def _message_info_cb(self, req):
package_message = tuple(req.type.split("/"))
if not self.message_cache.has_key(package_message):
rospy.loginfo("Loading module to return info on %s/%s." % package_message)
msg = load_message(*package_message)
self.message_cache[package_message] = (msg._md5sum, msg._full_text)
else:
rospy.loginfo("Returning info from cache on %s/%s." % package_message)
return self.message_cache[package_message]
def _message_info_cb(self, req):
package_message = tuple(req.type.split("/"))
if not self.message_cache.has_key(package_message):
rospy.loginfo("Loading module to return info on %s/%s." % package_message)
msg = load_message(*package_message)
self.message_cache[package_message] = (msg._md5sum, msg._full_text)
else:
rospy.loginfo("Returning info from cache on %s/%s." % package_message)
return self.message_cache[package_message]
def _message_info_cb(self, req):
package_message = tuple(req.type.split("/"))
if not self.message_cache.has_key(package_message):
rospy.loginfo("Loading module to return info on %s/%s." %
package_message)
msg = load_message(*package_message)
if msg._full_text == "":
# fix for "Advertising on topic [/topic_name] with an empty message definition. warning"
# see https://github.com/ros/ros_comm/issues/344
msg._full_text = "\n"
self.message_cache[package_message] = (msg._md5sum, msg._full_text)
else:
rospy.loginfo("Returning info from cache on %s/%s." %
package_message)
return self.message_cache[package_message]
def __init__(self, topic_info, parent):
self.topic = topic_info.topic_name
self.id = topic_info.topic_id
self.parent = parent
# find message type
package, message = topic_info.message_type.split('/')
self.message = load_message(package, message)
if self.message._md5sum == topic_info.md5sum:
queue_s=1
buff_s=65536
self.subscriber = rospy.Subscriber(self.topic, self.message, self.callback, callback_args=None, queue_size=queue_s, buff_size=buff_s, tcp_nodelay=False)
rospy.loginfo('Init hSubscriber with queue_size: ' + str(queue_s) + ', buff_size: ' + str(buff_s))
else:
raise Exception('Checksum does not match: ' + self.message._md5sum + ',' + topic_info.md5sum)
def initSerialNode(serial_node, node_data):
debug = rospy.get_param('~debug', False);
# To subscribe to atopic through rosserial means to create a local publisher that
# forwards rosserial data to the local ROS network
subscriber_list = rospy.get_param('~subscriber_list',[])
topic_idx = 0
for topic in subscriber_list:
# only create topic if we are explicitly subscribing to this node
# i.e topic['node_name'] == serial.node.node_data['node_id']
# or topic['node_name'] == 'broadcast'
if debug:
rospy.loginfo("Expected topic node_name [%s]. Discovered node name [%s]."%(topic['node_name'],node.node_data))
if topic['node_name'] != node_data['node_id'] or topic['node_name'] != 'broadcast':
pass
if debug:
rospy.loginfo("Trying to create serial subscriber")
topic_idx = topic_idx+1
msg = topic['type']
m = load_message(msg['package'],msg['name'])
ti = TopicInfo()
ti.topic_id=100+topic_idx
ti.topic_name = topic['topic']
ti.message_type = "%s/%s"%(msg['package'],msg['name'])
ti.md5sum = m._md5sum
ti.buffer_size = 512
_buffer = StringIO.StringIO()
ti.serialize(_buffer)
serial_node.setupPublisher(_buffer.getvalue())
# To publish to a topic through rosserial means to create a local subscriber that
# pushes ROS messages into the rosserial link
publisher_list = rospy.get_param('~publisher_list',[])
for topic in publisher_list:
# only create topic if we are explicitly publishing to this node
# i.e topic['node_name'] == serial.node.node_data['node_id']
# or topic['node_name'] == 'broadcast'
if debug:
rospy.loginfo("Expected topic node_name [%s]. Discovered node name [%s]."%(topic['node_name'],node.node_data))
if topic['node_name'] != node_data['node_id'] or topic['node_name'] != 'broadcast':
pass
if debug:
rospy.loginfo("Trying to create serial publisher")
topic_idx = topic_idx+1
msg = topic['type']
m = load_message(msg['package'],msg['name'])
ti = TopicInfo()
ti.topic_id=200+topic_idx
ti.topic_name = topic['topic']
ti.message_type = "%s/%s"%(msg['package'],msg['name'])
ti.md5sum = m._md5sum
ti.buffer_size = 512
_buffer = StringIO.StringIO()
ti.serialize(_buffer)
serial_node.setupSubscriber(_buffer.getvalue())
#service_client_list = rospy.get_param('~service_client_list',[])
#service_server_list = rospy.get_param('~service_server_list',[])
serial_node.negotiateTopics()
