def main():
BB.Initialize(2001, fmap)
BB.Start()
BB.SetReady(True)
print 'Waiting for commands...'
BB.Wait()
def initialize():
BB.Initialize(2100, fmap)
BB.Start()
BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'actuator')
BB.WriteSharedVar(BB.SharedVarTypes.STRING, 'actuator', 'initial_value')
BB.SetReady(True)
def initialize():
BB.Initialize(2100, fmap)
BB.Start()
BB.SetReady(True)
BB.SubscribeToSharedVar('recognizedSpeech',mySubscriptionHandler)
BB.SubscribeToSharedVar('hypothesizedSpeech',myHandlerHypothesis)
def initialize():
BB.Initialize(2100, fmap)
BB.Start()
BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'actuator')
BB.WriteSharedVar(BB.SharedVarTypes.STRING, 'actuator', 'initial_value')
BB.SubscribeToSharedVar('actuator',ActuatorHandler, subscriptionType='writeothers', reportType='content')
BB.SetReady(True)
def main():
BB.Initialize(2003)
BB.Start()
BB.SetReady(True)
BB.SubscribeToSharedVar('test_string', printingFunc)
print 'Waiting for shared variable updates...'
BB.Wait()
def Initialize():
BB.Initialize(2030, fmap)
BB.Start()
BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'interface')
BB.CreateSharedVar(BB.SharedVarTypes.STRING, 'smarthause')
BB.SubscribeToSharedVar('smarthause',
LamparaHandler,
subscriptionType='writeothers',
reportType='content')
BB.SetReady()
def main():
BB.Initialize(2000, fmap)
BB.Start()
BB.SetReady(True)
print 'Sending command say...'
print BB.SendAndWait(Command('spg_say', 'This is a test.'), 5000, 3)
print 'Sending Async command...'
ps = ParallelSender(
Command('othertst_slowfunction', 'This is another test.'), 5000, 3)
while ps.sending:
print 'sending...'
time.sleep(0.3)
print 'Response received...'
print ps.response
BB.Wait()
def main():
BB.Initialize(2002)
BB.Start()
BB.SetReady(True)
s = ''
while s != '4':
print '1. Create var'
print '2. Write var'
print '3. Read var'
print '4. exit'
s = raw_input(':')
if s == '1':
createVar()
elif s == '2':
writeVar()
elif s == '3':
readVar()
def main():
BB.Initialize(2100, fmap)
BB.Start()
BB.SetReady(True)
BB.Wait()
def main():
bbConnectionPort = 2080;
topicsInclusionList = ["*"];
svInclusionList = ["*"];
srvInclusionList = [];
cmdInclusionList = [];
#load the config files
parser = OptionParser()
parser.add_option('-f', '--configfile', action='store', type='string', dest='configFile', help='Bridge rules')
(options, args) = parser.parse_args()
if options.configFile:
#parser.error('Configuration File not given')
#load the configuration options
with open(options.configFile) as config_file:
configOptions = json.load(config_file)
#print configOptions
try:
topicsInclusionList = configOptions['ros_topics']
except:
topicsInclusionList = []
try:
svInclusionList = configOptions['blackboard_sv']
except:
svInclusionList = []
try:
srvInclusionList = configOptions['ros_services']
except:
srvInclusionList = []
try:
cmdInclusionList = configOptions['blackboard_cmd']
except:
cmdInclusionList = []
try:
bbConnectionPort = configOptions["bb_port"]
except:
bbConnectionPort = 2080
#define the list of topics to be bridged and its msg types
callersMap = {
#'add_two_ints' : BB2ROS_ServiceCallers.add_two_ints_caller,
'default_server' : BB2ROS_DefaultServicesCallers.default_caller
}
#Manage BB connection
print 'Initializing BB connection'
BB.Initialize(bbConnectionPort, callersMap)
BB.Start()
BB.SetReady(True)
#Manage ROS connection
#rospy.init_node('bbros_bridge', log_level = rospy.DEBUG)
rospy.init_node('bbros_bridge')
#atend calls from ROS nodes to BB commands
for bbCommand in cmdInclusionList:
ROS2BB_CommandsCalls(bbCommand, Default_ROS_BB_Bridge)
#BRIDGE SHARED VARS AND TOPICS
#create a dictionary of bridges, for the BB shared vars and for the ROS topics
bb2rosPublishersDictionary = {}
ros2bbPublishersDictionary = {}
#initialize the dictionaries of shared vars and topics already bridged
bbVarsList = {}
rosTopicsDictionary = {}
#verify if new shared vars or ros topic where created
rate = rospy.Rate(10) # 1hz rate
while not rospy.is_shutdown():
#get the BB shared vars list, this list is a dictionary {varName:varType}
new_bbVarsList = getBBSharedVars(svInclusionList)
#get the ROS published topics list
new_rosTopicsDictionary = getROSTopicList(topicsInclusionList)
#verify if there are news bb sv not bridged yet
bbVarsToBridge = dictionaryDifference(new_bbVarsList, bbVarsList)
#verify if there are news ros topics not bridged yet
rosTopicsToBridge = dictionaryDifference(new_rosTopicsDictionary, rosTopicsDictionary)
if len(bbVarsToBridge) > 0:
rospy.logdebug('Current BB var-type dictionary: ' + str(bbVarsList))
rospy.logdebug('New BB var-type dictionary: ' + str(new_bbVarsList))
if len(rosTopicsToBridge) > 0:
rospy.logdebug('Current ROS topic-type dictionary: ' + str(rosTopicsDictionary))
rospy.logdebug('New ROS topic-type dictionary: ' + str(new_rosTopicsDictionary))
#bridge the bb shared vars to ros topics
bridge_BB2ROS_SharedVars(bbVarsToBridge, rosTopicsDictionary, bb2rosPublishersDictionary)
#bridge the ros topics to bb shared vars
bridge_ROS2BB_Topics(rosTopicsToBridge, bbVarsList, ros2bbPublishersDictionary)
#update the originals bb sv dictionary and ros topics dictionary
dictionaryAddition(bbVarsList, bbVarsToBridge)
dictionaryAddition(rosTopicsDictionary, rosTopicsToBridge)
rate.sleep()