def run():
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.connect((socket.gethostname(), 7357))
f = s.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(proto.subscribe.signature)
e.add_decl(proto.publish.signature)
e.add_decl(pos_vel.posRef.signature)
pub = proto.publish()
pub.topic = 'S__pt_posRef'
e.encode(pub, pub.signature)
sub = proto.subscribe()
sub.topic = 'S__pt_velRef'
e.encode(sub, sub.signature)
dec_thread = threading.Thread(target=dec, args=(d, ))
dec_thread.daemon = True
dec_thread.start()
i = 0
while running:
print "send %d" % i
pos = pos_vel.posRef()
pos.x = 1.0 + i
pos.y = 2.0 + i
pos.z = 3.0 + i
e.encode(pos, pos.signature)
i += 1
sleep(1.0)
def __init__(self, port):
# Setup socket connection to bridge.
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.connect((socket.gethostname(), port))
# Setup LabComm.
f = sock.makefile()
self.e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
self.d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
self.e.add_decl(lc_types.S__add_two_ints_PAR.signature)
self.e.add_decl(lc_types.S__add_two_intsS__get_loggers_PAR.signature)
def decode(self, f):
decoder = labcomm2014.Decoder(labcomm2014.StreamReader(f))
try:
while True:
value, decl = decoder.decode()
if value != None:
self.next.acquire()
self.received_value = value
self.received_decl = decl
self.expected = None
self.next.notify_all()
self.next.release()
pass
pass
except EOFError:
pass
pass
def run(self):
while running:
(csock, address) = self.sock.accept()
f = csock.makefile()
self.enc = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
self.enc.add_decl(lc_types.S__ping.signature)
self.counter = 0
self.send_ping()
while running:
value, decl = d.decode()
if value:
print decl.name, 'says:', value.s
self.t.cancel()
def run(topic):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.connect((socket.gethostname(), 7357))
f = s.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(proto.subscribe.signature)
sub = proto.subscribe()
sub.topic = topic
e.encode(sub, sub.signature)
while True:
val, decl = d.decode()
if val:
print(val)
else:
print("Br. reg. type: %s" % decl)
def __init__(self, port):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.connect((socket.gethostname(), port))
f = sock.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(proto.subscribe.signature)
e.add_decl(proto.publish.signature)
e.add_decl(lc_types.S__ping.signature)
pub = proto.publish()
pub.topic = 'S__ping'
e.encode(pub, pub.signature)
sub = proto.subscribe()
sub.topic = 'S__pong'
e.encode(sub, sub.signature)
self.enc = e
self.dec = d
self.counter = 0
def main(port):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock.bind(('127.0.0.1', port))
sock.listen(5)
while True:
print 'Listening for new connection on port:', port
(csock, addr) = sock.accept()
print 'Got connection from:', addr
f = csock.makefile()
e = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
d = labcomm2014.Decoder(labcomm2014.StreamReader(f))
e.add_decl(lc_types.S__ext_service_RET.signature)
while True:
value, decl = d.decode()
if value:
print 'Got call:', value.controller_id
res = lc_types.S__ext_service_RET()
res.status = value.controller_id
time.sleep(5)
e.encode(res, res.signature)
import os
import sys
import socket
import rwsocket
if not any('labcomm2014' in p for p in sys.path):
sys.path.append('../../lib/python')
import labcomm2014
if __name__ == "__main__":
print "Trying to connect..."
host = sys.argv[1] #'localhost'
port = sys.argv[2] #'8081'
addr = (host, int(port))
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect(addr)
print "Connected!"
d = labcomm2014.Decoder(labcomm2014.StreamReader(sock))
while True:
try:
data, decl = d.decode()
if data:
print data
except KeyError as e:
print 'KeyError : "%s"' % str(e)
except:
print 'exception...', sys.exc_info()[0]
break
def __init__(self, client_sock, client_addr, static_dict=None):
super(ClientThread, self).__init__()
self.subs = {} # topic -> subscriber
self.pubs = {} # topic -> subscriber
self.client_addr = client_addr
self.client_socket = client_sock
client_sock.settimeout(None)
f = client_sock.makefile('w', 0)
self.enc = labcomm2014.Encoder(labcomm2014.StreamWriter(f))
self.dec = labcomm2014.Decoder(labcomm2014.StreamReader(f))
self.enc_lock = threading.Lock()
self.subscribed_conversions = {} # pt -> conv
self.published_conversions = {} # pt -> conv
self.ongoing_service_calls = {} # srv name -> dict
import_srvs = [
srv for name, srv in conf.SERVICES.iteritems()
if srv['direction'] == 'import' and name not in service_publishers
]
for srv in import_srvs:
n = msg2id(srv['name'])
cb = ServiceCallback(n, self)
self.ongoing_service_calls[n] = cb
service_publishers[n] = rospy.Service(srv['name'],
service_types_py[n], cb)
if static_dict:
for pubsub, topics in static_dict.iteritems():
for t in topics:
if pubsub == 'publish' and t in conf.IMPORTS:
rospy.loginfo(
('Setting up static publish for topic %s '
'to client %s'), t, client_addr)
self.pubs[t] = rospy.Publisher(t, topic_types_py[t])
elif pubsub == 'subscribe' and t in conf.EXPORTS:
rospy.loginfo(('Setting up static subscribe for topic '
'%s to client %s'), t, client_addr)
typ = ttmap[t]
self.enc.add_decl(typ.signature)
self.subs[t] = rospy.Subscriber(t,
topic_types_py[t],
self._convert_and_send,
callback_args=t)
if conf.AUTOPUBSUB:
class Dummy(object):
pass
dummy = Dummy()
for topic in conf.EXPORTS:
dummy.topic = topic
self._handle_subscribe(dummy)
for topic, _ in pseudotopic_sources.iteritems():
dummy.topic = topic
self._handle_subscribe(dummy)
for topic in conf.IMPORTS:
dummy.topic = topic
self._handle_publish(dummy)
for topic, _ in pseudotopic_sinks.iteritems():
dummy.topic = topic
self._handle_publish(dummy)
def __init__(self):
self.says = None
if __name__ == '__main__':
buf = StringIO.StringIO()
encoder = labcomm2014.Encoder(labcomm2014.StreamWriter(buf))
encoder.add_decl(animal.cow.signature)
encoder.add_decl(animal.dog.signature)
encoder.add_decl(animal.duck.signature)
theAnimal = Animal()
theAnimal.says = 'Moo'
encoder.encode(theAnimal, animal.cow.signature)
theAnimal.says = 'Bow-Wow'
encoder.encode(theAnimal, animal.dog.signature)
theAnimal.says = 'Quack'
encoder.encode(theAnimal, animal.duck.signature)
buf.seek(0)
decoder = labcomm2014.Decoder(labcomm2014.StreamReader(buf))
try:
while True:
value, decl = decoder.decode()
if value:
print decl.name, 'says', value
pass
pass
pass
except EOFError:
pass
pass
#!/usr/bin/python
import labcomm2014
import sys
if __name__ == "__main__":
version = sys.argv[2] if len(sys.argv) == 3 else "LabComm2014"
d = labcomm2014.Decoder(labcomm2014.StreamReader(open(sys.argv[1])),
version)
while True:
try:
data, decl = d.decode()
if data:
print data
except Exception, e:
print e
break
def main(main_args):
parser = argparse.ArgumentParser()
parser.add_argument('elc', type=str, help="The log file.")
parser.add_argument('-f', '--follow', action='store_true',
help="find all registrations that already "
"exist, then watch the file for changes. All "
"future registrations are ignored (because "
"the header has already been written).")
parser.add_argument('-s', '--interval', action="store", type=float,
default=0.040,
help="time to sleep between failed reads. Requires -f.")
parser.add_argument('-t', '--timeout', action="store", type=float,
help="timeout to terminate when no changes are detected. "
"Requires -f.")
parser.add_argument('-w', '--no-default-columns', action="store_true",
help="Do not fill columns for which there is no "
"data with default values. Wait instead until at least "
"one sample has arrived for each registration.")
parser.add_argument('-a', '--trigger-all', action="store_true",
help="Output one line for each sample instead of for "
"each sample of the registration that has arrived with "
"the highest frequency.")
args = parser.parse_args(main_args)
n_samples = {} # The number of received samples for each sample reg.
current = {} # The most recent sample for each sample reg.
type_ = {} # The type (declaration) of each sample reg.
file_ = open(args.elc)
if args.follow:
reader = FollowingReader(file_, args.interval, args.timeout)
else:
reader = Reader(file_)
d = labcomm2014.Decoder(reader)
while True:
try:
o, t = d.decode()
if o is None:
n_samples[t.name] = 0
type_[t.name] = t
else:
n_samples[t.name] += 1
current[t.name] = o
break
except EOFError:
break
dump_labels(type_)
if not args.no_default_columns:
defaults(current, type_)
n_rows = 0
while True:
try:
o, t = d.decode()
if o is None:
continue
current[t.name] = o
n_samples[t.name] += 1
if len(current) < len(type_):
continue
if args.trigger_all:
dump(current, type_)
else:
if n_samples[t.name] > n_rows:
n_rows = n_samples[t.name]
dump(current, type_)
except EOFError:
break
