player.py

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"""
Player listens to messages from the timeline and publishes them to ROS.
"""

import wx

import rosbag
import rospy

class Player(object):
    def __init__(self, timeline):
        self.timeline = timeline

        self._publishing = set()
        self._publishers = {}
        
        # Attempt to connect to the ROS master
        if not wx.GetApp().connect_to_ros():
            raise Exception('Error connecting to ROS')

    def is_publishing(self, topic):
        return topic in self._publishing
    
    def start_publishing(self, topic):
        if topic in self._publishing:
            return
        
        self._publishing.add(topic)

        self.timeline.add_listener(topic, self)
    
    def stop_publishing(self, topic):
        if topic not in self._publishing:
            return
        
        self.timeline.remove_listener(topic, self)

        if topic in self._publishers:
            self._publishers[topic].unregister()
            del self._publishers[topic]

        self._publishing.remove(topic)

    def stop(self):
        for topic in list(self._publishing):
            self.stop_publishing(topic)

    ## 

    def message_viewed(self, bag, msg_data):
        # Don't publish unless the playhead is moving.
        if self.timeline.play_speed <= 0.0:
            return
        
        topic, msg, t = msg_data

        # Create publisher if this is the first message on the topic
        if topic not in self._publishers:
            try:
                self._publishers[topic] = rospy.Publisher(topic, type(msg))
            except Exception, ex:
                # Any errors, stop listening/publishing to this topic
                rospy.logerr('Error creating publisher on topic %s for type %s' % (topic, str(type(msg))))
                self.stop_publishing(topic)

        self._publishers[topic].publish(msg)

    def message_cleared(self):
        pass