Package rosmaster :: Module master

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