[Personalrobots-commit] SF.net SVN: personalrobots:[22769] pkg/trunk/sandbox/web

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Revision: 22769
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22769&view=rev
Author:   wghassan
Date:     2009-08-24 22:25:19 +0000 (Mon, 24 Aug 2009)

Log Message:
-----------
new status message: AppStatus

Modified Paths:
--------------
    pkg/trunk/sandbox/web/launchman/src/launchman.py
    pkg/trunk/sandbox/web/launchman/test/pr2_core.app
    pkg/trunk/sandbox/web/rosweb2/src/rosweb.py
    pkg/trunk/sandbox/web/webui/src/webui/MBPage.py
    pkg/trunk/sandbox/web/webui/src/webui/auth/nstart.py
    pkg/trunk/sandbox/web/webui/src/webui/mod/webui/cgibin/apps.py
    pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/apps.cs
    pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/includes.cs

Modified: pkg/trunk/sandbox/web/launchman/src/launchman.py
===================================================================

--- pkg/trunk/sandbox/web/launchman/src/launchman.py	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/launchman/src/launchman.py	2009-08-24 22:25:19 UTC (rev 22769)
@@ -54,7 +54,7 @@
 
 class TaskGroup:
   def __init__(self, manager):
-    self.task = TaskStatus(None, None, None, None, None)
+    self.task = AppUpdate(None, None, None, None, None)
     self.app = None
     self.runner = None
     self.childGroups = []
@@ -76,7 +76,7 @@
       loader.load(fn, config)
     except:
       self.task.status = "error"
-      self.manager.pub.publish(self.task)
+      self.manager.app_update.publish(self.task)
       return
 
     self.runner = ROSLaunchRunner(rospy.get_param("/run_id"), config, is_core=False)
@@ -104,10 +104,15 @@
 
 class TaskManager:
   def __init__(self):
-    self.pub = rospy.Publisher("TaskStatus", TaskStatus, self)
+    self.app_update = rospy.Publisher("app_update", AppUpdate, self)
+    self.app_status = rospy.Publisher("app_status", AppStatus, self)
     self._taskGroups = {}
     self._apps = {}
 
+  def _send_status(self):
+    apps = self._apps.keys()
+    self.app_status.publish(AppStatus(apps))
+
   def start_task(self, req):
     a = app.App(req.taskid)
     pgroup = None
@@ -141,12 +146,13 @@
     group.task.started = rospy.get_rostime()
     group.task.status = "starting"
 
-    self.pub.publish(group.task)
+    self.app_update.publish(group.task)
 
     group.launch()
 
     group.task.status = "running"
-    self.pub.publish(group.task)
+    self.app_update.publish(group.task)
+    self._send_status()
 
     return StartTaskResponse("done")
 
@@ -159,7 +165,7 @@
     print "_stopTask", group.app.provides
 
     group.task.status = "stopping"
-    self.pub.publish(group.task)
+    self.app_update.publish(group.task)
 
     print "childGroups", group, group.childGroups
     for cgroup in group.childGroups[:]:
@@ -168,7 +174,7 @@
     group.stop()
 
     group.task.status = "stopped"
-    self.pub.publish(group.task)
+    self.app_update.publish(group.task)
 
     if group.app.depends:
       pgroup = self._taskGroups.get(group.app.depends.strip(), None)
@@ -179,6 +185,7 @@
       print "removing", group.app.provides
       del self._taskGroups[group.app.provides]
 
+
   def stop_task(self, req):
     app = self._apps[req.taskid]
 
@@ -191,11 +198,14 @@
 
     del self._apps[req.taskid]
 
+    self._send_status()
+
     return StopTaskResponse("done")
 
   def status_update(self, req):
+    self._send_status()
     for provides, group in self._taskGroups.items():
-      self.pub.publish(group.task)
+      self.app_update.publish(group.task)
     return StatusUpdateResponse("done")
 
 

Modified: pkg/trunk/sandbox/web/launchman/test/pr2_core.app
===================================================================
--- pkg/trunk/sandbox/web/launchman/test/pr2_core.app	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/launchman/test/pr2_core.app	2009-08-24 22:25:19 UTC (rev 22769)
@@ -4,4 +4,4 @@
 description: Bring up most of the PR2
 icon:
 provides: pr2_core
-depends: pr2_core
+depends:

Modified: pkg/trunk/sandbox/web/rosweb2/src/rosweb.py
===================================================================
--- pkg/trunk/sandbox/web/rosweb2/src/rosweb.py	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/rosweb2/src/rosweb.py	2009-08-24 22:25:19 UTC (rev 22769)
@@ -275,7 +275,7 @@
 
         if len(rwttopics) == 0:
           logging.warning("no valid topics")
-          self.send_response(404)
+          self.send_failure()
           return
           
         messages = []
@@ -348,8 +348,8 @@
             return 0
         return 1
 
-    def send_success(self, buf = "{}", callback = None):
-      self.send_response(200)
+    def _send_responsepage(self, retcode=200, buf = "{}", callback = None):
+      self.send_response(retcode)
       if callback:
         buf = callback + "(" + buf + ");"
         self.send_header('Content-Type', 'text/javascript')
@@ -360,6 +360,12 @@
       
       self.wfile.write(buf)
 
+    def send_success(self, buf = "{}", callback=None):
+      self._send_responsepage(200, buf, callback)
+
+    def send_failure(self, buf = "{}", callback=None):
+      self._send_responsepage(404, buf, callback)
+
     def handle_ROS(self, path, qdict):
       cstring = self.headers.get('Cookie', '')
 
@@ -406,7 +412,11 @@
         logging.debug("service call: name=%s, args=%s" % (name, args))
         rospy.wait_for_service(name)
         service_proxy = rospy.ServiceProxy(name, service_class)
-        msg = service_proxy(request)
+        try:
+          msg = service_proxy(request)
+        except rospy.ServiceException:
+          self.send_failure()
+          return
         msg = rosjson.ros_message_to_json(msg)
 
         logging.debug("service call: name=%s, resp=%s" % (name, msg))

Modified: pkg/trunk/sandbox/web/webui/src/webui/MBPage.py
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/MBPage.py	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/webui/src/webui/MBPage.py	2009-08-24 22:25:19 UTC (rev 22769)
@@ -28,8 +28,8 @@
 
 #        hdf.setValue("Query.debug", "1")
 #        hdf.setValue("Config.DebugPassword","1")
-        hdf.setValue("Config.CompressionEnabled","0")
-        hdf.setValue("Config.WhiteSpaceStrip","0")
+        hdf.setValue("Config.CompressionEnabled","1")
+        hdf.setValue("Config.WhiteSpaceStrip","1")
 
         self.login = None
         self.username = None

Modified: pkg/trunk/sandbox/web/webui/src/webui/auth/nstart.py
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/auth/nstart.py	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/webui/src/webui/auth/nstart.py	2009-08-24 22:25:19 UTC (rev 22769)
@@ -4,6 +4,9 @@
 
 import os, sys
 
+PKG = 'webui' # this package name
+import roslib; roslib.load_manifest(PKG) 
+
 if 1:
   script_dir = ''
   try:

Modified: pkg/trunk/sandbox/web/webui/src/webui/mod/webui/cgibin/apps.py
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/mod/webui/cgibin/apps.py	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/webui/src/webui/mod/webui/cgibin/apps.py	2009-08-24 22:25:19 UTC (rev 22769)
@@ -30,7 +30,7 @@
       aprefix = prefix + ".%d" % i
       app.hdfExport(aprefix, hdf)
       app.fetchApp(aprefix, hdf)
-
+      
 def run(context):
   return MyPage(context, pagename="apps", nologin=1)
 

Modified: pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/apps.cs
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/apps.cs	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/apps.cs	2009-08-24 22:25:19 UTC (rev 22769)
@@ -11,7 +11,7 @@
 <table align=center cellspacing=5>
 <tr>
 <?cs each:_app=CGI.cur.apps ?>
-  <td class=buttonOff height=100 bgcolor=white objtype="OnOffButtonWidget" topic="/TaskStatus" taskid="<?cs var:_app.taskid ?>"><div valign=top style="height: 70%;"><font color=black><nobr><?cs var:_app.name ?></div><div style="position: relative; bottom: 0px; font-size: 10pt;" objtype=TextWidget topic="/TaskStatus" key=status selector="taskid" selectorValue="<?cs var:_app.taskid?>">&nbsp;</div></td>
+  <td class=buttonOff height=100 bgcolor=white objtype="OnOffButtonWidget" topic="/app_update" taskid="<?cs var:_app.taskid ?>"><div valign=top style="height: 70%;"><font color=black><nobr><?cs var:_app.name ?></div><div style="position: relative; bottom: 0px; font-size: 10pt;" objtype=TextWidget topic="/app_update" key=status selector="taskid" selectorValue="<?cs var:_app.taskid?>">&nbsp;</div></td>
 <?cs /each ?>
 </tr>
 </table>

Modified: pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/includes.cs
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/includes.cs	2009-08-24 22:16:53 UTC (rev 22768)
+++ pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/includes.cs	2009-08-24 22:25:19 UTC (rev 22769)
@@ -10,9 +10,11 @@
     <script type="text/javascript" src="jslib/pr2_pb.js"></script> 
     <script type="text/javascript" src="jslib/pr2_widgets.js"></script> 
 
+<?cs if:0 ?>
     <script type='text/javascript' src='http://www.google.com/jsapi'></script>
     <script type='text/javascript'>
       google.load("visualization", "1", {packages:["linechart"]});
       google.load("visualization", "1", {packages:["gauge"]});
     </script>
+<?cs /if ?>
 


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