How to use enable_service method in lisa

Best Python code snippet using lisa_python

distrolayer.py

Source:distrolayer.py

1import subprocess2import sys3import invoke4from subprocess import run as Run5from invoke.exceptions import UnexpectedExit6class DistroAbstractionLayer:7    _knowndistros = ['ubuntu', 'debian', 'manjaro', 'arch', 'centos', 'raspbian', 'red hat', 'fedora']8    # Maps the known distributions to parent distributions so we dont need to handle9    # lots of package managers10    distro_map = {11        'ubuntu' : 'debian',12        'debian' : 'debian',13        'raspbian' : 'debian',14        'manjaro': 'arch',15        'arch': 'arch',16        'centos': 'red hat',17        'red hat': 'red hat',18        'fedora': 'red hat'19    }20    # Map to fix redhat being dumb21    _redhat_dumb_map = {22        'red' : 'red hat'23    }24    # Map of common commands, by distro25    _command_map = {26        'debian': {27            "install": "apt-get install $INSTALL$ -y",28            "upgrade": "apt-get upgrade -y",29            "update": "apt-get update -y",30            "hostname": "hostnamectl set-hostname $HOSTNAME$",31            "reboot": "reboot",32            "enable_service": "systemctl enable $ENABLE_SERVICE$",33        },34        'arch': {35            "install": "pacman -Sy $INSTALL$ --noconfirm",36            "update": "pacman -Syy",37            "upgrade": None,38            "hostname": "hostnamectl set-hostname $HOSTNAME$",39            "reboot": "reboot",40            "enable_service": "systemctl enable $ENABLE_SERVICE$",41        },42        'red hat': {43            "install": "yum install $INSTALL$ -y",44            "update": "yum update -y",45            "upgrade": None,46            "hostname": "hostnamectl set-hostname $HOSTNAME$",47            "reboot": "reboot",48            "enable_service": "systemctl enable $ENABLE_SERVICE$",49        }50    }51    distro_map_commands = {52        'lsb_release -ds': lambda command_output: command_output.rstrip().split(' ')[0],53        'cat /etc/redhat-release': lambda command_output: command_output.rstrip().split(' ')[0],54        'cat /etc/issue': lambda command_output: command_output.rstrip().split(' ')[0]55    }56    _custom_commands = {}57    def __init__(self, remote_connection=None, custom_command_map=None):58        """59            we expect if you pass a remote_connection, it is an already connected paramiko connection.60            custom_command_map needs to be a dictionary with the key being the command, and the value being a string61            command to run. if the command takes an input, it the input param needs to be formatted with the command name (upper case only), surrounded by $$. For example,62            If your command was "install", your dictionary should look as follows.63            dict(install="some command $INSTALL$).64            Currently, we only allow for single param custom commands. If you need more, you will have to build it yourself.65        """66        self._connection = remote_connection67        self.distro = self.__get_distro__()68        if custom_command_map:69            self._custom_commands = dict(custom_command_map)70    def __get_distro__(self):71        command = None72        if self._connection:73            command = lambda command_input: self._connection.run(command_input, hide=True).stdout74        else:75            command = lambda command_input: Run(command_input.split(' '), stdout=subprocess.PIPE).stdout.decode('utf-8')76        success = False77        distro = None78        for key, function in self.distro_map_commands.items():79            if success:80                break81            try:82                distro = function(command(key))83                if distro.lower() in self._redhat_dumb_map.keys():84                    distro = self._redhat_dumb_map[distro.lower()]85                if distro:86                    success = True87            except FileNotFoundError:88                success = False89            except UnexpectedExit:90                success = False91        if not distro:92            raise Exception('Unknown Distribution Of Linux')93        if distro.lower() not in self._knowndistros:94            print(f"We aren't exactly sure how to handle {distro}. We will try out best")95        return distro96    def install(self, package):97        return self._create_command('install', param=package)98    def update(self):99        return self._create_command('update')100    def upgrade(self):101        return self._create_command('upgrade')102    103    def set_hostname(self, hostname):104        return self._create_command('hostname', param=hostname)105    def reboot(self):106        return self._create_command('reboot')107    def custom_command(self, command, param=None):108        return self._create_command(command, param)109    def get_groups_on_server(self):110        command = 'cat /etc/group'111        output = None112        if self._connection:113            output = self._connection.run(command, hide=True).stdout114        else:115            output = Run(command.split(' '), stdout=subprocess.PIPE).stdout.decode('utf-8')116        return [group.split(':')[0] for group in output.split('\n')]117    def encrypt_password(self, password):118        input_command = f'''python3 -c "from crypt import crypt; import re; print(crypt('{password}').replace('$',r'$'))"'''119        if self._connection:120            return self._connection.run(input_command, hide=True).stdout.rstrip()121        else:122            return lambda: Run(input_command.split(' '), stdout=subprocess.PIPE).stdout.decode('utf-8').rstrip()123    def get_program_path(self, program):124        input_command = f'which {program}'125        if self._connection:126            command = lambda input_command: self._connection.run(input_command, hide=True).stdout127        else:128            command = lambda input_command: Run(input_command.split(' '), stdout=subprocess.PIPE).stdout.decode('utf-8')129        try:130            output = command(input_command)131            if output.startswith('which:'):132                output = ''133            else:134                output = output.rstrip()135        except UnexpectedExit as exception:136            result = exception.result137            if result.return_code == 1:138                output = result.stdout139        return output if output != '' else None140    def _create_command(self, command, param=None):141        d_map = self.distro_map[self.distro.lower()]142        if command not in self._custom_commands.keys() and command not in self._command_map[d_map].keys():143            raise NotImplementedError(f'{command} is not implemented for {self.distro}')144        _c = None145        if command in self._custom_commands.keys():146            _c = self._command_map[command]147        if not _c and command in self._command_map[d_map].keys():148            _c = self._command_map[d_map][command]149        if param:150            _c = _c.replace(f"${command.upper()}$", param)...

arbotix_disable_all_servos.py

Source:arbotix_disable_all_servos.py

1#!/usr/bin/env python2"""3    arbotix_disable_all_servos.py - Version 0.1 2012-03-244    5    Disable all servos6    7    Created for the Pi Robot Project: http://www.pirobot.org8    Copyright (c) 2013 Patrick Goebel.  All rights reserved.9    This program is free software; you can redistribute it and/or modify10    it under the terms of the GNU General Public License as published by11    the Free Software Foundation; either version 2 of the License, or12    (at your option) any later version.513    14    This program is distributed in the hope that it will be useful,15    but WITHOUT ANY WARRANTY; without even the implied warranty of16    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the17    GNU General Public License for more details at:18    19    http://www.gnu.org/licenses/gpl.html20"""21import rospy, time22from arbotix_msgs.srv import Enable23class DisableServos():24    def __init__(self):25        rospy.init_node('disable_all_servos')26        27        # The list of joints is stored in the /arbotix/joints parameter28        self.joints = rospy.get_param('/arbotix/joints', '')29        # A list to hold the enable services                30        enable_services = list()31            32        for joint in self.joints:33            enable_service = '/' + joint + '/enable'34            rospy.wait_for_service(enable_service)  35            enable_services.append(rospy.ServiceProxy(enable_service, Enable))36        # Relax all servos to give them a rest.37        for enable in enable_services:38            enable(False)39        40if __name__=='__main__':41    try:42        DisableServos()43        rospy.loginfo("All servos disabled.")44    except rospy.ROSInterruptException:45        rospy.loginfo("Oops! Exception occurred while trying to disable servos...")...

arbotix_enable_all_servos.py

Source:arbotix_enable_all_servos.py

1#!/usr/bin/env python2"""3    arbotix_enable_all_servos.py - Version 0.1 2012-03-244    5    Enable all servos6    7    Created for the Pi Robot Project: http://www.pirobot.org8    Copyright (c) 2013 Patrick Goebel.  All rights reserved.9    This program is free software; you can redistribute it and/or modify10    it under the terms of the GNU General Public License as published by11    the Free Software Foundation; either version 2 of the License, or12    (at your option) any later version.513    14    This program is distributed in the hope that it will be useful,15    but WITHOUT ANY WARRANTY; without even the implied warranty of16    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the17    GNU General Public License for more details at:18    19    http://www.gnu.org/licenses/gpl.html20"""21import rospy, time22from arbotix_msgs.srv import Enable23class EnableServos():24    def __init__(self):25        rospy.init_node('enable_all_servos')26        27        # The list of joints is stored in the /arbotix/joints parameter28        self.joints = rospy.get_param('/arbotix/joints', '')29        # A list to hold the enable services        30        enable_services = list()31            32        for joint in self.joints:33            enable_service = '/' + joint + '/enable'34            rospy.wait_for_service(enable_service)  35            enable_services.append(rospy.ServiceProxy(enable_service, Enable))36        # Relax all servos to give them a rest.37        for enable in enable_services:38            enable(True)39        40if __name__=='__main__':41    try:42        EnableServos()43        rospy.loginfo("All servos enabled.")44    except rospy.ROSInterruptException:45        rospy.loginfo("Oops! Exception occurred while trying to enable servos...")...

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