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, 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