def start_server(self, dt):
'''
initializes the client connection, and gets image data
'''
hostname = "0.0.0.0"
if not self._started:
count = 0
while True: # Keep trying in case server is not up yet
import socket
try:
from xmlrpclib import ServerProxy
# connect to meta server first
prox = \
ServerProxy("http://" + hostname + ":5007")
# get servers address from the meta server
self._ros_uri = prox.startProcess()
Logger.info('Server Address\n <%s>', self._ros_uri[0])
# self._client = \
# KeyboardInterface(self._ros_uri,
# self._args.image_updates)
self._started = True
Logger.info('Client Connected...')
# use double quote for subscriber name
# TODO: convert get_image_data into a list, so
# that each key is the image data of a robot
self._ros_uri.pop(0) # remove ROS uri
self._im_string = self._ros_uri
val = [] # store las byte of robot's address
for i in range(len(self._ros_uri)):
self._robot_id = \
self._ros_uri[i].split('.')[3]
rospy.Subscriber(
"/output/image_raw/compressed"+
self._robot_id, CompressedImage,
self.get_image_data)
val.append(self._robot_id)
self._robot_id = val[0]
# create a robot selection menu
robot_menu = Spinner(
# default robot showed
text=self._ros_uri[0].split('.')[3],
# available robots/values
values = val,
# just for positioning in our example
size_hint=(None, None),
size=(100, 44),
pos_hint={'center_x': .1, 'center_y': .8})
self.add_widget(robot_menu)
robot_menu.bind(text=self.selected_robot)
robot_menu_label = \
Label(text='Select a robot:',
pos_hint={'center_x': .1, 'center_y': .87})
self.add_widget(robot_menu_label)
from threading import Thread
spin_thread = Thread(target=lambda: rospy.spin())
spin_thread.start()
break
except socket.error:
count += 1
import time
time.sleep(.5)
if count > 100:
waiting = 'Waiting for meta server at %s'
uri="http://" + hostname + ":12345"
Logger.info(waiting, uri)
