def _setup_pubsub(self):
# Supscribe to published signals
for publisher_topic in self.publisher_topics():
self._subscribers[publisher_topic] = \
Subscriber(self._published_signals, topic=publisher_topic)
for subscriber in self._subscribers:
self._subscribers[subscriber].open()
# Allow tests to publish to subscribers in service
for subscriber_topic in self.subscriber_topics():
self._publishers[subscriber_topic] = \
Publisher(topic=subscriber_topic)
for publisher in self._publishers:
self._publishers[publisher].open()
def __create_publisher(self, topic):
self.logger.info('creating new publisher for "{}"'.format(topic))
publisher = Publisher(topic=topic)
try:
publisher.open(
on_connected=self.conn_on_connected,
on_disconnected=self.conn_on_disconnected)
except TypeError as e:
self.logger.warning(
'Connecting to an outdated communication module')
# try previous interface
publisher.open()
# no need to configure connectivity if not supported
return publisher
self.conn_configure(publisher.is_connected)
return publisher