From 8eef0694219e912b6410da582f0e92273ddd76c6 Mon Sep 17 00:00:00 2001
From: Pooyan Jamshidi <pooyan.jamshidi@gmail.com>
Date: Sat, 12 May 2018 16:59:19 -0400
Subject: [PATCH] removed rainbow_interface

---
 robotcontrol/rainbow_interface.py | 84 -------------------------------
 1 file changed, 84 deletions(-)
 delete mode 100755 robotcontrol/rainbow_interface.py

diff --git a/robotcontrol/rainbow_interface.py b/robotcontrol/rainbow_interface.py
deleted file mode 100755
index e389d5a..0000000
--- a/robotcontrol/rainbow_interface.py
+++ /dev/null
@@ -1,84 +0,0 @@
-from threading import Lock
-import subprocess
-import time
-import os
-import rospy
-import threading
-
-RAINBOW_PATH = os.path.expanduser('~/das/rainbow-brass')
-
-
-class Command(object):
-    def __init__(self, cmd):
-        self.cmd = cmd
-        self.process = None
-
-    def run(self, timeout):
-        def target():
-            print(self.cmd)
-            self.process = subprocess.Popen(self.cmd)
-            self.process.communicate()
-
-        thread = threading.Thread(target=target)
-        thread.start()
-
-        thread.join(timeout)
-        if thread.is_alive():
-            self.process.terminate()
-            thread.join()
-        return self.process.returncode
-
-
-# Class to manage interaction with Rainbow
-
-class RainbowInterface:
-
-    def __init__(self):
-        self.processStarted = False
-        self.lock = Lock()
-        self.target = None
-
-    def getTarget (self, challenge_problem):
-        target=None
-        if challenge_problem == "cp1":
-            target="brass-p2-cp1"
-        elif challenge_problem == "cp3":
-            target="brass-p2-cp3"
-        return target
-
-    def startRainbow(self):
-        with self.lock:
-            if self.processStarted:
-                rospy.logerr("Trying to start Rainbow when Rainbow is already running.")
-            self.processStarted = True
-
-        if self.target is None:
-            return True
-        rospy.loginfo("Starting Rainbow (DAS)...")
-        command = Command([RAINBOW_PATH+"/brass.sh", "-w", RAINBOW_PATH, "-s", self.target, os.path.expanduser("~/rainbow-start.log")])
-        ret = command.run(timeout=60)
-        rospy.loginfo("Rainbow started, exit=%s"%str(ret))
-        return ret == 0
-
-    def launchRainbow(self, challenge_problem, log):
-        """
-        Starts Rainbow process. Needs to (a) start in background, (b) wait some time until it is up
-        """
-
-        print("Configuring rainbow for %s"%challenge_problem)
-        os.environ["LD_LIBRARY_PATH"] = os.environ["LD_LIBRARY_PATH"] + ":" + os.path.expanduser("~/das/prism-4.3.1-linux64/lib")
-        print ("LD_LIBRARY_PATH=%s" %os.environ["LD_LIBRARY_PATH"])
-        rainbow_sleep = os.environ["RAINBOW_WAIT_TIME"]
-        print("Will wait %s seconds for Rainbow to come up")
-        self.target = self.getTarget(challenge_problem)
-        if self.target is not None:
-            time.sleep(10)
-            print("Starting %s/run-oracle.sh %s"%(RAINBOW_PATH,self.target))
-            subprocess.Popen([RAINBOW_PATH+"/run-oracle.sh", "-d", "-h", "-w", RAINBOW_PATH, self.target], stdout=log)
-            time.sleep(120)
-
-    def stopRainbow(self):
-        rospy.loginfo("Stopping Rainbow (DAS)...")
-        ret = subprocess.call ([RAINBOW_PATH+"/brass.sh","-q", "-w", RAINBOW_PATH, self.target])
-        with self.lock:
-            self.processStarted = False