def main(): BB.Initialize(2001, fmap) BB.Start() BB.SetReady(True) print 'Waiting for commands...' BB.Wait()
def initialize(): BB.Initialize(2100, fmap) BB.Start() BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'actuator') BB.WriteSharedVar(BB.SharedVarTypes.STRING, 'actuator', 'initial_value') BB.SetReady(True)
def initialize(): BB.Initialize(2100, fmap) BB.Start() BB.SetReady(True) BB.SubscribeToSharedVar('recognizedSpeech',mySubscriptionHandler) BB.SubscribeToSharedVar('hypothesizedSpeech',myHandlerHypothesis)
def initialize(): BB.Initialize(2100, fmap) BB.Start() BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'actuator') BB.WriteSharedVar(BB.SharedVarTypes.STRING, 'actuator', 'initial_value') BB.SubscribeToSharedVar('actuator',ActuatorHandler, subscriptionType='writeothers', reportType='content') BB.SetReady(True)
def main(): BB.Initialize(2003) BB.Start() BB.SetReady(True) BB.SubscribeToSharedVar('test_string', printingFunc) print 'Waiting for shared variable updates...' BB.Wait()
def Initialize(): BB.Initialize(2030, fmap) BB.Start() BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'interface') BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'smarthause') BB.SubscribeToSharedVar('smarthause', LamparaHandler, subscriptionType='writeothers', reportType='content') BB.SetReady()
def main(): BB.Initialize(2000, fmap) BB.Start() BB.SetReady(True) print 'Sending command say...' print BB.SendAndWait(Command('spg_say', 'This is a test.'), 5000, 3) print 'Sending Async command...' ps = ParallelSender( Command('othertst_slowfunction', 'This is another test.'), 5000, 3) while ps.sending: print 'sending...' time.sleep(0.3) print 'Response received...' print ps.response BB.Wait()
def main(): BB.Initialize(2002) BB.Start() BB.SetReady(True) s = '' while s != '4': print '1. Create var' print '2. Write var' print '3. Read var' print '4. exit' s = raw_input(':') if s == '1': createVar() elif s == '2': writeVar() elif s == '3': readVar()
def main(): BB.Initialize(2100, fmap) BB.Start() BB.SetReady(True) BB.Wait()
def main(): bbConnectionPort = 2080; topicsInclusionList = ["*"]; svInclusionList = ["*"]; srvInclusionList = []; cmdInclusionList = []; #load the config files parser = OptionParser() parser.add_option('-f', '--configfile', action='store', type='string', dest='configFile', help='Bridge rules') (options, args) = parser.parse_args() if options.configFile: #parser.error('Configuration File not given') #load the configuration options with open(options.configFile) as config_file: configOptions = json.load(config_file) #print configOptions try: topicsInclusionList = configOptions['ros_topics'] except: topicsInclusionList = [] try: svInclusionList = configOptions['blackboard_sv'] except: svInclusionList = [] try: srvInclusionList = configOptions['ros_services'] except: srvInclusionList = [] try: cmdInclusionList = configOptions['blackboard_cmd'] except: cmdInclusionList = [] try: bbConnectionPort = configOptions["bb_port"] except: bbConnectionPort = 2080 #define the list of topics to be bridged and its msg types callersMap = { #'add_two_ints' : BB2ROS_ServiceCallers.add_two_ints_caller, 'default_server' : BB2ROS_DefaultServicesCallers.default_caller } #Manage BB connection print 'Initializing BB connection' BB.Initialize(bbConnectionPort, callersMap) BB.Start() BB.SetReady(True) #Manage ROS connection #rospy.init_node('bbros_bridge', log_level = rospy.DEBUG) rospy.init_node('bbros_bridge') #atend calls from ROS nodes to BB commands for bbCommand in cmdInclusionList: ROS2BB_CommandsCalls(bbCommand, Default_ROS_BB_Bridge) #BRIDGE SHARED VARS AND TOPICS #create a dictionary of bridges, for the BB shared vars and for the ROS topics bb2rosPublishersDictionary = {} ros2bbPublishersDictionary = {} #initialize the dictionaries of shared vars and topics already bridged bbVarsList = {} rosTopicsDictionary = {} #verify if new shared vars or ros topic where created rate = rospy.Rate(10) # 1hz rate while not rospy.is_shutdown(): #get the BB shared vars list, this list is a dictionary {varName:varType} new_bbVarsList = getBBSharedVars(svInclusionList) #get the ROS published topics list new_rosTopicsDictionary = getROSTopicList(topicsInclusionList) #verify if there are news bb sv not bridged yet bbVarsToBridge = dictionaryDifference(new_bbVarsList, bbVarsList) #verify if there are news ros topics not bridged yet rosTopicsToBridge = dictionaryDifference(new_rosTopicsDictionary, rosTopicsDictionary) if len(bbVarsToBridge) > 0: rospy.logdebug('Current BB var-type dictionary: ' + str(bbVarsList)) rospy.logdebug('New BB var-type dictionary: ' + str(new_bbVarsList)) if len(rosTopicsToBridge) > 0: rospy.logdebug('Current ROS topic-type dictionary: ' + str(rosTopicsDictionary)) rospy.logdebug('New ROS topic-type dictionary: ' + str(new_rosTopicsDictionary)) #bridge the bb shared vars to ros topics bridge_BB2ROS_SharedVars(bbVarsToBridge, rosTopicsDictionary, bb2rosPublishersDictionary) #bridge the ros topics to bb shared vars bridge_ROS2BB_Topics(rosTopicsToBridge, bbVarsList, ros2bbPublishersDictionary) #update the originals bb sv dictionary and ros topics dictionary dictionaryAddition(bbVarsList, bbVarsToBridge) dictionaryAddition(rosTopicsDictionary, rosTopicsToBridge) rate.sleep()