def __init__(self, node_name, port):
"""Create the NetNode object. Registers the methods in
this NetNode instance as callbacks for the CmdListener
object. This is an 'inversion of control' in some respects.
Params:
node_name - The name of the ROS node.
port - The port to send/receive commands on
"""
#Create network communication object
self.listener = CmdListener('', port)
#Add listeners
self.listener.add_connect_listener(self.on_connect)
self.listener.add_data_listener(self.on_data)
self.listener.add_dc_listener(self.on_dc)
self.node_name = node_name
#Create publishers/service proxies for communicating with the
#control node.
self.get_inputs_srv = rospy.ServiceProxy(
'/oark_control_node/get_inputs', GetInputs)
self._command_pub = rospy.Publisher('/oark_control_node/command',
Command,
latch=True,
queue_size=10)
self.disconnected_srv = rospy.ServiceProxy(
'/oark_control_node/disconnected', Empty)
self.connected_srv = rospy.ServiceProxy('/oark_control_node/connected',
Connected)
def __init__(self, node_name, port):
"""Create the NetNode object. Registers the methods in
this NetNode instance as callbacks for the CmdListener
object. This is an 'inversion of control' in some respects.
Params:
node_name - The name of the ROS node.
port - The port to send/receive commands on
"""
#Create network communication object
self.listener = CmdListener('', port)
#Add listeners
self.listener.add_connect_listener(self.on_connect)
self.listener.add_data_listener(self.on_data)
self.listener.add_dc_listener(self.on_dc)
self.node_name = node_name
#Create publishers/service proxies for communicating with the
#control node.
self.get_inputs_srv = rospy.ServiceProxy('/oark_control_node/get_inputs',
GetInputs)
self._command_pub = rospy.Publisher('/oark_control_node/command',
Command,
latch=True,
queue_size=10)
self.disconnected_srv = rospy.ServiceProxy('/oark_control_node/disconnected',
Empty)
self.connected_srv = rospy.ServiceProxy('/oark_control_node/connected',
Connected)
class NetNode(object):
"""A network node. Creates methods used as callbacks from
CmdListener. CmdListener will receive network messages
and send them to this node. This node will then process them
and send them on to the control node.
"""
def __init__(self, node_name, port):
"""Create the NetNode object. Registers the methods in
this NetNode instance as callbacks for the CmdListener
object. This is an 'inversion of control' in some respects.
Params:
node_name - The name of the ROS node.
port - The port to send/receive commands on
"""
#Create network communication object
self.listener = CmdListener('', port)
#Add listeners
self.listener.add_connect_listener(self.on_connect)
self.listener.add_data_listener(self.on_data)
self.listener.add_dc_listener(self.on_dc)
self.node_name = node_name
#Create publishers/service proxies for communicating with the
#control node.
self.get_inputs_srv = rospy.ServiceProxy('/oark_control_node/get_inputs',
GetInputs)
self._command_pub = rospy.Publisher('/oark_control_node/command',
Command,
latch=True,
queue_size=10)
self.disconnected_srv = rospy.ServiceProxy('/oark_control_node/disconnected',
Empty)
self.connected_srv = rospy.ServiceProxy('/oark_control_node/connected',
Connected)
def on_connect(self, addr):
"""Called when a connection is received. Will start the video
stream if available
Params:
addr - The IP address of the connected device.
"""
rospy.loginfo('Connected to ' + str(addr))
#The first member of the addr tuple is the IP address
self.connected_srv(str(addr[0]))
def on_data(self, msg_type, msg):
"""Receives a message from the caller, turns it into the appropriate
ROS message and then forwards it to another function to handle the message.
This method is assumed to be called in a separate thread and so
is allowed to block if necessary.
Params:
msg_type - An integer identifier of the message. All network
messages have a message type. The mapping for this
can be found in net_consts.
msg - A serialized string containing the message data.
"""
rospy.loginfo('Got data')
#Deserialise msg
ros_msg = net_consts.MSGS[msg_type]()
ros_msg.deserialize(msg)
try:
#Send message to its own handler function
msg_name = net_consts.MSGS[msg_type].__name__
print 'Received message ', msg_name, ' of type ', msg_type
msg_func = getattr(self, 'on_' + msg_name.lower())
msg_func(ros_msg)
except KeyError, ke:
rospy.logwarn(msg_type, ' is not a valid message type')
except AttributeError, ae:
rospy.logwarn('No function to handle ROS msg <' + msg_name + '>')
class NetNode(object):
"""A network node. Creates methods used as callbacks from
CmdListener. CmdListener will receive network messages
and send them to this node. This node will then process them
and send them on to the control node.
"""
def __init__(self, node_name, port):
"""Create the NetNode object. Registers the methods in
this NetNode instance as callbacks for the CmdListener
object. This is an 'inversion of control' in some respects.
Params:
node_name - The name of the ROS node.
port - The port to send/receive commands on
"""
#Create network communication object
self.listener = CmdListener('', port)
#Add listeners
self.listener.add_connect_listener(self.on_connect)
self.listener.add_data_listener(self.on_data)
self.listener.add_dc_listener(self.on_dc)
self.node_name = node_name
#Create publishers/service proxies for communicating with the
#control node.
self.get_inputs_srv = rospy.ServiceProxy(
'/oark_control_node/get_inputs', GetInputs)
self._command_pub = rospy.Publisher('/oark_control_node/command',
Command,
latch=True,
queue_size=10)
self.disconnected_srv = rospy.ServiceProxy(
'/oark_control_node/disconnected', Empty)
self.connected_srv = rospy.ServiceProxy('/oark_control_node/connected',
Connected)
def on_connect(self, addr):
"""Called when a connection is received. Will start the video
stream if available
Params:
addr - The IP address of the connected device.
"""
rospy.loginfo('Connected to ' + str(addr))
#The first member of the addr tuple is the IP address
self.connected_srv(str(addr[0]))
def on_data(self, msg_type, msg):
"""Receives a message from the caller, turns it into the appropriate
ROS message and then forwards it to another function to handle the message.
This method is assumed to be called in a separate thread and so
is allowed to block if necessary.
Params:
msg_type - An integer identifier of the message. All network
messages have a message type. The mapping for this
can be found in net_consts.
msg - A serialized string containing the message data.
"""
rospy.loginfo('Got data')
#Deserialise msg
ros_msg = net_consts.MSGS[msg_type]()
ros_msg.deserialize(msg)
try:
#Send message to its own handler function
msg_name = net_consts.MSGS[msg_type].__name__
print 'Received message ', msg_name, ' of type ', msg_type
msg_func = getattr(self, 'on_' + msg_name.lower())
msg_func(ros_msg)
except KeyError, ke:
rospy.logwarn(msg_type, ' is not a valid message type')
except AttributeError, ae:
rospy.logwarn('No function to handle ROS msg <' + msg_name + '>')
