some changes

[Dolphin]

PreviewsShown=true

Timestamp=2018,12,12,15,36,33

SortRole=date

Timestamp=2018,12,13,15,55,15

Version=3

ViewMode=1

rclpy.init()

node = rclpy.create_node('some_client_node')

cli = node.create_client(StrReqStrRes, 'master/cmd_all')

cli = node.create_client(StrReqStrRes, 'n000e64101698_master/cmd')

wcnt = 0

while not cli.wait_for_service(timeout_sec=1.0):

import re

import xml.etree.ElementTree as ET

def is_unique_name(a,name):

  for i in a:

    if i['name']==name:

      return False

  return True

NODEPREFIX = 'n'

# get function

def get(f="ros2_config.xml"):

  cfg = []

  cfg = {}

  prefix = "cam_"

  mac = get_mac(capitalize=False)

  name = prefix+mac

  role = "unknown"

  mac = get_mac(last_three_octets=False,capitalize=False)

  cfg['self'] = NODEPREFIX+mac

  cfg['role'] = None

  if os.path.isfile(f):

    e = ET.parse(f).getroot()

    tmp = e.find('prefix')

    tmp = e.find('self')

    if tmp!=None:

      name = tmp.text+mac

    tmp = e.find('role')

      tmp = tmp.get('role')

      if tmp!=None:

      role = tmp.text

    # self goes first

    cfg.append({'name':name,

                'role':role})

        cfg['role'] = tmp

    # drop non-unique names

    for s in e.findall('node'):

    cfg['slaves'] = {}

    for s in e.findall('slave'):

      tmp_name = s.get('name')

      tmp_role = s.get('role')

      tmp_name = s.get('class')

      tmp_mac  = s.get('id')

      if is_unique_name(cfg,tmp_name):

        cfg.append({'name': tmp_name,

                    'role': tmp_role})

      cfg['slaves'][tmp_name] = tmp_mac

      # will not overwrite role for non-unique nodes

  return cfg

<?xml version="1.0" standalone="yes"?>

<ros2>

  <prefix>cam_</prefix>

  <role>not_master</role>

  <self role='' />

</ros2>

<!--

    <self> - info for this camera's node

      attrs:

        'role' - master or any string for not master

        'system' - not used, TBA

      example:

        <self role='' />

    <node> - info of other nodes, so this node will know other nodes 'by name'

      attrs:

        'class' - class TODO: allow multiple classes separated by comma or space

        'id'    - other node id - when composing - have to know prefix and mac

      example:

        <node class='left'  id='n000e64101698'/>

    prefixes are used because nodes names must start from a letter.

-->

 No newline at end of file

cfg = ros2_config.get()

if   cfg[0]['role']=='master':

print(cfg)

if   cfg['role']=='master':

  subprocess.Popen(['python3','ros2_master.py'])

subprocess.Popen(['python3','ros2_slave.py'])