurable parameter
Expand Down Expand Up @@ -102,7 +101,7 @@ def _connect(self, rocon_master_name="", ros_master_uri="http://localhost:11311"
self.request_interaction_service_proxy = rospy.ServiceProxy(request_interaction_service_name, rocon_interaction_srvs.RequestInteraction)
self.remocon_status_pub = rospy.Publisher("remocons/" + unique_name, rocon_interaction_msgs.RemoconStatus, latch=True)

self._pub_remocon_status(0, False)
self._pub_remocon_status()
self.is_connect = True
self.is_valid_info = False
return True
Expand All @@ -118,10 +117,10 @@ def _shutdown(self):
console.logwarn("RemoconInfo : tried to shutdown already disconnected remocon")
else:
console.logdebug("RemoconInfo : shutting down all apps")
for app_hash in self.app_list.keys():
for app_hash in self.interactions.keys():
self._stop_app(app_hash)

self.app_list = {}
self.interactions = {}
self.is_connect = False

rospy.signal_shutdown("shut down remocon_info")
Expand All @@ -136,12 +135,16 @@ def _shutdown(self):
self.remocon_status_pub = None
console.logdebug("RemoconInfo : has shutdown.")

def _pub_remocon_status(self, app_hash, running_app):
def _pub_remocon_status(self):
remocon_status = rocon_interaction_msgs.RemoconStatus()
remocon_status.platform_info = self.platform_info
remocon_status.uuid = str(self.key.hex)
remocon_status.running_app = running_app
remocon_status.hash = app_hash
remocon_status.version = rocon_std_msgs.Strings.ROCON_VERSION
running_interactions = []
for interaction_hash in self.interactions.keys():
for unused_process_name in self.interactions[interaction_hash]["launch_list"].keys():
running_interactions.append(interaction_hash)
remocon_status.running_interactions = running_interactions
print "[remocon_info] publish remocon status"
self.remocon_status_pub.publish(remocon_status)

Expand All @@ -158,33 +161,33 @@ def _select_role(self, role_name):

call_result = self.get_interactions_service_proxy(roles, self.platform_info.uri)
print "[remocon_info]: call result"
self.app_list = {}
self.interactions = {}
for interaction in call_result.interactions:
if(interaction.role == role_name):
app_hash = interaction.hash
#if self.app_list.has_key(app_hash):
# TODO should create a class out of this mash, dicts of dicts are prone to mistakes and hard to introspect.
#if self.interactions.has_key(interaction.hash):
# pass
#else:
# self.app_list[app_hash]={}
# self.app_list[app_hash]['launch_list'] ={}
self.app_list[app_hash] = {}
self.app_list[app_hash]['launch_list'] = {}
# self.interactions[interaction.hash]={}
# self.interactions[interaction.hash]['launch_list'] ={}
self.interactions[interaction.hash] = {}
self.interactions[interaction.hash]['launch_list'] = {}

self.app_list[app_hash]['name'] = interaction.name
self.app_list[app_hash]['compatibility'] = interaction.compatibility
self.interactions[interaction.hash]['name'] = interaction.name
self.interactions[interaction.hash]['compatibility'] = interaction.compatibility
icon_name = interaction.icon.resource_name.split('/').pop()
if interaction.icon.data:
icon = open(os.path.join(utils.get_icon_cache_home(), icon_name), 'w')
icon.write(interaction.icon.data)
icon.close()
self.app_list[app_hash]['icon'] = icon_name
self.app_list[app_hash]['display_name'] = interaction.display_name
self.app_list[app_hash]['description'] = interaction.description
self.app_list[app_hash]['namespace'] = interaction.namespace
self.app_list[app_hash]['max'] = interaction.max
self.app_list[app_hash]['remappings'] = interaction.remappings
self.app_list[app_hash]['parameters'] = interaction.parameters
self.app_list[app_hash]['hash'] = interaction.hash
self.interactions[interaction.hash]['icon'] = icon_name
self.interactions[interaction.hash]['display_name'] = interaction.display_name
self.interactions[interaction.hash]['description'] = interaction.description
self.interactions[interaction.hash]['namespace'] = interaction.namespace
self.interactions[interaction.hash]['max'] = interaction.max
self.interactions[interaction.hash]['remappings'] = interaction.remappings
self.interactions[interaction.hash]['parameters'] = interaction.parameters
self.interactions[interaction.hash]['hash'] = interaction.hash

def get_rocon_master_info(self):
console.logdebug("RemoconInfo : retrieving rocon master information")
Expand Down Expand Up @@ -219,28 +222,25 @@ def _info_callback(self, data):

self.is_valid_info = True

def _get_app_list(self):
return self.app_list
pass

def _start_app(self, app_hash):
if not app_hash in self.app_list.keys():
if not app_hash in self.interactions.keys():
print "[remocon_info] HAS NO KEY"
return False

if self.is_app_running == True:
print "[remocon_info] APP ALREADY RUNNING NOW "
return False

app = self.app_list[app_hash]
app = self.interactions[app_hash]
#get the permission
call_result = self.request_interaction_service_proxy(app['hash'])

if call_result.error_code == ErrorCodes.SUCCESS:
print "[remocon_info] permisson ok"
(app_executable, start_app_handler) = self._determine_app_type(app['name'])
result = start_app_handler(app, app_executable)
self._pub_remocon_status(app_hash, result)
if result:
self._pub_remocon_status()
return result
else:
print "[remocon_info] permission failure"
Expand All @@ -253,8 +253,8 @@ def _determine_app_type(self, app_name):
(well reasonably) parsing of that string.
- ros launcher (by .launch extension)
- ros runnable (by roslib find_resource success)
- web app (by web_interactions.parse and urlparse scheme check against http)
- web url (by web_interactions.parse and by urlparse scheme check against http)
- web app (by web_interactions.parse)
- web url (by web_interactions.parse)
- global executable (fallback option)
'''
try:
Expand All @@ -271,10 +271,14 @@ def _determine_app_type(self, app_name):
pass
except Exception:
pass
o = urlparse(app_name)
if o.scheme == 'http':
console.logdebug("RemoconInfo : start_app_webapp [%s]")
return (app_name, self._start_app_webapp)
web_interaction = web_interactions.parse(app_name)
if web_interaction is not None:
if web_interaction.is_web_url():
console.logdebug("RemoconInfo : start_app_weburl [%s]" % web_interaction.url)
return (web_interaction.url, self._start_app_weburl)
elif web_interaction.is_web_app():
console.logdebug("RemoconInfo : start_app_webapp [%s]" % web_interaction.url)
return (web_interaction.url, self._start_app_webapp)
else:
console.logdebug("RemoconInfo : start_app_global_executable [%s]")
return (app_name, self._start_app_global_executable)
Expand Down Expand Up @@ -358,10 +362,35 @@ def _start_app_global_executable(self, app, rosrunnable_filename):
app['launch_list'][anonymous_name]['shutdown'] = partial(process.send_signal, signal.SIGINT)
return True

def _start_app_webapp(self, app, rosrunnable_filename):
def _start_app_weburl(self, app, url):
"""
We only need the url here and then do a system check for a web browser.
"""
web_browser = self._check_webbrowser()
if web_browser is not None:
name = os.path.basename(web_browser).replace('.', '_')
anonymous_name = name + "_" + uuid.uuid4().hex
process_listener = partial(self.process_listeners, anonymous_name, 1)
process = rocon_python_utils.system.Popen([web_browser, "--new-window", url], postexec_fn=process_listener)
app['launch_list'][anonymous_name] = {}
app['launch_list'][anonymous_name]['name'] = anonymous_name
app['launch_list'][anonymous_name]['running'] = str(True)
app['launch_list'][anonymous_name]['process'] = process
app['launch_list'][anonymous_name]['shutdown'] = partial(process.send_signal, signal.SIGINT)
return True
else:
return False

def _start_app_webapp(self, app, base_url):
"""
Need to work out the extended url (with args, parameters and remappings) here and then feed that to a
detected browser.

:param base_url str: the web app url without all of the attached variables.
"""
web_browser = self._check_webbrowser()
if web_browser is not None:
url = self._get_webapp_url(app)
url = self._get_webapp_url(app, base_url)
name = os.path.basename(web_browser).replace('.', '_')
anonymous_name = name + "_" + uuid.uuid4().hex
process_listener = partial(self.process_listeners, anonymous_name, 1)
Expand All @@ -375,7 +404,7 @@ def _start_app_webapp(self, app, rosrunnable_filename):
else:
return False

def _get_webapp_url(self, app):
def _get_webapp_url(self, app, base_url):
"""
url syntheiser for sending remappings and parameters information.
We convert the interaction parameter (yaml string) and remapping (rocon_std_msgs.Remapping[])
Expand All @@ -395,7 +424,7 @@ def _get_webapp_url(self, app):
query_string_mappings = {}
query_string_mappings['interaction_data'] = json.dumps(interaction_data)
# constructing the url
return app['name'] + "?" + urllib.urlencode(query_string_mappings)
return base_url + "?" + urllib.urlencode(query_string_mappings)

def _check_webbrowser(self):
if rocon_python_utils.system.which("google-chrome"):
Expand All @@ -407,48 +436,48 @@ def _check_webbrowser(self):
return None

def _stop_app(self, app_hash):
if not app_hash in self.app_list:
if not app_hash in self.interactions:
print "[remocon_info] HAS NO KEY"
return False
print "[remocon_info]Launched App List- %s" % str(self.app_list[app_hash]["launch_list"])
print "[remocon_info]Launched App List- %s" % str(self.interactions[app_hash]["launch_list"])
try:
for k in self.app_list[app_hash]["launch_list"].values():
for k in self.interactions[app_hash]["launch_list"].values():
process_name = k["name"]
is_app_running = k["running"]
if is_app_running == "True":
k['shutdown']()
del self.app_list[app_hash]["launch_list"][k["name"]]
del self.interactions[app_hash]["launch_list"][k["name"]]
print "[remocon_info] %s APP STOP" % (process_name)
elif k['process'] == None:
k["running"] = "False"
del self.app_list[app_hash]["launch_list"][k["name"]]
del self.interactions[app_hash]["launch_list"][k["name"]]
print "[remocon_info] %s APP LAUNCH IS NONE" % (process_name)
else:
del self.app_list[app_hash]["launch_list"][k["name"]]
del self.interactions[app_hash]["launch_list"][k["name"]]
print "[remocon_info] %s APP IS ALREADY STOP" % (process_name)
except Exception as e:
print "[remocon_info] APP STOP PROCESS IS FAILURE %s %s" % (str(e), type(e))
return False
print "[remocon_info] updated app list- %s" % str(self.app_list[app_hash]["launch_list"])
self._pub_remocon_status(app_hash, False)
print "[remocon_info] updated app list- %s" % str(self.interactions[app_hash]["launch_list"])
self._pub_remocon_status()
return True

def process_listeners(self, name, exit_code):
'''
Callback function used to catch terminating applications and cleanup appropriately.

@param name : name of the launched process stored in the app_list index.
@param name : name of the launched process stored in the interactions index.
@type str

@param exit_code : could be utilised from roslaunched processes but not currently used.
@type int
'''
for app_hash, v in self.app_list.iteritems():
for unused_interaction_hash, v in self.interactions.iteritems():
if name in v['launch_list']:
del v['launch_list'][name]
if not v['launch_list']:
console.logdebug("RemoconInfo : process_listener caught terminating app [%s]" % name)
# inform the gui to update if necessary
self._stop_app_postexec_fn()
# update the rocon interactions handler
self._pub_remocon_status(app_hash, False)
self._pub_remocon_status()
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