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): 
54          self.port = port 
55           
56 -    def start(self): 
57          """ 
58          Start the ROS Master. 
59          """ 
60          self.handler = None 
61          self.master_node = None 
62          self.uri = None 
63   
64          handler = rosmaster.master_api.ROSMasterHandler() 
65          master_node = rosgraph.xmlrpc.XmlRpcNode(self.port, handler) 
66          master_node.start() 
67   
68          # poll for initialization 
69          while not master_node.uri: 
70              time.sleep(0.0001)  
71   
72          # save fields 
73          self.handler = handler 
74          self.master_node = master_node 
75          self.uri = master_node.uri 
76           
77          logging.getLogger('rosmaster.master').info("Master initialized: port[%s], uri[%s]", self.port, self.uri) 
78   
79 -    def ok(self): 
80          if self.master_node is not None: 
81              return self.master_node.handler._ok() 
82          else: 
83              return False 
84       
85 -    def stop(self): 
86          if self.master_node is not None: 
87              self.master_node.shutdown('Master.stop') 
88              self.master_node = None 
89