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Initial implementation

This commit is contained in:
Esteve Fernandez 2016-01-20 12:03:37 -08:00
parent 75d7bd2b1a
commit c3115697a1
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CONTRIBUTING.md Normal file
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Any contribution that you make to this repository will
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# rclpy
ROS Client Library for the Python language.

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cmake_minimum_required(VERSION 2.8.3)
project(rclpy C)
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(rcl REQUIRED)
find_package(rmw REQUIRED)
find_package(rmw_implementation_cmake REQUIRED)
# NOTE(esteve): required for CMake-2.8 in Ubuntu 14.04
set(Python_ADDITIONAL_VERSIONS 3.4)
find_package(PythonInterp 3.4 REQUIRED)
find_package(python_cmake_module REQUIRED)
find_package(PythonExtra MODULE)
if(NOT WIN32)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
endif()
# enables using the Python package from the source space
# This creates a folder in ${CMAKE_CURRENT_BINARY_DIR}/rclpy which has all the
# as well as the compiled modules from the build space
# necessary Python code and C Python extensions for running tests.
configure_file("__init__.py.in" "rclpy/__init__.py" @ONLY)
ament_python_install_package(${PROJECT_NAME})
macro(set_properties _build_type)
set_target_properties(${PROJECT_NAME}${target_suffix} PROPERTIES
PREFIX ""
LIBRARY_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"
RUNTIME_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"
OUTPUT_NAME "_${PROJECT_NAME}${target_suffix}${PythonExtra_EXTENSION_SUFFIX}"
SUFFIX "${PythonExtra_EXTENSION_EXTENSION}")
endmacro()
macro(target)
if(NOT "${target_suffix} " STREQUAL " ")
get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
endif()
if("${rmw_implementation} " STREQUAL "rmw_connext_dynamic_cpp ")
message(STATUS "Skipping tests for '${rmw_implementation}'")
return()
endif()
if("${rmw_implementation} " STREQUAL "rmw_fastrtps_cpp ")
message(STATUS "Skipping tests for '${rmw_implementation}'")
return()
endif()
add_library(
${PROJECT_NAME}${target_suffix}
SHARED src/rclpy/_rclpy.c
)
target_compile_definitions(${PROJECT_NAME}${target_suffix}
PRIVATE "RMW_IMPLEMENTATION_SUFFIX=${target_suffix}")
set_properties("")
if(WIN32)
set_properties("_DEBUG")
set_properties("_MINSIZEREL")
set_properties("_RELEASE")
set_properties("_RELWITHDEBINFO")
endif()
target_link_libraries(${PROJECT_NAME}${target_suffix}
${PythonExtra_LIBRARIES}
)
ament_target_dependencies(${PROJECT_NAME}${target_suffix}
"rcl${target_suffix}"
)
target_include_directories(${PROJECT_NAME}${target_suffix}
PUBLIC
${PythonExtra_INCLUDE_DIRS}
)
install(TARGETS ${PROJECT_NAME}${target_suffix}
DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}")
endmacro()
call_for_each_rmw_implementation(target)
if(AMENT_ENABLE_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
ament_add_nose_test(rclpytests test
WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
)
endif()
ament_package()

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# -*- coding: utf-8 -*-
# generated from rclpy/__init__.py.in
# keep symbol table as clean as possible by deleting all unnecessary symbols
from os import path as os_path
from pkgutil import extend_path
from sys import path as sys_path
source_path = '@CMAKE_CURRENT_SOURCE_DIR@'
sys_path.insert(0, source_path)
del sys_path
__path__ = extend_path(__path__, __name__)
del extend_path
__execfiles = []
src_init_file = os_path.join(source_path, __name__ + '.py')
if os_path.isfile(src_init_file):
__execfiles.append(src_init_file)
else:
src_init_file = os_path.join(source_path, __name__, '__init__.py')
if os_path.isfile(src_init_file):
__execfiles.append(src_init_file)
del os_path
del src_init_file
del source_path
for __execfile in __execfiles:
with open(__execfile, 'r') as __fh:
exec(__fh.read())
del __fh
del __execfile
del __execfiles

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<?xml version="1.0"?>
<package format="2">
<name>rclpy</name>
<version>0.0.0</version>
<description>Package containing the Python client.</description>
<maintainer email="esteve@osrfoundation.org">Esteve Fernandez</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>python_cmake_module</buildtool_depend>
<build_depend>rmw_implementation_cmake</build_depend>
<depend>rmw_implementation</depend>
<depend>rcl</depend>
<!--
<exec_depend>rosidl_default_runtime</exec_depend>
<depend>rmw_implementation</depend>
-->
<test_depend>ament_cmake_nose</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>std_msgs</test_depend>
<test_depend>rosidl_generator_py</test_depend>
<test_depend>rosidl_typesupport_opensplice_c</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rclpy._rclpy__rmw_opensplice_cpp as _rclpy
from rclpy.node import Node
def init(args):
return _rclpy.rclpy_init(args)
def create_node(node_name):
node_handle = _rclpy.rclpy_create_node(node_name)
return Node(node_handle)
def spin(node):
wait_set = _rclpy.rclpy_get_zero_initialized_wait_set()
_rclpy.rclpy_wait_set_init(wait_set, len(node.subscriptions), 0, 0)
while ok():
_rclpy.rclpy_wait_set_clear_subscriptions(wait_set)
for subscription in node.subscriptions:
_rclpy.rclpy_wait_set_add_subscription(wait_set, subscription.subscription_handle)
_rclpy.rclpy_wait(wait_set)
msg = _rclpy.rclpy_take(subscription.subscription_handle, subscription.msg_type)
if msg:
subscription.callback(msg)
def ok():
return _rclpy.rclpy_ok()
def shutdown():
return _rclpy.rclpy_shutdown()

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# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rclpy
from rclpy.publisher import Publisher
from rclpy.subscription import Subscription
class Node:
def __init__(self, handle):
self.handle = handle
self.subscriptions = []
def create_publisher(self, msg_type, topic, qos_profile):
publisher_handle = rclpy._rclpy.rclpy_create_publisher(self.handle, msg_type, topic)
return Publisher(publisher_handle, msg_type, topic, qos_profile)
def create_subscription(self, msg_type, topic, callback, qos_profile):
subscription_handle = rclpy._rclpy.rclpy_create_subscription(self.handle, msg_type, topic)
subscription = Subscription(subscription_handle, msg_type, topic, callback, qos_profile)
self.subscriptions.append(subscription)
return subscription

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# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rclpy
class Publisher:
def __init__(self, publisher_handle, msg_type, topic, qos_profile):
self.publisher_handle = publisher_handle
self.msg_type = msg_type
self.topic = topic
self.qos_profile = qos_profile
def publish(self, msg):
rclpy._rclpy.rclpy_publish(self.publisher_handle, msg)

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# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
class QoSProfile:
pass
qos_profile_default = QoSProfile()

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# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
class Subscription:
def __init__(self, subscription_handle, msg_type, topic, callback, qos_profile):
self.subscription_handle = subscription_handle
self.msg_type = msg_type
self.topic = topic
self.callback = callback
self.qos_profile = qos_profile

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// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <Python.h>
#include <rmw/rmw.h>
#include <rcl/error_handling.h>
#include <rcl/rcl.h>
#include <rcl/node.h>
#include <rosidl_generator_c/message_type_support_struct.h>
#ifndef RMW_IMPLEMENTATION_SUFFIX
#error "RMW_IMPLEMENTATION_SUFFIX is required to be set for _rclpy.c"
#endif
static PyObject *
rclpy_init(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
{
// TODO(esteve): parse args
rcl_ret_t ret = rcl_init(0, NULL, rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to init: %s", rcl_get_error_string_safe());
return NULL;
}
Py_RETURN_NONE;
}
static PyObject *
rclpy_create_node(PyObject * Py_UNUSED(self), PyObject * args)
{
const char * node_name;
if (!PyArg_ParseTuple(args, "s", &node_name)) {
return NULL;
}
rcl_node_t * node = (rcl_node_t *)PyMem_Malloc(sizeof(rcl_node_t));
node->impl = NULL;
rcl_node_options_t default_options = rcl_node_get_default_options();
rcl_ret_t ret = rcl_node_init(node, node_name, &default_options);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to create node: %s", rcl_get_error_string_safe());
return NULL;
}
PyObject * pynode = PyCapsule_New(node, NULL, NULL);
return pynode;
}
static PyObject *
rclpy_create_publisher(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pynode;
PyObject * pymsg_type;
PyObject * pytopic;
if (!PyArg_ParseTuple(args, "OOO", &pynode, &pymsg_type, &pytopic)) {
return NULL;
}
assert(PyUnicode_Check(pytopic));
char * topic = (char *)PyUnicode_1BYTE_DATA(pytopic);
rcl_node_t * node = (rcl_node_t *)PyCapsule_GetPointer(pynode, NULL);
PyObject * pymetaclass = PyObject_GetAttrString(pymsg_type, "__class__");
PyObject * pyts = PyObject_GetAttrString(pymetaclass, "_TYPE_SUPPORT");
rosidl_message_type_support_t * ts =
(rosidl_message_type_support_t *)PyCapsule_GetPointer(pyts, NULL);
rcl_publisher_t * publisher = (rcl_publisher_t *)PyMem_Malloc(sizeof(rcl_publisher_t));
publisher->impl = NULL;
rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
rcl_ret_t ret = rcl_publisher_init(publisher, node, ts, topic, &publisher_ops);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to create publisher: %s", rcl_get_error_string_safe());
return NULL;
}
PyObject * pypublisher = PyCapsule_New(publisher, NULL, NULL);
return pypublisher;
}
static PyObject *
rclpy_publish(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pypublisher;
PyObject * pymsg;
if (!PyArg_ParseTuple(args, "OO", &pypublisher, &pymsg)) {
return NULL;
}
rcl_publisher_t * publisher = (rcl_publisher_t *)PyCapsule_GetPointer(pypublisher, NULL);
PyObject * pymsg_type = PyObject_GetAttrString(pymsg, "__class__");
PyObject * pymetaclass = PyObject_GetAttrString(pymsg_type, "__class__");
PyObject * pyconvert_from_py = PyObject_GetAttrString(pymetaclass, "_CONVERT_FROM_PY");
typedef void * (* convert_from_py_signature)(PyObject *);
convert_from_py_signature convert_from_py =
(convert_from_py_signature)PyCapsule_GetPointer(pyconvert_from_py, NULL);
void * raw_ros_message = convert_from_py(pymsg);
rcl_ret_t ret = rcl_publish(publisher, raw_ros_message);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to publish: %s", rcl_get_error_string_safe());
return NULL;
}
Py_RETURN_NONE;
}
static PyObject *
rclpy_create_subscription(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pynode;
PyObject * pymsg_type;
PyObject * pytopic;
if (!PyArg_ParseTuple(args, "OOO", &pynode, &pymsg_type, &pytopic)) {
return NULL;
}
assert(PyUnicode_Check(pytopic));
char * topic = (char *)PyUnicode_1BYTE_DATA(pytopic);
rcl_node_t * node = (rcl_node_t *)PyCapsule_GetPointer(pynode, NULL);
PyObject * pymetaclass = PyObject_GetAttrString(pymsg_type, "__class__");
PyObject * pyts = PyObject_GetAttrString(pymetaclass, "_TYPE_SUPPORT");
rosidl_message_type_support_t * ts =
(rosidl_message_type_support_t *)PyCapsule_GetPointer(pyts, NULL);
rcl_subscription_t * subscription =
(rcl_subscription_t *)PyMem_Malloc(sizeof(rcl_subscription_t));
subscription->impl = NULL;
rcl_subscription_options_t subscription_ops = rcl_subscription_get_default_options();
rcl_ret_t ret = rcl_subscription_init(subscription, node, ts, topic, &subscription_ops);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to create subscriptions: %s", rcl_get_error_string_safe());
return NULL;
}
PyObject * pysubscription = PyCapsule_New(subscription, NULL, NULL);
return pysubscription;
}
static PyObject *
rclpy_get_implementation_identifier(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
{
const char * rmw_implementation_identifier = rmw_get_implementation_identifier();
PyObject * pyrmw_implementation_identifier = Py_BuildValue(
"s", rmw_implementation_identifier);
return pyrmw_implementation_identifier;
}
static PyObject *
rclpy_get_zero_initialized_wait_set(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
{
rcl_wait_set_t * wait_set = (rcl_wait_set_t *)PyMem_Malloc(sizeof(rcl_wait_set_t));
wait_set->subscriptions = NULL;
wait_set->size_of_subscriptions = 0;
wait_set->guard_conditions = NULL;
wait_set->size_of_guard_conditions = 0;
wait_set->timers = NULL;
wait_set->size_of_timers = 0;
wait_set->impl = NULL;
PyObject * pywait_set = PyCapsule_New(wait_set, NULL, NULL);
return pywait_set;
}
static PyObject *
rclpy_wait_set_init(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pywait_set;
unsigned PY_LONG_LONG number_of_subscriptions;
unsigned PY_LONG_LONG number_of_guard_conditions;
unsigned PY_LONG_LONG number_of_timers;
if (!PyArg_ParseTuple(
args, "OKKK", &pywait_set, &number_of_subscriptions,
&number_of_guard_conditions, &number_of_timers))
{
return NULL;
}
rcl_wait_set_t * wait_set = (rcl_wait_set_t *)PyCapsule_GetPointer(pywait_set, NULL);
rcl_ret_t ret = rcl_wait_set_init(
wait_set, number_of_subscriptions, number_of_guard_conditions, number_of_timers,
rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to initialize wait set: %s", rcl_get_error_string_safe());
return NULL;
}
Py_RETURN_NONE;
}
static PyObject *
rclpy_wait_set_clear_subscriptions(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pywait_set;
if (!PyArg_ParseTuple(args, "O", &pywait_set)) {
return NULL;
}
rcl_wait_set_t * wait_set = (rcl_wait_set_t *)PyCapsule_GetPointer(pywait_set, NULL);
rcl_ret_t ret = rcl_wait_set_clear_subscriptions(wait_set);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to clear subscriptions from wait set: %s", rcl_get_error_string_safe());
return NULL;
}
Py_RETURN_NONE;
}
static PyObject *
rclpy_wait_set_add_subscription(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pywait_set;
PyObject * pysubscription;
if (!PyArg_ParseTuple(args, "OO", &pywait_set, &pysubscription)) {
return NULL;
}
rcl_wait_set_t * wait_set = (rcl_wait_set_t *)PyCapsule_GetPointer(pywait_set, NULL);
rcl_subscription_t * subscription =
(rcl_subscription_t *)PyCapsule_GetPointer(pysubscription, NULL);
rcl_ret_t ret = rcl_wait_set_add_subscription(wait_set, subscription);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to add subscription to wait set: %s", rcl_get_error_string_safe());
return NULL;
}
Py_RETURN_NONE;
}
static PyObject *
rclpy_wait(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pywait_set;
if (!PyArg_ParseTuple(args, "O", &pywait_set)) {
return NULL;
}
rcl_wait_set_t * wait_set = (rcl_wait_set_t *)PyCapsule_GetPointer(pywait_set, NULL);
rcl_ret_t ret = rcl_wait(wait_set, RCL_S_TO_NS(1));
if (ret != RCL_RET_OK && ret != RCL_RET_TIMEOUT) {
PyErr_Format(PyExc_RuntimeError,
"Failed to wait on wait set: %s", rcl_get_error_string_safe());
return NULL;
}
Py_RETURN_NONE;
}
static PyObject *
rclpy_take(PyObject * Py_UNUSED(self), PyObject * args)
{
PyObject * pysubscription;
PyObject * pymsg_type;
if (!PyArg_ParseTuple(args, "OO", &pysubscription, &pymsg_type)) {
return NULL;
}
rcl_subscription_t * subscription =
(rcl_subscription_t *)PyCapsule_GetPointer(pysubscription, NULL);
PyObject * pymetaclass = PyObject_GetAttrString(pymsg_type, "__class__");
PyObject * pyconvert_from_py = PyObject_GetAttrString(pymetaclass, "_CONVERT_FROM_PY");
typedef void *(* convert_from_py_signature)(PyObject *);
convert_from_py_signature convert_from_py =
(convert_from_py_signature)PyCapsule_GetPointer(pyconvert_from_py, NULL);
PyObject * pymsg = PyObject_CallObject(pymsg_type, NULL);
void * taken_msg = convert_from_py(pymsg);
bool taken = false;
rcl_ret_t ret = rcl_take(subscription, taken_msg, &taken, NULL);
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to take from a subscription: %s", rcl_get_error_string_safe());
return NULL;
}
if (taken) {
PyObject * pyconvert_to_py = PyObject_GetAttrString(pymsg_type, "_CONVERT_TO_PY");
typedef PyObject *(* convert_to_py_signature)(void *);
convert_to_py_signature convert_to_py =
(convert_to_py_signature)PyCapsule_GetPointer(pyconvert_to_py, NULL);
PyObject * pytaken_msg = convert_to_py(taken_msg);
Py_INCREF(pytaken_msg);
return pytaken_msg;
}
Py_RETURN_NONE;
}
static PyObject *
rclpy_ok(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
{
bool ok = rcl_ok();
if (ok) {
Py_RETURN_TRUE;
} else {
Py_RETURN_FALSE;
}
}
static PyObject *
rclpy_shutdown(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
{
rcl_ret_t ret = rcl_shutdown();
if (ret != RCL_RET_OK) {
PyErr_Format(PyExc_RuntimeError,
"Failed to shutdown: %s", rcl_get_error_string_safe());
return NULL;
}
Py_RETURN_NONE;
}
static PyMethodDef rclpy_methods[] = {
{"rclpy_init", rclpy_init, METH_VARARGS,
"Initialize RCL."},
{"rclpy_create_node", rclpy_create_node, METH_VARARGS,
"Create a Node."},
{"rclpy_create_publisher", rclpy_create_publisher, METH_VARARGS,
"Create a Publisher."},
{"rclpy_publish", rclpy_publish, METH_VARARGS,
"Publish a message."},
{"rclpy_create_subscription", rclpy_create_subscription, METH_VARARGS,
"Create a Subscription."},
{"rclpy_get_zero_initialized_wait_set", rclpy_get_zero_initialized_wait_set, METH_NOARGS,
"rclpy_get_zero_initialized_wait_set."},
{"rclpy_wait_set_init", rclpy_wait_set_init, METH_VARARGS,
"rclpy_wait_set_init."},
{"rclpy_wait_set_clear_subscriptions", rclpy_wait_set_clear_subscriptions, METH_VARARGS,
"rclpy_wait_set_clear_subscriptions."},
{"rclpy_wait_set_add_subscription", rclpy_wait_set_add_subscription, METH_VARARGS,
"rclpy_wait_set_add_subscription."},
{"rclpy_wait", rclpy_wait, METH_VARARGS,
"rclpy_wait."},
{"rclpy_take", rclpy_take, METH_VARARGS,
"rclpy_take."},
{"rclpy_ok", rclpy_ok, METH_NOARGS,
"rclpy_ok."},
{"rclpy_shutdown", rclpy_shutdown, METH_NOARGS,
"rclpy_shutdown."},
{"rclpy_get_implementation_identifier", rclpy_get_implementation_identifier,
METH_NOARGS, "Retrieve the identifier for the active RMW implementation."},
{NULL, NULL, 0, NULL} /* sentinel */
};
static struct PyModuleDef _rclpymodule = {
PyModuleDef_HEAD_INIT,
"_rclpy",
"_rclpy_doc",
-1, /* -1 means that the module keeps state in global variables */
rclpy_methods,
NULL,
NULL,
NULL,
NULL
};
#define MAKE_FN_NAME(x) PyInit__rclpy ## x
#define FUNCTION_NAME(suffix) MAKE_FN_NAME(suffix)
PyMODINIT_FUNC FUNCTION_NAME(RMW_IMPLEMENTATION_SUFFIX)(void) {
return PyModule_Create(&_rclpymodule);
}

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@ -0,0 +1,74 @@
# Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from functools import partial
from multiprocessing import Process
from time import sleep
def talker():
import rclpy
from rclpy.qos import qos_profile_default
from std_msgs.msg import String
assert String.__class__._TYPE_SUPPORT is not None
rclpy.init([])
node = rclpy.create_node('talker')
chatter_pub = node.create_publisher(String, 'chatter', qos_profile_default)
msg = String()
i = 1
while True:
msg.data = 'Hello World: {0}'.format(i)
i += 1
chatter_pub.publish(msg)
sleep(1)
def listener_callback(msg, talker_process, received_messages):
import rclpy
talker_process.terminate()
received_messages.append(msg)
rclpy.shutdown()
def test_rclpy_talker_listener():
talker_process = Process(target=talker)
talker_process.start()
import rclpy
from rclpy.qos import qos_profile_default
rclpy.init([])
node = rclpy.create_node('listener')
received_messages = []
chatter_callback = partial(
listener_callback, talker_process=talker_process, received_messages=received_messages)
from std_msgs.msg import String
assert String.__class__._TYPE_SUPPORT is not None
node.create_subscription(String, 'chatter', chatter_callback, qos_profile_default)
rclpy.spin(node)
talker_process.join()
assert len(received_messages) > 0, "Should have received a message from talker"