def add_agent_artist_handler(req):
global agent_names
global agent_positions
global agent_estimates
global agent_artists
global estimate_artists
global subscribers_position
global subscribers_estimate
subscribers_position[req.name] = rp.Subscriber(name='/' + req.name +
'/position',
data_class=gms.Point,
callback=agent_callback,
callback_args=req.name,
queue_size=1)
subscribers_estimate[req.name] = rp.Subscriber(name='/' + req.name +
'/estimate',
data_class=gms.Point,
callback=estimate_callback,
callback_args=req.name,
queue_size=1)
LOCK.acquire()
agent_names.append(req.name)
agent_positions[req.name] = None
agent_estimates[req.name] = None
agent_artists[req.name] = None
estimate_artists[req.name] = None
LOCK.release()
return dns.AddAgentResponse()
def add_agent_handler(req):
global agent_names
global agent_positions
global position_subscribers
position_subscribers[req.name] = rp.Subscriber(name='/' + req.name +
'/position',
data_class=gms.Point,
callback=agent_callback,
callback_args=req.name,
queue_size=1)
LOCK.acquire()
agent_names.append(req.name)
agent_positions[req.name] = None
LOCK.release()
return dns.AddAgentResponse()
def add_agent_handler(req):
global agent_names
global agent_bearing_measurement
global bearing_measurement_subscribers
bearing_measurement_subscribers[req.name] = rp.Subscriber(
name='/' + req.name + '/bearing_measurement',
data_class=gms.Vector,
callback=agent_callback,
callback_args=req.name,
queue_size=1)
LOCK.acquire()
agent_names.append(req.name)
agent_bearing_measurement[req.name] = None
LOCK.release()
return dns.AddAgentResponse()
def add_me_handler(req):
LOCK.acquire()
add_agent_proxies[req.name] = rp.ServiceProxy(req.name + '/AddAgent',
dns.AddAgent)
remove_agent_proxies[req.name] = rp.ServiceProxy(req.name + '/RemoveAgent',
dns.RemoveAgent)
remove_sensor_proxies[req.name] = rp.ServiceProxy(
req.name + '/RemoveSensor', dns.RemoveAgent)
remove_estimate_proxies[req.name] = rp.ServiceProxy(
req.name + '/RemoveEstimate', dns.RemoveAgent)
remove_vehicle_proxies[req.name] = rp.ServiceProxy(
req.name + '/RemoveVehicle', dns.RemoveAgent)
remove_planner_proxies[req.name] = rp.ServiceProxy(
req.name + '/RemovePlanner', dns.RemoveAgent)
for name in agent_names:
add_agent_proxies[name].call(req.name)
add_agent_proxies[req.name].call(name)
agent_names.append(req.name)
LOCK.release()
plotter_proxy.call(req.name)
return dns.AddAgentResponse()