class PubSubTest(unittest.TestCase):
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor()
self._exec.connect()
self._manager.add(self._exec)
def tearDown(self):
t = time.time() - self.startTime
print("%s: %.3f" % (self.id(), t))
def _clb(self, msg):
print("Received Message: {0}".format(msg))
def test_publish_string(self):
self._pub = Publisher(self._exec, "/robot/test_string",
"std_msgs/String")
self._sub = Subscriber(self._exec, "/robot/test_string",
"std_msgs/String", self._clb)
start = time.time()
stop = start
while (stop - start) < 5:
print(stop - start)
self._pub.publish({"data": "Publisher {0}".format(self._pub.id)})
time.sleep(1)
stop = time.time()
self._pub.unregister()
self._manager.stop()
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor()
self._exec.connect()
self._manager.add(self._exec)
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor(ip="83.212.96.15", port=8127)
self._exec.connect()
self._manager.add(self._exec)
self._count = 0
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor(ip="83.212.96.15", port="8115")
self._exec.connect()
self._manager.add(self._exec)
self._exec.authenticate("44UCmQiX3mZtxC7y", onerror=self._onautherror)
self._goal_reached = False
def __init__(self, ip, port, secret=None, secret_fpath=None):
self._ip = ip
self._port = port
self._secret = secret
self._secret_fpath = secret_fpath
signal.signal(signal.SIGINT, lambda *x: self.stop())
self._manager = ExecutorManager()
self._exec = Executor(ip=ip, port=port)
self._exec.connect()
self._manager.add(self._exec)
self._rosapi = ROSApi(executor=self._exec)
def __init__(self, ip, port, secret=None, secret_fpath=None):
self._ip = ip
self._port = port
self._secret = secret
self._secret_fpath = secret_fpath
signal.signal(signal.SIGINT, lambda *x: self.stop())
self._manager = ExecutorManager()
self._exec = Executor(ip=ip, port=port)
self._exec.connect()
self._manager.add(self._exec)
self._rosapi = ROSApi(executor=self._exec)
rospy.init_node(self.__class__.__name__, anonymous=True)
class ActionClientTest(unittest.TestCase):
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor()
self._exec.connect()
self._manager.add(self._exec)
self._count = 0
def tearDown(self):
t = time.time() - self.startTime
print("%s: %.3f" % (self.id(), t))
def _on_result(self, data, status):
print("Received Result: {0}".format(data))
self._count += 1
def _on_feedback(self, data, status):
print("Received Feedback: {0}".format(data))
def _on_status(self, data):
print("Received Status: {0}".format(data))
def test_fibonacci(self):
server_name = "fibonacci"
action_type = "demo_action_server/Fibonacci"
self.ac = ActionClient(self._exec, server_name, action_type)
self.goal = Goal({'order': 7},
on_result=self._on_result,
on_feedback=self._on_feedback,
on_status=self._on_status)
self.ac.send_goal(self.goal)
resF = False
req = {"a": 1, "b": 2}
while self._count == 0:
time.sleep(0.2)
self._manager.close_all()
self._manager.stop()
self._manager.join()
class AuthenticationTest(unittest.TestCase):
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor(ip="83.212.96.15", port=8127)
self._exec.connect()
self._manager.add(self._exec)
self._count = 0
def tearDown(self):
t = time.time() - self.startTime
print("%s: %.3f" % (self.id(), t))
def _clb(self, status, data):
print("Received Message: {0}".format(data))
self._count += 1
print(self._count)
def _onautherror(self):
print("AUTHENTICATION ERROR!")
def test_auth_pass_secret(self):
self._exec.authenticate("DDccaldGJdYNSuod")
time.sleep(1)
self._manager.kill()
def test_auth_pass_secret_filepath(self):
self._exec.authenticate(secret_from_file=SECRET_FILE,
onerror=self._onautherror)
time.sleep(1)
self._manager.kill()
class ServiceClientTest(unittest.TestCase):
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor()
self._exec.connect()
self._manager.add(self._exec)
self._count = 0
def tearDown(self):
t = time.time() - self.startTime
print("%s: %.3f" % (self.id(), t))
def _clb(self, status, data):
print("Received Message: {0}".format(data))
self._count += 1
print(self._count)
# if self._count > 2:
# self._resF = True
# self._managed.close_all()
# self._manager.stop()
# self._manager.join()
def test_add_two_ints(self):
self._svc = ServiceClient(self._exec, "/add_two_ints",
"demo_service/AddTwoInts")
self._svc2 = ServiceClient(self._exec, "/add_two_ints",
"demo_service/AddTwoInts")
resF = False
req = {"a": 1, "b": 2}
self._svc.call(req, self._clb)
self._svc2.call(req, self._clb)
while self._count < 2:
time.sleep(0.1)
self._manager.close_all()
self._manager.stop()
self._manager.join()
class ActionClientTest(unittest.TestCase):
def setUp(self):
self.startTime = time.time()
self._manager = ExecutorManager()
self._manager.start()
self._exec = Executor(ip="83.212.96.15", port="8115")
self._exec.connect()
self._manager.add(self._exec)
self._exec.authenticate("44UCmQiX3mZtxC7y", onerror=self._onautherror)
self._goal_reached = False
def tearDown(self):
t = time.time() - self.startTime
print("%s: %.3f" % (self.id(), t))
self._manager.kill()
def _onautherror(self):
print("AUTHENTICATION ERROR!")
def _on_result(self, data, status, header):
print("Received Result: ")
pprint(data)
pprint(status)
pprint(header)
self._goal_reached = True
def _on_feedback(self, data, status, header):
print("Received Feedback: ")
pprint(data)
pprint(status)
pprint(header)
def _on_status(self, data, header):
print("Received Status: ")
pprint(data)
pprint(header)
def test_move_base(self):
server_name = "robot1/move_base"
action_type = "move_base_msgs/MoveBase"
req = {
"target_pose": {
"frame_id": "world",
"pose": {
"position": {
"x": 0.0
},
"orientation": {
"w": 1.0
}
}
}
}
self.ac = ActionClient(self._exec, server_name, action_type)
self.goal = Goal(req,
on_result=self._on_result,
on_feedback=self._on_feedback,
on_status=self._on_status)
self.ac.send_goal(self.goal)
while not self._goal_reached:
time.sleep(0.2)
self._manager.close_all()
self._manager.stop()
self._manager.join()
class Bridge(Base):
"""Abstract Bridge class"""
def __init__(self, ip, port, secret=None, secret_fpath=None):
self._ip = ip
self._port = port
self._secret = secret
self._secret_fpath = secret_fpath
signal.signal(signal.SIGINT, lambda *x: self.stop())
self._manager = ExecutorManager()
self._exec = Executor(ip=ip, port=port)
self._exec.connect()
self._manager.add(self._exec)
self._rosapi = ROSApi(executor=self._exec)
rospy.init_node(self.__class__.__name__, anonymous=True)
self._resp = None
self._flag = False
@property
def rosApi(self):
"""Returns an instance of the ROSApi"""
return self._rosapi
def start_executor(self):
"""Start executor"""
self._manager.start()
def auth(self):
"""Perform authentication to remote ros env through rosbridge"""
self._exec.authenticate(self._secret, self._secret_fpath)
def stop(self):
"""Stop executor"""
logger.debug("Shutting down proxy")
self._manager.kill()
rospy.signal_shutdown("Interrupted by User")
def terminated(self):
"""Check whether or not all websocket connections are closed"""
for ws in self._manager.websockets.itervalues():
if not ws.terminated:
return False
return True
def run_forever(self):
"""Keep main thread running, via iterative sleep operations"""
self.run()
while True:
if self.terminated():
break
time.sleep(3)
def run(self):
try:
self.start_executor()
self._start_remote_endpoint()
self._start_local_endpoint()
except KeyboardInterrupt:
self.stop()
def _start_local_endpoint(self):
raise NotImplementedError("")
def _start_remote_endpoint(self):
raise NotImplementedError("")
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function
import time
from rosbridge_pyclient import Executor, ExecutorManager
import os
DIRPATH = os.path.dirname(os.path.realpath(__file__))
manager = ExecutorManager()
def onautherror():
print("AUTHENTICATION ERROR!")
manager.kill()
if __name__ == '__main__':
manager.start()
executor = Executor(ip="83.212.96.15", port=8127)
executor.connect()
manager.add(executor)
executor.authenticate("DDccaldGJdYNSuod", onerror=onautherror)