/usr/lib/python2.7/dist-packages/rosmaster/master.py is in python-rosmaster 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 | # 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 $Id$
"""
ROS Master.
This module integrates the lower-level implementation modules into a
single interface for running and stopping the ROS Master.
"""
import logging
import time
import rosgraph.xmlrpc
import rosmaster.master_api
DEFAULT_MASTER_PORT=11311 #default port for master's to bind to
class Master(object):
def __init__(self, port=DEFAULT_MASTER_PORT, num_workers=rosmaster.master_api.NUM_WORKERS):
self.port = port
self.num_workers = num_workers
def start(self):
"""
Start the ROS Master.
"""
self.handler = None
self.master_node = None
self.uri = None
handler = rosmaster.master_api.ROSMasterHandler(self.num_workers)
master_node = rosgraph.xmlrpc.XmlRpcNode(self.port, handler)
master_node.start()
# poll for initialization
while not master_node.uri:
time.sleep(0.0001)
# save fields
self.handler = handler
self.master_node = master_node
self.uri = master_node.uri
logging.getLogger('rosmaster.master').info("Master initialized: port[%s], uri[%s]", self.port, self.uri)
def ok(self):
if self.master_node is not None:
return self.master_node.handler._ok()
else:
return False
def stop(self):
if self.master_node is not None:
self.master_node.shutdown('Master.stop')
self.master_node = None
|