jukebox-software/run.py

#!/usr/bin/env python3

import get_specs
import traceback
import logging
import yaml
from multiprocessing import Process, Manager, Pool, TimeoutError, active_children, log_to_stderr
from multiprocessing.pool import Pool
import multiprocessing
from time import sleep
from util import fprint
from util import run_cmd
import sys
import ur5_control
import os
import signal



config = None
keeprunning = True
arm_ready = False
led_ready = False
camera_ready = False
sensor_ready = False
vm_ready = False
killme = None
#pool = None


def arm_start_callback(res):
    global arm_ready
    arm_ready = True

def led_start_callback(res):
    global led_ready
    led_ready = True

def camera_start_callback(res):
    global camera_ready
    camera_ready = True
    
def sensor_start_callback(res):
    global sensor_ready
    sensor_ready = True

def vm_start_callback(res):
    global vm_ready
    vm_ready = True

def wait_for(val, name):
    if val is False:
        fprint("waiting for " + name + " to complete...")
        while val is False:
            sleep(0.1)

def setup_server(pool):
    # linux server setup
    global config
    global counter
    global sensor_ready
    global camera_ready
    global led_ready
    global arm_ready

    fprint("Starting Jukebox control system...")
    pool.apply_async(ur5_control.init, (config["arm"]["ip"],), callback=arm_start_callback)
    #pool.apply_async(led_control.init, callback=led_start_callback)
    #pool.apply_async(camera_control.init, callback=camera_start_callback)
    #pool.apply_async(sensor_control.init, callback=sensor_start_callback)

    wait_for(led_ready, "LED controller initialization")
    wait_for(sensor_ready, "Sensor Initialization")
    wait_for(camera_ready, "Camera initilization")
    wait_for(arm_ready, "UR5 initilization")
    
    
    
        
    return True



def mainloop_server(pool):
    global config
    global counter
    global killme

    if killme.value > 0:
        killall()
    counter = counter + 1



def setup_client(pool, config):
    # Windows client setup

    # Open loading wepage
    def run_app():
        from flask import Flask, render_template
        app = Flask(__name__)

        @app.route('/')
        def index():
            return render_template('index.html')
        
        app.run(debug=True, use_reloader=False)
    
    p = Process(target=run_app)
    p.start()
    # start Linux server VM
    if config["core"]["server"] == "Hyper-V":
        run_cmd("Start-VM -Name Jukebox*") # any and all VMs starting with "Jukebox"

    # Wait for VM to start and be reachable over the network
    #pool.apply_async(vm_control.init, callback=vm_start_callback)

    wait_for(vm_ready, "VM Startup")
    p.terminate()
    return True
    

def mainloop_client(pool):
    sleep(0.1)

"""class Logger(object):
    def __init__(self, filename="output.log"):
        self.log = open(filename, "a")
        self.terminal = sys.stdout

    def write(self, message):
        self.log.write(message)
        #close(filename)
        #self.log = open(filename, "a")
        try:
            self.terminal.write(message)
        except:
            sleep(0)
        
    def flush(self):
        print("",end="")"""

def killall():
    procs = active_children()
    for proc in procs:
        proc.kill()
    fprint("All child processes killed")
    os.kill(os.getpid(), 9) # dirty kill of self

    
def killall_signal(a, b):
    killall()

def error(msg, *args):
    return multiprocessing.get_logger().error(msg, *args)

class LogExceptions(object):
    def __init__(self, callable):
        self.__callable = callable

    def __call__(self, *args, **kwargs):
        try:
            result = self.__callable(*args, **kwargs)

        except Exception as e:
            # Here we add some debugging help. If multiprocessing's
            # debugging is on, it will arrange to log the traceback
            error(traceback.format_exc())
            # Re-raise the original exception so the Pool worker can
            # clean up
            raise

        # It was fine, give a normal answer
        return result

class LoggingPool(Pool):
    def apply_async(self, func, args=(), kwds={}, callback=None):
        return Pool.apply_async(self, LogExceptions(func), args, kwds, callback)


if __name__ == "__main__":
    #sys.stdout = Logger(filename="output.log")
    #sys.stderr = Logger(filename="output.log")
    log_to_stderr(logging.DEBUG)

    with open('config.yml', 'r') as fileread:
        #global config
        config = yaml.safe_load(fileread)

    with Manager() as manager:
        pool = LoggingPool(processes=10)
        counter = 0
        killme = manager.Value('d', 0)
        signal.signal(signal.SIGINT, killall_signal)
        if config["core"]["mode"] == "winclient":
            if setup_client(pool, config):
                while(keeprunning):
                    mainloop_client(pool)

        elif config["core"]["mode"] == "linuxserver":
            if setup_server(pool):
                while(keeprunning):
                    mainloop_server(pool)