I need to handle the event when the shutdown process is started(for example with long press the robot's chest button or when the battery is critically low). The problem is that I didn't find a way to handle the shutdown/poweroff event. Do you have any idea how this can be done in some convenient way?
Unfortunately this won't be possible as when you trigger a shutdown naoqi will exit as well and destroy your service.
If you are coding in c++ you could use a destructor, but there is no proper equivalent for python...
An alternative would be to execute some code when your script exits whatever the reason. For this you can start your script as a service and wait for "the end" using qiApplication.run(). This method will simply block until naoqi asks your service to exit.
Note: in case of shutdown, all services are being killed, so you cannot run any command from the robot API (as they are probably not available anymore!)
Related
I am trying to create an "emergency stop" button that will immediately stop / break a linear code execution, but I am unable to come up with a solution. We have a GUI running in a browser and when a button is pushed an MQTT messages is received by the back end (which is written by me in Python).
There are different threads and the message is received, but when in another thread an if statement is running I am unable to figure out how to stop / break the linear code execution in that thread right away. Is there a good method for this?
It would be also OK if I could stop the entire thread and afterwards start it again (if another button is pushed). How could I do that?
I mean. I could probably solve this right away if I would be using a hardware switch and an interrupt (the code is running on a Raspberry Pi by the way). But I do not know how to "simulate" an interrupt and an interrupt service routing in a software. I most definitely can't be the only person facing the same problem.
I want to create a program that does something in which someone terminates the script by clicking the stop button in PyCharm. I tried
from sys import exit
def handler(signal_received, frame):
# Handle any cleanup here
print('SIGINT or CTRL-C detected. Exiting gracefully')
exit(0)
if __name__ == '__main__':
signal(SIGINT, handler)
print('Running. Press CTRL-C to exit.')
while True:
# Do nothing and hog CPU forever until SIGINT received.
pass
from https://www.devdungeon.com/content/python-catch-sigint-ctrl-c.
I tried on both Mac and Windows. On the Mac, PyCharm behaved as expected, when I click the stop button it catches the SIGINT. But on Windows, I did exactly the same thing, but it just straightly returns to me a
Process finished with exit code -1. Is there something I can do to change to make the Windows behave like what on Mac?
Any help is appreciated!
I don't think it's a strange question at all. On unix systems, pycham sends a SIGTERM, waits one second, then send a SIGKILL. On windows, it does something else to end the process, something that seems untrappable. Even during development you need a way to cleanly shut down a process that uses native resources. In my case, there is a CAN controller that, if not shut down properly, can't ever be opened again. My work around was to build a simple UI with a stop button that shuts the process down cleanly. The problem is, out of habit, from using pycharm, goland, and intellij, is to just hit the red, square button. Every time I do that I have to reboot the development system. So I think it is clearly also a development time question.
This actually isnt a simple thing, because PyCharm sends SIGKILL with the stop button. Check the discussion here https://youtrack.jetbrains.com/issue/PY-13316
There is a comment that you can enable "kill windows process softly", however it didnt work for me. The one that does work is emulate terminal in the debug config, then use control c when you select the console window
I'm currently making a lil' launcher for PortableMu while in an internship.
We (company and I) modeled a special mode for the Mu-Editor and we are shipping it with PortableMu so that users don't need to install Mu and/or Python to use it.
The problem of PortableMu for Windows is, that you start it with a .bat and this doesnt give you any feedback.
You click, you wait ~1-2min and maybe Mu-Editor will popup.
This is not very userfriendly.
So my duty is to create a launcher.
My launcher is a simple thing: Only lil "welcome" a picture and a button to start PortableMu. It works on my private windows10.
Now I want to add in randomly picked messages for simulating "loading" which shall stop when the Mu-Editor pops up. Simply to bridge the time
Is there a method to catch when this happens?
Alas:
Can Python catch the moment when Windows opens the task/process for Mu-Editor?
If, how?
use the tasklist
subprocess.Popen('tasklist').comunicate()[0] will return all the tasks currently happening in windows, simply do this every minute or so and check for your task. There are ways to make this pass without a command window popping up, here's one that i use often
command =subprocess.Popen(["ping","-n","1","-w","100", str(ip)], stdout=subprocess.PIPE, shell=False, creationflags = 0x08000000)
reply = str(command.communicate()[0])
I am working on an app using Google's compute engine and would like to use pre-emptible instances.
I need my code to respond to the 30s warning google gives via an ACPI G2 Soft Off signal that they send when they are going to take away your VM as described here: https://cloud.google.com/compute/docs/instances/preemptible.
How do I detect this event in my python code that is running on the machine and react to it accordingly (in my case I need to put the job the VM was working on back on a queue of open jobs so that a different machine can take it).
I am not answering the question directly, but I think that your actual intent is different:
The G2 power button event is generated by both preemption of a VM and the gcloud instances stop command (or the corresponding API, which it calls);
I am assuming that you want to react specially only on instance preemption.
Avoid a common misunderstanding
GCE does not send a "30s termination warning" with the power button event. It just sends the normal, honest power button soft-off event that immediately initiates shutdown of the system.
The "warning" part that comes with it is simple: “Here is your power button event, shutdown the OS ASAP, because you have 30s before we pull the plug off the wall socket. You've been warned!”
You have two system services that you can combine in different ways to get the desired behavior.
1. Use the fact that the system is shutting down upon ACPI G2
The most kosher (and, AFAIK, the only supported) way of handling the ACPI power button event is let the system handle it, and execute what you want in the instance shutdown script. In a systemd-managed machine, the default GCP shutdown script is simply invoked by a Type=oneshot service's ExecStop= command (see systemd.service(8)). The script is ran relatively late in shutdown sequence.
If you must ensure that the shutdown script is ran after (or before) some of your services is sent a signal to terminate, you can modify some of service dependencies. Things to keep in mind:
After and Before are reversed on shutdown: if X is started after Y, then it's stopped before Y.
The After dependency ensures that the service in the sequence is told to terminate before the shutdown script is run. It does not ensure that the service has already terminated.
The shutdown script is run when the google-shutdown-scripts.service is stopped as part of system shutdown.
With all that in mind, you can do sudo systemctl edit google-shutdown-scripts.service. This will create an empty configuration override file and open your $EDITOR, where you can put your After and Before dependencies, for example,
[Unit]
# Make sure that shutdown script is run (synchronously) *before* mysvc1.service is stopped.
After=mysvc1.service
# Make sure that mysvc2.service is sent a command to stop before the shutdown script is run
Before=mysvc2.service
You may specify as many After or Before clauses as you want, 0 or more of each. Read systemd.unit(8) for more information.
2. Use GCP metadata
There is an instance metadatum v1/instance/preempted. If the instance is preempted, it's value is TRUE, otherwise it's FALSE.
GCP has a thorough documentation on working with instance metadata. In short, there are two ways you can use this (or any other) metadata value:
Query its value at any time, e. g. in the shutdown script. curl(1) equivalent:
curl -sfH 'Metadata-Flavor: Google' \
'http://169.254.169.254/computeMetadata/v1/instance/preempted'
Run an HTTP request that will complete (200) when the metadatum changes. The only change that can ever happen to it is from FALSE to TRUE, as preemption is irreversible.
curl -sfH 'Metadata-Flavor: Google' \
'http://169.254.169.254/computeMetadata/v1/instance/preempted?wait_for_change=true'
Caveat: The metadata server may return the 503 response if it's temporarily unavailable (this is very rare, but happens), so certain retry logic is required. This especially true for the long-running second form (with ?wait_for_change=true), as the pending request may return at any time with the code 503. Your code should be ready to handle this and restart the query. curl does not return the HTTP error code directly, but you can use the fact that x=$(curl ....) expression returned an empty string if you scripting it; your criterion for positive detection of preemption is [[ $x == TRUE ]] in this case.
Summary
If you want to detect that the VM is shutting down for any reason, use Google-provided shutdown script.
If you also need to distinguish whether the VM was in fact preempted, as opposed to gcloud instance stop <vmname> (which also sends the power button event!), query the preempted metadata in the shutdown script.
Run a pending HTTP request for metadata change, and react on it accordingly. This will complete successfully when VM is preempted only (but may complete with an error at any time too).
If the daemon that you run is your own, you can also directly query the preempted metadata from the code path which handles the termination signal, if you need to distinguish between different shutdown reasons.
It is not impossible that the real decision point is whether you have an "active job" that you want to return to the "queue", or not: if your service is requested to stop while holding on an active job, just return it, regardless of the reason why you are being stopped. But I cannot comment on this, not knowing your actual design.
I think the simplest way to handle GCP preemption is using SIGTERM.
The SIGTERM signal is a generic signal used to cause program
termination. Unlike SIGKILL, this signal can be blocked, handled, and
ignored. It is the normal way to politely ask a program to terminate. https://www.gnu.org/software/libc/manual/html_node/Termination-Signals.html
This does depend on shutdown scripts, which are run on a "best effort" basis. In practice, shutdown scripts are very reliable for short scripts.
In your shutdown script:
echo "Running shutdown script"
preempted = curl "http://metadata.google.internal/computeMetadata/v1/instance/preempted" -H "Metadata-Flavor: Google"
if $preempted; then
PID="$(pgrep -o "python")"
echo "Send SIGTERM to python"
kill "$PID"
sleep infinity
fi
echo "Shutting down"
In main.py:
import signal
import os
def sigterm_handler(sig, frame):
print("Got SIGTERM")
os.environ["IS_PREEMPTED"] = True
# Call cleanup functions
signal.signal(signal.SIGTERM, sigterm_handler)
if __name__ == "__main__":
print("Main")
I have a Python script that runs in a loop regularly making adjustments to my lighting system. When I shut down my computer, I'd like my script to detect that, and turn off the lights altogether.
How do I detect my computer beginning to shut down in Python?
Or, assuming Windows sends Python a "time to shut down" notice, how do I intercept that to kill my lights and exit the loop?
This is the wrong way to go about performing action at system shutdown time. The job of the shutdown process is to stop running processes and then switch off power; if you try to detect this happening from within your program and react by getting some last action in, it's a race between the OS and your program who gets to go first. More likely than not your program will have been stopped before it managed to perform the necessary action.
Instead, you should hook into the normal protocol for doing things at shutdown. This will tell the shutdown utility to send an explicit signal to your program and wait for it to be acknowledged, which gives you enough time (within reason) to do what you have to do. How exactly to register to be notified varies with the OS, so this is more of an OS-specific question rather than a Python question.
You should react to the WM_ENDSESSION message.
This message is sent when the user logs off or the computer gets shut down.
If you want to react to Sleep/Hibernate as well, you'll need to handle WM_POWERBROADCAST with PBT_APMSUSPEND.
But I don't know how to do that in python. I guess it depends on your windowing framework since you need have a windows/a message loop to receive messages.