def __init__(self, node_name, port):
"""Create the NetNode object. Registers the methods in
this NetNode instance as callbacks for the CmdListener
object. This is an 'inversion of control' in some respects.
Params:
node_name - The name of the ROS node.
port - The port to send/receive commands on
"""
#Create network communication object
self.listener = CmdListener('', port)
#Add listeners
self.listener.add_connect_listener(self.on_connect)
self.listener.add_data_listener(self.on_data)
self.listener.add_dc_listener(self.on_dc)
self.node_name = node_name
#Create publishers/service proxies for communicating with the
#control node.
self.get_inputs_srv = rospy.ServiceProxy(
'/oark_control_node/get_inputs', GetInputs)
self._command_pub = rospy.Publisher('/oark_control_node/command',
Command,
latch=True,
queue_size=10)
self.disconnected_srv = rospy.ServiceProxy(
'/oark_control_node/disconnected', Empty)
self.connected_srv = rospy.ServiceProxy('/oark_control_node/connected',
Connected)
