Re: [ros-users] communicating with windows

// the method that gets embedded into python
static PyObject* ros_indirect_callback(PyObject *self, PyObject *args)
{
    double double_data;

         if (!PyArg_ParseTuple(args, "d", &double_data))
             return NULL;

    printf("Do something with the data %f here.\n", double_data);

    return Py_BuildValue("i", 0);
}

// some data in order to register the method
static PyMethodDef embedded_methods[] =
{
    {
        "ros_indirect_callback",
        ros_indirect_callback,
        METH_VARARGS,
        ""
    },
         {
        NULL,
        NULL,
        0,
        NULL
    }
};

// thread that runs the ros node (gets locked after calling spin())
void ros_thread::run(void)
{
    Py_Initialize();
    Py_InitModule("ros_win", embedded_methods);    

    PySys_SetArgv(0, argv);

    PyRun_SimpleString("import ros_win\n"
        "import roslib\n"
        "import rospy\n"
        "from std_msgs.msg import Float32" );

    PyRun_SimpleString("def callback(data):\n"
        "    ros_win.ros_indirect_callback(data.data)\n" );

    PyRun_SimpleString("rospy.init_node('listener', anonymous=True)\n"
        "rospy.Subscriber('chatter', Float32, callback)\n"
        "rospy.spin()\n" );
}

void send_double_data(double v)
{    
    Py_Initialize();    
    PySys_SetArgv(0, argv);

    string s_str = "str = " + boost::lexical_cast<std::string>(v);    
    PyRun_SimpleString(s_str.c_str());

    PyRun_SimpleString("rospy.loginfo(str)\n"
        "pub.publish(Float32(str))\n");
}

>>     The system I'm working on uses ROS on the backend for a variety of
>>     control stuff, but has a user interface that is going to be written
>>     in C#.

>>     What is the recommended way to get some 2-way communication going
>>     between this windows program and ROS?  Should I make a node on the linux
>>     box that speaks some proprietary thing with the windows program, or
>>     should I try to implement a ROS node in C#?

>>     Better yet, has anyone already done something I can use for this? :)

>>     Any advice would be appreciated, and please copy me on replies since I'm
>>     only getting the daily digest of this list.

>>     Thanks,

>>     -Aaron
>>     _______________________________________________
>>     ros-users mailing list
>>     ros-users@code.ros.org <mailto:ros-users@code.ros.org>
>>     https://code.ros.org/mailman/listinfo/ros-users