Class: Roby::Interface::V1::ShellClient

Inherits:
Object
  • Object
show all
Defined in:
lib/roby/interface/v1/shell_client.rb

Overview

An interface client using TCP that provides reconnection capabilities as well as proper formatting of the information

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(remote_name, &connection_method) ⇒ ShellClient

Returns a new instance of ShellClient.



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# File 'lib/roby/interface/v1/shell_client.rb', line 19

def initialize(remote_name, &connection_method)
    @connection_method = connection_method
    @remote_name = remote_name
    @silent = false
    connect
end

Dynamic Method Handling

This class handles dynamic methods through the method_missing method

#method_missing(m, *args) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 325

def method_missing(m, *args)
    if sub = client.find_subcommand_by_name(m.to_s)
        ShellSubcommand.new(self, m.to_s, sub.description, sub.commands)
    elsif act = client.find_action_by_name(m.to_s)
        Roby::Actions::Action.new(act, *args)
    elsif @batch && m.to_s =~ /(.*)!$/
        action_name = $1
        @batch.start_job(action_name, *args)
        review
        nil
    else
        begin
            call Hash[], [], m, *args
        rescue NoMethodError => e
            if e.message =~ /undefined method .#{m}./
                puts "invalid command name #{m}, call 'help' for more information"
            else
                raise
            end
        rescue ArgumentError => e
            if e.message =~ /wrong number of arguments/ && e.backtrace.first =~ /#{m}/
                puts e.message
            else
                raise
            end
        end
    end
rescue ComError
    Roby::Interface.warn "Lost communication with remote, will not retry the command after reconnection"
    connect
rescue Interrupt
    Roby::Interface.warn "Interrupted"
end

Instance Attribute Details

#client ⇒ Client? (readonly)

Returns the socket used to communicate to the server, or nil if we have not managed to connect yet.

Returns:

  • (Client, nil) —

    the socket used to communicate to the server, or nil if we have not managed to connect yet



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# File 'lib/roby/interface/v1/shell_client.rb', line 15

def client
  @client
end

#connection_method ⇒ #call (readonly)

Returns an object that can create a Client instance.

Returns:

  • (#call) —

    an object that can create a Client instance



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# File 'lib/roby/interface/v1/shell_client.rb', line 12

def connection_method
  @connection_method
end

#remote_name ⇒ String (readonly)

Returns a string that describes the remote host.

Returns:

  • (String) —

    a string that describes the remote host



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# File 'lib/roby/interface/v1/shell_client.rb', line 10

def remote_name
  @remote_name
end

Instance Method Details

#__jobs ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 116

def __jobs
    call Hash[retry: true], [], :jobs
end

#actions(regex = nil, verbose = false) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 62

def actions(regex = nil, verbose = false)
    actions = client.actions.sort_by(&:name)
    if regex
        regex = Regexp.new(regex)
    else
        regex = Regexp.new(".*")
    end
    actions.each do |action|
        if regex.match(action.name)
            if verbose
                puts "\e[1m#{action.name}!\e[0m"

                arguments = action.arguments.sort_by(&:name)
                required_arguments = []
                optional_arguments = []
                arguments.each do |argument|
                    if argument.required
                        required_arguments << argument
                    else
                        optional_arguments << argument
                    end
                end
                unless required_arguments.empty?
                    puts "    required arguments"
                    required_arguments.each do |argument|
                        puts "        #{argument.name}: #{argument.doc} [default: #{argument.default}]"
                    end
                end
                unless optional_arguments.empty?
                    puts "    optional arguments:"
                    optional_arguments.each do |argument|
                        puts "        #{argument.name}: #{argument.doc} [default: #{argument.default}]"
                    end
                end
                puts "    doc: #{action.doc}" unless action.doc.empty?
            else
                puts "\e[1m#{action.name}!\e[0m(#{action.arguments.map(&:name).sort.join(', ')}): #{action.doc}"
            end
        end
    end
    nil
end

#call(options, path, m, *args) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 158

def call(options, path, m, *args)
    options = Kernel.validate_options options, retry: false
    if options[:retry]
        options = options.merge(retry: false)
        retry_on_com_error do
            return call options, path, m, *args
        end
    else
        client.call(path, m, *args)
    end
rescue Exception => e
    msg = Roby.format_exception(e)
    if msg[0]
        msg[0] = Roby.color(msg[0], :red)
    end
    puts msg.join("\n")
    puts "  #{e.backtrace.join('\n  ')}"
    nil
end

#cancel ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 319

def cancel
    @batch = client.create_batch
    review
    nil
end

#close ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 56

def close
    client.close
    @job_manager = nil
    @client = nil
end

#closed? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/roby/interface/v1/shell_client.rb', line 52

def closed?
    client.closed?
end

#connect(retry_period = 0.5) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 30

def connect(retry_period = 0.5)
    retry_warning = false
    begin
        @client = connection_method.call
        @batch = client.create_batch
        @batch_job_info = {}
    rescue ConnectionError, ComError => e
        if retry_period
            if e.kind_of?(ComError)
                Roby::Interface.warn "failed handshake with #{remote_name}, retrying ..."
            elsif !retry_warning
                Roby::Interface.warn "cannot connect to #{remote_name}, retrying every #{retry_period} seconds..."
                retry_warning = true
            end
            sleep retry_period
            retry
        else
            raise
        end
    end
end

#describe(matcher) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 145

def describe(matcher)
    if matcher.kind_of?(Roby::Actions::Action)
        pp matcher.model
    elsif matcher.kind_of?(Roby::Actions::Models::Action)
        pp matcher
    else
        client.find_all_actions_matching(matcher).each do |act|
            pp act
        end
    end
    nil
end

#drop_job(job_id) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 278

def drop_job(job_id)
    if safe?
        if @batch_job_info[job_id] = resolve_job_id(job_id)
            @batch.drop_job job_id
            review
        end
    else
        super
    end
    nil
end

#format_arguments(hash) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 105

def format_arguments(hash)
    hash.keys.map do |k|
        v = hash[k]
        v = if !v || v.respond_to?(:to_str) then v.inspect
            else
                v
            end
        "#{k} => #{v}"
    end.join(", ")
end

#format_exception(kind, error, *_args) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 194

def format_exception(kind, error, *_args)
    color =
        case kind
        when ExecutionEngine::EXCEPTION_FATAL
            [:red]
        when ExecutionEngine::EXCEPTION_NONFATAL
            [:magenta]
        else
            []
        end

    if error
        msg = Roby.format_exception(error.exception)
        if msg[0]
            msg[0] = Roby.color(msg[0], *color)
        end
    else
        msg = ["<something wrong happened in transmission of exception information>"]
    end
    msg
end

#format_job_info(id, state, task, planning_task) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 128

def format_job_info(id, state, task, planning_task)
    if planning_task.respond_to?(:action_model) && planning_task.action_model
        name = "#{planning_task.action_model}(#{format_arguments(planning_task.action_arguments)})"
    else
        name = task.to_s
    end
    format("[%4d] (%s) %s", id, state.to_s, name)
end

#format_job_progress(kind, job_id, job_name, *_args) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 186

def format_job_progress(kind, job_id, job_name, *_args)
    ["[#{job_id}] #{job_name}: #{kind}"]
end

#format_notification(source, level, message) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 178

def format_notification(source, level, message)
    ["[#{level}] #{source}: #{message}"]
end

#help(subcommand = client) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 359

def help(subcommand = client)
    puts
    if safe?
        puts Roby.color("Currently in safe mode, use 'unsafe' to switch", :bold)
        puts "Job commands like drop_job, kill_job, ... are queued, only sent if on 'process'"
        puts "review           display the pending job commands"
        puts "process          apply the pending job commands"
        puts "cancel           clear the pending job commands"
    else
        puts Roby.color("Currently in unsafe mode, use 'safe' to switch", :bold, :red)
        puts "Job commands like drop_job, kill_job, ... are sent directly"
    end

    puts
    if subcommand.respond_to?(:description)
        puts Roby.color(subcommand.description.join("\n"), :bold)
        puts
    end

    commands = subcommand.commands[""].commands
    unless commands.empty?
        puts Roby.color("Commands", :bold)
        puts Roby.color("--------", :bold)
        commands.keys.sort.each do |command_name|
            cmd = commands[command_name]
            puts "#{command_name}(#{cmd.arguments.keys.map(&:to_s).join(', ')}): #{cmd.description.first}"
        end
    end
    if subcommand.commands.size > 1
        puts unless commands.empty?
        puts Roby.color("Subcommands (use help <subcommand name> for more details)", :bold)
        puts Roby.color("-----------", :bold)
        subcommand.commands.keys.sort.each do |subcommand_name|
            next if subcommand_name.empty?

            puts "#{subcommand_name}: #{subcommand.commands[subcommand_name].description.first}"
        end
    end
    nil
end

#jobs ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 120

def jobs
    jobs = __jobs
    jobs.each do |id, job_info|
        puts format_job_info(id, *job_info)
    end
    nil
end

#kill_job(job_id) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 266

def kill_job(job_id)
    if safe?
        if @batch_job_info[job_id] = resolve_job_id(job_id)
            @batch.kill_job job_id
            review
        end
    else
        super
    end
    nil
end

#notification_loop(period = 0.1) {|msg| ... } ⇒ Object

Polls for messages from the remote interface and yields them. It handles automatic reconnection, when applicable, as well

It is meant to be called in a separate thread

Parameters:

  • period (Float) (defaults to: 0.1) —

    the polling period in seconds

Yield Parameters:

  • msg (String) —

    messages for the user



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# File 'lib/roby/interface/v1/shell_client.rb', line 437

def notification_loop(period = 0.1)
    already_summarized = Set.new
    was_connected = nil
    loop do
        has_valid_connection =
            begin
                client.poll
                true
            rescue Exception
                begin
                    connect(nil)
                    client.io.reset_thread_guard
                    true
                rescue Exception
                end
            end

        already_summarized, messages =
            summarize_pending_messages(already_summarized)
        yield(has_valid_connection, messages)
        if has_valid_connection
            was_connected = true
        end

        if has_valid_connection && !was_connected
            RbReadline.puts "reconnected"
        elsif !has_valid_connection && was_connected
            RbReadline.puts "lost connection, reconnecting ..."
        end
        was_connected = has_valid_connection

        sleep period
    end
end

#path ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 26

def path
    []
end

#process ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 309

def process
    if safe?
        @batch.__process
    else
        STDERR.puts "Not in batch context"
    end
    @batch = client.create_batch
    nil
end

#quit ⇒ Object

Make the remote app quit

This is defined explicitely because otherwise IRB “hooks” on quit to terminate the shell instead



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# File 'lib/roby/interface/v1/shell_client.rb', line 481

def quit
    call({}, [], :quit)
end

#resolve_job_id(job_id) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 258

def resolve_job_id(job_id)
    if job_info = __jobs[job_id]
        job_info
    else
        STDERR.puts Roby.color("No job #{job_id}", :bold, :bright_red)
    end
end

#retry_on_com_error ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 137

def retry_on_com_error
    yield
rescue ComError
    Roby::Interface.warn "Lost communication with remote, retrying command after reconnection"
    connect
    retry
end

#review ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 290

def review
    if safe?
        puts "#{@batch.__calls.size} actions queued in the current batch, "\
             "use #process to send, #cancel to delete"
        @batch.__calls.each do |context, m, *args|
            if %i[drop_job kill_job].include?(m)
                job_id = args.first
                job_info = format_job_info(job_id, *@batch_job_info[job_id])
                puts "#{Roby.color(m.to_s, :bold, :bright_red)} #{job_info}"
            elsif m == :start_job
                puts "#{Roby.color("#{args[0]}!", :bright_blue)}(#{args[1]})"
            else
                puts "#{Roby.color("#{m}!", :bright_blue)}(#{args.first})"
            end
        end
    end
    nil
end

#safe ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 249

def safe
    @batch ||= client.create_batch
    nil
end

#safe? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/roby/interface/v1/shell_client.rb', line 245

def safe?
    !!@batch
end

#silent(silent) ⇒ Object

Whether the shell should stop displaying any notification



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# File 'lib/roby/interface/v1/shell_client.rb', line 473

def silent(silent) # rubocop:disable Style/TrivialAccessors
    @silent = silent
end

#summarize_exception(kind, error, *args) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 216

def summarize_exception(kind, error, *args)
    msg = "(#{kind}) #{format_exception(kind, error, *args).first}"
    [msg, false]
end

#summarize_job_progress(kind, job_id, job_name, *args) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 190

def summarize_job_progress(kind, job_id, job_name, *args)
    [format_job_progress(kind, job_id, job_name, *args).first, true]
end

#summarize_notification(source, level, message) ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 182

def summarize_notification(source, level, message)
    [format_notification(source, level, message).first, true]
end

#summarize_pending_messages(already_summarized = Set.new) {|msg| ... } ⇒ Set

Processes the exception and job_progress queues, and yields with a message that summarizes the new ones

Parameters:

  • already_summarized (Set) (defaults to: Set.new) —

    the set of IDs of messages that have already been summarized. This should be the value returned by the last call to #summarize_pending_messages

Yield Parameters:

  • msg (String) —

    the message that summarizes the new exception/job progress

Returns:

  • (Set) —

    the set of notifications still in the queues that have already been summarized. Pass to the next call to #summarize_exception



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# File 'lib/roby/interface/v1/shell_client.rb', line 411

def summarize_pending_messages(already_summarized = Set.new)
    summarized = Set.new
    messages = []
    queues = { exception: client.exception_queue,
               job_progress: client.job_progress_queue,
               notification: client.notification_queue }
    queues.each do |type, q|
        q.delete_if do |id, args|
            summarized << id
            unless already_summarized.include?(id)
                msg, complete = send("summarize_#{type}", *args)
                messages << "##{id} #{msg}"
                complete
            end
        end
    end
    [summarized, messages]
end

#unsafe ⇒ Object 



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# File 'lib/roby/interface/v1/shell_client.rb', line 254

def unsafe
    @batch = nil
end

#wtf? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/roby/interface/v1/shell_client.rb', line 221

def wtf?
    msg = []
    client.notification_queue.each do |id, (source, level, message)|
        msg << Roby.color("-- ##{id} (notification) --", :bold)
        msg.concat format_notification(source, level, message)
        msg << "\n"
    end
    client.job_progress_queue.each do |id, (kind, job_id, job_name, *args)|
        msg << Roby.color("-- ##{id} (job progress) --", :bold)
        msg.concat format_job_progress(kind, job_id, job_name, *args)
        msg << "\n"
    end
    client.exception_queue.each do |id, (kind, exception, tasks)|
        msg << Roby.color("-- ##{id} (#{kind} exception) --", :bold)
        msg.concat format_exception(kind, exception, tasks)
        msg << "\n"
    end
    client.job_progress_queue.clear
    client.exception_queue.clear
    client.notification_queue.clear
    puts msg.join("\n")
    nil
end