def __init__(self, osc_name, osc_port, regtype='_osc._udp', **kwargs):
"""
Initialize OscInterface.
@type osc_name: C{str}
@param osc_name: Name of the Bonjour service to register.
@type osc_port: C{int}
@param osc_port: Port that the OSC server will listen on.
@type regtype: C{str}
@param regtype: An appropriate registration type. Currently only
'_osc._udp' is supported.
"""
rospy.init_node("osc_interface", **kwargs)
rospy.core.add_shutdown_hook(self._shutdown_by_ros)
reactor.addSystemEventTrigger('after', 'shutdown',
self._shutdown_by_reactor)
self.ros_name = rospy.get_name()
self.osc_name = rospy.get_param("~osc_name", osc_name)
self.osc_port = rospy.get_param("~port", osc_port)
self.osc_regtype = rospy.get_param("~regtype", regtype)
self.print_fallback = rospy.get_param("~print_fallback", True)
if self.print_fallback:
rospy.loginfo("Logging all unhandled messages to rospy.loginfo")
# Bonjour Server
self._bonjour_server = Bonjour(self.osc_name, self.osc_port,
self.osc_regtype,
debug=rospy.logdebug,
info=rospy.logdebug,
error=rospy.logdebug)
self._bonjour_server.setClientCallback(self.bonjour_client_callback)
reactor.callInThread(self._bonjour_server.run, daemon=True)
self._clients = {}
self._clients_lock = threading.Lock()
# Twisted OSC receiver
self._osc_receiver = RosOscReceiver()
listener = async.DatagramServerProtocol(self._osc_receiver)
self._osc_receiver_port = reactor.listenUDP(self.osc_port,
listener)
# Twisted OSC Sender
self._osc_sender = async.DatagramClientProtocol()
self._osc_sender_port = reactor.listenUDP(0, self._osc_sender)
# Add OSC callbacks
self._osc_receiver.fallback = self.fallback
def test_bonjour(self):
try:
b = Bonjour("Bonjour listener", 1234, '_touchosceditor._tcp')
b.setClientCallback(self.clientCallback)
b.run_browser()
while self.clients == {}:
time.sleep(1.0)
self.assertEqual(self.clients.keys()[0], self.name.encode('utf-8'),
"Bonjour: Registration Failed")
vals = self.clients.values()[0]
self.assertEqual(vals['port'], self.port,
"Bonjour: Registered Port Mismatch")
finally:
b.stop_browser()
