Public Member Functions
def	__init__
def	shutdown
def	spawn_turtles
Public Attributes
	is_disabled
	turtles
Private Member Functions
def	_establish_unique_names
def	_launch_turtle_clients
def	_ros_service_manager_disable_callback
def	_send_flip_rules
def	_spawn_simulated_turtles
Private Attributes
	_gateway_flip_service
	_kill_turtle_service_client
	_processes
	_shutdown_subscriber
	_spawn_turtle_service_client
	_temporary_files
	_terminal
Static Private Attributes
list	__slots__

Detailed Description

  Shepherds the turtles!

  @todo get alised names from the concert client list if the topic is available

  @todo watchdog for killing turtles that are no longer connected.

Definition at line 98 of file turtle_herder.py.

Constructor & Destructor Documentation

def turtle_herder.TurtleHerder.__init__ ( self )

Definition at line 118 of file turtle_herder.py.

Member Function Documentation

def turtle_herder.TurtleHerder._establish_unique_names	(	self,
		turtles
	)	`[private]`

Make sure the turtle names don't clash with currently spawned turtles.
If they do, postfix them with an incrementing counter.

:param Turtle[] turtles: list of new turtle names to uniquify.
:returns: uniquified names for the turtles.
:rtype Turtle[]: updated turtles

Definition at line 194 of file turtle_herder.py.

def turtle_herder.TurtleHerder._launch_turtle_clients	(	self,
		turtles
	)	`[private]`

:param Turtle[] turtles:

Definition at line 171 of file turtle_herder.py.

def turtle_herder.TurtleHerder._ros_service_manager_disable_callback	(	self,
		msg
	)	`[private]`

Definition at line 244 of file turtle_herder.py.

def turtle_herder.TurtleHerder._send_flip_rules	(	self,
		turtles,
		cancel
	)	`[private]`

:param Turtle[] turtles:

Definition at line 212 of file turtle_herder.py.

def turtle_herder.TurtleHerder._spawn_simulated_turtles	(	self,
		turtles
	)	`[private]`

Very important to have checked that the turtle names are unique
before calling this method.

:param Turtle[] turtles:

Definition at line 148 of file turtle_herder.py.

def turtle_herder.TurtleHerder.shutdown	(	self,
		msg = `None`
	)

  - Send unflip requests
  - Cleanup turtles on the turtlesim canvas.
  - Shutdown spawned terminals

:todo: this should go in a service manager callable ros callback where we can
call disable on this service and bring it down without having to SIGINT it.

Definition at line 247 of file turtle_herder.py.

def turtle_herder.TurtleHerder.spawn_turtles	(	self,
		turtles
	)

:param Turtle[] turtles:

Definition at line 185 of file turtle_herder.py.

Member Data Documentation

list turtle_herder.TurtleHerder::__slots__ [static, private]

Initial value:

[
        'turtles',              # list of turtle name strings
        '_kill_turtle_service_client',
        '_spawn_turtle_service_client',
        '_gateway_flip_service',
        '_processes',
        '_temporary_files',     # temporary files that have to be unlinked later
        'is_disabled',          # flag set when service manager tells it to shut down.
        '_terminal',            # terminal to use to spawn concert clients
        '_shutdown_subscriber'
    ]