def execute(self, userdata):
found = 'tb05'
foreign_master_uri = make_master_uri(found)
try:
msg = CommunicationProtocol()
msg.sender = self.id
msg.receiver = found
msg.request = 'hive'
connect(self.topic, foreign_master_uri)
rospy.sleep(0.2)
self.publisher.publish(msg)
disconnect(self.topic, foreign_master_uri)
except:
print "exception"
disconnect(self.topic, foreign_master_uri)
return 'done'
def execute(self, userdata):
found = 'tb05'
foreign_master_uri = make_master_uri(found)
try:
msg = CommunicationProtocol()
msg.sender = self.id
msg.receiver = found
msg.request = 'hive'
connect(self.topic, foreign_master_uri)
rospy.sleep(0.2)
self.publisher.publish(msg)
disconnect(self.topic, foreign_master_uri)
except:
print "exception"
disconnect(self.topic, foreign_master_uri)
return 'done'
def send(receiver, msg):
global open_cons, sending
sending = True
foreign_master_uri = make_master_uri(receiver)
try:
print open_cons
if not foreign_master_uri in open_cons.keys():
if connect(foreign_master_uri):
print "connected"
open_cons[foreign_master_uri]['last_used'] = rospy.Time.now()
rospy.sleep(1.5)
else:
print "failed"
rospy.sleep(0.5)
for i in xrange(2):
comm_pub.publish(msg)
rospy.sleep(0.2)
open_cons[foreign_master_uri]['last_used'] = rospy.Time.now()
except Exception as e:
print "exception", e
sending = False