some changes

src/init/.directory

 [Dolphin]
 PreviewsShown=true
-Timestamp=2018,12,12,15,36,33
+SortRole=date
+Timestamp=2018,12,13,15,55,15
 Version=3
 ViewMode=1

src/init/ros2_client.py

@@ -9,7 +9,7 @@ import ros2_config
 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):

src/init/ros2_config.py

@@ -4,47 +4,34 @@ import os
 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

src/init/ros2_config.xml

 <?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

src/init/ros2_init.py

@@ -5,7 +5,9 @@ import ros2_config
 
 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'])

src/init/ros2_master.py

@@ -8,30 +8,13 @@ import ros2_config
 
 TIMEOUT = 5
 
-
-# master callbacks
-def signup_callback(req,res):
-
-  name = req.request
-
-  print('Sign up from '+name)
-
-  if name in clients:
-    print('Slave name is not unique. So sad.')
-  else:
-    clients.append(name)
-
-  print('List of registered slaves: '+str(clients))
-  res.response = name
-
-  return res
-
-
 # async coroutine for cmdall_callback
 async def pass_cmd(target,cmd):
 
-  node = rclpy.create_node(target+'_client')
-  cli = node.create_client(StrReqStrRes,target+'/cmd')
+  #node = rclpy.create_node(target+'_client')
+
+  slave = cfg['slaves'][target]
+  cli = node.create_client(StrReqStrRes,slave+'/cmd')
 
   wcnt = 0
   while not cli.wait_for_service(timeout_sec=1.0):
@@ -51,7 +34,7 @@ async def pass_cmd(target,cmd):
 
 
 # callback for broadcast commands
-def cmdall_callback(req,res):
+def cmd_callback(req,res):
 
   cmd = req.request
   tasks = [pass_cmd(c,cmd) for c in clients]
@@ -68,21 +51,20 @@ def cmdall_callback(req,res):
 clients = []
 cfg = ros2_config.get()
 
-nodename = cfg[0]['name']
+nodename = cfg['self']+'_master'
 
-for i in cfg:
-  clients.append(i['name'])
+for k,v in cfg['slaves'].items():
+  print(k+' '+v)
+  clients.append(k)
 
 rclpy.init()
-node = rclpy.create_node(nodename+"_master")
+node = rclpy.create_node(nodename)
 
 event_loop = asyncio.get_event_loop()
 
-print("Starting master services:")
-#print("  master/signup")
-#s1 = node.create_service(StrReqStrRes, 'master/signup',  signup_callback)
-print("  master/cmd_all")
-s2 = node.create_service(StrReqStrRes, 'master/cmd_all', cmdall_callback)
+print('Starting master services:')
+print('  '+nodename+'/cmd')
+s1 = node.create_service(StrReqStrRes, nodename+'/cmd', cmd_callback)
 
 rclpy.spin(node)
 

src/init/ros2_slave.py

@@ -25,15 +25,14 @@ def cmd_callback(req,res):
 # global
 cfg = ros2_config.get()
 
-nodename = cfg[0]['name']
+nodename = cfg['self']
 
 rclpy.init()
 node = rclpy.create_node(nodename)
 
-# now start cmd service
-print("Starting slave services:")
-print("  "+nodename+'/cmd')
-s3 = node.create_service(StrReqStrRes, nodename+'/cmd', cmd_callback)
+print('Starting slave services:')
+print('  '+nodename+'/cmd')
+s = node.create_service(StrReqStrRes, nodename+'/cmd', cmd_callback)
 
 rclpy.spin(node)