Merge pull request #8 from rapyuta-robotics/feature/lw-respawn-all

Respawn all option
rapyuta-robotics · Mar 11, 2020 · 8faf10a · 8faf10a
2 parents 8f0bab5 + 4202493
commit 8faf10a
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Showing 4 changed files with 41 additions and 5 deletions.
diff --git a/rosmon_core/src/launch/launch_config.cpp b/rosmon_core/src/launch/launch_config.cpp
@@ -151,6 +151,12 @@ void LaunchConfig::setDefaultMemoryLimit(uint64_t memoryLimit)
     m_defaultMemoryLimit = memoryLimit;
 }
 
+void LaunchConfig::setRespawnBehaviour(bool respawnAll, bool respawnObey)
+{
+    m_respawnAll = respawnAll;
+    m_respawnObey = respawnObey;
+}
+
 void LaunchConfig::parse(const std::string& filename, bool onlyArguments)
 {
 	m_rootContext.setFilename(filename);
@@ -381,10 +387,16 @@ void LaunchConfig::parseNode(TiXmlElement* element, ParseContext ctx)
 	if(!fullNamespace.empty())
 		node->setNamespace(fullNamespace);
 
-	if(respawn)
+	if ((m_respawnObey && respawn) || !m_respawnObey)
 	{
-		node->setRespawn(ctx.parseBool(respawn, element->Row()));
-
+		if (!m_respawnObey) 
+		{
+			node->setRespawn(m_respawnAll);
+		} 
+		else 
+		{
+			node->setRespawn(ctx.parseBool(respawn, element->Row()));
+		}
 		if(respawnDelay)
 		{
 			double seconds;

diff --git a/rosmon_core/src/launch/launch_config.h b/rosmon_core/src/launch/launch_config.h
@@ -164,8 +164,9 @@ class LaunchConfig
 	void setArgument(const std::string& name, const std::string& value);
 
 	void setDefaultStopTimeout(double timeout);
-    void setDefaultCPULimit(double CPULimit);
-    void setDefaultMemoryLimit(uint64_t memoryLimit);
+	void setDefaultCPULimit(double CPULimit);
+	void setDefaultMemoryLimit(uint64_t memoryLimit);
+	void setRespawnBehaviour(bool respawnAll, bool respawnObey);
 
 	void parse(const std::string& filename, bool onlyArguments = false);
 	void parseString(const std::string& input, bool onlyArguments = false);
@@ -237,6 +238,9 @@ class LaunchConfig
 	double m_defaultStopTimeout{DEFAULT_STOP_TIMEOUT};
     uint64_t m_defaultMemoryLimit{DEFAULT_MEMORY_LIMIT};
     double m_defaultCPULimit{DEFAULT_CPU_LIMIT};
+
+    bool m_respawnAll;
+    bool m_respawnObey;
 };
 
 }

diff --git a/rosmon_core/src/main.cpp b/rosmon_core/src/main.cpp
@@ -75,6 +75,9 @@ void usage()
 		"                 Use GROUP as name of the launch group. By default, empty\n"
 		"  --launch-config=CONFIG\n"
 		"                 Use CONFIG as name of the launch config. By default, empty\n"
+		"  --respawn-attr=obey|force_true|force_false\n"
+		"                  Force all nodes in launch group to respawn or not respawn,\n"
+		"                  or obey launch file. By default, nodes will obey.\n"
 		"  --no-start      Don't automatically start the nodes in the beginning\n"
 		"  --stop-timeout=SECONDS\n"
 		"                  Kill a process if it is still running this long\n"
@@ -133,6 +136,7 @@ static const struct option OPTIONS[] = {
 	{"robot", required_argument, nullptr, 'r'},
 	{"launch-group", required_argument, nullptr, 'g'},
 	{"launch-config", required_argument, nullptr, 'z'},
+	{"respawn-attr", required_argument, nullptr, 'R'},
 	{"no-start", no_argument, nullptr, 'S'},
 	{"stop-timeout", required_argument, nullptr, 's'},
     {"disable-diagnostics", no_argument, nullptr, 'D'},
@@ -158,6 +162,8 @@ int main(int argc, char** argv)
 	Action action = ACTION_LAUNCH;
 	bool enableUI = true;
 	bool flushLog = false;
+	bool respawnAll = false;
+	bool respawnObey = true;
 	bool startNodes = true;
 	double stopTimeout = rosmon::launch::LaunchConfig::DEFAULT_STOP_TIMEOUT;
 	uint64_t memoryLimit = rosmon::launch::LaunchConfig::DEFAULT_MEMORY_LIMIT;
@@ -264,6 +270,18 @@ int main(int argc, char** argv)
 				fmt::print(stderr, "Prefix : {}", optarg);
 				diagnosticsPrefix = std::string(optarg);
 				break;
+			case 'R':
+				if (optarg && (strcmp(optarg,"force_true")==0 || strcmp(optarg,"force_false")==0))
+				{
+					respawnAll = strcmp(optarg,"force_true")==0;
+					respawnObey = false;
+				}
+				else if (optarg && !((strcmp(optarg,"obey")==0)))
+				{
+					fmt::print(stderr, "Bad value for --respawn-attr argument: '{}'\n", optarg);
+					return 1;
+				}
+				break;
 		}
 	}
 
@@ -352,6 +370,7 @@ int main(int argc, char** argv)
 	config->setDefaultStopTimeout(stopTimeout);
     config->setDefaultCPULimit(cpuLimit);
     config->setDefaultMemoryLimit(memoryLimit);
+    config->setRespawnBehaviour(respawnAll, respawnObey);
 
 	// Parse launch file arguments from command line
 	for(int i = firstArg; i < argc; ++i)

diff --git a/rosmon_core/test/xml/test_node.cpp b/rosmon_core/test/xml/test_node.cpp
@@ -82,6 +82,7 @@ TEST_CASE("node args", "[node]")
 TEST_CASE("node respawn", "[node]")
 {
 	LaunchConfig config;
+	config.setRespawnBehaviour(false, true);
 	config.parseString(R"EOF(
 		<launch>
 			<node name="test_node" pkg="rosmon_core" type="abort" respawn="true" respawn_delay="10" />