Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[22210] pkg/trunk/sandbox/web

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Revision: 22210
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22210&view=rev
Author:   rob_wheeler
Date:     2009-08-19 02:00:32 +0000 (Wed, 19 Aug 2009)

Log Message:
-----------
Bring taskman over from Scott's repository

Added Paths:
-----------
    pkg/trunk/sandbox/web/taskman/
    pkg/trunk/sandbox/web/taskman/CMakeLists.txt
    pkg/trunk/sandbox/web/taskman/Makefile
    pkg/trunk/sandbox/web/taskman/manifest.xml
    pkg/trunk/sandbox/web/taskman/msg/
    pkg/trunk/sandbox/web/taskman/msg/TaskStatus.msg
    pkg/trunk/sandbox/web/taskman/src/
    pkg/trunk/sandbox/web/taskman/src/taskman.py
    pkg/trunk/sandbox/web/taskman/srv/
    pkg/trunk/sandbox/web/taskman/srv/StartTask.srv
    pkg/trunk/sandbox/web/taskman/srv/StatusUpdate.srv
    pkg/trunk/sandbox/web/taskman/srv/StopTask.srv
    pkg/trunk/sandbox/web/taskman/test/
    pkg/trunk/sandbox/web/taskman/test/joystick.app
    pkg/trunk/sandbox/web/taskman/test/pr2_core.app
    pkg/trunk/sandbox/web/taskman/test/startTask.py
    pkg/trunk/sandbox/web/taskman/test/stopTask.py
    pkg/trunk/sandbox/web/taskman/test/talker.app
    pkg/trunk/sandbox/web/taskman/test/talker1.app
    pkg/trunk/sandbox/web/taskman/test/talker2.app

Added: pkg/trunk/sandbox/web/taskman/CMakeLists.txt
===================================================================

--- pkg/trunk/sandbox/web/taskman/CMakeLists.txt	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/CMakeLists.txt	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+rospack(taskman)
+genmsg()
+gensrv()
+

Added: pkg/trunk/sandbox/web/taskman/Makefile
===================================================================
--- pkg/trunk/sandbox/web/taskman/Makefile	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/Makefile	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

Added: pkg/trunk/sandbox/web/taskman/manifest.xml
===================================================================
--- pkg/trunk/sandbox/web/taskman/manifest.xml	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/manifest.xml	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,11 @@
+<package>
+  <description>Task Manager</description>
+  <author>Scott Hassan</author>
+  <license>BSD</license>
+  <review status="na" notes=""/>
+  <url>http://pr.willowgarage.com/wiki/taskman</url>
+
+  <depend package="rospy"/>
+  <depend package="roslaunch"/>
+  <depend package="std_msgs"/>
+</package>

Added: pkg/trunk/sandbox/web/taskman/msg/TaskStatus.msg
===================================================================
--- pkg/trunk/sandbox/web/taskman/msg/TaskStatus.msg	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/msg/TaskStatus.msg	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,5 @@
+Header header
+string taskid
+string username
+string status
+time started

Added: pkg/trunk/sandbox/web/taskman/src/taskman.py
===================================================================
--- pkg/trunk/sandbox/web/taskman/src/taskman.py	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/src/taskman.py	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,242 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id$
+
+PKG = 'taskman' # this package name
+NAME = 'taskman'
+
+import roslib; roslib.load_manifest(PKG) 
+
+from taskman.srv import *
+from taskman.msg import *
+import rospy 
+
+import roslib.names
+import roslib.network 
+
+from roslaunch.config import ROSLaunchConfig
+from roslaunch.launch import ROSLaunchRunner
+from roslaunch.pmon import pmon_shutdown as _pmon_shutdown
+from roslaunch.xmlloader import *
+
+import subprocess
+
+def getPackagePath(pkg):
+  pkgpath = subprocess.Popen(["rospack", "find", pkg], stdout=subprocess.PIPE).communicate()[0].strip()
+  return pkgpath
+
+class TaskGroup:
+  def __init__(self, manager):
+    self.task = TaskStatus(None, None, None, None, None)
+    self.app = None
+    self.runner = None
+    self.childGroups = []
+    self.manager = manager
+
+  def __del__(self):
+    if self.manager: self.manager = None
+    if self.childGroups: self.childGroups = None
+
+  def launch(self):
+    config = ROSLaunchConfig()
+    loader = XmlLoader()
+    path = getPackagePath(self.app.package)
+    print "pkgpath", path
+    print "launchfile", self.app.launch_file
+    #os.chdir(pkgpath)
+    fn = os.path.join(path, self.app.launch_file)
+    try:
+      loader.load(fn, config)
+    except:
+      self.task.status = "error"
+      self.manager.pub.publish(self.task)
+      return
+
+    self.runner = ROSLaunchRunner(rospy.get_param("/run_id"), config, is_core=False)
+    self.runner.pm.add_process_listener(self)
+    self.runner.launch() 
+
+  def stop(self):
+    if not self.runner: return
+    self.runner.stop()
+    self.runner = None
+
+  def process_died(self, process_name, exit_code):
+    #print "process_died", process_name, exit_code
+    #print self.runner.pm.procs
+    if len(self.runner.pm.procs) == 1:
+      self.runner = None
+      #print "ALL DONE!"
+      self.manager._stopTask(self)
+      
+
+  def __repr__(self):
+    return "<TaskGroup %s %s %s>" % (self.app.provides, self.app.taskid, len(self.childGroups))
+
+class App:
+  def __init__(self, taskid):
+    # TODO catch file system exception
+    package, app_file = taskid.split('/', 1)
+    path = getPackagePath(package)
+    doc = yaml.load(open(os.path.join(path, app_file)))
+    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']
+    except KeyError:
+      print "Invalid YAML file"
+
+
+
+class TaskManager:
+  def __init__(self):
+    self.pub = rospy.Publisher("TaskStatus", TaskStatus, self)
+    self._taskGroups = {}
+    self._apps = {}
+
+  def start_task(self, req):
+    app = App(req.taskid)
+    pgroup = None
+    group = self._taskGroups.get(app.provides, None)
+    if group:
+      if group.task.taskid == req.taskid:
+        print "already running"
+        return StartTaskResponse("already running")
+
+      self._stopTask(group)
+
+    if app.depends and app.depends.strip():
+      print "depends", app.depends
+      pgroup = self._taskGroups.get(app.depends, None)
+      if not pgroup:
+        print "no parent task group %s running." % str(app.depends)
+        return StartTaskResponse("no parent task group %s running." % str(app.depends))
+
+    self._apps[req.taskid] = app
+    group = TaskGroup(self)
+    group.app = app
+    if app.provides:
+      self._taskGroups[app.provides] = group
+
+    if pgroup:
+      pgroup.childGroups.append(group)
+
+    print "startTask [%s, %s, %s]" % (req.taskid, app.name, req.username)
+    group.task.taskid = req.taskid
+    group.task.username = req.username
+    group.task.started = rospy.get_rostime()
+    group.task.status = "starting"
+
+    self.pub.publish(group.task)
+
+    group.launch()
+
+    group.task.status = "running"
+    self.pub.publish(group.task)
+
+    return StartTaskResponse("done")
+
+  def showstate(self):
+    print "_" * 40
+    for provides, group in self._taskGroups.items():
+      print provides, group.childGroups
+
+  def _stopTask(self, group):
+    print "_stopTask", group.app.provides
+
+    group.task.status = "stopping"
+    self.pub.publish(group.task)
+
+    print "childGroups", group, group.childGroups
+    for cgroup in group.childGroups[:]:
+      self._stopTask(cgroup)
+
+    group.stop()
+
+    group.task.status = "stopped"
+    self.pub.publish(group.task)
+
+    if group.app.depends:
+      pgroup = self._taskGroups.get(group.app.depends.strip(), None)
+      if pgroup:
+        pgroup.childGroups.remove(group)
+
+    if group.app.provides:
+      print "removing", group.app.provides
+      del self._taskGroups[group.app.provides]
+
+  def stop_task(self, req):
+    app = 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(group)
+
+    del self._apps[req.taskid]
+
+    return StopTaskResponse("done")
+
+  def status_update(self, req):
+    for provides, group in self._taskGroups.items():
+      self.pub.publish(group.task)
+    return StatusUpdateResponse("done")
+
+
+  def peer_subscribe(self, topic_name, topic_publish, peer_publish):
+    pass
+
+  def peer_unsubscribe(self, topic_name, numPeers):
+    pass
+
+
+def server():
+    rospy.init_node(NAME)
+
+    tm = TaskManager()
+    s1 = rospy.Service('start_task', StartTask, tm.start_task)
+    s2 = rospy.Service('stop_task', StopTask, tm.stop_task)
+    s3 = rospy.Service('status_update', StatusUpdate, tm.status_update)
+
+    # spin() keeps Python from exiting until node is shutdown
+    rospy.spin()
+
+if __name__ == "__main__":
+    server()


Property changes on: pkg/trunk/sandbox/web/taskman/src/taskman.py
___________________________________________________________________
Added: svn:executable
   + *

Added: pkg/trunk/sandbox/web/taskman/srv/StartTask.srv
===================================================================
--- pkg/trunk/sandbox/web/taskman/srv/StartTask.srv	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/srv/StartTask.srv	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,4 @@
+string taskid
+string username
+---
+string status

Added: pkg/trunk/sandbox/web/taskman/srv/StatusUpdate.srv
===================================================================
--- pkg/trunk/sandbox/web/taskman/srv/StatusUpdate.srv	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/srv/StatusUpdate.srv	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,2 @@
+---
+string status
\ No newline at end of file

Added: pkg/trunk/sandbox/web/taskman/srv/StopTask.srv
===================================================================
--- pkg/trunk/sandbox/web/taskman/srv/StopTask.srv	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/srv/StopTask.srv	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,4 @@
+string taskid
+string username
+---
+string status
\ No newline at end of file

Added: pkg/trunk/sandbox/web/taskman/test/joystick.app
===================================================================
--- pkg/trunk/sandbox/web/taskman/test/joystick.app	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/test/joystick.app	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,7 @@
+name: Joystick
+package: pr2_core
+launch_file: teleop_joystick_tuck.launch
+description: Move the base with the joystick
+icon:
+provides:
+depends: pr2_core

Added: pkg/trunk/sandbox/web/taskman/test/pr2_core.app
===================================================================
--- pkg/trunk/sandbox/web/taskman/test/pr2_core.app	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/test/pr2_core.app	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,7 @@
+name: PR2 Core
+package: pr2_core
+launch_file: pr2_core.launch
+description: Bring up most of the PR2
+icon:
+provides: pr2_core
+depends: pr2_core

Added: pkg/trunk/sandbox/web/taskman/test/startTask.py
===================================================================
--- pkg/trunk/sandbox/web/taskman/test/startTask.py	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/test/startTask.py	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,65 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id$
+
+## Simple demo of a rospy service client that calls a service to add
+## two integers. 
+
+PKG = 'taskman' # this package name
+
+import roslib; roslib.load_manifest(PKG) 
+
+import sys
+import os
+import string
+
+import rospy
+
+# imports the AddTwoInts service 
+from taskman.srv import *
+
+def startTask(task):
+    rospy.wait_for_service('start_task')
+    
+    try:
+        # create a handle to the add_two_ints service
+        start_task = rospy.ServiceProxy('start_task', StartTask)
+        resp1 = start_task(task, "hassan")
+
+        return resp1.status
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+if __name__ == "__main__":
+  startTask(sys.argv[1])


Property changes on: pkg/trunk/sandbox/web/taskman/test/startTask.py
___________________________________________________________________
Added: svn:executable
   + *

Added: pkg/trunk/sandbox/web/taskman/test/stopTask.py
===================================================================
--- pkg/trunk/sandbox/web/taskman/test/stopTask.py	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/test/stopTask.py	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,63 @@
+#!/usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2008, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Revision $Id$
+
+## Simple demo of a rospy service client that calls a service to add
+## two integers. 
+
+PKG = 'taskman' # this package name
+
+import roslib; roslib.load_manifest(PKG) 
+
+import sys
+import os
+import string
+
+import rospy
+
+from taskman.srv import *
+
+def stopTask(task):
+    rospy.wait_for_service('stop_task')
+    
+    try:
+        stop_task = rospy.ServiceProxy('stop_task', StopTask)
+        resp1 = stop_task(task, "hassan")
+
+        return resp1.status
+    except rospy.ServiceException, e:
+        print "Service call failed: %s"%e
+
+if __name__ == "__main__":
+  stopTask(sys.argv[1])


Property changes on: pkg/trunk/sandbox/web/taskman/test/stopTask.py
___________________________________________________________________
Added: svn:executable
   + *

Added: pkg/trunk/sandbox/web/taskman/test/talker.app
===================================================================
--- pkg/trunk/sandbox/web/taskman/test/talker.app	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/test/talker.app	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,7 @@
+name: Talker/Listener
+package: rospy_tutorials
+launch_file: 001_talker_listener/talker_listener.launch
+description: ROS's hello world equivilant
+icon:
+provides: talkers
+depends:

Added: pkg/trunk/sandbox/web/taskman/test/talker1.app
===================================================================
--- pkg/trunk/sandbox/web/taskman/test/talker1.app	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/test/talker1.app	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,7 @@
+name: Talker/Listener
+package: rospy_tutorials
+launch_file: 001_talker_listener/talker_listener.launch
+description: ROS's hello world equivilant
+icon:
+provides: talk
+depends: talkers

Added: pkg/trunk/sandbox/web/taskman/test/talker2.app
===================================================================
--- pkg/trunk/sandbox/web/taskman/test/talker2.app	                        (rev 0)
+++ pkg/trunk/sandbox/web/taskman/test/talker2.app	2009-08-19 02:00:32 UTC (rev 22210)
@@ -0,0 +1,7 @@
+name: Talker/Listener
+package: rospy_tutorials
+launch_file: 001_talker_listener/talker_listener.launch
+description: ROS's hello world equivilant
+icon:
+provides: talk
+depends: talkers


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Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[22210] pkg/trunk/sandbox/web

personalrobots-commit