def getRobot(robotName=None, spawn=True):
""" Retrieves the named robot type from the database and constructs the appropriate class """
""" if robotName is None or Empty, acts like getCurrentRobot() """
if robotName == None or robotName == '':
return Factory.getCurrentRobot()
print "Building class for robot named: %s" % robotName
# care-o-bot shortened to make 'in' easier to handle (only check first 9 characters)
rosRobots = ['care-o-bo', 'sunflower']
if robotName.lower()[:9] in rosRobots:
if robotName.lower().startswith('care-o-bot'):
if robot_config.has_key(robotName) and robot_config[robotName].has_key('hostname'):
rosMaster = 'http://%s:11311'
else:
cobVersion = robotName[11:].replace('.', '-')
rosMaster = "http://cob%s-pc1:11311" % cobVersion
imports = ['from careobot import CareOBot']
args = (robotName, rosMaster, )
kwargs = {}
className = 'CareOBot'
elif robotName.lower().startswith('sunflower'):
if robot_config.has_key(robotName) and robot_config[robotName].has_key('hostname'):
rosMaster = 'http://%s:11311'
else:
cobVersion = robotName[10:].replace('.', '-')
rosMaster = "http://sunflower%s-pc1:11311" % cobVersion
imports = ['from sunflower import Sunflower']
args = (robotName, rosMaster, )
kwargs = {}
className = 'Sunflower'
# Set the LD_LIBRARY_PATH before forking
from rosHelper import ROS
rosENV = ROS._parseBashEnviron()
rosLD = rosENV.get('LD_LIBRARY_PATH', '')
curLD = os.environ.get('LD_LIBRARY_PATH')
os.environ['LD_LIBRARY_PATH'] = curLD + ',' + rosLD
if spawn:
# Create the wrapper (runs the named class in a sub-process)
from subProcessWrapper import SubProcessWrapper
robot = SubProcessWrapper(imports, className, *args, **kwargs)
# Now revert LD_LIBRARY_PATH for this process
os.environ['LD_LIBRARY_PATH'] = curLD
else:
for import_ in imports:
exec(import_, globals())
robot = globals()[className](*args, **kwargs)
elif robotName.lower().startswith('dummy'):
import dummy
robot = dummy.DummyRobot(robotName)
else:
print >> sys.stderr, "Unknown robot %s" % robotName
return None
print "Finished building class %s" % className
return robot
def __init__(self, name, rosMaster):
from rosHelper import ROS
ROS.configureROS(rosMaster=rosMaster)
print rosMaster
super(Sunflower, self).__init__(name, ActionLib, 'sf_controller', '')
def __init__(self, name='Sunflower'):
from rosHelper import ROS
ROS.configureROS(version='electric', rosMaster='http://sf1-1-pc1:11311', overlayPath='/home/nathan/git/sunflower/')
super(Sunflower, self).__init__(name, ActionLib(), 'sf_controller', '')
def __init__(self, name, rosMaster):
from rosHelper import ROS
ROS.configureROS(rosMaster=rosMaster)
print rosMaster
super(Sunflower, self).__init__(name, ActionLib, "sf_controller", "")
