Esempio n. 1
0
def main(name):
   map = generate_map(name)
   context = Context()
   pub_socket = context.socket(PUB)
   pub_socket.bind('tcp://0.0.0.0:20000')
   map['pub_server'] = pub_socket
   rep_socket = context.socket(REP)
   rep_socket.bind('tcp://0.0.0.0:20001')
   map['rep_server'] = rep_socket
   manager = MissionManager()
   rep_socket = map['rep_server']
   manager.start_mission(LocMission(map, None))
   return
   while True:
      req = MissionMessage()
      req.ParseFromString(rep_socket.recv())
      if req.type == 6:
         req.type = 7
         try:
            if req.missionType == MissionMessage.CONNECTION:
               manager.start_mission(PlaceMission(map, (0.0, 0.0), req))
            elif req.missionType == MissionMessage.LOCALIZATION:
               manager.start_mission(LocMission(map, req))
            else:
               raise ValueError('unknown mission type')
            req.status = MissionMessage.ACTIVE
         except RuntimeError:
            req.status = MissionMessage.REJECTED
         rep_socket.send(req.SerializeToString())
Esempio n. 2
0
from zmq import Context, REQ, SUB, SUBSCRIBE
from mission_pb2 import MissionMessage


context = Context()
socket = context.socket(REQ)
socket.connect('tcp://0.0.0.0:20001')
req = MissionMessage()
req.type = 6
req.missionType = MissionMessage.LOCALIZATION
socket.send(req.SerializeToString())
req.ParseFromString(socket.recv())
print req

socket = context.socket(SUB)
socket.setsockopt(SUBSCRIBE, '')
socket.connect('tcp://0.0.0.0:20002')
req = MissionMessage()
while True:
   req.ParseFromString(socket.recv())
   print req

Esempio n. 3
0
from zmq import Context, REQ, SUB, SUBSCRIBE
from mission_pb2 import MissionMessage


context = Context()
socket = context.socket(REQ)
socket.connect('tcp://0.0.0.0:20001')
req = MissionMessage()
req.type = 6
req.missionType = MissionMessage.CONNECTION
socket.send(req.SerializeToString())
req.ParseFromString(socket.recv())
print req

socket = context.socket(SUB)
socket.setsockopt(SUBSCRIBE, '')
socket.connect('tcp://0.0.0.0:20002')
req = MissionMessage()
while True:
   req.ParseFromString(socket.recv())
   print req