class StyxServer(object):
def __init__(self, wss):
self.wss = wss
self.bridge = Bridge(conf, self)
self.dbw_enable = False
self.clients = get_clients()
self.steer_data = {}
self.throttle_data = {}
self.brake_data = {}
self.path_data = {}
self.path_init = False
self.brake_init = False
self.throttle_init = False
self.steer_init = False
def start_server(self):
self.wss.serveforever()
def send(self, topic, data):
for client in self.clients:
client.sendMessage(json.dumps({'topic': topic, 'data': data}))
def setPathData(self, data):
self.path_data = data
self.path_init = True
def setBrakeData(self, data):
self.brake_data = data
self.brake_init = True
def setThrottleData(self, data):
self.throttle_data = data
self.throttle_init = True
def setSteerData(self, data):
self.steer_data = data
self.steer_init = True
@on('telemetry')
def telemetry(self, data):
if data["dbw_enable"] != self.dbw_enable:
self.dbw_enable = data["dbw_enable"]
self.bridge.publish_dbw_status(self.dbw_enable)
self.bridge.publish_odometry(data)
if self.path_init:
for client in self.clients:
client.sendMessage(
json.dumps({
'topic': 'drawline',
'data': self.path_data
}))
else:
for client in self.clients:
client.sendMessage(json.dumps({'topic': 'manual', 'data': {}}))
if self.throttle_init:
for client in self.clients:
client.sendMessage(
json.dumps({
'topic': 'throttle',
'data': self.throttle_data
}))
if self.steer_init:
for client in self.clients:
client.sendMessage(
json.dumps({
'topic': 'steer',
'data': self.steer_data
}))
if self.brake_init:
for client in self.clients:
client.sendMessage(
json.dumps({
'topic': 'brake',
'data': self.brake_data
}))
@on('control')
def control(self, data):
self.bridge.publish_controls(data)
@on('obstacle')
def obstacle(self, data):
print data
return
self.bridge.publish_obstacles(data)
@on('lidar')
def obstacle(self, data):
print data
return
self.bridge.publish_lidar(data)
@on('trafficlights')
def trafficlights(self, data):
print data
return
self.bridge.publish_traffic(data)
@on('image')
def image(self, data):
return
self.bridge.publish_camera(data)
class Server(object):
r'''Interface to the simulator.
'''
def __init__(self):
r'''Create a new simulator interface.
'''
# Simulator ID.
self.sid = None
# DBW activation status.
self.dbw_enable = False
# Message buffer.
self.msgs = {}
# Bridge object between ROS and simulator.
self.bridge = Bridge(conf, self.send)
# Enforce use of eventlet for asynchronous operations.
self.sio = socketio.Server(async_mode='eventlet')
# Register event handlers
self.sio.on('connect', self.connect)
self.sio.on('telemetry', self.telemetry)
self.sio.on('control', self.control)
self.sio.on('obstacle', self.obstacle)
self.sio.on('lidar', self.lidar)
self.sio.on('trafficlights', self.trafficlights)
self.sio.on('image', self.image)
def send(self, topic, data):
r'''Queue a message for submission to the simulator.
'''
self.msgs[topic] = data
def spin(self):
r'''Start the interface.
'''
# Wrap Flask application with engineio's middleware
app = socketio.Middleware(self.sio, Flask(__name__))
# deploy as an eventlet WSGI server
eventlet.wsgi.server(eventlet.listen(('', 4567)), app)
def connect(self, sid, environment):
r'''Connect to the simulator.
'''
rospy.loginfo('Connected to simulator at ID "%s"' % sid)
self.sid = sid
def telemetry(self, sid, data):
r'''Collect telemetry data from the simulator and send queued messages in return.
'''
if data["dbw_enable"] != self.dbw_enable:
self.dbw_enable = data["dbw_enable"]
self.bridge.publish_dbw_status(self.dbw_enable)
# Copy messages before sending to avoid race conditions.
# Clean up message buffer afterwards.
sending = list(self.msgs.items())
self.msgs.clear()
# Send all messages to simulator.
for (topic, data) in sending:
self.sio.emit(topic, data=data, room=self.sid, skip_sid=True)
self.bridge.publish_odometry(data)
def control(self, sid, data):
r'''Publish control data received from the simulator.
'''
self.bridge.publish_controls(data)
def obstacle(self, sid, data):
r'''Publish obstacle data received from the simulator.
'''
self.bridge.publish_obstacles(data)
def lidar(self, sid, data):
r'''Publish LiDAR data received from the simulator.
'''
self.bridge.publish_lidar(data)
def trafficlights(self, sid, data):
r'''Publish traffic light data received from the simulator.
'''
self.bridge.publish_traffic(data)
def image(self, sid, data):
r'''Publish video camera data received from the simulator.
'''
self.bridge.publish_camera(data)
