improved start of the crossbar server and log output

fkie · Aug 22, 2023 · 6d68b17 · 6d68b17
1 parent 5dd24b5
commit 6d68b17
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Showing 13 changed files with 180 additions and 122 deletions.
diff --git a/fkie_master_discovery/src/eprosima_pariticipant_listener.cpp b/fkie_master_discovery/src/eprosima_pariticipant_listener.cpp
@@ -245,7 +245,7 @@ class CustomParticipantListener : public rclcpp::Node,
             // only consider known GUIDs
             if (itp != discoveredParticipants_.end())
             {
-                RCLCPP_INFO(get_logger(), "onParticipantDiscovery:   remove participant %s:", to_string(info.info.m_guid).c_str());
+                RCLCPP_INFO(get_logger(), "onParticipantDiscovery: remove participant %s:", to_string(info.info.m_guid).c_str());
                 discoveredParticipants_.erase(itp);
             }
             break;

diff --git a/fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/base_session.py b/fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/base_session.py
@@ -62,7 +62,9 @@ def default(self, obj):
 
 class CrossbarBaseSession(ApplicationSession):
 
-    def __init__(self, loop: asyncio.AbstractEventLoop, realm: str = 'ros', port: int = 11911, test_env=False) -> None:
+    CROSSBAR_SERVER_STARTED = False
+
+    def __init__(self, loop: asyncio.AbstractEventLoop, realm: str = 'ros', port: int = 11911, *, test_env=False) -> None:
         self.port = port
         self.crossbar_loop = loop
         self._on_shutdown = False
@@ -95,10 +97,10 @@ async def subcribe_async(self, topic: str, handler: Callable):
         try:
             await self.subscribe(handler, topic)
             Log.info(
-                f"{self.__class__.__name__}: subscribed to crossbar topic 'ros.nodes.abort'")
+                f"{self.__class__.__name__}: subscribed to crossbar topic '{topic}'")
         except Exception as e:
             Log.warn(
-                f"{self.__class__.__name__}: could not subscribe to 'ros.nodes.abort': {0}".format(e))
+                f"{self.__class__.__name__}: could not subscribe to '{topic}': {0}".format(e))
 
     '''
     Publishes message to given topic without throw an exception on connection problems.
@@ -150,11 +152,12 @@ def onLeave(self, details):
     @coroutine
     def onJoin(self, details):
         res = yield from self.register(self)
-        Log.info(
-            f"{self.__class__.__name__}: {len(self._registrations)} crossbar procedures registered!")
-        Log.info(f"{self.__class__.__name__}: list of registered uri's:")
-        for _session_id, reg in self._registrations.items():
-            Log.info(f"{self.__class__.__name__}:   {reg.procedure}")
+        if self._registrations:
+            Log.info(
+                f"{self.__class__.__name__}: {len(self._registrations)} crossbar procedures registered!")
+            Log.info(f"{self.__class__.__name__}: list of registered uri's:")
+            for _session_id, reg in self._registrations.items():
+                Log.info(f"{self.__class__.__name__}:   {reg.procedure}")
         self.crossbar_registered = True
 
     async def crossbar_connect_async(self):
@@ -168,16 +171,18 @@ async def crossbar_connect_async(self):
                 self.crossbar_connected = True
                 self.crossbar_connecting = False
             except Exception as err:
-                Log.debug(f"{err}")
+                Log.debug(f"{self.__class__.__name__}: {err}")
 
                 # try to start the crossbar server
-                try:
-                    config_path = crossbar_start_server(self.port)
-                    Log.info(
-                        f"start crossbar server @ {self.uri} realm: {self.config.realm}, config: {config_path}")
-                except:
-                    import traceback
-                    Log.debug(traceback.format_exc())
+                if not CrossbarBaseSession.CROSSBAR_SERVER_STARTED:
+                    CrossbarBaseSession.CROSSBAR_SERVER_STARTED = True
+                    try:
+                        config_path = crossbar_start_server(self.port)
+                        Log.info(
+                            f"{self.__class__.__name__}: start crossbar server @ {self.uri} realm: {self.config.realm}, config: {config_path}")
+                    except:
+                        import traceback
+                        Log.debug(f"{self.__class__.__name__}: {traceback.format_exc()}")
 
                 self.crossbar_connecting = False
                 self.crossbar_connected = False

diff --git a/fkie_node_manager_daemon/fkie_node_manager_daemon/file_servicer.py b/fkie_node_manager_daemon/fkie_node_manager_daemon/file_servicer.py
@@ -55,15 +55,17 @@ def stop(self):
 
     @wamp.register('ros.packages.get_list')
     def getPackageList(self, clear_cache: bool = False) -> List[RosPackage]:
-        Log.info('Request to [ros.packages.get_list]')
+        Log.info(
+            f"{self.__class__.__name__}: Request to [ros.packages.get_list]")
         clear_cache = False
         if clear_cache:
             try:
                 from roslaunch import substitution_args
                 import rospkg
                 substitution_args._rospack = rospkg.RosPack()
             except Exception as err:
-                Log.warn(f"Cannot reset package cache: {err}")
+                Log.warn(
+                    f"{self.__class__.__name__}: Cannot reset package cache: {err}")
         package_list: List[RosPackage] = []
         # fill the input fields
         ret = ros_pkg.get_packages(None)
@@ -75,7 +77,8 @@ def getPackageList(self, clear_cache: bool = False) -> List[RosPackage]:
 
     @wamp.register('ros.path.get_log_paths')
     def getLogPaths(self, nodes: List[str]) -> List[LogPathItem]:
-        Log.info('Request to [ros.path.get_log_paths] for %s' % nodes)
+        Log.info(
+            f"{self.__class__.__name__}: Request to [ros.path.get_log_paths] for {nodes}")
         result = []
         for node in nodes:
             namespace = None
@@ -100,7 +103,8 @@ def getLogPaths(self, nodes: List[str]) -> List[LogPathItem]:
 
     @wamp.register('ros.path.get_list')
     def getPathList(self, inputPath: str) -> List[PathItem]:
-        Log.info('Request to [ros.path.get_list] for %s' % inputPath)
+        Log.info(
+            f"{self.__class__.__name__}: Request to [ros.path.get_list] for {inputPath}")
         path_list: List[PathItem] = []
         # list the path
         dirlist = os.listdir(inputPath)
@@ -142,13 +146,15 @@ def _glob(self, inputPath: str, recursive: bool = True, withHidden: bool = False
                     dir_list.append(filename)
         # glob the directories at the end
         for filename in dir_list:
-            path_list.extend(self._glob(inputPath=filename, recursive=recursive, withHidden=withHidden, filter=filter))
+            path_list.extend(self._glob(
+                inputPath=filename, recursive=recursive, withHidden=withHidden, filter=filter))
         return path_list
 
     @wamp.register('ros.path.get_list_recursive')
     def getPathListRecursive(self, inputPath: str) -> List[PathItem]:
         Log.info(
-            'Request to [ros.path.get_list_recursive] for %s' % inputPath)
-        path_list: List[PathItem] = self._glob(inputPath, recursive=True, withHidden=False, filter=['node_modules'])
+            f"{self.__class__.__name__}: Request to [ros.path.get_list_recursive] for {inputPath}")
+        path_list: List[PathItem] = self._glob(
+            inputPath, recursive=True, withHidden=False, filter=['node_modules'])
 
         return json.dumps(path_list, cls=SelfEncoder)