def main_loop(self):
"""The main thread for communicating with the server
Args:
None
Returns:
None
Raises:
grpc exceptions. please refer to grpc
"""
with grpc.insecure_channel(self.server_address,
options=[("grpc.max_send_message_length",
self.max_message_length),
("grpc.max_receive_message_length",
self.max_message_length)
]) as channel:
stub = ros_pb2_grpc.RosServiceStub(channel)
for communication in stub.Communicate(self.stub_callback()):
print(communication)
if communication.HasField("mapping_request"):
mapping_request = communication.mapping_request
self.mapping_hanlder.handle_request(mapping_request)
elif communication.HasField("navigation_request"):
navigation_request = communication.navigation_request
self.navigation_handler.handle_request(navigation_request)
def fetch_remote_map(self):
with grpc.insecure_channel(self.server_address) as channel:
stub = ros_pb2_grpc.RosServiceStub(channel)
map_request = ros_pb2.GetMapRequest(robot_name=self.robot_name)
remote_map = stub.GetRawMap(map_request)
self.ros_map = self.grpc_map_to_rosmap(remote_map)
self.delta_theta = remote_map.origin_angle_shift
self.gps_origin = remote_map.origin
def main(argv):
with grpc.insecure_channel(f'localhost:{FLAGS.port}') as channel:
with grpc.insecure_channel(f'localhost:50051') as auth_channel:
auth_stub = login_pb2_grpc.AuthenticationServiceStub(auth_channel)
response = auth_stub.Login(
login_pb2.LoginRequest(username="******", password="******"))
token = response.token
print(token)
stub = ros_pb2_grpc.RosServiceStub(channel)
stub.CreateTrip(
ros_pb2.CreateTripRequest(token=token,
start_waypoint="test_waypoint",
end_waypoint="test_destination"))
time.sleep(1)
stub.ConfirmTrip(ros_pb2.ConfirmTripRequest(token=token))
def fetch_pose(self):
with grpc.insecure_channel(self.server_address) as channel:
stub = ros_pb2_grpc.RosServiceStub(channel)
pose_request = ros_pb2.GetPoseRequest(robot_name=self.robot_name)
remote_pose = stub.GetPose(pose_request)
initial_pose_row = remote_pose.row
initial_pose_col = remote_pose.column
initial_pose_angle = remote_pose.angle
point = Point(initial_pose_row, initial_pose_col, 0)
quaternion = tf.transformations.quaternion_from_euler(
0, 0, initial_pose_angle)
orientation = Quaternion(quaternion[0], quaternion[1],
quaternion[2], quaternion[3])
self.initial_pose.pose.pose.position = point
self.initial_pose.pose.pose.orientation = orientation
def main(argv):
with grpc.insecure_channel(f'localhost:{FLAGS.port}') as channel:
stub = ros_pb2_grpc.RosServiceStub(channel)
communication_generator = stub.Communicate(GenerateRequest())
try:
for communication in communication_generator:
print(communication)
if communication.HasField("navigation_request"):
state_update_requests.put(
ros_pb2.RosToServerCommunication(
status_update=ros_pb2.RobotStatusUpdate(
status_update=ros_pb2.RobotStatusUpdate.
NAVIGATING)))
state_update_requests.put(
ros_pb2.RosToServerCommunication(
status_update=ros_pb2.RobotStatusUpdate(
status_update=ros_pb2.RobotStatusUpdate.
NAVIGATING_AND_IDLE)))
except KeyError:
communication_generator.cancel()
def main(argv):
with grpc.insecure_channel(f'localhost:{FLAGS.port}') as channel:
with grpc.insecure_channel(f'localhost:50051') as auth_channel:
auth_stub = login_pb2_grpc.AuthenticationServiceStub(auth_channel)
response = auth_stub.Login(
login_pb2.LoginRequest(username="******", password="******"))
token = response.token
stub = ros_pb2_grpc.RosServiceStub(channel)
stub.SendMovement(
ros_pb2.MappingRequest(
token=token,
mapping_request=ros_pb2.ServerToRosMappingRequest(
request_type=ros_pb2.ServerToRosMappingRequest.
START_MAPPING)))
time.sleep(3)
stub.SendMovement(
ros_pb2.MappingRequest(
token=token,
mapping_request=ros_pb2.ServerToRosMappingRequest(
request_type=ros_pb2.ServerToRosMappingRequest.DIRECTION,
direction=ros_pb2.ServerToRosMappingRequest.FORWARD)))
time.sleep(3)
stub.SendMovement(
ros_pb2.MappingRequest(
token=token,
mapping_request=ros_pb2.ServerToRosMappingRequest(
request_type=ros_pb2.ServerToRosMappingRequest.DIRECTION,
direction=ros_pb2.ServerToRosMappingRequest.STOP)))
time.sleep(3)
stub.SendMovement(
ros_pb2.MappingRequest(
token=token,
mapping_request=ros_pb2.ServerToRosMappingRequest(
request_type=ros_pb2.ServerToRosMappingRequest.STOP_MAPPING
)))
time.sleep(3)
stub.AddWaypoint(
ros_pb2.AddWaypointRequest(waypoint_name='test_waypoint',
description='some description',
token=token))