def connectionMade(self):
misc.formatted_print('RosBridgeTCPComms\t|\tConnection made', None,
'success')
misc.formatted_print('RosBridgeTCPComms\t|\tFactory is ready!', None,
'success')
self.factory.connected = True
self.factory.ready(self)
def run(self):
"""Kick-starts a non-blocking event loop.
This implementation starts the Twisted Reactor
on a separate thread to avoid blocking."""
if reactor.running:
misc.formatted_print(
'RosBridgeTCPComms\t|\tTwisted reactor is already running',
None, 'error')
return
self._thread = threading.Thread(target=reactor.run, args=(False, ))
self._thread.daemon = True
self._thread.start()
def connect(self):
"""Connect to ROS master."""
misc.formatted_print(
'RosBridgeConnector\t|\tStarting connection to ros master.')
# Don't try to reconnect if already connected.
if self.is_connected or self.is_connecting:
return
self.is_connecting = True
def _unset_connecting_flag(*args):
self.is_connecting = False
self.factory.on_ready(_unset_connecting_flag)
self.factory.connect()
def connect(self):
misc.formatted_print(
'TCP: ' + str(self._host) + ':' + str(self._port) +
'\t|\tConnecting..', None, 'connecting')
reactor.connectTCP(self._host, self._port, self)
def dataSend(self, data):
misc.formatted_print('RosBridgeTCPComms\t|\t Sending data')
self.transport.write(data)
def connectionLost(self, reason):
misc.formatted_print('RosBridgeTCPComms\t|\tConnection lost', None,
'error')