vato007/picar
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Bind and start socket in start method, not initialiser.

Browse Source
This commit is contained in:
michaelpivato
2020-02-12 12:03:24 +10:30
parent a7d5e8010f
commit 8356ebd35c
1 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
SlamController/slam_streamer.py
View File

@@ -18,7 +18,7 @@ class SlamStreamer:
self._map_meters = map_meters
self._lidar_connection = lidar_connection
self._port = port
self._socket = self._start_socket(self._create_tcp_pub_socket(), port)
self._zmq_context = self._create_context()
def start(self):
'''
@@ -31,6 +31,8 @@ class SlamStreamer:
to calling this method, and changing those values after
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.
self._socket.recv()
@@ -80,8 +82,8 @@ class SlamStreamer:
def _create_context(self):
return zmq.Context.instance()
def _create_tcp_pub_socket(self):
return self._create_context().socket(zmq.PAIR)
def _create_socket(self, context):
return context.socket(zmq.PAIR)
def _start_socket(self, socket, port):
socket.bind('tcp://*:' + str(self._port))