def main(name):
map = generate_map(name)
context = Context()
pub_socket = context.socket(PUB)
pub_socket.bind('tcp://0.0.0.0:20000')
map['pub_server'] = pub_socket
rep_socket = context.socket(REP)
rep_socket.bind('tcp://0.0.0.0:20001')
map['rep_server'] = rep_socket
manager = MissionManager()
rep_socket = map['rep_server']
manager.start_mission(LocMission(map, None))
return
while True:
req = MissionMessage()
req.ParseFromString(rep_socket.recv())
if req.type == 6:
req.type = 7
try:
if req.missionType == MissionMessage.CONNECTION:
manager.start_mission(PlaceMission(map, (0.0, 0.0), req))
elif req.missionType == MissionMessage.LOCALIZATION:
manager.start_mission(LocMission(map, req))
else:
raise ValueError('unknown mission type')
req.status = MissionMessage.ACTIVE
except RuntimeError:
req.status = MissionMessage.REJECTED
rep_socket.send(req.SerializeToString())
from zmq import Context, REQ, SUB, SUBSCRIBE
from mission_pb2 import MissionMessage
context = Context()
socket = context.socket(REQ)
socket.connect('tcp://0.0.0.0:20001')
req = MissionMessage()
req.type = 6
req.missionType = MissionMessage.LOCALIZATION
socket.send(req.SerializeToString())
req.ParseFromString(socket.recv())
print req
socket = context.socket(SUB)
socket.setsockopt(SUBSCRIBE, '')
socket.connect('tcp://0.0.0.0:20002')
req = MissionMessage()
while True:
req.ParseFromString(socket.recv())
print req