async def process_bus(route, vehicle, num_stops, time_between_stops):
connector = rti.Connector("MyParticipantLibrary::Participant",
"busNetwork.xml")
position = connector.getOutput("Publisher::PositionWriter")
accident = connector.getOutput("Publisher::AccidentWriter")
loops = 0
while loops < 3:
current_stop = 1
while current_stop <= num_stops:
# Generate traffic
traffic = random.choices(
[["Normal", 1.0], ["Light", .75], ["Heavy", 1.5]],
[.65, .25, .1])
await asyncio.sleep(time_between_stops * traffic[0][1])
# Report position
position.instance.set_string("timestamp",
str(datetime.datetime.now()))
position.instance.set_string("route", route)
position.instance.set_string("vehicle", vehicle)
position.instance.set_number("stopNumber", current_stop)
position.instance.set_number("numStops", num_stops)
position.instance.set_number("timeBetweenStops",
time_between_stops)
position.instance.set_string("trafficConditions", traffic[0][0])
position.instance.set_number("fillInRatio", random.randint(0, 101))
position.write()
print("{0} is on route {1} at stop {2} at {3}".format(
vehicle, route, current_stop, str(datetime.datetime.now())))
# Check for accident
if random.choices([True, False], [.1, .9])[0]:
accident.instance.set_string("timestamp",
str(datetime.datetime.now()))
accident.instance.set_string("route", route)
accident.instance.set_string("vehicle", vehicle)
accident.instance.set_number("stopNumber", current_stop)
accident.write()
print("{0} reported an accident on route {1} before "
"stop {2} at {3}".format(vehicle, route, current_stop,
str(datetime.datetime.now())))
current_stop += 1
loops += 1
def __init__(self, config_path, **kwargs):
super(DDSAgent, self).__init__(**kwargs)
self.reader = {}
self.writer = {}
config = utils.load_config(config_path)
for typename, type_config in config.iteritems():
participant_name = type_config['participant_name']
xml_config_path = type_config['xml_config_path']
publisher_name = type_config['publisher_name']
subscriber_name = type_config['subscriber_name']
connector = rti.Connector(participant_name, xml_config_path)
self.writer[typename] = connector.getOutput(publisher_name)
self.reader[typename] = connector.getInput(subscriber_name)
def writer():
"""A writer is going to start sending samples."""
print("Running writer...")
connector = rti.Connector("MyParticipantLibrary::Zero",
"/usr/local/bin/PingConfiguration.xml")
outputDDS = connector.getOutput("MyPublisher::PingWriter")
i = 0
while True:
print("Sending ping message number " + str(i))
outputDDS.instance.setNumber("number", i)
i += 1
outputDDS.write()
sleep(1)
def reader():
"""A reader is going to start receiving samples."""
print("Running reader...")
connector = rti.Connector("MyParticipantLibrary::Zero",
"/bin/PingConfiguration.xml")
inputDDS = connector.getInput("MySubscriber::PingReader")
timeout = 2000 # 2 seconds
while True:
ret = connector.wait(timeout)
if ret == 0:
inputDDS.take()
numOfSamples = inputDDS.samples.getLength()
for j in range(1, numOfSamples + 1):
if inputDDS.infos.isValid(j):
pingID = int(inputDDS.samples.getNumber(j, "number"))
# Print the sample
print("Received ping message number " + str(pingID))
else:
print("No ping was received")
##############################################################################
# Copyright (c) 2005-2015 Real-Time Innovations, Inc. All rights reserved.
# Permission to modify and use for internal purposes granted.
# This software is provided "as is", without warranty, express or implied.
##############################################################################
"""Samples's writer."""
from sys import path as sysPath
from os import path as osPath
from time import sleep
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append(filepath)
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::Zero",
filepath + "/ShapeExample.xml")
outputDDS = connector.getOutput("MyPublisher::MySquareWriter")
for i in range(1, 5):
outputDDS.instance.setNumber("x", i)
outputDDS.instance.setNumber("y", i * 2)
outputDDS.instance.setNumber("shapesize", 30)
outputDDS.instance.setString("color", "BLUE")
outputDDS.write()
sleep(0.2)
# without express written permission. Any such copies, or revisions thereof, #
# must display this notice unaltered. #
# This code contains trade secrets of Real-Time Innovations, Inc. #
###############################################################################
"""Samples's reader."""
from __future__ import print_function
from sys import path as sysPath
from os import path as osPath
from time import sleep
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append(filepath + "/../../../")
import rticonnextdds_connector as rti
connector = rti.Connector(
"MyParticipantLibrary::DashBoard", #loading the same app as the writer
filepath + "/DDS.xml")
temperatures_DDS = connector.getInput("MySubscriber::MyTempReader")
#StartStopDDS = connector.getInput("MySubscriber::MyStartStopReader")
actuators_DDS = connector.getInput("MySubscriber::MyActuatorReader")
while True:
temperatures_DDS.take()
numOfSamples = temperatures_DDS.samples.getLength()
for j in range(0, numOfSamples):
if temperatures_DDS.infos.isValid(j):
temp = temperatures_DDS.samples.getNumber(j, "Temp")
toPrint = "Received Temp: " + repr(temp)
print(toPrint)
#for checking the start and stop buttom
#StartStopDDS.take()
"""Samples's reader."""
from __future__ import print_function
from sys import path as sysPath
from os import path as osPath
from time import sleep
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append((filepath + "/../"))
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::Infinity",
filepath + "/../XML/robot.xml")
inputDDS = connector.getInput("MySubscriber::MyRobotReader")
for i in range(1, 500):
inputDDS.read()
numOfSamples = inputDDS.samples.getLength()
for j in range(1, numOfSamples + 1):
if inputDDS.infos.isValid(j):
# Or you can just access the field directly
cam = inputDDS.samples.getBoolean(j, "cam")
temperature = inputDDS.samples.getNumber(j, "temperature")
humidity = inputDDS.samples.getNumber(j, "humidity")
robot_id = inputDDS.samples.getNumber(j, "robot_id")
servo_angle_position = inputDDS.samples.getNumber(
j, "servo_angle_position")
toPrint = "Camera: " + repr(cam) + " ID: " + repr(
int(robot_id)) + " Received temperature: " + repr(
temperature) + " humidity: " + repr(
self.timestamp = time.time()
return self.value
if __name__ == '__main__':
import rticonnextdds_connector as rti
import time
import argparse
cliparser = argparse.ArgumentParser(description="Connect Sensor simulator")
cliparser.add_argument("--id", help="sensor identifier", default=0)
args = cliparser.parse_args()
connector = rti.Connector("MyParticipantLibrary::Sensor", 'Tutorial.xml')
writer = connector.getOutput("TempPublisher::TempWriter")
# Create a sensor
sensor = Sensor("SENSOR#{}".format(args.id))
while 1:
sensor.readvalue()
writer.instance.setString('id', sensor.id)
writer.instance.setNumber('value', sensor.value)
writer.instance.setNumber('timestamp', sensor.timestamp)
print "[{ts}] Updating sensor {id} value: {value}".format(
ts=sensor.timestamp, id=sensor.id, value=sensor.value)
writer.write()
##############################################################################
# Copyright (c) 2005-2015 Real-Time Innovations, Inc. All rights reserved.
# Permission to modify and use for internal purposes granted.
# This software is provided "as is", without warranty, express or implied.
##############################################################################
"""Reader using the wait call."""
from __future__ import print_function
from sys import path as sysPath
from os import path as osPath
from time import sleep
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append(filepath + "/../../../")
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::Zero",
filepath + "/../Mixed.xml")
inputDDS = connector.getInput("MySubscriber::MySquareReader")
for i in range(1, 500):
timeout = -1
print("Calling wait with a timeout of " + repr(timeout))
ret = connector.wait(timeout)
print("The wait returned " + repr(ret))
inputDDS.take()
numOfSamples = inputDDS.samples.getLength()
for j in range(1, numOfSamples+1):
if inputDDS.infos.isValid(j):
"""There are two alternative way to access the sample...
1) get it as a dictionary and then access the field in the
standard python way:"""
sample = inputDDS.samples.getDictionary(j)
#!/usr/bin/env python
import rticonnextdds_connector as rti
import time
import os
def print_header():
os.system("clear")
print "{0: <10} {1: <10} {2: <10}".format("ID", "VALUE", "TIMESTAMP")
print "-" * 80
conn = rti.Connector("MyParticipantLibrary::Console", 'Tutorial.xml')
reader = conn.getInput("TempSubscriber::TempReader")
while 1:
reader.wait(5000)
reader.read()
print_header()
nsamples = reader.samples.getLength()
for i in range(1, nsamples + 1):
if reader.infos.isValid(i):
s = reader.samples.getDictionary(i)
print "{id: <10} {val: <10} {ts: <10}".format(id=s["id"],
val=s["value"],
ts=s["timestamp"])
###############################################################################
# (c) 2005-2015 Copyright, Real-Time Innovations. All rights reserved. #
# No duplications, whole or partial, manual or electronic, may be made #
# without express written permission. Any such copies, or revisions thereof, #
# must display this notice unaltered. #
# This code contains trade secrets of Real-Time Innovations, Inc. #
###############################################################################
"""Samples's writer."""
from sys import path as sysPath
from os import path as osPath
from time import sleep
import random
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append(filepath + "/../../../")
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::Temperature",
filepath + "/DDS.xml")
outputDDS = connector.getOutput("MyPublisher::MyTempWriter")
while(True):
randomTemp = random.randint(10,61)
outputDDS.instance.setNumber("Temp", randomTemp)
outputDDS.write()
sleep(0.1)
from sys import path as sysPath
import rticonnextdds_connector as rti
from os import path as osPath
from time import sleep
import random
filepath = osPath.dirname(osPath.realpath(__file__))
connector = rti.Connector("MyParticipantLibrary::Ars_pub", filepath + "/DDS.xml")
outputDDS = connector.getOutput("MyPublisher::MyWriter")
while True:
randomTemp = random.randint(0, 10)
outputDDS.instance.setNumber("Temp", randomTemp)
outputDDS.write()
sleep(0.1)
print(f'published: {randomTemp}')
import rticonnextdds_connector as rti
import time
import sys
connector = rti.Connector("MyParticipantLibrary::Zero", "position.xml")
positionSubscription = connector.getInput(
"Subscriber::P2464_EECS_Bumjin_Park_POS")
accidentSubscription = connector.getInput(
"Subscriber::P2464_EECS_Bumjin_Park_ACC")
#print("MessageType {: >12}{: >6}{: >10}{: >3}{: >15}{: >20}{: >10}{: >15}".format("Route", "Vehicle", "Traffic", "Stop#", "#Stops", "TimeBetweenStops", "Fill%", "Timestamp"))
print("Waiting for the bus...")
expressName = sys.argv[1]
startStop = int(sys.argv[2])
endStop = int(sys.argv[3])
print(expressName)
print(startStop)
print(endStop)
foundName = "null"
switch = 0
stopper = 0
howManyLeft = 0
getOnSwitch = 0
timeTem = "null"
trafficTem = "null"
storedname = "null"
leftstops = 0
###############################################################################
# (c) 2005-2015 Copyright, Real-Time Innovations. All rights reserved. #
# No duplications, whole or partial, manual or electronic, may be made #
# without express written permission. Any such copies, or revisions thereof, #
# must display this notice unaltered. #
# This code contains trade secrets of Real-Time Innovations, Inc. #
###############################################################################
"""Samples's writer."""
from sys import path as sysPath
from os import path as osPath
from time import sleep
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append(filepath + "/../../../")
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::StartStop",
filepath + "/DDS.xml")
StartStopDDS = connector.getOutput("MyPublisher::MyStartStopWriter")
while (True):
StartStopDDS.instance.setNumber("Start", 1)
StartStopDDS.write()
sleep(20)
StartStopDDS.instance.setNumber("Start", 0)
StartStopDDS.write()
sleep(5)
)
from pkg_resources import get_distribution, parse_version
try:
import rticonnextdds_connector as rti
except Exception as e:
raise ImportError(
"\nYou haven't installed a needed RTI DDS library. \n\nFirst, ensure you have"
+ " pip installed:\n\n\tsudo apt-get install python-pip\n\n" +
"Then install the library:\n\n\tpip install rticonnextdds-connector\n")
import math
import threading
filepath = osPath.dirname(osPath.realpath(__file__))
connector = rti.Connector("MyParticipantLibrary::Zero",
filepath + "/dds_types/CurrentDDSProfile.xml")
rti_version = get_distribution("rticonnextdds-connector").version
is_old_version = parse_version(rti_version) < parse_version("0.4.1")
def is_shutdown():
return False
class DdsSubscriberManager:
subscribers = dict()
sem = None
def __init__(self):
self.sem = threading.Semaphore()
from __future__ import print_function
import sys
import os
import logging
from sys import path as sysPath
from os import path as osPath
from time import sleep
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append(filepath + "/../rticonnextdds-connector/")
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::Zero",
filepath + "\\PythonDDSPlayhouse.xml")
inputDDS = connector.getInput("MySubscriber::MySampleReader")
instanceNumber = '0'
if len(sys.argv) > 1:
instanceNumber = sys.argv[1]
logging.basicConfig(
filename='EndProcessor_DDSTest_' + instanceNumber + '.log',
level=logging.DEBUG,
format='%(asctime)-15s - %(levelname)8s - %(lineno)d - %(message)s')
logging.info('------------------Logging started------------------')
print('logging started to EndProcessor_DDSTest_' + instanceNumber + '.log')
# 'default.topic.config': {'auto.offset.reset': 'smallest'}
#c = Consumer({'bootstrap.servers': 'localhost:9092', 'group.id': 'python_ends_client'})
g={1: g1,
2: g2,
3: g3,
4: g4,
5: g5,};
#len(sys.argv) to get the entire length of the argument list
xml_file=sys.argv[1]; # gets the first argument
with open(xml_file) as file1: #xml file should be in the same root folder as this file else provide full path name
doc = xmltodict.parse(file1.read());
domain_participant_library=doc['dds']['domain_participant_library']['@name'];
domain_participant_name=doc['dds']['domain_participant_library']['domain_participant']['@name'];
#protect connector calls via threads
connector = rti.Connector(domain_participant_library+ "::" + domain_participant_name,"./"+xml_file);
publisher=doc['dds']['domain_participant_library']['domain_participant']['publisher']['@name'];
subscriber=doc['dds']['domain_participant_library']['domain_participant']['subscriber']['@name'];
no_of_topics=len(doc['dds']['domain_participant_library']['domain_participant']['publisher']['data_writer']);
no_of_register_types=len(doc['dds']['domain_library']['domain']['register_type']);
no_of_data_types=len(doc['dds']['types']['struct']);
def printData(input,topics):
while 1:
for k in range(0,len(input)):
input[k].take();
numberOfSamples = input[k].samples.getLength();
for j in range(1,numberOfSamples+1):
##############################################################################
# Copyright (c) 2005-2015 Real-Time Innovations, Inc. All rights reserved.
# Permission to modify and use for internal purposes granted.
# This software is provided "as is", without warranty, express or implied.
##############################################################################
"""Samples's writer."""
from sys import path as sysPath
from os import path as osPath
from time import sleep
filepath = osPath.dirname(osPath.realpath(__file__))
sysPath.append(filepath + "../")
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::Zero",
filepath + "/PositionTest.xml")
outputDDS = connector.getOutput("MyPublisher::MyTextWriter")
for i in range(1, 500):
outputDDS.instance.setString("frameName", "Example Name")
outputDDS.instance.setNumber("valueKeys", 12345)
outputDDS.write()
sleep(2)
from time import sleep
import rticonnextdds_connector as rti
connector = rti.Connector("MyParticipantLibrary::Zero", "Bus.xml")
position_subscription = connector.getInput("Subscriber::P2464_EECS_YUKALANGBUANA_POS")
accident_subscription = connector.getInput("Subscriber::P2464_EECS_YUKALANGBUANA_ACC")
print("MessageType {: >10}{: >18}{: >15}{: >15}{: >15}{: >20}{: >10}{: >15}".format("Route", "Vehicle", "Traffic", "Stop#", "#Stops", "TimeBetweenStops", "Fill%", "Timestamp"))
while True:
position_subscription.take()
accident_subscription.take()
num_of_busses_positions = position_subscription.samples.getLength()
num_of_accidents = accident_subscription.samples.getLength()
if num_of_accidents > 0:
for j in range(0, num_of_accidents):
if accident_subscription.infos.isValid(j):
bus_route = accident_subscription.samples.getString(j, "route")
vehicle = accident_subscription.samples.getString(j, "vehicle")
stop_number = accident_subscription.samples.getNumber(j, "stopNumber")
timestamp = accident_subscription.samples.getString(j, "timestamp")
print("Accident {: >15}{: >15}{: >30}{: >60}".format(bus_route, vehicle, int(stop_number), timestamp))
if num_of_busses_positions > 0:
for j in range(0, num_of_busses_positions):
if position_subscription.infos.isValid(j):
bus_route = position_subscription.samples.getString(j, "route")
vehicle = position_subscription.samples.getString(j, "vehicle")
traffic_condition = position_subscription.samples.getString(j, "trafficConditions")
stop_number = position_subscription.samples.getNumber(j, "stopNumber")
