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# Revision $Id: main.py 8642 2010-03-12 08:52:59Z kwc $

"""Command-line handler for ROS zenmaster (Python Master)"""

import logging
import os
import sys
import time
import optparse

import rosmaster.master

def configure_logging():
    """
    Setup filesystem logging for the master
    """
    filename = 'master.log'
    # #988 __log command-line remapping argument
    import roslib.names
    import roslib.roslogging
    mappings = roslib.names.load_mappings(sys.argv)
    if '__log' in mappings:
        logfilename_remap = mappings['__log']
        filename = os.path.abspath(logfilename_remap)
    _log_filename = roslib.roslogging.configure_logging('rosmaster', logging.DEBUG, filename=filename, additional=['roslib', 'xmlrpc'])

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")
    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")
    try:
        logger.info("Starting ROS Master Node")
        master = rosmaster.master.Master(port)
        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()

    print "exiting..."

if __name__ == "__main__":
    main()
