initial commit of the process manager

rover/core/process-manager/deepstream.py

@@ -0,0 +1,60 @@
+'''
+    Richard Stanley
+    TitanRover 2017
+    audstanley@gmail.com
+'''
+import requests
+import json
+
+roverIp = "localhost"   # This ip will change periodically, 
+                        # for now, this is the ip of the rover on openvpn
+
+def get(recordName):
+    '''
+        The get function will get the entire record "rover/" + recordName
+        and returns the record as an object.
+
+        Possible return Errors:
+            If the record does not exists in DeepStream, returns "NO_RECORD"
+            Else there is no connection to DeepStream,   returns "NO_DEEPSTREAM"
+
+    '''
+    response = None
+    if type(recordName) is not str:
+        raise "Your argument needs to be a string when getting from deepstream"
+    payload = {"body":[{"topic": "record", "action":"read", "recordName": "rover/" + recordName}]}
+    request = requests.post('http://' + roverIp + ':4080', json=payload)
+    if type(request.content) is bytes:
+        response = json.loads(request.content.decode('utf-8'))
+    elif type(request.content) is str:
+        response = json.loads(request.content)
+
+    if response["result"] == "SUCCESS":
+        return response["body"][0]["data"]
+    elif response["result"] == "FAILURE":
+        return "NO_RECORD"
+    else:
+        return "NO_DEEPSTREAM"
+
+
+def post(obj, recordName):
+    '''
+        This function will post the object sen to the deepstream server.
+
+        Arguments:
+            obj: an object that you want to post to deepstream
+            recordName: the name of the record that you want to post to
+    '''
+    if type(recordName) is not str:
+        raise "Your second argument needs to be a string when setting data to deepstream"
+    if type(obj) is not dict:
+        raise "Your first argument needs to be a dict setting data to deepstream"
+    payload = {"body":[{"topic": "record", "action":"write", "recordName": "rover/" + recordName, "data": obj}]}
+    request = requests.post('http://' + roverIp + ':4080', json=payload)
+    if request is not None:
+        if type(request) is bytes:
+            request = request.decode('utf-8')    
+        response = request.json()
+        return response["result"]
+    else:
+        return "NO_DEEPSTREAM"

rover/core/process-manager/main.py

@@ -0,0 +1,145 @@
+from os import system
+from deepstream import get, post
+import sys
+from time import sleep
+import curses
+from threading import Thread
+global keyIn, screen, iftop, reach, imu
+iftop = {}
+reach = {}
+imu = {}
+keyIn = 0
+screen = curses.initscr()
+curses.start_color()
+curses.init_pair(1, curses.COLOR_GREEN, curses.COLOR_BLACK)
+curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK)
+curses.init_pair(3, curses.COLOR_YELLOW, curses.COLOR_BLACK)
+
+def get_param(prompt_string):
+    screen.clear()
+    screen.border(0)
+    screen.addstr(2, 2, prompt_string)
+    screen.refresh()
+    input = screen.getstr(10, 10, 60)
+    return input
+
+def execute_cmd(cmd_string):
+    system("clear")
+    a = system(cmd_string)
+    print ""
+    if a == 0:
+        print "Command executed correctly"
+    else:
+        print "Command terminated with error"
+    raw_input("Press enter")
+    print ""
+
+def runWindow():
+    global keyIn, screen, iftop, imu, reach
+
+    while keyIn != ord(chr(27)):
+        screen = curses.initscr()
+        screen.clear()
+        screen.border(0)
+        screen.addstr(1, 2, "Titan Rover CLI Process Manager", curses.color_pair(1))
+        screen.addstr(2, 6, "To restart a process, type the number of the listed process", curses.color_pair(2))
+        screen.addstr(4, 4, "Process List:")
+        screen.addstr(6, 6, "1 - imu:")
+        screen.addstr(9, 6, "2 - reach:")
+        screen.addstr(12, 6, "3 - iftop: ")
+        #screen.addstr(10, 6, str(keyIn))
+
+
+        if type(imu) == dict:
+            if imu == {}:
+                pass
+            else:
+                screen.addstr(6, 25, "Heading:")
+                screen.addstr(7, 25, str(imu["heading"]).rjust(8), curses.color_pair(1))
+                screen.addstr(6, 41, "Pitch:")
+                screen.addstr(7, 41, str(imu["pitch"]).rjust(8), curses.color_pair(1))
+                screen.addstr(6, 53, "Roll:")
+                screen.addstr(7, 51, str(imu["roll"]).rjust(8), curses.color_pair(1))
+                screen.addstr(6, 61, "MagCal:")
+                if imu["mag"] == 3:
+                    screen.addstr(7, 66, "yes", curses.color_pair(1))
+                else:
+                    screen.addstr(7, 66, "no", curses.color_pair(2))
+        elif type(imu) == str:
+            screen.addstr(6, 25, str(imu), curses.color_pair(2))
+
+        if type(reach) == dict:
+            if reach == {}:
+                pass
+            else:
+                pass
+        elif type(reach) == str:
+            screen.addstr(9, 25, reach, curses.color_pair(2))
+
+        if type(iftop) == dict:
+            if iftop == {}:
+                screen.addstr(12, 25, "LOADING", curses.color_pair(2))
+            else:
+                screen.addstr(12, 25, "IP Address:")
+                screen.addstr(13, 25, iftop["ip"], curses.color_pair(1))
+                screen.addstr(12, 41, "Download:")
+                screen.addstr(13, 41, str(iftop["download"]), curses.color_pair(1))
+                screen.addstr(12, 53, "Upload:")
+                screen.addstr(13, 53, str(iftop["upload"]), curses.color_pair(1))
+        elif type(iftop) == str:
+            screen.addstr(12, 25, iftop, curses.color_pair(2))
+
+        screen.refresh()
+
+        if keyIn == ord("1"):
+            get_param("what's up?")
+            curses.endwin()
+        if keyIn == ord("2"):
+            pass
+        if keyIn == ord("3"):
+            pass
+
+    curses.endwin()
+    quit()
+
+def getDataFromDeepstream():
+    global keyIn, screen, iftop, reach, imu
+    while True:
+        try:
+            iftop = get("speed")
+        except:
+            iftop = "NO_RECORD"
+        sleep(.08)
+        try:
+            reach = get("reach")
+        except:
+            reach = "NO_RECORD"
+        sleep(.08)
+        try:
+            imu = get("imu")
+        except:
+            imu = {}
+        sleep(.08)
+        if keyIn == ord(chr(27)):
+            quit()
+
+
+
+def getCharFromUser():
+    global keyIn, screen
+    while True:
+        keyIn = screen.getch()
+        if keyIn == ord(chr(27)):
+            break
+        sleep(.05)
+    curses.endwin()
+    quit()
+
+
+t1 = Thread(target=runWindow)
+t2 = Thread(target=getDataFromDeepstream)
+t3 = Thread(target=getCharFromUser)
+
+t1.start()
+t2.start()
+t3.start()

rover/core/process-manager/processes.json

@@ -0,0 +1,27 @@
+[
+    {
+        "path": "/TitanRover2018/rover/core/servers/ArduinoSocketServer/",
+        "python": "python",
+        "screenName": "mobility",
+        "script": "mobility.py"
+    },
+    {
+        "path": "/TitanRover2018/rover/core/servers/iftop/",
+        "python": "python",
+        "screenName": "speed",
+        "script": "iftop.py"
+    },
+    {
+        "path": "/TitanRover2018/rover/core/servers/iftop/",
+        "python": "python",
+        "screenName": "listening",
+        "script": "listenToSpeedAndModeRecords.py"
+    },
+    {
+        "path": "/TitanRover2018/rover/core/servers/reach/",
+        "python": "python",
+        "screenName": "reach",
+        "script": "reach.py"
+    }
+
+]

rover/core/process-manager/setup.py

@@ -0,0 +1,98 @@
+import sys
+import os
+from subprocess import Popen
+import subprocess
+import json
+from pprint import pprint
+
+class c:
+    BLUE = '\033[34m'
+    GREEN = '\033[32m'
+    YELLOW = '\033[33m'
+    CYAN = '\033[36m'
+    MAGENTA = '\033[35'
+    RED = '\033[31m'
+    DEFAULT = '\033[0m'
+    BOLD = '\033[1m'
+    UNDERLINE = '\033[4m'
+
+
+processes   = json.load(open('processes.json'))
+path        = json.load(open('pathToTitanRover.json'))
+
+cronLinesFromProcesses = []
+
+crontab = '/etc/crontab'
+
+if sys.platform != "linux":
+        if sys.platform != "linux2":
+            print("Your system: " + sys.platform)
+            print(c.RED+"\nThis script was written ONLY for Linux OS."+c.DEFAULT)
+            sys.exit()
+
+if os.getuid() is not 0:
+    print(c.RED+"Please run script as sudo:\n\t"+c.YELLOW+"sudo python processMan.py\n"+c.DEFAULT)
+    sys.exit()
+
+if path["path"] == None or path["path"][-1:] == "/":
+    print(c.RED+"\nYou need to specify a path in the path.json file first.")
+    print(" Otherwise, We cannot setup a startup process for you.")
+    print(" an EXAMPLE of path.json might look like this:")
+    print(c.YELLOW+"    { \"path\": \"/home/audstanley/Documents\" }"+c.DEFAULT)
+    print(c.BLUE+"      Your path MUST point to where the TitanRover2018 Folder is.\n\n"+c.DEFAULT)
+    print(c.BLUE+"      and you MUST NOT leave a trailing slash in your path\n\n"+c.DEFAULT)
+    sys.exit()
+else:
+    # look to see if screen exists
+    p1 = Popen([ "whereis", "screen" ], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]
+    p2 = Popen([ "whereis", "iftop" ], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]
+    p3 = Popen([ "whereis", "pip" ], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()[0]
+
+    # automatically install dependencies if it does not exists.
+    if p1[8:] == "":
+        print(c.YELLOW+"Installing screen, Please wait..."+c.DEFAULT)
+        Popen([ "sudo", "apt-get", "install", "screen", "-y"], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
+
+    if p2[7:] == "":
+        print(c.YELLOW+"Installing iftop, Please wait..."+c.DEFAULT)
+        Popen([ "sudo", "apt-get", "install", "iftop", "-y"], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
+
+    if p3[5:] == "":
+        print(c.YELLOW+"Installing python-pip, Please wait..."+c.DEFAULT)
+        Popen([ "sudo", "apt-get", "install", "python-pip", "-y"], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
+
+    # install requests dependency, if not installed
+    try:
+        __import__("requests") 
+    except:
+        print(c.YELLOW+"Installing requests for python, Please wait..."+c.DEFAULT)
+        Popen([ "sudo", "apt-get", "install", "python-requests", "-y"], stdout=subprocess.PIPE, stderr=subprocess.PIPE).communicate()
+
+    with open(crontab, 'r') as file:
+        lines = file.readlines()
+
+    file.close()
+
+    cronLineA   = "@reboot root cd"
+    cronLineB   = "&& screen -dmLS"
+    cronLineC   = "&& screen -S"
+    cronLineD   = "-X stuff \""
+    cronLineE   = "\\015\";\n"
+
+    for o in processes:
+        # cronLineA           path["path"]                  o["path"]                                             cronLineB                 o["screenName"]      cronLineC       o["screenName"]       cronLineD        o["python"] o["script"]   cronLineD
+        # {@reboot root cd} {/home/audstanley/Documents} {/TitanRover2018/rover/core/servers/ArduinoSocketServer/} {&& /usr/bin/screen -dmLS }    {mobility}       {&& screen -S }   {mobility}            { -X stuff "}   {python}     {mobility.py}  \015";\n
+        cronLinesFromProcesses.append("{} {}{} {} {} {} {} {}{} {} {}".format(cronLineA, path["path"], o["path"], cronLineB, o["screenName"], cronLineC, o["screenName"], cronLineD , o["python"], o["script"], cronLineE))
+                                    #  cA p1p2 cB oS cC oS cD oPoX cE
+    print(cronLinesFromProcesses)
+    if len(lines) > 1 and len(cronLinesFromProcesses) > 1:
+        dif = [v for v in lines if v not in cronLinesFromProcesses]
+        if len(dif) > 0:
+            file = open(crontab, 'w')
+            for i in dif:
+                file.write(i)
+            for i in cronLinesFromProcesses:
+                file.write(i)
+            file.close()
+
+