Add app manager plugin

README.md

@@ -124,6 +124,57 @@ message: "app [app_manager/appA] started"
 namespace: "/robot/application"
 ```
 
+## Plugins
+
+You can define `app_manager` plugins as below in app file such as `test.app`.
+
+```yaml
+# app definitions
+display: Test app
+platform: all
+launch: test_app_manager/test_app.xml
+interface: test_app_manager/test_app.interface
+# plugin definitions
+plugins:
+  - name: mail_notifier_plugin  # name to identify this plugin
+    type: app_notifier/mail_notifier_plugin  # plugin type
+    launch_args:  # arguments for plugin launch file
+      - foo: hello
+    launch_arg_yaml: /etc/mail_notifier_launch_arg.yaml  # argument yaml file for plugin launch file
+    # in this case, these arguments will be passed.
+    # {"hoge": 100, "fuga": 30, "bar": 10} will be passed to start plugin
+    # {"hoge": 50, "fuga": 30} will be passed to stop plugin
+    plugin_args:  # arguments for plugin function
+      - hoge: 10
+      - fuga: 30
+    start_plugin_args:  # arguments for start plugin function
+      - hoge: 100  # arguments for start plugin function arguments (it overwrites plugin_args hoge: 10 -> 100)
+      - bar: 10
+    stop_plugin_args:  # arguments for stop plugin function
+      - hoge: 50  # arguments for stop plugin function arguments (it overwrites plugin_args hoge: 10 -> 50)
+    plugin_arg_yaml: /etc/mail_notifier_plugin_arg.yaml  # argument yaml file for plugin function arguments
+  - name: rosbag_recorder_plugin  # another plugin
+    type app_recorder/rosbag_recorder_plugin
+    launch_args:
+      rosbag_path: /tmp
+      rosbag_title: test.bag
+      compress: true
+      rosbag_topic_names:
+        - /rosout
+        - /tf
+        - /tf_static
+plugin_order: # plugin running orders. if you don't set field, plugin will be run in order in plugins field
+  start_plugin_order:  # start plugin running order
+    - rosbag_recorder_plugin  # 1st plugin name
+    - mail_notifier_plugin  #2nd plugin name
+  stop_plugin_order:  # start plugin running order
+    - rosbag_recorder_plugin
+    - mail_notifier_plugin
+```
+
+Sample plugin repository is [knorth55/app_manager_utils](https://github.com/knorth55/app_manager_utils).
+
+For more detailed information, please read [#25](https://github.com/PR2/app_manager/pull/25).
 
 ## Maintainer
 

scripts/app_manager

@@ -9,6 +9,7 @@ import rospkg
 from argparse import ArgumentParser
 import os
 import sys
+import yaml
 
 import app_manager
 import rospy
@@ -25,15 +26,23 @@ def main():
     args = parser.parse_args(argv[1:])
 
     applist = []
+    plugin_yamls = []
     rospack = rospkg.RosPack()
     depend_pkgs = rospack.get_depends_on('app_manager', implicit=False)
 
     rospy.loginfo("Loading from plugin definitions")
     for depend_pkg in depend_pkgs:
-        m = rospack.get_manifest(depend_pkg)
-        app_dir = m.get_export('app_manager', 'app_dir')
-        if len(app_dir) != 0:
-            applist += app_dir
+        manifest = rospack.get_manifest(depend_pkg)
+        app_dirs = manifest.get_export('app_manager', 'app_dir')
+        plugin_yaml = manifest.get_export('app_manager', 'plugin')
+        if len(app_dirs) != 0:
+            applist += app_dirs
+            for app_dir in app_dirs:
+                rospy.logdebug('Loading app in {}'.format(app_dir))
+        if len(plugin_yaml) != 0:
+            plugin_yamls += plugin_yaml
+            for plugin_y in plugin_yaml:
+                rospy.logdebug('Loading plugin in {}'.format(plugin_y))
 
     if args.applist is not None:
         rospy.loginfo("Loading applist from --applist option")
@@ -47,6 +56,12 @@ def main():
     if len(applist) == 0:
         rospy.logwarn('No applist directory found.')
 
+    plugins = []
+    for plugin_yaml in plugin_yamls:
+        with open(plugin_yaml) as f:
+            plugin = yaml.safe_load(f)
+        plugins += plugin
+
     robot_name = rospy.get_param('/robot/name', 'robot')
     robot_type = rospy.get_param("/robot/type", None)
     if robot_type is None:
@@ -76,7 +91,8 @@ def main():
             rospy.logerr("Failed to load exchange: {}".format(e))
             sys.exit(1)
 
-    am = app_manager.AppManager(robot_name, interface_master, app_list, exchange)
+    am = app_manager.AppManager(
+        robot_name, interface_master, app_list, exchange, plugins)
 
     rospy.on_shutdown(am.shutdown)
 

src/app_manager/__init__.py

@@ -35,6 +35,7 @@
 from .app import AppDefinition
 from .app_manager import AppManager
 from .app_list import AppList, get_default_applist_directory
+from .app_manager_plugin import AppManagerPlugin
 from .exchange import Exchange
 from .exceptions import AppException, NotFoundException, \
      InvalidAppException, LaunchException, InternalAppException

src/app_manager/app.py

@@ -75,9 +75,9 @@ def __repr__(self):
 
 class AppDefinition(object):
     __slots__ = ['name', 'display_name', 'description', 'platform',
-                 'launch', 'interface', 'clients', 'icon']
+                 'launch', 'interface', 'clients', 'icon', 'plugins', 'plugin_order']
     def __init__(self, name, display_name, description, platform,
-                 launch, interface, clients, icon=None):
+                 launch, interface, clients, icon=None, plugins=None, plugin_order=None):
         self.name = name
         self.display_name = display_name
         self.description = description
@@ -86,6 +86,8 @@ def __init__(self, name, display_name, description, platform,
         self.interface = interface
         self.clients = clients
         self.icon = icon
+        self.plugins = plugins
+        self.plugin_order = plugin_order
 
     def __repr__(self):
         d = {}
@@ -222,6 +224,35 @@ def _AppDefinition_load_clients_entry(app_data, appfile="UNKNOWN"):
         clients.append(Client(client_type, manager_data, app_data))
     return clients
 
+
+def _AppDefinition_load_plugins_entry(app_data, appfile="UNKNOWN"):
+    """
+    @raise InvalidAppException: if app definition is invalid.
+    """
+    # load/validate launch entry
+    try:
+        plugins = app_data.get('plugins', '')
+        if plugins == '':
+            return None
+        return plugins
+    except ValueError as e:
+        raise InvalidAppException("Malformed appfile [%s]: bad plugins entry: %s"%(appfile, e))
+
+
+def _AppDefinition_load_plugin_order_entry(app_data, appfile="UNKNOWN"):
+    """
+    @raise InvalidAppException: if app definition is invalid.
+    """
+    # load/validate launch entry
+    try:
+        plugin_order = app_data.get('plugin_order', '')
+        if plugin_order == '':
+            return None
+        return plugin_order
+    except ValueError as e:
+        raise InvalidAppException("Malformed appfile [%s]: bad plugin_order entry: %s"%(appfile, e))
+
+
 def load_AppDefinition_from_file(appfile, appname):
     """
     @raise InvalidAppExcetion: if app definition is invalid.
@@ -242,9 +273,12 @@ def load_AppDefinition_from_file(appfile, appname):
         interface = _AppDefinition_load_interface_entry(app_data, appfile)
         clients = _AppDefinition_load_clients_entry(app_data, appfile)
         icon = _AppDefinition_load_icon_entry(app_data, appfile)
+        plugins = _AppDefinition_load_plugins_entry(app_data, appfile)
+        plugin_order = _AppDefinition_load_plugin_order_entry(app_data, appfile)
 
     return AppDefinition(appname, display_name, description, platform,
-                         launch, interface, clients, icon)
+                         launch, interface, clients, icon,
+                         plugins, plugin_order)
 
 def load_AppDefinition_by_name(appname):
     """