def initialize(self):
# socket for configuration requests
self._zmq_context = zmq.Context()
self._zmq_config_socket = self._zmq_context.socket(zmq.REQ)
self._zmq_config_socket.connect(self._config_uri)
# socket for receiving messages
rospy.loginfo('Parent listening for messages on zmq socket %s' %
self._pub_uri)
self._zmq_pub_socket = self._zmq_context.socket(zmq.SUB)
self._zmq_pub_socket.connect(self._pub_uri)
self._zmq_pub_socket.setsockopt(zmq.SUBSCRIBE, '')
self._pub_socket_lock = threading.Lock()
# socket for publishing messages
rospy.loginfo('Parent publishing messages on zmq socket %s' %
self._sub_uri)
self._zmq_sub_socket = self._zmq_context.socket(zmq.PUB)
self._zmq_sub_socket.connect(self._sub_uri)
self._sub_socket_lock = threading.Lock()
# used to inspect the local ROS system
self._ros_interface = RosInterface(self._ros_master_uri, 'mros_parent',
self.ros_message_callback)
self._ros_interface_lock = threading.Lock()
def initialize(self):
# socket for configuration requests
self._zmq_context = zmq.Context()
self._zmq_config_socket = self._zmq_context.socket(zmq.REP)
self._zmq_config_socket.bind(self._config_uri)
# socket for publishing messages
rospy.loginfo('Child publishing messages on zmq socket %s' % self._pub_uri)
self._zmq_pub_socket = self._zmq_context.socket(zmq.PUB)
self._zmq_pub_socket.bind(self._pub_uri)
self._zmq_pub_lock = threading.Lock()
# socket for receiving messages
rospy.loginfo('Child listening for messages on zmq socket %s' % self._sub_uri)
self._zmq_sub_socket = self._zmq_context.socket(zmq.SUB)
self._zmq_sub_socket.bind(self._sub_uri)
self._zmq_sub_socket.setsockopt(zmq.SUBSCRIBE, '')
# used to interact the local ROS system
self._ros_interface = RosInterface(self._ros_master_uri, 'mros_child', self.local_message_callback)
self._remote_message_thread = threading.Thread(target=self.remote_message_thread_func)
self._remote_message_thread.start()
