/usr/lib/python2.7/dist-packages/rosmaster/main.py is in python-rosmaster 1.11.16-3.
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# Revision $Id$
"""Command-line handler for ROS zenmaster (Python Master)"""
import logging
import os
import sys
import time
import optparse
import rosmaster.master
from rosmaster.master_api import NUM_WORKERS
def configure_logging():
"""
Setup filesystem logging for the master
"""
filename = 'master.log'
# #988 __log command-line remapping argument
import rosgraph.names
import rosgraph.roslogging
mappings = rosgraph.names.load_mappings(sys.argv)
if '__log' in mappings:
logfilename_remap = mappings['__log']
filename = os.path.abspath(logfilename_remap)
_log_filename = rosgraph.roslogging.configure_logging('rosmaster', logging.DEBUG, filename=filename)
def rosmaster_main(argv=sys.argv, stdout=sys.stdout, env=os.environ):
parser = optparse.OptionParser(usage="usage: zenmaster [options]")
parser.add_option("--core",
dest="core", action="store_true", default=False,
help="run as core")
parser.add_option("-p", "--port",
dest="port", default=0,
help="override port", metavar="PORT")
parser.add_option("-w", "--numworkers",
dest="num_workers", default=NUM_WORKERS, type=int,
help="override number of worker threads", metavar="NUM_WORKERS")
parser.add_option("-t", "--timeout",
dest="timeout",
help="override the socket connection timeout (in seconds).", metavar="TIMEOUT")
options, args = parser.parse_args(argv[1:])
# only arg that zenmaster supports is __log remapping of logfilename
for arg in args:
if not arg.startswith('__log:='):
parser.error("unrecognized arg: %s"%arg)
configure_logging()
port = rosmaster.master.DEFAULT_MASTER_PORT
if options.port:
port = int(options.port)
if not options.core:
print("""
ACHTUNG WARNING ACHTUNG WARNING ACHTUNG
WARNING ACHTUNG WARNING ACHTUNG WARNING
Standalone zenmaster has been deprecated, please use 'roscore' instead
ACHTUNG WARNING ACHTUNG WARNING ACHTUNG
WARNING ACHTUNG WARNING ACHTUNG WARNING
""")
logger = logging.getLogger("rosmaster.main")
logger.info("initialization complete, waiting for shutdown")
if options.timeout is not None and float(options.timeout) >= 0.0:
logger.info("Setting socket timeout to %s" % options.timeout)
import socket
socket.setdefaulttimeout(float(options.timeout))
try:
logger.info("Starting ROS Master Node")
master = rosmaster.master.Master(port, options.num_workers)
master.start()
import time
while master.ok():
time.sleep(.1)
except KeyboardInterrupt:
logger.info("keyboard interrupt, will exit")
finally:
logger.info("stopping master...")
master.stop()
if __name__ == "__main__":
main()
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