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[jsk_network_tools] Publish the last time to send/receive messages #774

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merged 1 commit into from
Feb 14, 2015
Merged

[jsk_network_tools] Publish the last time to send/receive messages #774

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25 changes: 23 additions & 2 deletions jsk_network_tools/scripts/silverhammer_highspeed_streamer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

import roslib
from roslib.message import get_message_class
from std_msgs.msg import Time

class SilverHammerStreamer:
def __init__(self):
Expand All @@ -22,6 +23,11 @@ def __init__(self):
self.lock = Lock()
self.send_port = rospy.get_param("~to_port", 16484)
self.send_ip = rospy.get_param("~to_ip", "localhost")
self.last_send_time = None
self.last_input_received_time = None
self.last_send_time_pub = rospy.Publisher("~last_send_time", Time)
self.last_input_received_time_pub = rospy.Publisher(
"~last_input_received_time", Time)
self.rate = rospy.get_param("~send_rate", 2) #2Hz
self.socket_client = socket(AF_INET, SOCK_DGRAM)
self.packet_size = rospy.get_param("~packet_size", 1000) #2Hz
Expand All @@ -31,7 +37,20 @@ def __init__(self):
self.counter = 0
self.send_timer = rospy.Timer(rospy.Duration(1.0 / self.rate),
self.sendTimerCallback)

self.update_time_pub_timer = rospy.Timer(rospy.Duration(1.0 / 10),
self.timeTimerCallback)
def timeTimerCallback(self, event):
with self.lock:
if self.last_send_time:
self.last_send_time_pub.publish(self.last_send_time)
else:
self.last_send_time_pub.publish(Time(data=rospy.Time(0)))
if self.last_input_received_time:
self.last_input_received_time_pub.publish(
self.last_input_received_time)
else:
self.last_input_received_time_pub.publish(
Time(data=rospy.Time(0)))
def sendTimerCallback(self, event):
buffer = StringIO()
with self.lock:
Expand All @@ -42,11 +61,12 @@ def sendTimerCallback(self, event):
if topic in self.messages:
setattr(msg, field_name, self.messages[topic])
rospy.msg.serialize_message(buffer, 0, msg)
self.last_send_time = rospy.Time.now()
# send buffer as UDP
self.sendBuffer(buffer.getvalue())
def sendBuffer(self, buffer):
packets = separateBufferIntoPackets(self.counter, buffer, self.packet_size)
rospy.loginfo("sending %d packets", len(packets))
rospy.logdebug("sending %d packets", len(packets))
for p in packets:
self.socket_client.sendto(p.pack(), (self.send_ip, self.send_port))
self.counter = self.counter + 1
Expand All @@ -60,6 +80,7 @@ def subscribe(self, subscriber_infos):
def messageCallback(self, msg, topic):
with self.lock:
self.messages[topic] = msg
self.last_input_received_time = rospy.Time.now()
def genMessageCallback(self, topic):
return lambda msg: self.messageCallback(msg, topic)

Expand Down
38 changes: 27 additions & 11 deletions jsk_network_tools/scripts/silverhammer_lowspeed_receiver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
import sys
import roslib
from roslib.message import get_message_class
from std_msgs.msg import Time

class SilverHammerUDPListener():
def __init__(self, server, buffer_size, format, message, pub):
Expand All @@ -33,32 +34,47 @@ def __init__(self):
self.receive_message = get_message_class(message_class_str)
except:
raise Exception("invalid topic type: %s"%message_class_str)
self.lock = Lock()
self.receive_port = rospy.get_param("~receive_port", 1024)
self.receive_ip = rospy.get_param("~receive_ip", "127.0.0.1")
self.receive_buffer = rospy.get_param("~receive_buffer_size", 250)
self.socket_server = socket(AF_INET, SOCK_DGRAM)
self.socket_server.bind((self.receive_ip, self.receive_port))
self.receive_format = msgToStructFormat(self.receive_message())
self.pub = rospy.Publisher("~output", self.receive_message)
def messageCallback(self, msg):
self.last_received_time = None
self.last_received_time_pub = rospy.Publisher(
"~last_received_time", Time)
self.last_publish_output_time = None
self.last_publish_output_time_pub = rospy.Publisher(
"~last_publish_output_time", Time)
self.update_time_pub_timer = rospy.Timer(rospy.Duration(1.0 / 10),
self.timeTimerCallback)
def timeTimerCallback(self, event):
with self.lock:
self.latest_message = msg
def sendTimerCallback(self, event):
with self.lock:
if self.latest_message:
rospy.loginfo("sending message")
packed_data = packMessage(self.latest_message, self.send_format)
self.socket_client.sendto(packed_data, (self.to_ip, self.to_port))
self.latest_message = None
if self.last_received_time:
self.last_received_time_pub.publish(
Time(data=self.last_received_time))
else:
self.last_received_time_pub.publish(
Time(data=rospy.Time(0)))
if self.last_publish_output_time:
self.last_publish_output_time_pub.publish(
Time(data=self.last_publish_output_time))
else:
rospy.loginfo("no message is available")
self.last_publish_output_time_pub.publish(
Time(data=rospy.Time(0)))
def run(self):
while not rospy.is_shutdown():
recv_data, addr = self.socket_server.recvfrom(self.receive_buffer)
msg = unpackMessage(recv_data, self.receive_format,
self.receive_message)
with self.lock:
self.last_received_time = rospy.Time.now()
self.pub.publish(msg)
print "received:", msg
with self.lock:
self.last_publish_output_time = rospy.Time.now()
rospy.logdebug("received:", msg)

if __name__ == "__main__":
rospy.init_node("silverhammer_lowspeed_receiver")
Expand Down
26 changes: 23 additions & 3 deletions jsk_network_tools/scripts/silverhammer_lowspeed_streamer.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@

import roslib
from roslib.message import get_message_class

from std_msgs.msg import Time

class SilverHammerLowspeedStreamer():
def __init__(self):
Expand All @@ -23,6 +23,11 @@ def __init__(self):
except:
raise Exception("invalid topic type: %s"%message_class_str)
self.lock = Lock()
self.last_send_time = None
self.last_input_received_time = None
self.last_send_time_pub = rospy.Publisher("~last_send_time", Time)
self.last_input_received_time_pub = rospy.Publisher(
"~last_input_received_time", Time)
self.to_port = rospy.get_param("~to_port", 1024)
self.to_ip = rospy.get_param("~to_ip", "127.0.0.1")
self.send_rate = rospy.get_param("~send_rate", 1)
Expand All @@ -33,19 +38,34 @@ def __init__(self):
self.send_message, self.messageCallback)
self.send_timer = rospy.Timer(rospy.Duration(1 / self.send_rate),
self.sendTimerCallback)
self.update_time_pub_timer = rospy.Timer(rospy.Duration(1.0 / 10),
self.timeTimerCallback)
def timeTimerCallback(self, event):
with self.lock:
if self.last_send_time:
self.last_send_time_pub.publish(self.last_send_time)
else:
self.last_send_time_pub.publish(Time(data=rospy.Time(0)))
if self.last_input_received_time:
self.last_input_received_time_pub.publish(
self.last_input_received_time)
else:
self.last_input_received_time_pub.publish(
Time(data=rospy.Time(0)))
def messageCallback(self, msg):
with self.lock:
self.latest_message = msg
self.last_input_received_time = rospy.Time.now()
def sendTimerCallback(self, event):
with self.lock:
if self.latest_message:
rospy.loginfo("sending message")
rospy.logdebug("sending message")
packed_data = packMessage(self.latest_message, self.send_format)
self.socket_client.sendto(packed_data, (self.to_ip, self.to_port))
self.latest_message = None
self.last_send_time = rospy.Time.now()
else:
rospy.loginfo("no message is available")


if __name__ == "__main__":
rospy.init_node("silverhammer_lowspeed_streamer")
Expand Down