def __init__(self, monitor_port=11611, domain=''):
'''..........................................................................
Initialize method of the local master.
@param monitor_port: The port of the RPC Server, used to get more information about the ROS master.
@type monitor_port: int
..........................................................................'''
if rospy.has_param('~rosmaster_hz'):
Discoverer.ROSMASTER_HZ = rospy.get_param('~rosmaster_hz')
self.master_monitor = MasterMonitor(monitor_port)
name = self.master_monitor.getMastername()
# create the txtArray for the zeroconf service of the ROS master
materuri = self.master_monitor.getMasteruri()
# test the host for local entry
masterhost, masterport = MasterInfo.MasteruriToAddr(materuri)
if (masterhost in ['localhost', '127.0.0.1']):
sys.exit("'%s' is not reachable for other systems. Change the ROS_MASTER_URI!", masterhost)
rpcuri = ''.join(['http://', socket.gethostname(), ':', str(monitor_port), '/'])
txtArray = ["timestamp=%s"%str(0), "master_uri=%s"%materuri, "zname=%s"%rospy.get_name(), "rpcuri=%s"%rpcuri]
# the Zeroconf class, which contains the QMainLoop to receive the signals from avahi
Zeroconf.__init__(self, name, '_ros-master._tcp', masterhost, masterport, domain, txtArray)
# the list with all ROS master neighbors with theirs SyncThread's and all Polling threads
self.masters = MasterList(self.masterInfo, self.requestResolve, self.checkLocalMaster)
# set the callback to finish all running threads
rospy.on_shutdown(self.finish)
