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Spawner check for currently running controllers on shutdown #364

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Spawner check for currently running controllers on shutdown #364

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8989431
check for currently running controllers on shutdown
Oct 18, 2018
471da15
cleaned up
Oct 18, 2018
e54267c
fixed prints
Oct 18, 2018
6bcfd75
check for intersection of running and loaded controllers
Oct 19, 2018
f487d0b
changed list intersection method
megantuttle Oct 19, 2018
ee4cf92
switched service calls to follow convention, reverted interface to or…
megantuttle Oct 19, 2018
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19 changes: 11 additions & 8 deletions controller_manager/scripts/spawner
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ import yaml
from controller_manager_msgs.srv import *
from std_msgs.msg import *
import argparse
import controller_manager.controller_manager_interface
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loaded = []

Expand All @@ -55,16 +56,21 @@ def shutdown():
rospy.loginfo("Shutting down spawner. Stopping and unloading controllers...")

try:
# unloader
# get list of running controllers
_running_controllers = []
_loaded_controllers = controller_manager.controller_manager_interface.list_controllers()
for c in _loaded_controllers:
if c.state == "running":
_running_controllers.append(c.name)

# create unloader and switcher
unload_controller = rospy.ServiceProxy(unload_controller_service, UnloadController)

# switcher
switch_controller = rospy.ServiceProxy(switch_controller_service, SwitchController)

rospy.loginfo("Stopping all controllers...");
switch_controller([], loaded, SwitchControllerRequest.STRICT)
switch_controller([], _running_controllers, SwitchControllerRequest.STRICT)
rospy.loginfo("Unloading all loaded controllers...");
for name in reversed(loaded):
for name in reversed(_running_controllers):
rospy.logout("Trying to unload %s" % name)
unload_controller(name)
rospy.logout("Succeeded in unloading %s" % name)
Expand Down Expand Up @@ -191,9 +197,6 @@ def main():

rospy.loginfo("Controller Spawner: Loaded controllers: %s" % ', '.join(loaded))

if rospy.is_shutdown():
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whiy did you remove this block?

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It seemed redundant since a shutdown hook is defined, and rospy.spin() simply keeps python from exiting until rospy.core.is_shutdown() is set (see rospy/client.py).

return

# start controllers is requested
if autostart:
resp = switch_controller(loaded, [], 2)
Expand Down
46 changes: 20 additions & 26 deletions controller_manager/src/controller_manager/controller_manager_interface.py
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Original file line number Diff line number Diff line change
@@ -1,35 +1,32 @@
#! /usr/bin/env python
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from __future__ import print_function
import rospy
from controller_manager_msgs.srv import *


def list_controller_types():
rospy.wait_for_service('controller_manager/list_controller_types')
s = rospy.ServiceProxy('controller_manager/list_controller_types', ListControllerTypes)
resp = s.call(ListControllerTypesRequest())
for t in resp.types:
print(t)

print t

def reload_libraries(force_kill, restore=False):
def reload_libraries(force_kill, restore = False):
rospy.wait_for_service('controller_manager/reload_controller_libraries')
s = rospy.ServiceProxy('controller_manager/reload_controller_libraries', ReloadControllerLibraries)

list_srv = rospy.ServiceProxy('controller_manager/list_controllers', ListControllers)
load_srv = rospy.ServiceProxy('controller_manager/load_controller', LoadController)
switch_srv = rospy.ServiceProxy('controller_manager/switch_controller', SwitchController)

print("Restore:", restore)
print "Restore:", restore
if restore:
originally = list_srv.call(ListControllersRequest())

resp = s.call(ReloadControllerLibrariesRequest(force_kill))
if resp.ok:
print("Successfully reloaded libraries")
print "Successfully reloaded libraries"
result = True
else:
print("Failed to reload libraries. Do you still have controllers loaded?")
print "Failed to reload libraries. Do you still have controllers loaded?"
result = False

if restore:
Expand All @@ -39,62 +36,59 @@ def reload_libraries(force_kill, restore=False):
switch_srv(start_controllers=to_start,
stop_controllers=[],
strictness=SwitchControllerRequest.BEST_EFFORT)
print("Controllers restored to original state")
print "Controllers restored to original state"
return result


def list_controllers():
controller_list = []
rospy.wait_for_service('controller_manager/list_controllers')
s = rospy.ServiceProxy('controller_manager/list_controllers', ListControllers)
resp = s.call(ListControllersRequest())
if len(resp.controller) == 0:
print("No controllers are loaded in mechanism control")
print "No controllers are loaded in mechanism control"
else:
for c in resp.controller:
hwi = list(set(r.hardware_interface for r in c.claimed_resources))
print('%s - %s ( %s )' % (c.name, '+'.join(hwi), c.state))
hwi = list(set(r.hardware_interface for r in c.claimed_resources))
print '%s - %s ( %s )'%(c.name, '+'.join(hwi), c.state)
controller_list.append(c)
return controller_list


def load_controller(name):
rospy.wait_for_service('controller_manager/load_controller')
s = rospy.ServiceProxy('controller_manager/load_controller', LoadController)
resp = s.call(LoadControllerRequest(name))
if resp.ok:
print("Loaded", name)
print "Loaded", name
return True
else:
print("Error when loading", name)
print "Error when loading", name
return False


def unload_controller(name):
rospy.wait_for_service('controller_manager/unload_controller')
s = rospy.ServiceProxy('controller_manager/unload_controller', UnloadController)
resp = s.call(UnloadControllerRequest(name))
if resp.ok == 1:
print("Unloaded %s successfully" % name)
print "Unloaded %s successfully" % name
return True
else:
print("Error when unloading", name)
print "Error when unloading", name
return False


def start_controller(name):
return start_stop_controllers([name], True)


def start_controllers(names):
return start_stop_controllers(names, True)


def stop_controller(name):
return start_stop_controllers([name], False)


def stop_controllers(names):
return start_stop_controllers(names, False)


def start_stop_controllers(names, st):
rospy.wait_for_service('controller_manager/switch_controller')
s = rospy.ServiceProxy('controller_manager/switch_controller', SwitchController)
Expand All @@ -108,13 +102,13 @@ def start_stop_controllers(names, st):
resp = s.call(SwitchControllerRequest(start, stop, strictness))
if resp.ok == 1:
if st:
print("Started {} successfully".format(names))
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print "Started {} successfully".format(names)
else:
print("Stopped {} successfully".format(names))
print "Stopped {} successfully".format(names)
return True
else:
if st:
print("Error when starting ", names)
print "Error when starting ", names
else:
print("Error when stopping ", names)
print "Error when stopping ", names
return False