def setup_topic_data(self):
for topic, topic_type in self.config.items():
if topic not in self.msg_parameters:
self.topic_name_list.append(topic)
# Only one type per topic
type_key = topic_type.keys()[0]
self.subscribed_list.append(type_key)
# One set of data items per topic type
self.data_items = [data_item for data_item in topic_type[type_key].keys()]
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event((self.adapter, self.data_items, self.di_dict, False))
# Extract package name and topic type name
tokens = topic_type.keys()[0].split('/')
package = tokens[0]
type_name = tokens[1]
# Load package manifest if unique
if package not in self.lib_manifests:
roslib.load_manifest(package)
self.lib_manifests.append(package)
# Import module and create topic type class,
# i.e. append <class 'mtconnect_msgs.msg._RobotStates.RobotStates'>
rospy.loginfo('Class Instance --> ' + package + '.msg.' + type_name)
type_handle = getattr(import_module(package + '.msg'), type_name)
self.topic_type_list[topic] = type_handle
self.msg_text[topic] = type_handle._full_text
self.member_types[topic] = type_handle._slot_types
self.member_names[topic] = type_handle.__slots__
return
def setup_topic_data(self):
for topic, topic_type in self.config.items():
if topic not in self.msg_parameters:
self.topic_name_list.append(topic)
# Only one type per topic
type_key = topic_type.keys()[0]
self.subscribed_list.append(type_key)
# One set of data items per topic type
self.data_items = [
data_item for data_item in topic_type[type_key].keys()
]
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event(
(self.adapter, self.data_items, self.di_dict, False))
# Extract package name and topic type name
tokens = topic_type.keys()[0].split('/')
package = tokens[0]
type_name = tokens[1]
# Load package manifest if unique
if package not in self.lib_manifests:
roslib.load_manifest(package)
self.lib_manifests.append(package)
# Import module and create topic type class,
# i.e. append <class 'mtconnect_msgs.msg._RobotStates.RobotStates'>
rospy.loginfo('Class Instance --> ' + package + '.msg.' +
type_name)
type_handle = getattr(import_module(package + '.msg'),
type_name)
self.topic_type_list[topic] = type_handle
self.msg_text[topic] = type_handle._full_text
self.member_types[topic] = type_handle._slot_types
self.member_names[topic] = type_handle.__slots__
return
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('ActionClient')
# Setup MTConnect to ROS Conversion
self.config = bridge_library.obtain_dataMap()
self.msg_parameters = ['url', 'url_port', 'machine_tool', 'xml_namespace', 'adapter_port', 'service']
self.url = self.config[self.msg_parameters[0]]
self.url_port = self.config[self.msg_parameters[1]]
self.mtool = self.config[self.msg_parameters[2]]
self.ns = dict(m = self.config[self.msg_parameters[3]])
self.port = self.config[self.msg_parameters[4]]
self.service = self.config[self.msg_parameters[5]]
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1,self.url,self.url_port))
# Setup MTConnect Adapter for robot status data items
self.adapter = Adapter((self.url, self.port))
# Create empty lists for actions, message type handles, etc.
self.lib_manifests = []
self.type_handle = None
self.action_list = {}
self.action_goals = {}
self.package = None
self.xml_goal = None
self.di_dict = {} # XML data item dictionary to store MTConnect Adapter Events
self.handshake = None
# Setup action client data per the config file
self.setup_topic_data()
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event((self.adapter, self.action_list, self.di_dict, False))
# Start the adapter
rospy.loginfo('Start the Robot Link adapter')
self.adapter.start()
# Create robot Service Server thread for each machine tool action
self.action_service = []
for mt_action in self.action_goals.keys():
self.action_service.append(ActionService(mt_action, self.adapter, self.di_dict, self.service_handle, self.service))
# Establish XML connection, read in current XML
while True:
try:
self.conn = HTTPConnection(self.url, self.url_port)
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/current"))
body = response.read()
break
except socket.error as e:
rospy.loginfo('HTTP connection error %s' % e)
time.sleep(10)
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(body, self.ns, self.action_list)
# Start a streaming XML connection
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/sample?interval=1000&count=1000&from=" + seq))
# Create class lock
self.lock = thread.allocate_lock()
# Create XML polling thread
lp = LongPull(response)
lp.long_pull(self.xml_callback) # Runs until user interrupts
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('ActionClient')
# Setup MTConnect to ROS Conversion
self.config = bridge_library.obtain_dataMap()
self.msg_parameters = [
'url', 'url_port', 'machine_tool', 'xml_namespace', 'adapter_port',
'service'
]
self.url = self.config[self.msg_parameters[0]]
self.url_port = self.config[self.msg_parameters[1]]
self.mtool = self.config[self.msg_parameters[2]]
self.ns = dict(m=self.config[self.msg_parameters[3]])
self.port = self.config[self.msg_parameters[4]]
self.service = self.config[self.msg_parameters[5]]
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1, self.url, self.url_port))
# Setup MTConnect Adapter for robot status data items
self.adapter = Adapter((self.url, self.port))
# Create empty lists for actions, message type handles, etc.
self.lib_manifests = []
self.type_handle = None
self.action_list = {}
self.action_goals = {}
self.package = None
self.xml_goal = None
self.di_dict = {
} # XML data item dictionary to store MTConnect Adapter Events
self.handshake = None
# Setup action client data per the config file
self.setup_topic_data()
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event(
(self.adapter, self.action_list, self.di_dict, False))
# Start the adapter
rospy.loginfo('Start the Robot Link adapter')
self.adapter.start()
# Create robot Service Server thread for each machine tool action
self.action_service = []
for mt_action in self.action_goals.keys():
self.action_service.append(
ActionService(mt_action, self.adapter, self.di_dict,
self.service_handle, self.service))
# Establish XML connection, read in current XML
while True:
try:
self.conn = HTTPConnection(self.url, self.url_port)
response = bridge_library.xml_get_response(
(self.url, self.url_port, self.port, self.conn,
self.mtool + "/current"))
body = response.read()
break
except socket.error as e:
rospy.loginfo('HTTP connection error %s' % e)
time.sleep(10)
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(body, self.ns,
self.action_list)
# Start a streaming XML connection
response = bridge_library.xml_get_response(
(self.url, self.url_port, self.port, self.conn,
self.mtool + "/sample?interval=1000&count=1000&from=" + seq))
# Create class lock
self.lock = thread.allocate_lock()
# Create XML polling thread
lp = LongPull(response)
lp.long_pull(self.xml_callback) # Runs until user interrupts
def __init__(self):
# Initialize ROS generic client node
rospy.init_node('ActionServer')
# Setup MTConnect to ROS Conversion
self.config = bridge_library.obtain_dataMap()
self.msg_parameters = ['url', 'url_port', 'machine_tool', 'xml_namespace', 'adapter_port']
self.url = self.config[self.msg_parameters[0]]
self.url_port = self.config[self.msg_parameters[1]]
self.mtool = self.config[self.msg_parameters[2]]
self.ns = dict(m = self.config[self.msg_parameters[3]])
self.port = self.config[self.msg_parameters[4]]
# Check for url connectivity, dwell until system timeout
bridge_library.check_connectivity((1,self.url,self.url_port))
# Setup MTConnect Adapter for robot status data items
self.adapter = Adapter((self.url, self.port))
# Create empty lists for actions, message type handles, etc.
self.lib_manifests = []
self.type_handle = None
self.action_list = {}
self.capture_xml = False
self.di_dict = {} # XML data item dictionary to store MTConnect Adapter Events
# Create a dictionary of _results to return upon action success
self._resultDict = {}
# Create a dictionary of action servers
self._as = {}
# Create a dictionary of server names
self.server_name = {}
# Setup action client data per the config file
self.setup_topic_data()
# Add data items to the MTConnect Adapter - must be unique data items
bridge_library.add_event((self.adapter, self.action_list, self.di_dict, True))
# Start the adapter
rospy.loginfo('Start the Robot Link adapter')
self.adapter.start()
# Establish XML connection, read in current XML
while True:
try:
self.conn = HTTPConnection(self.url, self.url_port)
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/current"))
body = response.read()
break
except socket.error as e:
rospy.loginfo('HTTP connection error %s' % e)
time.sleep(10)
# Parse the XML and determine the current sequence and XML Event elements
seq, elements = bridge_library.xml_components(body, self.ns, self.action_list)
# Start a streaming XML connection
response = bridge_library.xml_get_response((self.url, self.url_port, self.port, self.conn, self.mtool + "/sample?interval=1000&count=1000&from=" + seq))
# Create queue for streaming XML
self.XML_queue = Queue()
# Create XML polling thread
lp = LongPull(response)
xml_thread = Thread(target = lp.long_pull, args = (self.xml_callback,))
xml_thread.daemon = True
xml_thread.start()
