def onConnect(request, action):
## \brief Launch robot search and connection
# \param client request
# \param action
Log("INFO", "Connecting robots")
loadMsgHandlers(RosConfigurator.systemTopics(True))
request.send_response(200)
request.end_headers()
request.wfile.write("")
def onConnect(request, action):
''' This resets firos into its original state
TODO DL reset, instead of connect?
TODO DL Add real connect for only one Robot?
'''
Log("INFO", "Connecting topics")
loadMsgHandlers(RosConfigurator.systemTopics(True))
# Return Success
end_request(request, None, 200, "")
def onRcmEvent(data, args=None):
## \brief Callback to handle ROS published data and send it to Context Broker
# \param data
# \param extra arguments
msg = CB_Event()
msg.entity_name = data.instance_name
# DISCONNECTION
if data.instance_status == 0:
robot_data = std_msgs.msg.String()
robot_data.data = data.instance_name
robotDisconnection(robot_data)
msg.entity_status = 0
cb_publisher.publish(msg)
# CONNECTION
elif data.instance_status == 1:
robot_data = getRobotTopics(data.instance_name)
loadMsgHandlers(robot_data)
msg.entity_status = 1
cb_publisher.publish(msg)
server = FirosServer("0.0.0.0", port)
except Exception as ex:
sys.stderr.write('CB_COMMUNICATION_FAILED')
exit(1)
else:
def signal_handler(signal, frame):
Log("INFO", ('\nExiting from the application'))
TopicHandler.unregisterAll()
topicManager.removeListeners()
server.close()
Log("INFO", ('\nExit'))
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
launchSetup()
Log("INFO", "\nStarting Firos...")
Log("INFO", "---------------------------------\n")
loadMsgHandlers(confManager.getRobots(True, True))
connectionListeners()
topicManager.setListeners()
MapServer.load()
Log("INFO", "\nPress Ctrl+C to Exit\n")
server.start()
try:
server = FirosServer("0.0.0.0", port)
except Exception as ex:
sys.stderr.write('CB_COMMUNICATION_FAILED')
exit(1)
else:
def signal_handler(signal, frame):
Log("INFO", ('\nExiting from the application'))
TopicHandler.unregisterAll()
topicManager.removeListeners()
server.close()
Log("INFO", ('\nExit'))
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
launchSetup()
Log("INFO", "\nStarting Firos...")
Log("INFO", "---------------------------------\n")
loadMsgHandlers(confManager.getRobots(True, True))
connectionListeners()
topicManager.setListeners()
MapServer.load()
Log("INFO", "\nPress Ctrl+C to Exit\n")
server.start()