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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,102 @@ | ||
| import pika | ||
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| class rmqClientReader(): | ||
| def __init__(self, host, port, log=None): | ||
| self.log = log | ||
| self.pipe = None | ||
| try: | ||
| # Establish connection to broker | ||
| self.connection = pika.BlockingConnection(pika.ConnectionParameters(host=host,port=port, | ||
| connection_attempts=100,retry_delay=5)) | ||
| self.channel = self.connection.channel() | ||
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| self.connected = True | ||
| if self.log != None: self.log.info("Connected to broker.") | ||
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| except: | ||
| if self.log != None: self.log.error("Failed to connect to reader queue.") | ||
| self.connected = False | ||
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| def subscribe(self, exchange, topic): | ||
| try: | ||
| # Declare exchange, create local queue and bind queue to exchange with routing key | ||
| self.channel.exchange_declare(exchange=exchange, type='topic') | ||
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| self.result = self.channel.queue_declare(exclusive=True) | ||
| self.dynamic_queue_name = self.result.method.queue | ||
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| self.channel.queue_bind(exchange=exchange, queue=self.dynamic_queue_name, routing_key=topic) | ||
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| self.channel.basic_consume(self.on_message, queue=self.dynamic_queue_name, no_ack=True) | ||
| return(True) | ||
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| except: | ||
| if self.log != None: self.log.error("Failed to subscribe to" + str(topic)) | ||
| return(False) | ||
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| def on_message(self, ch, method, properties, body): | ||
| # On message, emit data to multiprocessing queue | ||
| self.pipe.send(body) | ||
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| def run(self, pipe): | ||
| try: | ||
| # Set multiprocessing queue as class global and begin consuming | ||
| self.pipe = pipe | ||
| self.channel.start_consuming() | ||
| return(True) | ||
| except: | ||
| return(False) | ||
| if self.log != None: | ||
| self.log.error("Connection to broker appears to have dropped.") | ||
| else: | ||
| print "ERROR: Connection to broker appears to have dropped." | ||
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| class rmqClientWriter(): | ||
| def __init__(self, host, port, log=None): | ||
| self.log = log | ||
| self.exchange = None | ||
| try: | ||
| # Establish connection to broker | ||
| self.connection = pika.BlockingConnection(pika.ConnectionParameters(host, port)) | ||
| self.channel = self.connection.channel() | ||
| self.connected = True | ||
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| if self.log != None: self.log.info("Connected to broker.") | ||
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| except: | ||
| if self.log != None: self.log.error("Failed to connect to reader queue.") | ||
| self.connected = False | ||
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| def declareExchange(self, exchange): | ||
| try: | ||
| self.exchange = exchange | ||
| self.channel.exchange_declare(exchange=self.exchange, type='topic') | ||
| return(True) | ||
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| except: | ||
| return(False) | ||
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| def publish(self, topic, data): | ||
| try: | ||
| self.channel.basic_publish(exchange=self.exchange, routing_key=topic, body=data) | ||
| if self.log != None: self.log.debug("Writing data to topic exchange") | ||
| return(True) | ||
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| except: | ||
| if self.log != None: | ||
| self.log.warning("Failed to send message to topic " + str(topic)) | ||
| else: | ||
| print("Failed to send message to topic " + str(topic)) | ||
| return(False) | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| class piRoverControls(): | ||
| def __init__(self): | ||
| self.throttlePosition = None | ||
| self.directionPosition = None | ||
| self.brakeState = None | ||
| self.vehicleLightState = None | ||
| self.cameraPanPosition = None | ||
| self.cameraTiltPosition = None | ||
| self.cameraLightState = None | ||
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| class piRoverVehicle(): | ||
| def __init__(self): | ||
| self.vehicleWifi = None | ||
| self.vehicleBatteryA = None | ||
| self.vehicleBatteryB = None | ||
| self.environmentTemperature = None | ||
| self.environmentPressure = None | ||
| self.environmentHumidity = None | ||
| self.gpsLatitude = None | ||
| self.gpsLongitude = None | ||
| self.gpsAltitude = None | ||
| self.gpsSpeed = None | ||
| self.accelLR = None | ||
| self.accelRF = None |
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