Support setting nice value

ros/run

@@ -7,7 +7,6 @@ OPTION_TITLE='--title'
 OPTION_WORKING_DIR='working-directory'
 OPTION_CORE_GEOMETRY='--geometry=50x10+0+0'
 OPTION_RM_GEOMETRY='--geometry=50x10+500+0'
-OPTION_PM_GEOMETRY='--geometry=50x10+0+300'
 OPTION_COMMAND='--command'
 
 if [ $(which gnome-terminal) ]; then
@@ -29,7 +28,7 @@ elif [ $(which konsole) ]; then
 fi
 
 echo "Process Manager"
-sudo ${TERMINAL} ${OPTION_PM_GEOMETRY} ${OPTION_TITLE}="proc_manager" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="python ./src/util/packages/runtime_manager/scripts/proc_manager.py $UID" &
+sudo python $MY_PATH/src/util/packages/runtime_manager/scripts/proc_manager.py &
 
 # boot ros-master
 ${TERMINAL} ${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}="roscore" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"&

ros/src/util/packages/runtime_manager/scripts/proc_manager.py

@@ -50,14 +50,33 @@ def __init__(self):
 			os.unlink(SOCK_PATH)
 		except:
 			pass
+		self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
 		self.sock.bind(SOCK_PATH)
 		self.sock.listen(10)
+		os.chmod(SOCK_PATH, 0777)
+
+	def set_nice(self, pid, value):
+		try:
+			proc = psutil.Process(pid)
+		except Exception as e:
+			print("Error construct psutil.Process(pid={})".format(pid))
+			return -1
+
+		try:
+			proc.set_nice(value)
+		except Exception as e:
+			print("Error set_nice: {}".format(e))
+			return -1
+
+		print("[set_nice] pid={}, value={} ".format(
+			pid, value))
+		return 0
 
 	def set_cpu_affinity(self, pid, cpus):
-                try:
-		        proc = psutil.Process(pid)
-                except psutil.NoSuchProcess as e:
-                        return
+		try:
+			proc = psutil.Process(pid)
+		except psutil.NoSuchProcess as e:
+			return
 
 		print("[CPU affinity] Set pid:{}, CPUS: {}: ".format(proc.pid, cpus))
 
@@ -70,17 +89,17 @@ def set_cpu_affinity(self, pid, cpus):
 
 	def _policy_to_string(self, policy):
 		if policy == 0:
-                        return "SCHED_OTHER"
-                elif policy == 1:
-                        return "SCHED_FIFO"
-                elif policy == 2:
-                        return "SCHED_RR"
-                else:
-                        raise ValueError("Invalid schedule policy argument")
+			return "SCHED_OTHER"
+		elif policy == 1:
+			return "SCHED_FIFO"
+		elif policy == 2:
+			return "SCHED_RR"
+		else:
+			raise ValueError("Invalid schedule policy argument")
 
 	def set_scheduling_policy(self, pid, policy, priority):
 		print("[sched_setscheduler] pid={}, priority={} ".format(
-                        pid, self._policy_to_string(policy), priority))
+			pid, self._policy_to_string(policy), priority))
 
 		param = ctypes.c_int(priority)
 		err = libc.sched_setscheduler(pid, ctypes.c_int(policy), ctypes.byref(param))
@@ -93,7 +112,10 @@ def run(self):
 
 			order = yaml.load(data)
 			ret = 0
-			if order['name'] == 'cpu_affinity':
+
+			if order['name'] == 'nice':
+				ret = self.set_nice(order['pid'], order['nice'])
+			elif order['name'] == 'cpu_affinity':
 				ret = self.set_cpu_affinity(order['pid'], order['cpus'])
 			elif order['name'] == 'scheduling_policy':
 				ret = self.set_scheduling_policy(order['pid'],
@@ -117,17 +139,11 @@ def drop_capabilities():
 
 
 if __name__ == "__main__":
-	if len(sys.argv) < 2:
-		print("Usage: {} UID".format(sys.argv[0]))
-		sys.exit(-1)
-
 	if os.getuid() != 0:
 		print("You must run runtime manger as root user")
 		sys.exit(-1)
 
-	uid = int(sys.argv[1])
 	drop_capabilities()
-	os.setuid(uid)
 
 	manager = ProcManager()
 	manager.run()

ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py

@@ -2989,13 +2989,6 @@ def prn_dict(dic):
 	for (k,v) in dic.items():
 		print (k, ':', v)
 
-def set_process_nice(proc, value):
-	try:
-		proc.set_nice(value)
-	except Exception:
-		return False
-	return True
-
 def send_to_proc_manager(order):
 	sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
 
@@ -3010,6 +3003,14 @@ def send_to_proc_manager(order):
 	sock.close()
 	return int(ret) == 0
 
+def set_process_nice(proc, value):
+	order = {
+		"name": "nice",
+		"pid": proc.pid,
+		"nice": value
+	}
+	return send_to_proc_manager(order)
+
 def set_process_cpu_affinity(proc, cpus):
 	order = {
 		"name": "cpu_affinity",