def generate_advertisement_connection_details(self, connection_type, name,
node):
'''
Creates all the extra details to create a connection object from an
advertisement rule. This is a bit different to the previous one - we just need
the type and single node uri that everything originates from (don't need to generate all
the pub/sub connections themselves.
Probably flips could be merged into this sometime, but it'd be a bit gnarly.
@param connection_type : the connection type (one of gateway_msgs.msg.ConnectionType)
@type string
@param name : the name of the connection
@type string
@param node : the master node name it comes from
@param string
@return the utils.Connection object complete with type_info and xmlrpc_uri
@type utils.Connection
'''
xmlrpc_uri = self.lookupNode(node)
if connection_type == PUBLISHER or connection_type == SUBSCRIBER:
type_info = rostopic.get_topic_type(name)[0] # message type
connection = utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri)
elif connection_type == SERVICE:
type_info = rosservice.get_service_uri(name)
connection = utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri)
elif connection_type == ACTION_SERVER or connection_type == ACTION_CLIENT:
goal_topic = name + '/goal'
goal_topic_type = rostopic.get_topic_type(goal_topic)
type_info = re.sub('ActionGoal$', '',
goal_topic_type[0]) # Base type for action
connection = utils.Connection(Rule(connection_type, name, node),
type_info, xmlrpc_uri)
return connection
def _get_connections_from_service_list(self, connection_list,
connection_type):
connections = []
for service in connection_list:
service_name = service[0]
#service_uri = rosservice.get_service_uri(service_name)
nodes = service[1]
for node in nodes:
#try:
# node_uri = self.lookupNode(node)
#except:
# continue
rule = Rule(connection_type, service_name, node)
connection = utils.Connection(rule, None,
None) # service_uri, node_uri
connections.append(connection)
return connections
def _get_connections_from_pub_sub_list(self, connection_list,
connection_type):
connections = []
for topic in connection_list:
topic_name = topic[0]
#topic_type = rostopic.get_topic_type(topic_name)
#topic_type = topic_type[0]
nodes = topic[1]
for node in nodes:
#try:
#node_uri = self.lookupNode(node)
#except:
# continue
rule = Rule(connection_type, topic_name, node)
connection = utils.Connection(rule, None,
None) # topic_type, node_uri
connections.append(connection)
return connections
def _get_connections_from_action_list(self, connection_list,
connection_type):
connections = []
for action in connection_list:
action_name = action[0]
#goal_topic = action_name + '/goal'
#goal_topic_type = rostopic.get_topic_type(goal_topic)
#topic_type = re.sub('ActionGoal$', '', goal_topic_type[0]) # Base type for action
nodes = action[1]
for node in nodes:
#try:
# node_uri = self.lookupNode(node)
#except:
# continue
rule = Rule(connection_type, action_name, node)
connection = utils.Connection(rule, None,
None) # topic_type, node_uri
connections.append(connection)
return connections
import socket
import process
import copy
import utils
import threading
import sys
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
host = '127.0.0.1'
port = int(sys.argv[1])
s.bind((host, port))
s.listen(10)
print(f'Server is running at {host}:{port}')
connection = utils.Connection()
while True:
c, addr = s.accept()
c_id = connection.add(c, addr)
child = threading.Thread(target=process.main, args=(connection, c_id))
child.start()
def generate_connection_details(self, connection_type, name, node):
'''
Creates all the extra details to create a connection object from a
rule.
@param connection_type : the connection type (one of gateway_msgs.msg.ConnectionType)
@type string
@param name : the name of the connection
@type string
@param node : the master node name it comes from
@param string
@return the utils.Connection object complete with type_info and xmlrpc_uri
@type utils.Connection
'''
xmlrpc_uri = self.lookupNode(node)
connections = []
if connection_type == PUBLISHER or connection_type == SUBSCRIBER:
type_info = rostopic.get_topic_type(name)[0] # message type
connections.append(
utils.Connection(Rule(connection_type, name, node), type_info,
xmlrpc_uri))
elif connection_type == SERVICE:
type_info = rosservice.get_service_uri(name)
connections.append(
utils.Connection(Rule(connection_type, name, node), type_info,
xmlrpc_uri))
elif connection_type == ACTION_SERVER:
type_info = rostopic.get_topic_type(name +
'/goal')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/goal', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/cancel')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/cancel', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/status')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/status', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/feedback')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/feedback', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/result')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/result', node),
type_info, xmlrpc_uri))
elif connection_type == ACTION_CLIENT:
type_info = rostopic.get_topic_type(name +
'/goal')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/goal', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/cancel')[0] # message type
connections.append(
utils.Connection(Rule(PUBLISHER, name + '/cancel', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/status')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/status', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/feedback')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/feedback', node),
type_info, xmlrpc_uri))
type_info = rostopic.get_topic_type(name +
'/result')[0] # message type
connections.append(
utils.Connection(Rule(SUBSCRIBER, name + '/result', node),
type_info, xmlrpc_uri))
return connections
