initial

Makefile

+# Runs 'make', 'make install', and 'make clean' in specified subdirectories
+SUBDIRS := src/init # src1
+INSTALLDIRS = $(SUBDIRS:%=install-%)
+CLEANDIRS =   $(SUBDIRS:%=clean-%)
+
+#TARGETDIR=$(DESTDIR)/www/pages
+
+all: $(SUBDIRS)
+	@echo "make all top"
+
+$(SUBDIRS):
+	$(MAKE) -C $@
+
+install: $(INSTALLDIRS)
+	echo "make install top"
+
+$(INSTALLDIRS):
+	$(MAKE) -C $(@:install-%=%) install
+
+clean: $(CLEANDIRS)
+	@echo "make clean top"
+
+$(CLEANDIRS):
+	$(MAKE) -C $(@:clean-%=%) clean
+
+.PHONY: all install clean $(SUBDIRS) $(INSTALLDIRS) $(CLEANDIRS)
+

VERSION

+1.0 

eclipse_project_setup/.cproject

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="0.1221820363">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.1221820363" moduleId="org.eclipse.cdt.core.settings" name="Default">
+				<externalSettings />
+				<extensions>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser" />
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser" />
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser" />
+					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser" />
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser" />
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser" />
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="${ProjName}" buildProperties="" description="" id="0.1221820363" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
+					<folderInfo id="0.1221820363." name="/" resourcePath="">
+						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1043274217" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
+							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1043274217.1071800033" name="" />
+							<builder arguments="ros2-scripts" command="${workspace_loc:/ros2-scripts/scripts/run_bitbake.sh}" enableCleanBuild="false" enabledIncrementalBuild="true" id="org.eclipse.cdt.build.core.settings.default.builder.365026764" incrementalBuildTarget="-c install -f" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder" />
+							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.785882741" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs" />
+							<tool id="org.eclipse.cdt.build.core.settings.holder.982996495" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.8554647" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType" />
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.480226500" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1347472659" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType" />
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1686385332" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.716913472" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType" />
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.559915258" name="LLVM bytecode assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1886099197" languageId="org.eclipse.cdt.managedbuilder.llvm.ui.llvmAssembly" languageName="LLVM bytecode assembly" sourceContentType="org.eclipse.cdt.managedbuilder.llvm.ui.llvmAssemblySource" superClass="org.eclipse.cdt.build.core.settings.holder.inType" />
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1960214219" name="UPC" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1593701683" languageId="org.eclipse.cdt.core.parser.upc.upc" languageName="UPC" sourceContentType="org.eclipse.cdt.core.parser.upc.upcSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType" />
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="src" />
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings" />
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="ros2-scripts.null.1071524317" name="ros2-scripts" />
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="" />
+		<scannerConfigBuildInfo instanceId="0.1221820363">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="" />
+		</scannerConfigBuildInfo>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders" />
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Default">
+			<resource resourceType="PROJECT" workspacePath="/ros2-scripts" />
+		</configuration>
+	</storageModule>
+</cproject>
\ No newline at end of file

eclipse_project_setup/.externalToolBuilders/SCP ros2-scripts to target.launch

+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="org.eclipse.ui.externaltools.ProgramBuilderLaunchConfigurationType">
+<booleanAttribute key="org.eclipse.debug.ui.ATTR_LAUNCH_IN_BACKGROUND" value="false"/>
+<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_BUILDER_ENABLED" value="true"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/ros2-scripts/scripts/run_bitbake.sh}"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_RUN_BUILD_KINDS" value="incremental,"/>
+<stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="ros2-scripts -c target_scp -f"/>
+<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_TRIGGERS_CONFIGURED" value="true"/>
+</launchConfiguration>

eclipse_project_setup/.project

+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ros2-scripts</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.ui.externaltools.ExternalToolBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>LaunchConfigHandle</key>
+					<value>&lt;project&gt;/.externalToolBuilders/SCP ros2-scripts to target.launch</value>
+				</dictionary>
+				<dictionary>
+					<key>incclean</key>
+					<value>true</value>
+				</dictionary>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.python.pydev.PyDevBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+		<nature>org.python.pydev.pythonNature</nature>
+	</natures>
+</projectDescription>

src/init/.directory

+[Dolphin]
+PreviewsShown=true
+Timestamp=2018,12,12,15,36,33
+Version=3
+ViewMode=1

src/init/Makefile

+DOCUMENTROOT=$(DESTDIR)/etc/elphel393
+OWN = -o root -g root
+INSTDOCS = 0644
+INSTALL = install
+DOCS =      ros2_client.py \
+            ros2_config.py \
+            ros2_config.xml \
+            ros2_init.py \
+            ros2_master.py \
+            ros2_slave.py
+
+all:
+	@echo "make all in src"
+
+install:
+	@echo "make install in src"
+	$(INSTALL) $(OWN) -d $(DOCUMENTROOT)
+	$(INSTALL) $(OWN) -m $(INSTDOCS) $(DOCS) $(DOCUMENTROOT)
+
+clean:
+	@echo "make clean in src"

src/init/ros2_client.py

+#!/usr/bin/env python3
+
+import xml.etree.ElementTree as ET
+import rclpy
+
+from elphel_interfaces.srv import StrReqStrRes
+import ros2_config
+
+rclpy.init()
+node = rclpy.create_node('some_client_node')
+
+cli = node.create_client(StrReqStrRes, 'master/cmd_all')
+
+wcnt = 0
+while not cli.wait_for_service(timeout_sec=1.0):
+  print('Service is not available, waiting '+str(wcnt)+'...')
+  wcnt += 1
+
+req = StrReqStrRes.Request()
+req.request = "wget -qO- -o /dev/null 'http://localhost/parsedit.php?immediate&TRIG'"
+
+cli.call(req)
+cli.wait_for_future()
+
+res = cli.response.response
+
+node.get_logger().info("cmd response:")
+node.get_logger().info(res)
+
+node.destroy_node()
+rclpy.shutdown()
\ No newline at end of file

src/init/ros2_config.py

+#!/usr/bin/env python3
+
+import os
+import re
+import xml.etree.ElementTree as ET
+
+def is_unique_name(a,name):
+  for i in a:
+    if i['name']==name:
+      return False
+  return True
+
+# get function
+def get(f="ros2_config.xml"):
+
+  cfg = []
+
+  prefix = "cam_"
+  mac = get_mac(capitalize=False)
+  name = prefix+mac
+
+  role = "unknown"
+
+  if os.path.isfile(f):
+    e = ET.parse(f).getroot()
+
+    tmp = e.find('prefix')
+    if tmp!=None:
+      name = tmp.text+mac
+
+    tmp = e.find('role')
+    if tmp!=None:
+      role = tmp.text
+
+    # self goes first
+    cfg.append({'name':name,
+                'role':role})
+
+    # drop non-unique names
+    for s in e.findall('node'):
+
+      tmp_name = s.get('name')
+      tmp_role = s.get('role')
+
+      if is_unique_name(cfg,tmp_name):
+        cfg.append({'name': tmp_name,
+                    'role': tmp_role})
+      # will not overwrite role for non-unique nodes
+
+  return cfg
+
+
+# get mac function
+def get_mac(last_three_octets=True, keep_colons=False, capitalize=True):
+
+  mac = "00:00:00:00:00:00"
+
+  for root, dirs, files in os.walk("/sys/class/net/"):
+    for name in dirs:
+      # enp or wlp will work for linux pc for testing
+      if re.match('(eth|enp|wlp)',name):
+        fname = os.path.join(root,name,'address')
+        #print(fname)
+        with open(fname, 'r') as content_file:
+          mac = content_file.read().strip()
+        break
+
+  if last_three_octets:
+    mac = mac[-8:]
+
+  if not keep_colons:
+    mac = re.sub(':','',mac)
+
+  if capitalize:
+    mac = mac.upper()
+
+  return mac
+
+
+
+
+# MAIN
+if __name__ == "__main__":
+
+  # Test 1
+  mac = get_mac()
+  print(mac)
+
+  # Test 2
+  mac = get_mac(last_three_octets=False,keep_colons=True,capitalize=False)
+  print(mac)
\ No newline at end of file

src/init/ros2_config.xml

+<?xml version="1.0" standalone="yes"?>
+<ros2>
+  <prefix>cam_</prefix>
+  <role>master</role>
+  <node name='cam_101698' role='left'/>
+  <node name='cam_1467cd' role='pc'/>
+</ros2>

src/init/ros2_init.py

+#!/usr/bin/env python3
+
+import subprocess
+import ros2_config
+
+cfg = ros2_config.get()
+
+if   cfg[0]['role']=='master':
+  subprocess.Popen(['python3','ros2_master.py'])
+
+subprocess.Popen(['python3','ros2_slave.py'])

src/init/ros2_master.py

+#!/usr/bin/env python3
+
+import asyncio
+import xml.etree.ElementTree as ET
+import rclpy
+from elphel_interfaces.srv import StrReqStrRes
+import ros2_config
+
+TIMEOUT = 5
+
+
+# master callbacks
+def signup_callback(req,res):
+
+  name = req.request
+
+  print('Sign up from '+name)
+
+  if name in clients:
+    print('Slave name is not unique. So sad.')
+  else:
+    clients.append(name)
+
+  print('List of registered slaves: '+str(clients))
+  res.response = name
+
+  return res
+
+
+# async coroutine for cmdall_callback
+async def pass_cmd(target,cmd):
+
+  node = rclpy.create_node(target+'_client')
+  cli = node.create_client(StrReqStrRes,target+'/cmd')
+
+  wcnt = 0
+  while not cli.wait_for_service(timeout_sec=1.0):
+    print('Service is not available, waiting '+str(wcnt)+'...')
+    wcnt += 1
+    if wcnt==TIMEOUT:
+      break
+
+  req = StrReqStrRes.Request()
+  req.request = cmd
+
+  cli.call(req)
+  cli.wait_for_future()
+
+  cmdres = cli.response.response
+  return cmdres
+
+
+# callback for broadcast commands
+def cmdall_callback(req,res):
+
+  cmd = req.request
+  tasks = [pass_cmd(c,cmd) for c in clients]
+  results = event_loop.run_until_complete(asyncio.gather(*tasks))
+
+  print(results)
+
+  res.response = '\n'.join(results)
+
+  return res
+
+
+# global
+clients = []
+cfg = ros2_config.get()
+
+nodename = cfg[0]['name']
+
+for i in cfg:
+  clients.append(i['name'])
+
+rclpy.init()
+node = rclpy.create_node(nodename+"_master")
+
+event_loop = asyncio.get_event_loop()
+
+print("Starting master services:")
+#print("  master/signup")
+#s1 = node.create_service(StrReqStrRes, 'master/signup',  signup_callback)
+print("  master/cmd_all")
+s2 = node.create_service(StrReqStrRes, 'master/cmd_all', cmdall_callback)
+
+rclpy.spin(node)
+
+# Destroy the node explicitly
+# (optional - Done automatically when node is garbage collected)
+node.destroy_node()
+rclpy.shutdown()
+
+event_loop.close()

src/init/ros2_slave.py

+#!/usr/bin/env python3
+
+import subprocess
+import xml.etree.ElementTree as ET
+
+import rclpy
+from elphel_interfaces.srv import StrReqStrRes
+import ros2_config
+
+TIMEOUT = 5
+
+# slave callbacks
+def cmd_callback(req,res):
+  cmd = req.request
+  # call to localhost here, get response and send it back
+  try:
+    output = subprocess.check_output(cmd,shell=True)
+  except subprocess.CalledProcessError:
+    output = "<error>-1</error>"
+
+  res.response = '<cmd><node>'+nodename+'</node><status>'+str(output)+'</status></cmd>'
+
+  return res
+
+# global
+cfg = ros2_config.get()
+
+nodename = cfg[0]['name']
+
+rclpy.init()
+node = rclpy.create_node(nodename)
+
+# now start cmd service
+print("Starting slave services:")
+print("  "+nodename+'/cmd')
+s3 = node.create_service(StrReqStrRes, nodename+'/cmd', cmd_callback)
+
+rclpy.spin(node)
+
+# Destroy the node explicitly
+# (optional - Done automatically when node is garbage collected)
+node.destroy_node()
+rclpy.shutdown()
\ No newline at end of file