Source Code for Module rosmaster.master

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34   
35  """ 
36  ROS Master.  
37   
38  This module integrates the lower-level implementation modules into a 
39  single interface for running and stopping the ROS Master. 
40  """ 
41   
42  import logging 
43  import time 
44   
45  import rosgraph.xmlrpc 
46   
47  import rosmaster.master_api 
48   
49  DEFAULT_MASTER_PORT=11311 #default port for master's to bind to 
50   
51 -class Master(object): 
52       
53 -    def __init__(self, port=DEFAULT_MASTER_PORT, num_workers=rosmaster.master_api.NUM_WORKERS): 
54          self.port = port 
55          self.num_workers = num_workers 
56           
57 -    def start(self): 
58          """ 
59          Start the ROS Master. 
60          """ 
61          self.handler = None 
62          self.master_node = None 
63          self.uri = None 
64   
65          handler = rosmaster.master_api.ROSMasterHandler(self.num_workers) 
66          master_node = rosgraph.xmlrpc.XmlRpcNode(self.port, handler) 
67          master_node.start() 
68   
69          # poll for initialization 
70          while not master_node.uri: 
71              time.sleep(0.0001)  
72   
73          # save fields 
74          self.handler = handler 
75          self.master_node = master_node 
76          self.uri = master_node.uri 
77           
78          logging.getLogger('rosmaster.master').info("Master initialized: port[%s], uri[%s]", self.port, self.uri) 
79   
80 -    def ok(self): 
81          if self.master_node is not None: 
82              return self.master_node.handler._ok() 
83          else: 
84              return False 
85       
86 -    def stop(self): 
87          if self.master_node is not None: 
88              self.master_node.shutdown('Master.stop') 
89              self.master_node = None 
90