Merge branch 'websocket'

fkie · Jul 5, 2024 · bc03d15 · bc03d15
2 parents e1730a5 + 46ec2ad
commit bc03d15
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diff --git a/README.md b/README.md
@@ -8,16 +8,10 @@ Based on the [FKIE Multimaster](https://github.com/fkie/multimaster_fkie), this
 
 ## Install
 
-The communication between the GUI and the Daemon (on each host) is based on [WAMP](https://wamp-proto.org/). It needs a running [WAMP Router](https://wamp-proto.org/implementations.html#routers). We use crossbar.
+The communication between the GUI and the Daemon (on each host) is based on WebSockets on port __35430+(ROS_DOMAIN_ID)__, 35685+(NetworkId) with ROS1. These ports should be open in the firewall.
 
 ### Install dependencies
 
-The code have been tested with `Crossbar v22.2.1`:
-
-```bash
-sudo snap install crossbar
-```
-
 You need a running [TTYD](https://github.com/tsl0922/ttyd) to show screen or log output of the nodes.
 
 ```bash
@@ -30,6 +24,8 @@ In Linux, we need `libsecret-1-dev` to safely store SSH credentials.
 sudo apt install libsecret-1-dev
 ```
 
+> In ROS2 we use a discovery node to get host information for each ROS node. Currently the discovery node depends on the __rmw_fastrtps_cpp__ ROS library. If you are using a different DDS for your system, you will need to change the environment variable for __mas-discovery__ by setting ```export RMW_IMPLEMENTATION=rmw_fastrtps_cpp```.
+
 ### Build ROS FKIE packages
 
 You can run the following commands to setup a build from source:

diff --git a/fkie_mas_daemon/CHANGELOG.rst b/fkie_mas_daemon/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package fkie_mas_daemon
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.0.0 (2024-07-05)
+------------------
+* fkie_mas_daemon: replaced crossbar by websocket
+* fkie_mas_daemon: changed kill signal to SIGTERM to stop nodes in ROS2
+* Contributors: Alexander Tiderko
+
 2.0.0 (2024-01-24)
 ------------------
 * fkie_mas_daemon: new version based on fkie_multimaster

diff --git a/fkie_mas_daemon/README.md b/fkie_mas_daemon/README.md
@@ -1,6 +1,6 @@
 MAS Daemon is an instance which allows the MAS Gui a remote access to configuration files . Through the daemon the launch file can be edited, loaded and the containing nodes executed by MAS GUI.
 
-The daemon instance is usually launched be MAS Gui through SSH connection. After that the MAS Gui communicates with daemon using [WAMP](https://wamp-proto.org/). It needs a running [WAMP Router](https://wamp-proto.org/implementations.html#routers). We use crossbar.
+The daemon instance is usually launched be MAS Gui through SSH connection. After that the MAS Gui communicates with daemon using WebSockets on port 35430+(ROS_DOMAIN_ID), __35685+(NetworkId) with ROS1__. These ports should be open in the firewall.
 
 Beside offering remote configuration access to MAS Gui the daemon supports many other features, e.g. system monitoring, forwarding diagnostic messages or auto start/load of launchfiles.
 

diff --git a/fkie_mas_daemon/fkie_mas_daemon/__init__.py b/fkie_mas_daemon/fkie_mas_daemon/__init__.py
@@ -1,24 +1,10 @@
-# The MIT License (MIT)
-
-# Copyright (c) 2014-2024 Fraunhofer FKIE, Alexander Tiderko
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
+# ****************************************************************************
+#
+# Copyright (c) 2014-2024 Fraunhofer FKIE
+# Author: Alexander Tiderko
+# License: MIT
+#
+# ****************************************************************************
 
 
 from rclpy.node import Node 
@@ -32,7 +18,7 @@
 #     # package is not installed
 #     pass
 
-# the rosnode is assigned in :class:RosNodeLauncher while init
+# the ros_node is assigned in :class:RosNodeLauncher while init
 ros_node: Node = None
 launcher: RosNodeLauncher = None
 

diff --git a/fkie_mas_daemon/fkie_mas_daemon/file_item.py b/fkie_mas_daemon/fkie_mas_daemon/file_item.py
@@ -1,24 +1,10 @@
-# The MIT License (MIT)
-
-# Copyright (c) 2014-2024 Fraunhofer FKIE, Alexander Tiderko
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
+# ****************************************************************************
+#
+# Copyright (c) 2014-2024 Fraunhofer FKIE
+# Author: Alexander Tiderko
+# License: MIT
+#
+# ****************************************************************************
 
 
 EFILE_CHANGED = 125

diff --git a/fkie_mas_daemon/fkie_mas_daemon/file_servicer.py b/fkie_mas_daemon/fkie_mas_daemon/file_servicer.py
@@ -1,66 +1,54 @@
-# The MIT License (MIT)
-
-# Copyright (c) 2014-2024 Fraunhofer FKIE, Alexander Tiderko
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
+# ****************************************************************************
+#
+# Copyright (c) 2014-2024 Fraunhofer FKIE
+# Author: Alexander Tiderko
+# License: MIT
+#
+# ****************************************************************************
 
 
 from io import FileIO
 import os
 import re
 
-import asyncio
-from autobahn import wamp
 import json
-from types import SimpleNamespace
 from typing import List
 from fkie_mas_pylib import ros_pkg
-from fkie_mas_pylib.crossbar.base_session import CrossbarBaseSession
-from fkie_mas_pylib.crossbar.base_session import SelfEncoder
-from fkie_mas_pylib.crossbar.file_interface import FileItem
-from fkie_mas_pylib.crossbar.file_interface import RosPackage
-from fkie_mas_pylib.crossbar.file_interface import PathItem
-from fkie_mas_pylib.crossbar.file_interface import LogPathItem
-from fkie_mas_pylib.crossbar.file_interface import LogPathClearResult
+from fkie_mas_pylib.interface import SelfEncoder
+from fkie_mas_pylib.interface.file_interface import FileItem
+from fkie_mas_pylib.interface.file_interface import RosPackage
+from fkie_mas_pylib.interface.file_interface import PathItem
+from fkie_mas_pylib.interface.file_interface import LogPathItem
+from fkie_mas_pylib.interface.file_interface import LogPathClearResult
 from fkie_mas_pylib.logging.logging import Log
 from fkie_mas_pylib.system.screen import get_logfile
 from fkie_mas_pylib.system.screen import get_ros_logfile
+from fkie_mas_pylib.websocket.server import WebSocketServer
 
 
-class FileServicer(CrossbarBaseSession):
+class FileServicer:
     FILE_CHUNK_SIZE = 1024
 
-    def __init__(
-        self, loop: asyncio.AbstractEventLoop, realm: str = "ros", port: int = 11911
-    ):
+    def __init__(self, websocket: WebSocketServer):
         Log.info("Create ROS2 file manager servicer")
-        CrossbarBaseSession.__init__(self, loop, realm, port)
         # TODO: clear cache after detected change or time?
         self.CB_DIR_CACHE = {}
+        websocket.register("ros.packages.get_list", self.getPackageList)
+        websocket.register("ros.path.get_log_paths", self.getLogPaths)
+        websocket.register("ros.path.clear_log_paths", self.clearLogPaths)
+        websocket.register("ros.path.get_list", self.getPathList)
+        websocket.register("ros.path.get_list_recursive",
+                           self.getPathListRecursive)
+        websocket.register("ros.file.get", self.getFileContent)
+        websocket.register("ros.file.save", self.saveFileContent)
 
     def stop(self):
         """ """
-        self.shutdown()
+        pass
 
-    @wamp.register("ros.packages.get_list")
     def getPackageList(self, clear_cache: bool = False) -> List[RosPackage]:
-        Log.info(f"{self.__class__.__name__}: 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:
@@ -76,11 +64,11 @@ def getPackageList(self, clear_cache: bool = False) -> List[RosPackage]:
         # fill the input fields
         ret = ros_pkg.get_packages(None)
         for name, path in ret.items():
-            package = RosPackage(name=name, path=os.path.join(path, "share", name))
+            package = RosPackage(
+                name=name, path=os.path.join(path, "share", name))
             package_list.append(package)
         return json.dumps(package_list, cls=SelfEncoder)
 
-    @wamp.register("ros.path.get_log_paths")
     def getLogPaths(self, nodes: List[str]) -> List[LogPathItem]:
         Log.info(
             f"{self.__class__.__name__}: Request to [ros.path.get_log_paths] for {nodes}"
@@ -109,7 +97,6 @@ def getLogPaths(self, nodes: List[str]) -> List[LogPathItem]:
             result.append(log_path_item)
         return json.dumps(result, cls=SelfEncoder)
 
-    @wamp.register("ros.path.clear_log_paths")
     def clearLogPaths(self, nodes: List[str]) -> List[LogPathClearResult]:
         Log.info(
             f"{self.__class__.__name__}: Request to [ros.path.clear_log_paths] for {nodes}"
@@ -150,7 +137,6 @@ def clearLogPaths(self, nodes: List[str]) -> List[LogPathClearResult]:
             result.append(log_path_item)
         return json.dumps(result, cls=SelfEncoder)
 
-    @wamp.register("ros.path.get_list")
     def getPathList(self, inputPath: str) -> List[PathItem]:
         Log.info(
             f"{self.__class__.__name__}: Request to [ros.path.get_list] for {inputPath}"
@@ -236,7 +222,6 @@ def _glob(
             )
         return path_list
 
-    @wamp.register("ros.path.get_list_recursive")
     def getPathListRecursive(self, inputPath: str) -> List[PathItem]:
         Log.info(
             f"{self.__class__.__name__}: Request to [ros.path.get_list_recursive] for {inputPath}"
@@ -247,7 +232,6 @@ def getPathListRecursive(self, inputPath: str) -> List[PathItem]:
 
         return json.dumps(path_list, cls=SelfEncoder)
 
-    @wamp.register("ros.file.get")
     def getFileContent(self, requestPath: str) -> FileItem:
         Log.info("Request to [ros.file.get] for %s" % requestPath)
         with FileIO(requestPath, "r") as outfile:
@@ -264,12 +248,12 @@ def getFileContent(self, requestPath: str) -> FileItem:
                 FileItem(requestPath, mTime, fSize, content, encoding), cls=SelfEncoder
             )
 
-    @wamp.register("ros.file.save")
     def saveFileContent(self, request_json: FileItem) -> int:
         # Covert input dictionary into a proper python object
-        file = json.loads(
-            json.dumps(request_json), object_hook=lambda d: SimpleNamespace(**d)
-        )
+        file = request_json
+        # file = json.loads(
+        #     json.dumps(request_json), object_hook=lambda d: SimpleNamespace(**d)
+        # )
         Log.info("Request to [ros.file.save] for %s" % file.path)
         with FileIO(file.path, "w+") as outfile:
             content = file.value

diff --git a/fkie_mas_daemon/fkie_mas_daemon/launch_config.py b/fkie_mas_daemon/fkie_mas_daemon/launch_config.py
@@ -1,24 +1,10 @@
-# The MIT License (MIT)
-
-# Copyright (c) 2014-2024 Fraunhofer FKIE, Alexander Tiderko
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
+# ****************************************************************************
+#
+# Copyright (c) 2014-2024 Fraunhofer FKIE
+# Author: Alexander Tiderko
+# License: MIT
+#
+# ****************************************************************************
 
 
 from typing import Dict
@@ -52,9 +38,9 @@
 import launch_ros
 import composition_interfaces.srv
 
-from fkie_mas_pylib.crossbar.runtime_interface import RosNode
-from fkie_mas_pylib.crossbar.launch_interface import LaunchArgument
-from fkie_mas_pylib.crossbar.launch_interface import LaunchNodeInfo
+from fkie_mas_pylib.interface.runtime_interface import RosNode
+from fkie_mas_pylib.interface.launch_interface import LaunchArgument
+from fkie_mas_pylib.interface.launch_interface import LaunchNodeInfo
 from fkie_mas_pylib.logging.logging import Log
 from fkie_mas_pylib import names
 from fkie_mas_pylib import ros_pkg
@@ -724,13 +710,14 @@ def _replace_arg(self, arg, argv_defaults, argv_values):
             arg_match = re.search(r"\$\(\s*arg\s*", value)
 
     @classmethod
-    def get_launch_arguments(cls, filename: str, provided_args: list) -> List[LaunchArgument]:
+    def get_launch_arguments(cls, context: LaunchContext, filename: str, provided_args: list) -> List[LaunchArgument]:
         '''
-        :param list(fkie_mas_msgs.crossbar.runtime_interface.RosParameter) provided_args: provided args used to set 'value' in returned args
+        :param list(fkie_mas_pylib.interface.runtime_interface.RosParameter) provided_args: provided args used to set 'value' in returned args
         :return: a list with args being used in the roslaunch file.
-        :rtype: list(fkie_mas_msgs.crossbar.runtime_interface.RosParameter)
+        :rtype: list(fkie_mas_pylib.interface.runtime_interface.RosParameter)
         '''
-        context = LaunchContext()
+
+        # context = LaunchContext()
         launch_description = get_launch_description_from_any_launch_file(
             filename)
         launch_arguments: List[launch.actions.declare_launch_argument.DeclareLaunchArgument] = launch_description.get_launch_arguments()