command line args, rosparams, and environment vars

html/index.html

@@ -9,8 +9,9 @@
     <script src="bootstrap/js/bootstrap.min.js"></script>
     <style>
        body { overflow: hidden; }
-       .modal { display: none; top: 200px; margin-top: 0; }
+       .modal { display: none; top: 200px; margin-top: 0; width: 530px; }
        #terminal_output_data { background: black; color: white; border: none; }
+       #launch_settings textarea, #launch_settings input { width: 490px; }
        .navbar .container { width: 100%; }
        .navbar .brand { margin-left: -10px; }
        .GraphBox .title { padding-right: 28px; }
@@ -48,6 +49,31 @@ <h3>Terminal Output</h3>
       </div>
     </div>
 
+    <div id="launch_settings" class="modal">
+      <div class="modal-header">
+        <a class="close" data-dismiss="modal">&times;</a>
+        <h3>Launch Settings</h3>
+      </div>
+      <div class="modal-body">
+        <p>These settings will take effect when the node is next started.</p>
+        <form onsubmit="javascript:ui.setLaunchSettings(true);return false">
+          <input id="launch_settings_node_name" type="hidden">
+          <p><b>Command-line arguments</b></p>
+          <input id="launch_settings_cmd_line_args" placeholder='--flag --key="value with spaces"'>
+          <!-- HACK: Placeholders can't have newlines, but browsers will wrap text after a lot of spaces -->
+          <p><b>ROS params</b> (key = value, one per line, JSON syntax)</p>
+          <textarea id="launch_settings_rosparams" placeholder="param1 = 0                                                                                                                                /namespace/param2 = { a: 1, b: 2 }"></textarea>
+          <p><b>Environment variables</b> (key = value, one per line)</p>
+          <textarea id="launch_settings_env_vars" placeholder="VAR1 = 0                                                                                                                                VAR2 = text with spaces"></textarea>
+        </form>
+      </div>
+      <div class="modal-footer">
+        <a class="btn" data-dismiss="modal">Cancel</a>
+        <a href="javascript:ui.setLaunchSettings(false)" class="btn">Change</a>
+        <a href="javascript:ui.setLaunchSettings(true)" class="btn btn-primary">Change and Relaunch</a>
+      </div>
+    </div>
+
     <div id="change_connection_url" class="modal">
       <div class="modal-header">
         <a class="close" data-dismiss="modal">&times;</a>
@@ -62,13 +88,13 @@ <h3>Change Connection URL</h3>
         <form class="form-horizontal" onsubmit="javascript:ui.setConnectionURL();return false">
           <div class="control-group">
             <label class="control-label" for="new_connection_url">Connection URL</label>
-            <div class="controls"><input type="text" class="input-xlarge" id="new_connection_url"></div>
+            <div class="controls"><input type="text" class="input-xlarge" id="new_connection_url" placeholder="ws://localhost:9000"></div>
           </div>
         </form>
       </div>
       <div class="modal-footer">
         <a class="btn" data-dismiss="modal">Cancel</a>
-        <a href="javascript:ui.setConnectionURL()" class="btn btn-primary">Change URL</a>
+        <a href="javascript:ui.setConnectionURL()" class="btn btn-primary">Change</a>
       </div>
     </div>
 

html/script.js

@@ -137,28 +137,17 @@ var ride = {
       case 'update_owned_node':
         var node = this.graph.node(data.name);
         if (!node) break;
-        switch (data.status) {
-          case STATUS_STARTING:
-            node.detailText = 'Starting...';
-            break;
-          case STATUS_STARTED:
-            node.detailText = '';
-            break;
-          case STATUS_STOPPING:
-            node.detailText = 'Stopping...';
-            break;
-          case STATUS_STOPPED:
-            node.detailText = (data.return_code === null) ? '' : 'Exited with code ' + data.return_code;
-            break;
-          case STATUS_ERROR:
-            node.detailText = 'Could not be launched (run rosmake?)';
-            break;
-        }
+        node.isRunning = data.is_running;
+        node.detailText = data.status;
         node.updateHTML();
-        $(node.startElement).toggle(data.status == STATUS_STOPPED || data.status == STATUS_ERROR);
-        $(node.stopElement).toggle(data.status != STATUS_STOPPED && data.status != STATUS_ERROR);
+        $(node.startElement).toggle(!data.is_running);
+        $(node.stopElement).toggle(data.is_running);
         this.graph.updateBounds();
         this.graph.draw();
+        if (!data.is_running && node.relaunchWhenStopped) {
+          node.relaunchWhenStopped = false;
+          ROS.call('/ride/node/start', { name: data.name });
+        }
         break;
     }
   },
@@ -258,6 +247,17 @@ var ui = {
     });
     $(node.stopElement).show();
 
+    // Launch settings
+    item('Launch settings', function() {
+      ROS.call('/ride/node/settings/get', { name: node.name }, function(data) {
+        $('#launch_settings_node_name').val(node.name);
+        $('#launch_settings_cmd_line_args').val(data.cmd_line_args);
+        $('#launch_settings_rosparams').val(data.rosparams);
+        $('#launch_settings_env_vars').val(data.env_vars);
+        $('#launch_settings').modal('show');
+      });
+    });
+
     // Show terminal output
     item('Show terminal output', function() {
       ROS.call('/ride/node/output', { name: node.name }, function(data) {
@@ -279,6 +279,26 @@ var ui = {
     $('#change_connection_url').modal('hide');
   },
 
+  setLaunchSettings: function(relaunch) {
+    var node_name = $('#launch_settings_node_name').val();
+    ROS.call('/ride/node/settings/set', {
+      name: node_name,
+      cmd_line_args: $('#launch_settings_cmd_line_args').val(),
+      rosparams: $('#launch_settings_rosparams').val(),
+      env_vars: $('#launch_settings_env_vars').val()
+    }, function() {
+      var node = ride.graph.node(node_name);
+      if (!node) return;
+      if (node.isRunning) {
+        ROS.call('/ride/node/stop', { name: node_name });
+        node.relaunchWhenStopped = true;
+      } else {
+        ROS.call('/ride/node/start', { name: node_name });
+      }
+    });
+    $('#launch_settings').modal('hide');
+  },
+
   setConnected: function(connected) {
     if (connected) {
       $('#connection_status').text('Connected to ' + ROS.url);
@@ -331,8 +351,8 @@ ride.graph.draw();
 
 // Compute which input has focus
 var inputWithFocus = null;
-$('input').focus(function() { inputWithFocus = this; });
-$('input').blur(function() { inputWithFocus = null; });
+$('input, textarea').focus(function() { inputWithFocus = this; });
+$('input, textarea').blur(function() { inputWithFocus = null; });
 
 // Deselect input when the graph is clicked
 $(ride.graph.element).click(function() {

nodes/ride.py

@@ -5,6 +5,7 @@
 import re
 import json
 import fcntl
+import shlex
 import rospy
 import signal
 import pickle
@@ -13,12 +14,6 @@
 from ros import rosnode
 from std_msgs.msg import String
 
-STATUS_STARTING = 0
-STATUS_STARTED = 1
-STATUS_STOPPING = 2
-STATUS_STOPPED = 3
-STATUS_ERROR = 4
-
 TOPIC_NAMES_TO_IGNORE = ['/rosout']
 NODE_NAMES_TO_IGNORE = ['/rosout', '/rosbridge', '/ride']
 
@@ -98,10 +93,12 @@ def __init__(self, ride, name, path, display_name):
         self.path = path
         self.display_name = display_name
         self.stdout = ''
-        self.status = STATUS_STARTING
-        self.return_code = None
+        self.status = 'Not running'
         self.process = None
         self.remappings = {}
+        self.cmd_line_args = ''
+        self.rosparams = ''
+        self.env_vars = ''
         self.ride.updates.create_node(self)
         self.ride.names_to_avoid.add(name)
         self.start()
@@ -170,20 +167,65 @@ def start(self):
         for topic in map:
             command.append(topic + ':=' + map[topic])
 
-        # Start the node again
+        # Prepare for an early return
         self.stdout = '$ ' + self.path + '\n'
+        self.status = 'Failed to launch'
+
+        # Shared parser logic for multiline key=value pairs
+        def parse_multiline(text):
+            for line in text.split('\n'):
+                line = line.strip()
+                if not line:
+                    continue
+                if '=' not in line:
+                    raise Exception('Line missing "="')
+                key, value = line.split('=', 1)
+                yield key.strip(), value.strip()
+
+        # Attempt to append command-line arguments
+        try:
+            command += shlex.split(self.cmd_line_args)
+            self.stdout = '$ ' + self.path + ' ' + self.cmd_line_args + '\n'
+        except Exception as e:
+            self.status = 'Failed to launch: Could not parse command-line arguments (%s)' % str(e)
+            self.ride.updates.update_owned_node(self)
+            return
+
+        # Attempt to parse environment variables
+        env_vars = dict(os.environ)
+        try:
+            for key, value in parse_multiline(self.env_vars):
+                env_vars[key] = value
+        except Exception as e:
+            self.status = 'Failed to launch: Could not parse environment variables (%s)' % str(e)
+            self.ride.updates.update_owned_node(self)
+            return
+
+        # Attempt to parse rosparams
+        try:
+            for key, value in parse_multiline(self.rosparams):
+                if key and '/' not in key:
+                    key = self.name + '/' + key # Handle private names
+                value = json.loads('{ "value": %s }' % value)['value']
+                rospy.set_param(key, value)
+        except Exception as e:
+            self.status = 'Failed to launch: Could not parse ROS params (%s)' % str(e)
+            self.ride.updates.update_owned_node(self)
+            return
+
+        # Start the node again
         try:
             # Start the node as a child process
-            self.process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
-            self.status = STATUS_STARTING
+            self.process = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, env=env_vars)
+            self.status = 'Starting...'
 
             # Make sure self.process.stdout.read() won't block
             f = self.process.stdout
             fcntl.fcntl(f, fcntl.F_SETFL, fcntl.fcntl(f, fcntl.F_GETFL) | os.O_NONBLOCK)
         except Exception as e:
             # This will fail if the file doesn't exist (need to use rosmake again)
             self.stdout += str(e)
-            self.status = STATUS_ERROR
+            self.status = 'Failed to launch: popen() failed (run rosmake?)'
 
         # Send the new status
         self.ride.updates.update_owned_node(self)
@@ -192,11 +234,11 @@ def stop(self):
         if self.process:
             # Don't use self.ride.soft_kill_process(self.process) because we
             # are still checking for the return code in self.poll()
-            if self.status == STATUS_STOPPING:
+            if self.status == 'Stopping...':
                 self.process.kill()
             else:
                 self.process.send_signal(signal.SIGINT)
-                self.status = STATUS_STOPPING
+                self.status = 'Stopping...'
                 self.ride.updates.update_owned_node(self)
 
     def poll(self):
@@ -207,8 +249,7 @@ def poll(self):
             except:
                 pass
             if self.process.returncode is not None:
-                self.status = STATUS_STOPPED
-                self.return_code = self.process.returncode
+                self.status = 'Exited with return code %d' % self.process.returncode
                 self.process = None
                 self.ride.updates.update_owned_node(self)
 
@@ -293,7 +334,7 @@ def update_owned_node(self, node, send=True):
             'type': 'update_owned_node',
             'name': node.name,
             'status': node.status,
-            'return_code': node.return_code,
+            'is_running': node.status in ['Starting...', '', 'Stopping...'],
         }, send)
 
 class RIDE:
@@ -326,6 +367,8 @@ def __init__(self):
         rospy.Service('/ride/node/start', ride.srv.NodeStart, self.node_start_service)
         rospy.Service('/ride/node/stop', ride.srv.NodeStop, self.node_stop_service)
         rospy.Service('/ride/node/output', ride.srv.NodeOutput, self.node_output_service)
+        rospy.Service('/ride/node/settings/get', ride.srv.NodeSettingsGet, self.node_settings_get_service)
+        rospy.Service('/ride/node/settings/set', ride.srv.NodeSettingsSet, self.node_settings_set_service)
         rospy.Service('/ride/link/create', ride.srv.LinkCreate, self.link_create_service)
         rospy.Service('/ride/link/destroy', ride.srv.LinkDestroy, self.link_destroy_service)
 
@@ -413,6 +456,23 @@ def node_output_service(self, request):
             return ride.srv.NodeOutputResponse(self.owned_nodes[request.name].stdout, True)
         return ride.srv.NodeOutputResponse('', False)
 
+    def node_settings_get_service(self, request):
+        '''Implements the /ride/node/settings/get service'''
+        if request.name in self.owned_nodes:
+            node = self.owned_nodes[request.name]
+            return ride.srv.NodeSettingsGetResponse(node.cmd_line_args, node.rosparams, node.env_vars, True)
+        return ride.srv.NodeSettingsGetResponse('', '', '', False)
+
+    def node_settings_set_service(self, request):
+        '''Implements the /ride/node/settings/set service'''
+        if request.name in self.owned_nodes:
+            node = self.owned_nodes[request.name]
+            node.cmd_line_args = request.cmd_line_args
+            node.rosparams = request.rosparams
+            node.env_vars = request.env_vars
+            return ride.srv.NodeSettingsSetResponse(True)
+        return ride.srv.NodeSettingsSetResponse(False)
+
     def link_create_service(self, request):
         '''Implements the /ride/link/create service'''
         key = request.from_topic, request.to_topic
@@ -504,8 +564,8 @@ def poll(self):
             node = self.owned_nodes[name]
 
             # Check on the process
-            if node.status == STATUS_STARTING and node.name in node_names:
-                node.status = STATUS_STARTED
+            if node.status == 'Starting...' and node.name in node_names:
+                node.status = ''
                 self.updates.update_owned_node(node)
             node.poll()
 

srv/NodeSettingsGet.srv

@@ -0,0 +1,6 @@
+string name
+----
+string cmd_line_args
+string rosparams
+string env_vars
+bool worked

srv/NodeSettingsSet.srv

@@ -0,0 +1,6 @@
+string name
+string cmd_line_args
+string rosparams
+string env_vars
+----
+bool worked