[Personalrobots-commit] SF.net SVN: personalrobots:[22799] pkg/trunk/sandbox/web

[<wgh...@us...>]

Revision: 22799
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22799&view=rev
Author:   wghassan
Date:     2009-08-25 01:19:47 +0000 (Tue, 25 Aug 2009)

Log Message:
-----------
added AppStatus and AppUpdate messages

Modified Paths:
--------------
    pkg/trunk/sandbox/web/launchman/src/launchman/app.py
    pkg/trunk/sandbox/web/launchman/src/launchman.py
    pkg/trunk/sandbox/web/webui/src/webui/mod/webui/db_webui.py
    pkg/trunk/sandbox/web/webui/src/webui/mod/webui/jslib/ros.js
    pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/header.cs

Added Paths:
-----------
    pkg/trunk/sandbox/web/launchman/msg/AppStatus.msg
    pkg/trunk/sandbox/web/launchman/msg/AppUpdate.msg

Removed Paths:
-------------
    pkg/trunk/sandbox/web/launchman/msg/TaskStatus.msg

Added: pkg/trunk/sandbox/web/launchman/msg/AppStatus.msg
===================================================================
--- pkg/trunk/sandbox/web/launchman/msg/AppStatus.msg	                        (rev 0)
+++ pkg/trunk/sandbox/web/launchman/msg/AppStatus.msg	2009-08-25 01:19:47 UTC (rev 22799)
@@ -0,0 +1 @@
+string[] active

Added: pkg/trunk/sandbox/web/launchman/msg/AppUpdate.msg
===================================================================
--- pkg/trunk/sandbox/web/launchman/msg/AppUpdate.msg	                        (rev 0)
+++ pkg/trunk/sandbox/web/launchman/msg/AppUpdate.msg	2009-08-25 01:19:47 UTC (rev 22799)
@@ -0,0 +1,5 @@
+Header header
+string taskid
+string username
+string status
+time started

Deleted: pkg/trunk/sandbox/web/launchman/msg/TaskStatus.msg
===================================================================
--- pkg/trunk/sandbox/web/launchman/msg/TaskStatus.msg	2009-08-25 01:18:43 UTC (rev 22798)
+++ pkg/trunk/sandbox/web/launchman/msg/TaskStatus.msg	2009-08-25 01:19:47 UTC (rev 22799)
@@ -1,5 +0,0 @@
-Header header
-string taskid
-string username
-string status
-time started

Modified: pkg/trunk/sandbox/web/launchman/src/launchman/app.py
===================================================================
--- pkg/trunk/sandbox/web/launchman/src/launchman/app.py	2009-08-25 01:18:43 UTC (rev 22798)
+++ pkg/trunk/sandbox/web/launchman/src/launchman/app.py	2009-08-25 01:19:47 UTC (rev 22799)
@@ -53,11 +53,12 @@
     try:
       self.taskid = taskid
       self.app_file = app_file
-      self.name = doc['name']
-      self.package = doc['package']
-      self.provides = doc['provides']
-      self.launch_file = doc['launch_file']
-      self.depends = doc['depends']
+      self.name = doc['name'].strip()
+      self.package = doc['package'].strip()
+      self.launch_file = doc['launch_file'].strip()
+
+      self.provides = doc.get('provides', None)
+      self.depends = doc.get('depends', None)
     except KeyError:
       print "Invalid YAML file"
 

Modified: pkg/trunk/sandbox/web/launchman/src/launchman.py
===================================================================
--- pkg/trunk/sandbox/web/launchman/src/launchman.py	2009-08-25 01:18:43 UTC (rev 22798)
+++ pkg/trunk/sandbox/web/launchman/src/launchman.py	2009-08-25 01:19:47 UTC (rev 22799)
@@ -38,6 +38,8 @@
 
 import roslib; roslib.load_manifest(PKG) 
 
+import time
+
 from launchman.srv import *
 from launchman.msg import *
 import rospy 
@@ -52,8 +54,14 @@
 
 from launchman import app
 
-class TaskGroup:
-  def __init__(self, manager):
+class AppGroup:
+  def __init__(self, manager, apprunner):
+    self.apprunner = None
+    self.manager = manager
+
+class AppRunner:
+  def __init__(self, taskid, manager):
+    self.taskid = taskid
     self.task = AppUpdate(None, None, None, None, None)
     self.app = None
     self.runner = None
@@ -98,7 +106,7 @@
       
 
   def __repr__(self):
-    return "<TaskGroup %s %s %s>" % (self.app.provides, self.app.taskid, len(self.childGroups))
+    return "<AppRunner %s: %s %s %s>" % (self.taskid, self.app.provides, self.app.taskid, len(self.childGroups))
 
 
 
@@ -116,96 +124,94 @@
   def start_task(self, req):
     a = app.App(req.taskid)
     pgroup = None
-    group = self._taskGroups.get(a.provides, None)
-    if group:
-      if group.task.taskid == req.taskid:
+    runner = self._taskGroups.get(a.provides, None)
+    if runner:
+      if runner.task.taskid == req.taskid:
         print "already running"
         return StartTaskResponse("already running")
 
-      self._stopTask(group)
+      self._stopTask(runner)
 
-    if a.depends and a.depends.strip():
-      print "depends", a.depends
+    if a.depends:
       pgroup = self._taskGroups.get(a.depends, None)
       if not pgroup:
         print "no parent task group %s running." % str(a.depends)
         return StartTaskResponse("no parent task group %s running." % str(a.depends))
 
-    self._apps[req.taskid] = a
-    group = TaskGroup(self)
-    group.app = a
+    runner = AppRunner(req.taskid, self)
+    runner.app = a
+    self._apps[req.taskid] = runner
+
     if a.provides:
-      self._taskGroups[a.provides] = group
+      self._taskGroups[a.provides] = runner
 
     if pgroup:
-      pgroup.childGroups.append(group)
+      pgroup.childGroups.append(runner)
 
-    print "startTask [%s, %s, %s]" % (req.taskid, a.name, req.username)
-    group.task.taskid = req.taskid
-    group.task.username = req.username
-    group.task.started = rospy.get_rostime()
-    group.task.status = "starting"
+    #print "startTask [%s, %s, %s]" % (req.taskid, a.name, req.username)
+    runner.task.taskid = req.taskid
+    runner.task.username = req.username
+    runner.task.started = rospy.get_rostime()
+    runner.task.status = "starting"
 
-    self.app_update.publish(group.task)
+    self.app_update.publish(runner.task)
 
-    group.launch()
+    runner.launch()
 
-    group.task.status = "running"
-    self.app_update.publish(group.task)
+    time.sleep(1)
+    runner.task.status = "running"
+    self.app_update.publish(runner.task)
     self._send_status()
 
     return StartTaskResponse("done")
 
   def showstate(self):
     print "_" * 40
-    for provides, group in self._taskGroups.items():
-      print provides, group.childGroups
+    for provides, runner in self._taskGroups.items():
+      print provides, runner.childGroups
 
-  def _stopTask(self, group):
-    print "_stopTask", group.app.provides
+  def _stopTask(self, runner):
+    runner.task.status = "stopping"
+    self.app_update.publish(runner.task)
 
-    group.task.status = "stopping"
-    self.app_update.publish(group.task)
-
-    print "childGroups", group, group.childGroups
-    for cgroup in group.childGroups[:]:
+    for cgroup in runner.childGroups[:]:
       self._stopTask(cgroup)
 
-    group.stop()
+    runner.stop()
+    time.sleep(1)
 
-    group.task.status = "stopped"
-    self.app_update.publish(group.task)
+    runner.task.status = "stopped"
+    self.app_update.publish(runner.task)
 
-    if group.app.depends:
-      pgroup = self._taskGroups.get(group.app.depends.strip(), None)
+    if runner.app.depends:
+      pgroup = self._taskGroups.get(runner.app.depends, None)
       if pgroup:
-        pgroup.childGroups.remove(group)
+        pgroup.childGroups.remove(runner)
 
-    if group.app.provides:
-      print "removing", group.app.provides
-      del self._taskGroups[group.app.provides]
+    if runner.app.provides:
+      print "removing", runner.app.provides
+      del self._taskGroups[runner.app.provides]
 
+    if runner.taskid in self._apps:
+      del self._apps[runner.taskid]
+      print "removing", runner.taskid
 
+
   def stop_task(self, req):
-    app = self._apps[req.taskid]
+    if req.taskid not in self._apps:
+      return StopTaskResponse("no such task: %s" % req.taskid)
+      
+    runner = self._apps[req.taskid]
 
-    group = self._taskGroups.get(app.provides, None)
-    if not group: 
-      msg = "no such group: " + str(app.provides)
-      return StopTaskResponse(msg)
+    self._stopTask(runner)
 
-    self._stopTask(group)
-
-    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.app_update.publish(group.task)
+    for provides, runner in self._taskGroups.items():
+      self.app_update.publish(runner.task)
     return StatusUpdateResponse("done")
 
 

Modified: pkg/trunk/sandbox/web/webui/src/webui/mod/webui/db_webui.py
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/mod/webui/db_webui.py	2009-08-25 01:18:43 UTC (rev 22798)
+++ pkg/trunk/sandbox/web/webui/src/webui/mod/webui/db_webui.py	2009-08-25 01:19:47 UTC (rev 22799)
@@ -83,8 +83,6 @@
 
 class Application(hdfhelp.HdfRow):
   def fetchApp(self, prefix, hdf):
-    warn('taskid', self.taskid)
-    warn('taskid', repr(self.taskid))
     _app = app.App(str(self.taskid))
     
     hdf.setValue(prefix + ".name", _app.name)

Modified: pkg/trunk/sandbox/web/webui/src/webui/mod/webui/jslib/ros.js
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/mod/webui/jslib/ros.js	2009-08-25 01:18:43 UTC (rev 22798)
+++ pkg/trunk/sandbox/web/webui/src/webui/mod/webui/jslib/ros.js	2009-08-25 01:19:47 UTC (rev 22799)
@@ -62,13 +62,17 @@
    }
   },
 
+ receive_service: function(json_result) {
+      // implement this to return the result to the calling service call.
+ },
+
  receive: function(json_result) {
    try {
+     this.lastTime = json_result.since;
      this.evalMessages(json_result);
    } catch (e) {
      ros_debug("Error with evalMessages.");
    }
-   this.lastTime = json_result.since;
    this.pump(); 
  },
       
@@ -498,3 +502,32 @@
 gRosClasses["RosOut_Widget"] = function(dom){
   return new RosOut_Widget(dom);
 }
+
+
+
+
+var ActiveTasks = Class.create({
+  initialize: function(domobj) {
+    this.pump = null;
+    this.domobj = domobj;
+    this.topics = [domobj.getAttribute("topic")];
+  },
+
+  init: function() {
+    this.domobj.innerHTML = "";
+  },
+
+  receive: function(msg) {
+      var s = "";
+      for(var i=0; i<msg.active.length; i++) {
+        s = s + "|" + msg.active[i];
+      }
+      this.domobj.innerHTML = s;
+    }
+});
+
+gRosClasses["ActiveTasks"] = function(dom){
+  return new ActiveTasks(dom);
+}
+
+

Modified: pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/header.cs
===================================================================
--- pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/header.cs	2009-08-25 01:18:43 UTC (rev 22798)
+++ pkg/trunk/sandbox/web/webui/src/webui/mod/webui/templates/header.cs	2009-08-25 01:19:47 UTC (rev 22799)
@@ -2,7 +2,10 @@
 <tr>
 <td width=1%><nobr>Robot: <?cs var:CGI.ServerName?></td>
 <td width=1%><img src="templates/images/toolbar/grid-blue-split.gif"></td>
-<td width=90%>Core Status: <font color=green>Running</td>
+<td width=90%><nobr>Core Status: <font color=green>Running</font> 
+<span objtype=ActiveTasks topic="/app_status"/>
+</nobr>
+</td>
 <td width=1%><img src="templates/images/toolbar/grid-blue-split.gif"></td>
 <td width=1%><nobr><div objtype=CircuitMonitor topic="/power_board_state"/></td>
 <td width=1%><img src="templates/images/toolbar/grid-blue-split.gif"></td>


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