def run():
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.connect((socket.gethostname(), 7357))
f = s.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(proto.subscribe.signature)
e.add_decl(proto.publish.signature)
e.add_decl(pos_vel.posRef.signature)
pub = proto.publish()
pub.topic = 'S__pt_posRef'
e.encode(pub, pub.signature)
sub = proto.subscribe()
sub.topic = 'S__pt_velRef'
e.encode(sub, sub.signature)
dec_thread = threading.Thread(target=dec, args=(d, ))
dec_thread.daemon = True
dec_thread.start()
i = 0
while running:
print "send %d" % i
pos = pos_vel.posRef()
pos.x = 1.0 + i
pos.y = 2.0 + i
pos.z = 3.0 + i
e.encode(pos, pos.signature)
i += 1
sleep(1.0)
def __init__(self, port):
# Setup socket connection to bridge.
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.connect((socket.gethostname(), port))
# Setup LabComm.
f = sock.makefile()
self.e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
self.d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
self.e.add_decl(lc_types.S__add_two_ints_PAR.signature)
self.e.add_decl(lc_types.S__add_two_intsS__get_loggers_PAR.signature)
def run(self):
print >> sys.stderr, 'Testing', self.program
p = subprocess.Popen(self.program,
stdin=subprocess.PIPE,
stdout=subprocess.PIPE,
stderr=sys.stderr)
self.expected = None
self.failed = False
self.next = threading.Condition()
decoder = threading.Thread(target=self.decode, args=(p.stdout, ))
decoder.start()
encoder = labcomm2014.Encoder(labcomm2014.StreamWriter(p.stdin))
for signature in self.signatures:
encoder.add_decl(signature)
pass
if self.uses_refs(self.signatures):
for signature in self.signatures:
encoder.add_ref(signature)
for signature in self.signatures:
print >> sys.stderr, "Checking", signature.name,
for decl, value in self.generate(signature):
sys.stderr.write('.')
self.next.acquire()
self.received_value = None
self.received_decl = None
encoder.encode(value, decl)
self.next.wait(2)
self.next.release()
if p.poll() != None:
print >> sys.stderr, "Failed with:", p.poll()
self.failed = True
elif value != self.received_value or decl != self.received_decl:
print >> sys.stderr, "Coding error"
print >> sys.stderr, value == self.received_value
print >> sys.stderr, "Got: ", self.received_value
print >> sys.stderr, " ", self.received_decl
print >> sys.stderr, "Expected:", value
print >> sys.stderr, " ", decl
self.failed = True
if self.failed:
if p.poll() == None:
p.terminate()
exit(1)
pass
print >> sys.stderr
pass
p.stdin.close()
if p.wait() != 0:
exit(1)
pass
pass
def run(self):
while running:
(csock, address) = self.sock.accept()
f = csock.makefile()
self.enc = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
self.enc.add_decl(lc_types.S__ping.signature)
self.counter = 0
self.send_ping()
while running:
value, decl = d.decode()
if value:
print decl.name, 'says:', value.s
self.t.cancel()
def run(topic):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.connect((socket.gethostname(), 7357))
f = s.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(proto.subscribe.signature)
sub = proto.subscribe()
sub.topic = topic
e.encode(sub, sub.signature)
while True:
val, decl = d.decode()
if val:
print(val)
else:
print("Br. reg. type: %s" % decl)
def __init__(self, port):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.connect((socket.gethostname(), port))
f = sock.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(proto.subscribe.signature)
e.add_decl(proto.publish.signature)
e.add_decl(lc_types.S__ping.signature)
pub = proto.publish()
pub.topic = 'S__ping'
e.encode(pub, pub.signature)
sub = proto.subscribe()
sub.topic = 'S__pong'
e.encode(sub, sub.signature)
self.enc = e
self.dec = d
self.counter = 0
def main(port):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.bind(('127.0.0.1', port))
sock.listen(5)
while True:
print 'Listening for new connection on port:', port
(csock, addr) = sock.accept()
print 'Got connection from:', addr
f = csock.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(lc_types.S__ext_service_RET.signature)
while True:
value, decl = d.decode()
if value:
print 'Got call:', value.controller_id
res = lc_types.S__ext_service_RET()
res.status = value.controller_id
time.sleep(5)
e.encode(res, res.signature)
#!/usr/bin/python
import labcomm2014
import sys
import simple
if __name__ == '__main__':
version = sys.argv[2] if len(sys.argv) == 3 else "LabComm2014"
encoder = labcomm2014.Encoder(
labcomm2014.StreamWriter(open(sys.argv[1], 'w')), version)
encoder.add_decl(simple.theTwoInts.signature)
encoder.add_decl(simple.IntString.signature)
foo = simple.theTwoInts()
foo.a = 13
foo.b = 37
encoder.encode(foo, simple.theTwoInts.signature)
bar = simple.IntString()
bar.x = 1742
bar.s = "A string from Python"
encoder.encode(bar, simple.IntString.signature)
def __init__(self, client_sock, client_addr, static_dict=None):
super(ClientThread, self).__init__()
self.subs = {} # topic -> subscriber
self.pubs = {} # topic -> subscriber
self.client_addr = client_addr
self.client_socket = client_sock
client_sock.settimeout(None)
f = client_sock.makefile('w', 0)
self.enc = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
self.dec = labcomm2014.Decoder(labcomm2014.StreamReader(f))
self.enc_lock = threading.Lock()
self.subscribed_conversions = {} # pt -> conv
self.published_conversions = {} # pt -> conv
self.ongoing_service_calls = {} # srv name -> dict
import_srvs = [
srv for name, srv in conf.SERVICES.iteritems()
if srv['direction'] == 'import' and name not in service_publishers
]
for srv in import_srvs:
n = msg2id(srv['name'])
cb = ServiceCallback(n, self)
self.ongoing_service_calls[n] = cb
service_publishers[n] = rospy.Service(srv['name'],
service_types_py[n], cb)
if static_dict:
for pubsub, topics in static_dict.iteritems():
for t in topics:
if pubsub == 'publish' and t in conf.IMPORTS:
rospy.loginfo(
('Setting up static publish for topic %s '
'to client %s'), t, client_addr)
self.pubs[t] = rospy.Publisher(t, topic_types_py[t])
elif pubsub == 'subscribe' and t in conf.EXPORTS:
rospy.loginfo(('Setting up static subscribe for topic '
'%s to client %s'), t, client_addr)
typ = ttmap[t]
self.enc.add_decl(typ.signature)
self.subs[t] = rospy.Subscriber(t,
topic_types_py[t],
self._convert_and_send,
callback_args=t)
if conf.AUTOPUBSUB:
class Dummy(object):
pass
dummy = Dummy()
for topic in conf.EXPORTS:
dummy.topic = topic
self._handle_subscribe(dummy)
for topic, _ in pseudotopic_sources.iteritems():
dummy.topic = topic
self._handle_subscribe(dummy)
for topic in conf.IMPORTS:
dummy.topic = topic
self._handle_publish(dummy)
for topic, _ in pseudotopic_sinks.iteritems():
dummy.topic = topic
self._handle_publish(dummy)
#!/usr/bin/python
import labcomm2014
import animal
import StringIO
class Animal:
def __init__(self):
self.says = None
if __name__ == '__main__':
buf = StringIO.StringIO()
encoder = labcomm2014.Encoder(labcomm2014.StreamWriter(buf))
encoder.add_decl(animal.cow.signature)
encoder.add_decl(animal.dog.signature)
encoder.add_decl(animal.duck.signature)
theAnimal = Animal()
theAnimal.says = 'Moo'
encoder.encode(theAnimal, animal.cow.signature)
theAnimal.says = 'Bow-Wow'
encoder.encode(theAnimal, animal.dog.signature)
theAnimal.says = 'Quack'
encoder.encode(theAnimal, animal.duck.signature)
buf.seek(0)
decoder = labcomm2014.Decoder(labcomm2014.StreamReader(buf))
try:
while True:
value, decl = decoder.decode()
if value: