# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of Willow Garage, Inc. nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
# Revision $Id: remote.py 7331 2009-12-15 22:45:49Z kwc $

"""
Integrates roslaunch remote process launching capabilities.
"""

import logging
import socket
import sys
import time

import roslib.network as network

import roslaunch.config 
import roslaunch.remoteprocess 
from roslaunch.remoteprocess import SSHChildROSLaunchProcess
import roslaunch.launch
import roslaunch.server #ROSLaunchParentNode hidden dep
from roslaunch.core import RLException, setup_env, is_machine_local, printerrlog

#For using Log message level constants
from roslib.msg import Log

_CHILD_REGISTER_TIMEOUT = 10.0 #seconds

    
class ROSRemoteRunner(roslaunch.launch.ROSRemoteRunnerIF):
    """
    Manages the running of remote roslaunch children
    """
    
    def __init__(self, run_id, rosconfig, pm, server):
        """
        @param run_id: roslaunch run_id of this runner
        @type  run_id: str
        @param config: launch configuration
        @type  config: L{ROSConfig}
        @param pm process monitor
        @type  pm: L{ProcessMonitor}
        @param server: roslaunch parent server
        @type  server: L{ROSLaunchParentNode}
        """
        self.run_id = run_id
        self.rosconfig = rosconfig
        self.server = server
        self.pm = pm
        self.logger = logging.getLogger('roslaunch.remote')
        self.listeners = []
        
        self.machine_list = []
        self.remote_processes = []

    def add_process_listener(self, l):
        """
        Listen to events about remote processes dying. Not
        threadsafe. Must be called before processes started.
        @param l: ProcessListener
        @type  l: L{ProcessListener}
        """
        self.listeners.append(l)

    def _start_child(self, server_node_uri, machine, counter):
        # generate a name for the machine. don't use config key as
        # it's too long to easily display
        name = "%s-%s"%(machine.address, counter)

        self.logger.info("remote[%s] starting roslaunch", name)
        print "remote[%s] starting roslaunch"%name
            
        env_dict = setup_env(None, machine, self.rosconfig.master.uri)
        p = SSHChildROSLaunchProcess(self.run_id, name, server_node_uri, env_dict, machine)
        success = p.start()
        self.pm.register(p)
        if not success: #treat as fatal
            raise RLException("unable to start remote roslaunch child: %s"%name)
        self.server.add_child(name, p)
        return p

    def start_children(self):
        """
        Start the child roslaunch processes
        """
        server_node_uri = self.server.uri
        if not server_node_uri:
            raise RLException("server URI is not initialized")
        
        # TODOXXX: break out table building code into a separate
        # routine so we can unit test it _start_child() should not be
        # determining the process name

        # Build table of unique machines that we are going to launch on
        machines = {}
        for n in self.rosconfig.nodes:
            if not is_machine_local(n.machine):
                machines[n.machine.config_key()] = n.machine

        # Launch child roslaunch processes on remote machines
        counter = 0
        #  - keep a list of procs so we can check for those that failed to launch
        procs = []
        for m in machines:
            p = self._start_child(server_node_uri, machines[m], counter)
            procs.append(p)
            counter += 1
        
        # Wait for all children to call register() callback. The machines can have
        # non-uniform registration timeouts. We consider the failure to occur once
        # one of the machines has failed to meet it's timeout.
        start_t = time.time() 
        while True:
            pending = []
            for p in procs:
                if not p.is_alive():
                    raise RLException("remote roslaunch failed to launch: %s"%p.machine.name)
                elif not p.uri:
                    pending.append(p.machine)
            if not pending:
                break
            # timeout is the minimum of the remaining timeouts of the machines
            timeout_t = start_t + min([m.timeout for m in pending])
            if time.time() > timeout_t:
                break
            time.sleep(0.1)
        if pending:
            raise RLException(
                """The following roslaunch remote processes failed to register: 
%s

If this is a network latency issue, you may wish to consider setting 
  <machine timeout="NUMBER OF SECONDS" ... />
in your launch"""%'\n'.join([" * %s (timeout %ss)"%(m.name, m.timeout) for m in pending]))

        # convert machine dictionary to a list
        self.machine_list = machines.values()
        # save a list of the remote processes
        self.remote_processes = procs


    def _assume_failed(self, nodes, failed):
        """
        Utility routine for logging/recording nodes that failed
        @param nodes: list of nodes that are assumed to have failed
        @type  nodes: [L{Node}]
        @param failed: list of names of nodes that have failed to extend
        @type  failed: [str]
        """
        str_nodes = ["%s/%s"%(n.package, n.type) for n in nodes]
        failed.extend(str_nodes)
        printerrlog("Launch of the following nodes most likely failed: %s"%', '.join(str_nodes))
        
    def launch_remote_nodes(self):
        """
        Contact each child to launch remote nodes
        """
        succeeded = []
        failed = []
        
        # initialize remote_nodes. we use the machine config key as
        # the key for the dictionary so that we can bin the nodes.
        self.remote_nodes = {}
        for m in self.machine_list:
            self.remote_nodes[m.config_key()] = []
            
        # build list of nodes that will be launched by machine
        nodes = [x for x in self.rosconfig.nodes if not is_machine_local(x.machine)]
        for n in nodes:
            self.remote_nodes[n.machine.config_key()].append(n)
            
        for child in self.remote_processes:
            nodes = self.remote_nodes[child.machine.config_key()]
            body = '\n'.join([n.to_remote_xml() for n in nodes])
            xml = '<launch>\n%s</launch>'%body
            if 0:
                print xml
                
            api = child.getapi()
            # TODO: timeouts
            try:
                self.logger.debug("sending [%s] XML [\n%s\n]"%(child.uri, xml))
                code, msg, val = api.launch(xml)
                if code == 1:
                    c_succ, c_fail = val
                    succeeded.extend(c_succ)
                    failed.extend(c_fail)
                else:
                    printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, msg))
                    self._assume_failed(nodes, failed)
            except socket.error, (errno, msg):
                printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, str(msg)))
                self._assume_failed(nodes, failed)

            except socket.gaierror, (errno, msg):
                # usually errno == -2. See #815. 
                child_host, _ = network.parse_http_host_and_port(child.uri)
                printerrlog("Unable to contact remote roslaunch at [%s]. This is most likely due to a network misconfiguration with host lookups. Please make sure that you can contact '%s' from this machine"%(child.uri, child_host))
                self._assume_failed(nodes, failed)

            except Exception, e:
                printerrlog('error launching on [%s, uri %s]: %s'%(child.name, child.uri, str(e)))
                self._assume_failed(nodes, failed)

        return succeeded, failed

