def __init__(self, ID, node_name, topic_name):
# Create a transport layer to pass messages.
self.name = node_name
self._t_layer = TLayer(ID, topic_name, self._process_message)
############################################################
# Map the commands RECEIVED, types with their actions.
self._recv_command_map = {'train': {0: 'recv_train'},
'test':{0: 'recv_test',
1: 'recv_test_case'},
'exit':{0: 'recv_exit'},
'learn':{0: 'recv_start_exchange',
1: 'recv_learn_example',
2: 'recv_learn_example',
3: 'recv_learn_example',
4: 'recv_learn_example',
5: 'recv_learn_example',
6: 'recv_end_exchange',
7: 'recv_add_example'},
'print':{0: 'recv_print_message'}
}
############################################################
# Check if the node is in training mode or test mode.
self._train_mode = True
# Initiate the Node.
rospy.init_node(self.name, anonymous=True)
"""
class RobotNode(object):
__metaclass__ = ABCMeta
def __init__(self, ID, node_name, topic_name):
# Create a transport layer to pass messages.
self.name = node_name
self._t_layer = TLayer(ID, topic_name, self._process_message)
############################################################
# Map the commands RECEIVED, types with their actions.
self._recv_command_map = {'train': {0: 'recv_train'},
'test':{0: 'recv_test',
1: 'recv_test_case'},
'exit':{0: 'recv_exit'},
'learn':{0: 'recv_start_exchange',
1: 'recv_learn_example',
2: 'recv_learn_example',
3: 'recv_learn_example',
4: 'recv_learn_example',
5: 'recv_learn_example',
6: 'recv_end_exchange',
7: 'recv_add_example'},
'print':{0: 'recv_print_message'}
}
############################################################
# Check if the node is in training mode or test mode.
self._train_mode = True
# Initiate the Node.
rospy.init_node(self.name, anonymous=True)
"""
# File writing module.
self._rollover_cnt = 0
self._rollover_limit = 20
self.test_filename = "person" + str(self._rollover_cnt) + "_statements.txt"
self.training_filename = ""
# File Handles.
self._test_handle = None
self._train_handle = None
"""
# Execute commands according to map defined.
def _process_message(self, message):
# Extract the command and the command-type.
if message.command not in self._recv_command_map:
print("Incorrect Command: " + message.command)
if message.type not in self._recv_command_map[message.command]:
print("Incorrect Command Type: " + message.type)
getattr(self, self._recv_command_map[message.command][message.type])(message)
"""
Function to send a message to other nodes.
def send_message(self, message):
self._t_layer.send_message(message)
"""
def send_message(self, message):
self._t_layer.send_message(message)
# Start the ROS Node.
def start(self):
rospy.spin()
# Functions to send messages for various commands.
def send_train(self):
# Change Node to training mode before sending a message.
self._train_mode = True
print("Node Training Mode: On")
# -1 because this is a broadcast message.
msg = Message(self._t_layer._id, -1, 'train', 0, "")
self.send_message(msg)
def send_test(self):
# Change Node to testing mode before sending a message.
self._train_mode = False
print("Node Testing Mode: On")
# -1 because this is a broadcast message.
msg = Message(self._t_layer._id, -1, 'test', 0, "")
self.send_message(msg)
"""
The message to be printed is sent to a specific node or
all nodes using broadcast. (USE: node_id)
"""
def send_print_message(self, node_id, msg_str):
# -1 because this is a broadcast message.
msg = Message(self._t_layer._id, node_id, 'print', 0, msg_str)
self.send_message(msg)
# Command to exit all Nodes.
# Use carefully.
def send_exit(self):
msg = Message(self._t_layer._id, -1, 'exit', 0, "")
self.send_message(msg)
print("Node Exiting.....")
sys.exit()
####################################################################
# SET of send functions whose implementation is left to the specific
# node. These are just interfaces.
def send_add_example(self):
pass
def send_test_case(self):
pass
def send_learn_example(self):
pass
def send_start_exchange(self):
pass
def send_end_exchange(self, message):
pass
####################################################################
# Functions to perform operations when commands are received.
def recv_train(self, message):
print("Node Training Mode: On")
self._train_mode = True
def recv_test(self, message):
print("Node Testing Mode: On")
self._train_mode = False
def recv_exit(self, message):
print("Node Exiting.....")
rospy.signal_shutdown("Shutdown!")
def recv_print_message(self, message):
print(message.message)
####################################################################
# SET of recv functions whose implementation is left to the specific
# node. These are just interfaces.
# Receive a message to add a image snapshot and associate a text
# message with it.
def recv_add_example(self, message):
pass
def recv_test_case(self, message):
pass
def recv_learn_example(self, message):
pass
def recv_start_exchange(self, message):
pass
def recv_end_exchange(self, message):
pass
