def __scanning_run(self):
try:
while self.is_alive():
subscribers = self.__get_subscribers()
if len(subscribers) == 0 and self.__enable_scanning is False:
break
angles, distances, timestamp = self.__get_scan_now()
response_header = drivermsg_pb2.DriverHdr()
response_message = drivermsg_pb2.DriverMsg()
response_message.type = drivermsg_pb2.DriverMsg.DATA
response_message.ackNum = 0
response_header.clientIDs.extend(subscribers)
response_message = self.__fill_scan(response_message, angles,
distances, timestamp)
self.get_pipes().write_header_and_message_to_pipe(
response_header, response_message)
self.__logger.warning('hokuyo: stop')
finally:
self.__remove_scanning_thread()
def send_subscribers_message(self):
subscribers = self.__get_subscribers()
if len(subscribers) > 0:
response_header = drivermsg_pb2.DriverHdr()
response_message = drivermsg_pb2.DriverMsg()
response_message.type = drivermsg_pb2.DriverMsg.DATA
response_message.ackNum = 0
response_header.clientIDs.extend(subscribers)
response_message = self.fill_subscription_response(response_message)
self.get_pipes().write_header_and_message_to_pipe(response_header, response_message)
def __read_header_and_message_from_pipe(self):
"""
Read and parse header and message from pipe.
:return: header and message
"""
header = drivermsg_pb2.DriverHdr()
message = drivermsg_pb2.DriverMsg()
header = self.__read_data_from_pipe(header)
message = self.__read_data_from_pipe(message)
return header, message
def wrapped(inst, received_header, received_message):
response_header = drivermsg_pb2.DriverHdr()
response_message = drivermsg_pb2.DriverMsg()
response_message.type = drivermsg_pb2.DriverMsg.DATA
response_message.ackNum = received_message.synNum
response_header.clientIDs.extend(received_header.clientIDs)
response_header, response_message = func(inst, received_header, received_message,
response_header, response_message)
inst.get_pipes().write_header_and_message_to_pipe(response_header, response_message)
def __handle_ping_message(self, ping_header, ping_message):
"""
Handle PING message which came from mediator.
:param ping_header: object of DriverHdr
:param ping_message: object of DriverMsg
:return: nothing
"""
if not ping_message.HasField('synNum'):
self.__logger.warning('PING\'s synNum is not set, ignoring.')
else:
pong_message = drivermsg_pb2.DriverMsg()
pong_message.type = drivermsg_pb2.DriverMsg.PONG
pong_message.ackNum = ping_message.synNum
pong_header = drivermsg_pb2.DriverHdr()
pong_header.clientIDs.extend(ping_header.clientIDs)
self.__logger.debug('Send PONG message')
self.write_header_and_message_to_pipe(pong_header, pong_message)