def __init__(self,
node_name='simple_scheduler',
period=rospy.Duration(1.0)):
""" Constructor. """
rospy.init_node(node_name)
self.ready_queue = PriorityQueue()
""" Queue of waiting requests. """
self.blocked_queue = PriorityQueue()
""" Queue of blocked requests. """
self.period = period
""" Time duration between periodic rescheduling. """
self.notification_set = set()
""" Set of requester identifiers to notify. """
self.timer = rospy.Timer(self.period, self.reschedule)
self.lock = threading.RLock()
""" Big Scheduler Lock. """
self.pool = SchedulerClients(lock=self.lock)
""" Resource pool of known ROCON clients. """
self.sch = Scheduler(self.callback, lock=self.lock)
""" Scheduler request handler. """
# Handle messages until canceled.
rospy.spin()
