def test_example_requester_(self):
""" Initialize ROCON scheduler node for example requester. """
self.number_of_requests = 3 # number of requests desired
self.queued_request = None
rospy.init_node("test_example_requester")
self.sch = Scheduler(self.callback)
rospy.spin() # spin in the main thread
def __init__(self):
rospy.init_node("example_scheduler")
# simplifying assumptions: all requests want a single robot,
# and any of these will do:
self.avail = deque([ # FIFO queue of available robots
Resource(rapp='example_rapp', uri='rocon:/turtlebot/roberto'),
Resource(rapp='example_rapp', uri='rocon:/turtlebot/marvin')
])
self.ready_queue = deque() # FIFO queue of waiting requests
self.sch = Scheduler(self.callback)
rospy.spin()
def test_timeout_scheduler(self):
""" Initialize ROCON scheduler node for timeout test. """
rospy.init_node("timeout_scheduler")
# simplifying assumptions: all requests want a single robot,
# and any of these will do:
self.avail = deque( # FIFO queue of available robots
[
Resource(rapp='example_rapp', uri='rocon:/turtlebot/roberto'),
Resource(rapp='example_rapp', uri='rocon:/turtlebot/marvin')
])
self.ready_queue = deque() # FIFO queue of waiting requests
self.seen_requester = False
self.timer = rospy.Timer(rospy.Duration(2.0), self.check_finished)
self.sch = Scheduler(self.callback, frequency=1.0)
rospy.spin()
def __init__(self,
node_name='simple_scheduler',
period=rospy.Duration(1.0)):
""" Constructor. """
rospy.init_node(node_name)
self.ready_queue = PriorityQueue()
""" Queue of waiting requests. """
self.blocked_queue = PriorityQueue()
""" Queue of blocked requests. """
self.period = period
""" Time duration between periodic rescheduling. """
self.notification_set = set()
""" Set of requester identifiers to notify. """
self.timer = rospy.Timer(self.period, self.reschedule)
self.lock = threading.RLock()
""" Big Scheduler Lock. """
self.pool = SchedulerClients(lock=self.lock)
""" Resource pool of known ROCON clients. """
self.sch = Scheduler(self.callback, lock=self.lock)
""" Scheduler request handler. """
# Handle messages until canceled.
rospy.spin()
