import time
import ctypes
import dds
from subjugator import qos
d = dds.Participant()
l = dds.Library('libdds_c.so')
log_topic = d.get_topic('WorkerLog', l.WorkerLogMessage,
qos.topic(d, qos.DEEP_PERSISTENT))
ws = dds.WaitSet()
ws.attach(log_topic)
while True:
ws.wait(5)
while True:
try:
msg = log_topic.take()
print "received %r" % msg
except dds.Error, e:
if e.message == 'no data':
break
else:
raise
time.sleep(1)
from twisted.internet import reactor
import dds
import twistedds
class TestProtocol(object):
def connectionMade(self):
print 'connection made!'
def messageReceived(self, msg):
print 'message received:', msg
def connectionLost(self, reason):
print 'connection lost! reason:', reason
twistedds.connectDDS(
dds.DDS().get_topic(
't2',
dds.Library('./libddsmessages_c.so').HydrophoneMessage),
TestProtocol())
reactor.run()
import sys
import time
import traceback
import random
import os
import dds
d = dds.Participant()
l = dds.Library('libddsmessages_c.so')
imu_topic = d.get_topic('IMU', l.IMUMessage)
dvl_topic = d.get_topic('DVL', l.DVLMessage)
depth_topic = d.get_topic('Depth', l.DepthMessage)
while True:
msg = dict(
timestamp=int(time.time() * 1e9),
flags=0,
temp=25,
supply=12,
acceleration=[0, 0, 1],
angular_rate=[0, 0, 0],
mag_field=[0, 0, 0],
)
print "Sending %r on IMU" % (msg, )
imu_topic.send(msg)
msg = dict(
timestamp=int(time.time() * 1e9),
velocity=[0, 0, 0],
)
parser.add_argument(
metavar='TOPIC',
nargs='*',
help='record last message on this topic when triggered',
dest='other_topics',
)
args = parser.parse_args()
if not args.trigger_topics:
parser.error('need at least one trigger topic!')
d = dds.Participant()
message_lib = dds.Library(
os.path.join(os.path.dirname(os.path.abspath(sys.argv[0])), '..', '..',
'build', 'Legacy', 'DDS', 'libddsmessages_c.so'))
last_messages = {}
last_header = None
for name in args.trigger_topics:
def callback(msg, _name=name):
global last_header # erk
last_messages[_name] = msg
res = {}
for topic, contents in last_messages.iteritems():
for member, value in contents.iteritems():