async def main() -> None:
async with aioros.init_node("test_publisher"):
async with aioros.create_publication("/chatter", String) as publisher:
counter = count()
while aioros.is_running():
msg = String(f"Message {next(counter)}")
await publisher.publish(msg)
await anyio.sleep(0.00001)
async def main() -> None:
async with aioros.init_node("test_action_client"):
async with aioros.create_action_client("fibonacci",
FibonacciAction) as client:
await client.wait_for_server()
call = await client.send_goal(FibonacciGoal(order=5))
async for feedback in call.feedback():
print("Feedback", feedback)
print("Result", await call.wait_for_result())
async def pub() -> None:
async with aioros.init_node("test_publisher", configure_logging=False):
async with aioros.create_publication("/foo", String, latched=True) as publisher:
counter = count()
while aioros.is_running():
msg = String(f"Message {next(counter)}")
logger.info("Publish %s", msg)
await publisher.publish(msg)
await anyio.sleep(1.0)
async def create_master_node():
async with init_master() as master:
async with init_node(
"test_node",
master_uri=master.xmlrpc_uri,
register_signal_handler=False,
configure_logging=False,
) as node:
yield MasterNode(master, node)
async def test_service() -> None:
async with init_master() as master:
async with init_node(
"some_server",
master_uri=master.xmlrpc_uri,
register_signal_handler=False,
configure_logging=False,
) as server:
async with anyio.create_task_group() as task_group:
task_group.start_soon(
server.create_server("/set_bool", SetBool,
service_cb).serve)
async with init_node(
"test_client",
master_uri=master.xmlrpc_uri,
register_signal_handler=False,
configure_logging=False,
) as node:
await wait_until_registered(master.xmlrpc_uri)
assert (master.registry.services["/set_bool"].api ==
server.tcpros_uri)
async with node.create_client("/set_bool",
SetBool) as client:
for _ in range(10):
result = await client.call(SetBoolRequest(True))
print(result)
assert result.success is True
assert result.message == "True"
async with node.create_client("/set_bool",
SetBool,
persistent=True) as client:
for _ in range(10):
result = await client.call(SetBoolRequest(True))
print(result)
assert result.success is True
assert result.message == "True"
task_group.cancel_scope.cancel()
assert "/set_bool" not in master.registry.services
assert not master.registry.nodes
assert not master.registry.services
async def test_pubsub() -> None:
async with init_master() as master:
async with init_node(
"test_publisher",
master_uri=master.xmlrpc_uri,
register_signal_handler=False,
configure_logging=False,
) as publisher_node, init_node(
"test_subscriber",
master_uri=master.xmlrpc_uri,
register_signal_handler=False,
configure_logging=False,
) as subscriber_node:
async with publisher_node.create_publication(
"/topic", String, latched=True
) as publisher, subscriber_node.create_subscription(
"/topic", String) as subscription:
pub_reg = next(iter(master.registry.publications["/topic"]))
sub_reg = next(iter(master.registry.subscriptions["/topic"]))
assert pub_reg.caller_id == publisher_node.full_name
assert sub_reg.caller_id == subscriber_node.full_name
assert pub_reg.api == publisher_node.xmlrpc_uri
assert sub_reg.api == subscriber_node.xmlrpc_uri
await publisher.publish(String("Test"))
async for msg in subscription:
print(msg)
assert msg.data == "Test"
break
for i in range(10):
await publisher.publish(String(f"Test {i}"))
i = 0
async for msg in subscription:
print(msg)
assert msg.data == f"Test {i}"
i += 1
if i == 10:
break
assert not master.registry.publications
assert not master.registry.subscriptions
assert not master.registry.nodes
assert not master.registry.topic_types
async def main() -> None:
async with aioros.init_node("set_bool_client"):
async with aioros.create_client(
"/set_bool", SetBool, persistent=True
) as client:
request = SetBoolRequest(True)
while True:
result = await client.call(request)
request.data = not request.data
logger.info("Result: %s", result)
await anyio.sleep(1)
async def main() -> None:
async with aioros.init_node("clock", initialize_time=False):
await aioros.set_param("/use_sim_time", True)
async with aioros.create_publication("/clock", Clock) as publisher:
clock = Clock()
ts = anyio.current_time()
while aioros.is_running():
for _ in range(10):
print(clock)
await publisher.publish(clock)
clock.clock.nsecs += 100000000
ts += 0.1
await anyio.sleep_until(ts)
clock.clock.secs += 1
clock.clock.nsecs = 0
async def main():
async with aioros.init_node("some_node") as node:
async with anyio.create_task_group() as tg:
try:
print(await node.get_param("foo"))
except KeyError:
print("no such param")
print(await node.has_param("foo"))
await node.set_param("bar", 123)
print(await node.get_param("bar"))
await node.delete_param("bar")
print(await node.get_param_names())
tg.start_soon(
node.create_server("/foo", SetBool, service_cb).serve)
tg.start_soon(publish, node)
# tg.start_soon(subscribe, node)
# async with node.create_client("/set_bool", SetBool) as client:
# result = await client.call(SetBoolRequest(data=True))
# print(result.success)
# print(result)
print(aioros.get_time())
await anyio.sleep(1000)
async def main() -> None:
async with aioros.init_node("test_subscriber"):
async with aioros.create_subscription("/chatter",
String) as subscription:
async for msg in subscription:
logger.info("Received %s", msg)
async def main() -> None:
async with aioros.init_node("test_param_subscriber"):
print(await aioros.get_param_cached("/foo"))
await anyio.sleep_forever()
async def sub() -> None:
async with aioros.init_node("test_subscriber", configure_logging=False):
async with aioros.create_subscription("/foo", String) as subscription:
async for msg in subscription:
logger.info("Received %s", msg)
async def main() -> None:
async with aioros.init_node("some_server"):
await aioros.create_server("/set_bool", SetBool, service_cb).serve()
async def main() -> None:
async with aioros.init_node("test_subscriber"):
async with aioros.create_subscription("/foo",
AutoMessage) as subscription:
async for msg in subscription:
logger.info("Received %s", msg)
