def test_find_none1(self, obj, key_name, key_value): if obj == 'a': a = self.d.a else: a = obj result = find_item(a, key_name, key_value) if obj == 'a' and key_name == 'key' and key_value == 'KEY1': self.assertEqual(result, self.a_type(key='KEY1', value='VALUE1')) self.assertEqual(result.key, 'KEY1') self.assertEqual(result.value, 'VALUE1') else: self.assertIsNone(result)
def __init__(self, node_name): self.node_name = node_name self._params = get_params(rospy.get_param('~')) self.__client = mqtt.Client(protocol=mqtt.MQTTv311) self.__client.on_connect = self._on_connect self.__client.on_message = self._on_message rospy.on_shutdown(self._do_stop) rospy.on_shutdown(self.__client.disconnect) rospy.on_shutdown(self.__client.loop_stop) self.__ros_pub = rospy.Publisher(find_item(self._params.ros.topics, 'key', 'gopigo').name, Twist, queue_size=1) self.__moving = False self.__lock = threading.Lock() self._cmd_payload_re = re.compile( find_item(self._params.mqtt.topics, 'key', 'fiware2gopigo').re)
def _on_message(self, client, userdata, msg): payload = str(msg.payload) logger.infof('received message from mqtt: {}', payload) matcher = self._cmd_payload_re.match(payload) if matcher: cmd = matcher.group('cmd') device_id = matcher.group('device_id') if cmd == 'circle': self._do_circle() elif cmd == 'square': self._do_square() elif cmd == 'triangle': self._do_triangle() elif cmd == 'cross': self._do_stop() elif cmd == 'up': self._do_forward() elif cmd == 'down': self._do_backward() elif cmd == 'left': self._do_turnleft() elif cmd == 'right': self._do_turnright() else: logger.warnf('unknown cmd: {}', payload) cmd = 'UNKNOWN CMD: {}'.format(cmd) topic = find_item(self._params.mqtt.topics, 'key', 'fiware2gopigo_exec').name fmt = find_item(self._params.mqtt.topics, 'key', 'fiware2gopigo_exec').format self.__client.publish(topic, fmt.format(device_id=device_id, cmd=cmd)) else: logger.warnf('unkown payload: {}', payload) self.__ros_pub.publish(Twist()) logger.debugf('active threds = {}', threading.active_count())
def main(): try: rospy.init_node(NODE_NAME) logger.warnf('Start test node : {}', NODE_NAME) topic = find_item( get_params(rospy.get_param("~")).ros.topics, 'key', 'gopigo') pub = rospy.Publisher(topic.name, Twist, queue_size=1) r = rospy.Rate(2) twist = Twist() twist.linear.x = 0.8 twist.angular.z = 0.5 while not rospy.is_shutdown(): pub.publish(twist) r.sleep() except rospy.ROSInterruptException: pass
def __init__(self, node_name): self.node_name = node_name self._params = get_params(rospy.get_param('~')) rospy.Subscriber( find_item(self._params.ros.topics, 'key', 'gopigo').name, Twist, self._on_receive)
def _on_connect(self, client, userdata, flags, response_code): logger.infof('connected to MQTT Broker, status: {}', response_code) client.subscribe( find_item(self._params.mqtt.topics, 'key', 'fiware2gopigo').name)