def __init__(self,
addr,
port,
message_buffers,
MsgType,
frequency=0,
subscriptions=[],
loop=None):
self.loop = loop or asyncio.get_event_loop()
self.client = AsyncClient(addr, port, self.msg_received,
message_buffers, MsgType, subscriptions,
self.loop)
self.frequency = frequency
self.loop.call_soon(self._internal_tick)
class ProtoModule:
def __init__(self,
addr,
port,
message_buffers,
MsgType,
frequency=0,
subscriptions=[],
loop=None):
self.loop = loop or asyncio.get_event_loop()
self.client = AsyncClient(addr, port, self.msg_received,
message_buffers, MsgType, subscriptions,
self.loop)
self.frequency = frequency
self.loop.call_soon(self._internal_tick)
def hello(self):
while True:
print("hhhh")
def _internal_tick(self):
if self.frequency > 0:
self.loop.call_later(1.0 / self.frequency, self._internal_tick)
self.tick()
# print("hhh")
def set_frequency(self, frequency):
self.frequency = frequency
self.loop.call_soon(self._internal_tick)
def tick(self):
raise NotImplementedError()
def msg_received(self, msg, msg_type):
raise NotImplementedError()
def subscribe(self, msg_types):
self.client.subscribe(msg_types, Subscribe.SUBSCRIBE)
def unsubscribe(self, msg_types):
self.client.subscribe(msg_types, Subscribe.UNSUBSCRIBE)
def write(self, msg, msg_type):
self.client.write(msg, msg_type)
# print(msg)
def connect(self):
self.client.connect()
def run(self):
try:
with self.client:
self.loop.run_forever()
except KeyboardInterrupt:
self.quit()
def quit(self):
self.loop.stop()
class ProtoModule:
def __init__(self, addr, port, message_buffers, MsgType, frequency=0, subscriptions=[], loop=None):
self.loop = loop or asyncio.get_event_loop()
self.client = AsyncClient(addr, port, self.msg_received, message_buffers, MsgType, subscriptions, self.loop)
self.frequency = frequency
self.loop.call_soon(self._internal_tick)
# self.pub = rospy.Publisher('chatter', String, queue_size=10)
# self.node = rospy.init_node('talker', anonymous=True)
# rate = rospy.Rate(10) # 10hz
def _internal_tick(self):
if self.frequency > 0:
self.loop.call_later(1.0/self.frequency, self._internal_tick)
self.tick()
def set_frequency(self, frequency):
self.frequency = frequency
self.loop.call_soon(self._internal_tick)
def tick(self):
raise NotImplementedError()
def msg_received(self, msg, msg_type):
raise NotImplementedError()
def subscribe(self, msg_types):
self.client.subscribe(msg_types, Subscribe.SUBSCRIBE)
def unsubscribe(self, msg_types):
self.client.subscribe(msg_types, Subscribe.UNSUBSCRIBE)
def write(self, msg, msg_type):
self.client.write(msg, msg_type)
def connect(self):
self.client.connect()
def run(self):
try:
with self.client:
self.loop.run_forever()
except KeyboardInterrupt:
self.quit()
def quit(self):
self.loop.stop()