port_name = rospy.get_param('~port','/dev/ttyACM2')
baud = int(rospy.get_param('~baud','57600'))
# TODO: should these really be global?
tcp_portnum = int(rospy.get_param('/rosserial_embeddedlinux/tcp_port', '11411'))
fork_server = rospy.get_param('/rosserial_embeddedlinux/fork_server', False)
# TODO: do we really want command line params in addition to parameter server params?
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) == 2 :
port_name = sys.argv[1]
if len(sys.argv) == 3 :
tcp_portnum = int(sys.argv[2])
if port_name == "tcp" :
server = RosSerialServer(tcp_portnum, fork_server)
rospy.loginfo("Waiting for socket connections on port %d" % tcp_portnum)
try:
server.listen()
except KeyboardInterrupt:
rospy.loginfo("got keyboard interrupt")
finally:
rospy.loginfo("Shutting down")
for process in multiprocessing.active_children():
rospy.loginfo("Shutting down process %r", process)
process.terminate()
process.join()
rospy.loginfo("All done")
else : # Use serial port
rospy.loginfo("Connecting to %s at %d baud" % (port_name,baud) )
# TIOCM_DTR_str) line, which causes an IOError, when using simulated port
fix_pyserial_for_test = rospy.get_param('~fix_pyserial_for_test', False)
# TODO: should these really be global?
tcp_portnum = int(rospy.get_param('/rosserial_embeddedlinux/tcp_port', '11411'))
fork_server = rospy.get_param('/rosserial_embeddedlinux/fork_server', False)
# TODO: do we really want command line params in addition to parameter server params?
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) >= 2 :
port_name = sys.argv[1]
if len(sys.argv) == 3 :
tcp_portnum = int(sys.argv[2])
if port_name == "tcp" :
server = RosSerialServer(tcp_portnum, fork_server)
rospy.loginfo("Waiting for socket connections on port %d" % tcp_portnum)
try:
server.listen()
except KeyboardInterrupt:
rospy.loginfo("got keyboard interrupt")
finally:
rospy.loginfo("Shutting down")
for process in multiprocessing.active_children():
rospy.loginfo("Shutting down process %r", process)
process.terminate()
process.join()
rospy.loginfo("All done")
else : # Use serial port
while not rospy.is_shutdown():
False)
'''# TODO: do we really want command line params in addition to parameter server params?
sys.argv = rospy.myargv(argv=sys.argv)
if len(sys.argv) == 2 :
port_name = sys.argv[1]
if len(sys.argv) == 3 :
port_name = sys.argv[1]
tcp_portnum = int(sys.argv[2])
if len(sys.argv) == 4 :
port_name = sys.argv[1]
tcp_serv = sys.argv[2]
tcp_portnum = int(sys.argv[3])
'''
if port_name == "tcp": # and (tcp_serv == "localhost" or "127.0.0" in tcp_serv):
server = RosSerialServer(tcp_portnum,
fork_server,
serv_address=tcp_serv)
rospy.loginfo("(%s) Waiting for socket connections on port %d" %
(tcp_serv, tcp_portnum))
try:
server.listen()
except KeyboardInterrupt:
rospy.loginfo("got keyboard interrupt")
except socket.error, exc:
rospy.logerr("Caught exception socket.error : %s" % exc)
finally:
rospy.loginfo("Shutting down")
for process in multiprocessing.active_children():
rospy.loginfo("Shutting down process %r", process)
process.terminate()
process.join()
