serial_node.py
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00001 #!/usr/bin/env python
00002 
00003 #####################################################################
00004 # Software License Agreement (BSD License)
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00006 # Copyright (c) 2011, Willow Garage, Inc.
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00009 # Redistribution and use in source and binary forms, with or without
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00013 #  * Redistributions of source code must retain the above copyright
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00015 #  * Redistributions in binary form must reproduce the above
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00017 #    disclaimer in the documentation and/or other materials provided
00018 #    with the distribution.
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00035 
00036 __author__ = "mferguson@willowgarage.com (Michael Ferguson)"
00037 
00038 import rospy
00039 from rosserial_python import SerialClient, RosSerialServer
00040 from serial import SerialException
00041 from time import sleep
00042 import multiprocessing
00043 
00044 import sys
00045 
00046 if __name__=="__main__":
00047 
00048     rospy.init_node("serial_node")
00049     rospy.loginfo("ROS Serial Python Node")
00050 
00051     port_name = rospy.get_param('~port','/dev/ttyUSB0')
00052     baud = int(rospy.get_param('~baud','57600'))
00053 
00054     # for systems where pyserial yields errors in the fcntl.ioctl(self.fd, TIOCMBIS, \
00055     # TIOCM_DTR_str) line, which causes an IOError, when using simulated port
00056     fix_pyserial_for_test = rospy.get_param('~fix_pyserial_for_test', False)
00057 
00058     # TODO: should these really be global?
00059     tcp_portnum = int(rospy.get_param('/rosserial_embeddedlinux/tcp_port', '11411'))
00060     fork_server = rospy.get_param('/rosserial_embeddedlinux/fork_server', False)
00061 
00062     # TODO: do we really want command line params in addition to parameter server params?
00063     sys.argv = rospy.myargv(argv=sys.argv)
00064     if len(sys.argv) >= 2 :
00065         port_name  = sys.argv[1]
00066     if len(sys.argv) == 3 :
00067         tcp_portnum = int(sys.argv[2])
00068 
00069     if port_name == "tcp" :
00070         server = RosSerialServer(tcp_portnum, fork_server)
00071         rospy.loginfo("Waiting for socket connections on port %d" % tcp_portnum)
00072         try:
00073             server.listen()
00074         except KeyboardInterrupt:
00075             rospy.loginfo("got keyboard interrupt")
00076         finally:
00077             rospy.loginfo("Shutting down")
00078             for process in multiprocessing.active_children():
00079                 rospy.loginfo("Shutting down process %r", process)
00080                 process.terminate()
00081                 process.join()
00082             rospy.loginfo("All done")
00083 
00084     else :          # Use serial port
00085         while not rospy.is_shutdown():
00086             rospy.loginfo("Connecting to %s at %d baud" % (port_name,baud) )
00087             try:
00088                 client = SerialClient(port_name, baud, fix_pyserial_for_test=fix_pyserial_for_test)
00089                 client.run()
00090             except KeyboardInterrupt:
00091                 break
00092             except SerialException:
00093                 sleep(1.0)
00094                 continue
00095             except OSError:
00096                 sleep(1.0)
00097                 continue
00098 


rosserial_python
Author(s): Michael Ferguson
autogenerated on Sat Oct 7 2017 03:08:48