Robotics Service Bus

'''

Created on Jan 16, 2013

@author: dklotz

'''

import rsb

import logging

import time

import rst

import rstsandbox

from rst.vision.HeadObject_pb2 import HeadObject

from rst.vision.HeadObjects_pb2 import HeadObjects

class TestHandler:

    def __init__(self):

        self.eventCount = 0

    def handle(self, event):

        # count the number of events received

        self.eventCount += 1

if __name__ == '__main__':

    # Configure the logger

    FORMAT = '%(asctime)-15s %(levelname)s %(pathname)s:%(lineno)s -- %(message)s'

    logging.basicConfig(format=FORMAT)

    #logging.getLogger("rsb.transport.socket.BusConnection").setLevel(logging.DEBUG)

    # Set up the converter for the received type

    converter = rsb.converter.ProtocolBufferConverter(messageClass = HeadObjects)

    rsb.converter.registerGlobalConverter(converter)

    rsb.__defaultParticipantConfig = rsb.ParticipantConfig.fromDefaultSources()

    # Create the listener & handler

    listener = rsb.createListener("/nao/identities")

    # Create an informer

    informer = rsb.createInformer("/test/scope", dataType=str)

    handler = TestHandler()

    listener.addHandler(handler.handle)

    # Wait for events; clean up when interrupted.

    try:

        while True:

            print("Events received so far: %s" % handler.eventCount)

            informer.publishData("Foo bar!")

            time.sleep(1)

    finally:

        listener.deactivate()

        informer.deactivate()