def setup_package():
try:
spreadPort = config['spread']['port']
except KeyError:
spreadPort = 4569
try:
socketPort = config['socket']['port']
except KeyError:
socketPort = 55666
# generate config files
for name, socketenabled, spreadenabled, inprocessenabled in \
[('spread', '0', '1', '0'),
('socket', '1', '0', '0'),
('inprocess', '0', '0', '1')]:
with open('test/with-{}.conf'.format(name), 'w') as f:
f.write('''[introspection]
enabled = 0
[transport.inprocess]
enabled = {inprocessenabled}
[transport.spread]
enabled = {spreadenabled}
port = {spreadport}
[transport.socket]
enabled = {socketenabled}
port = {socketport}'''
.format(inprocessenabled=inprocessenabled,
spreadenabled=spreadenabled,
spreadport=spreadPort,
socketenabled=socketenabled,
socketport=socketPort))
with open('test/spread.conf', 'w') as f:
f.write('''Spread_Segment 127.0.0.255:{spreadport} {{
localhost 127.0.0.1
}}
SocketPortReuse = ON
'''
.format(spreadport=spreadPort))
# initialize participant config
rsb.getDefaultParticipantConfig()
rsb.setDefaultParticipantConfig(
rsb.ParticipantConfig.fromFile('test/with-inprocess.conf'))
def main():
converter = ProtocolBufferConverter(messageClass=JointAngles)
rsb.converter.registerGlobalConverter(converter)
rsb.setDefaultParticipantConfig(rsb.ParticipantConfig.fromDefaultSources())
# print("Registered converter %s" % converter)
# print("Registered converters:\n%s "
# % rsb.converter.getGlobalConverterMap(bytearray))
with rsb.createInformer("/my/input", dataType=JointAngles) as informer:
# Send and event using a method that directly accepts data.
message = JointAngles()
message.angles.extend([0.707]*29)
informer.publishData(message)
print "Message sent: " + str(message)
def main():
converter = ProtocolBufferConverter(messageClass=JointAngles)
rsb.converter.registerGlobalConverter(converter)
rsb.setDefaultParticipantConfig(rsb.ParticipantConfig.fromDefaultSources())
# print("Registered converter %s" % converter)
# print("Registered converters:\n%s "
# % rsb.converter.getGlobalConverterMap(bytearray))
with rsb.createInformer("/my/input", dataType=JointAngles) as informer:
# Send and event using a method that directly accepts data.
message = JointAngles()
message.angles.extend([0.707] * 29)
informer.publishData(message)
print "Message sent: " + str(message)
def tearDown(self):
setDefaultParticipantConfig(self._previousConfig)
def setUp(self):
self._previousConfig = getDefaultParticipantConfig()
setDefaultParticipantConfig(
ParticipantConfig.fromFile('test/with-socket.conf'))
import rsb
import rsb.converter
# See ./registration.py.
import sys
sys.path.append('.')
from SimpleImage_pb2 import SimpleImage
if __name__ == '__main__':
# Pacify logger.
logging.basicConfig()
# See ./registration.py
converter = rsb.converter.ProtocolBufferConverter(messageClass=SimpleImage)
rsb.converter.registerGlobalConverter(converter)
rsb.setDefaultParticipantConfig(rsb.ParticipantConfig.fromDefaultSources())
# Create a listener that will receive the events carrying protocol
# buffer payloads. See the listener.py example for a more detailed
# explanation of listener creation.
with rsb.createListener(rsb.Scope("/example/converter")) as listener:
def printData(event):
print("Received %s object with fields:\n%s"
% (type(event.data).__name__, str(event.data)))
listener.addHandler(printData)
# wait endlessly for received events
while True:
time.sleep(100)
self.lastImage = Queue(1)
self.restart_listener = rsb.createListener(self.notification_scope)
self.last_restart_request = Queue(1)
try:
rsb.converter.registerGlobalConverter(rsb.converter.ProtocolBufferConverter(messageClass=HeadObjects))
except Exception, e:
# If they are already loaded, the lib throws an exception ...
# print ">> [Error] While loading RST converter: ", e
pass
self.person_publisher = rsb.createInformer(outscope, dataType=HeadObjects)
# This must be set at last!
rsb.setDefaultParticipantConfig(rsb.ParticipantConfig.fromDefaultSources())
def add_last_image(self, image_event):
try:
self.lastImage.get(False)
except Exception, e:
pass
self.lastImage.put((np.asarray(image_event.data[:, :]), image_event.getId()), False)
def add_restart_request(self, restart_event):
try:
self.last_restart_request.get(False)
except Exception, e:
pass
self.last_restart_request.put(restart_event.data, False)
