def saveDetectionToPBM(self):
self.blockSize = 58
self.blockCountPending = 11
self.blockReceived = [False for x in range(self.blockCountPending)]
rate = rospy.Rate(10) # 10hz
# while self.blockCountPending:
# Keep requesting the missing parts until they all arrive
pubMsg = NodeBytes()
pubMsg.node = 5
# streamid 8, imageid, imagetype (1=current), blocksize 59, range count, range list (start, count), ...
# collection, frame, serial type
pubMsg.data = [
8, 0, 0, self.frameNum, 0, 0, 0, 3, self.blockSize, 1, 0,
self.blockCountPending
]
print "publish"
self.pub.publish(pubMsg)
missing = self.missingBlocks()
prevMissingCount = len(missing)
watchdogStart = time.time()
timeout = False
while not rospy.is_shutdown() and len(missing) > 0 and not timeout:
rate.sleep()
missing = self.missingBlocks()
print "missing blocks ({})={}".format(len(missing),
",".join(map(str, missing)))
if (len(missing) != prevMissingCount):
prevMissingCount = len(missing)
watchdogStart = time.time()
watchdogEnd = time.time()
if (watchdogEnd - watchdogStart > 3):
timeout = True
# if (len(missing) == 0):
# transfer the filedata to the image data
self.copyFileDataToImageData()
self.writeImageDataToPBM()
def doImageReturn(self, node, data):
# Forward to ROS
pubMsg = NodeBytes()
pubMsg.node = node
pubMsg.data = data
self.pubNodeBytes.publish(pubMsg)
#!/usr/bin/env python
import time
import rospy
from beginner_tutorials.msg import NodeBytes
pub = rospy.Publisher('byte_commands_to_nodes', NodeBytes, queue_size=1)
rospy.init_node('Shutdown', anonymous=True)
time.sleep(1)
pubMsg = NodeBytes()
pubMsg.node = 5
pubMsg.data = [11]
pub.publish(pubMsg)