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Bind and start socket in start method, not initialiser.

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michaelpivato
2020-02-12 12:03:24 +10:30
parent a7d5e8010f
commit 8356ebd35c
1 changed files with 5 additions and 3 deletions
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8
SlamController/slam_streamer.py
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@@ -18,7 +18,7 @@ class SlamStreamer:
self._map_meters = map_meters self._map_meters = map_meters
self._lidar_connection = lidar_connection self._lidar_connection = lidar_connection
self._port = port self._port = port
self._socket = self._start_socket(self._create_tcp_pub_socket(), port) self._zmq_context = self._create_context()
def start(self): def start(self):
''' '''
@@ -32,6 +32,8 @@ class SlamStreamer:
calling this method will have no effect. calling this method will have no effect.
''' '''
self._socket = self._start_socket(self._create_socket(self._zmq_context), self._port)
# Block until user opens zmq. # Block until user opens zmq.
self._socket.recv() self._socket.recv()
@@ -80,8 +82,8 @@ class SlamStreamer:
def _create_context(self): def _create_context(self):
return zmq.Context.instance() return zmq.Context.instance()
def _create_tcp_pub_socket(self): def _create_socket(self, context):
return self._create_context().socket(zmq.PAIR) return context.socket(zmq.PAIR)
def _start_socket(self, socket, port): def _start_socket(self, socket, port):
socket.bind('tcp://*:' + str(self._port)) socket.bind('tcp://*:' + str(self._port))