67 lines
2.1 KiB
Python
67 lines
2.1 KiB
Python
#!/usr/bin/env python3
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"""Publish one flight_intent JSON to a ROS1 std_msgs/String topic (for flight bridge).
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Run after sourcing ROS, e.g.:
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source /opt/ros/noetic/setup.bash && python3 -m voice_drone.tools.publish_flight_intent_ros_once /tmp/intent.json
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Or from repo root（须在已 source ROS 的 shell 中，且勿覆盖 ROS 的 PYTHONPATH；应 prepend）:
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export PYTHONPATH="$PWD:$PYTHONPATH" && python3 -m voice_drone.tools.publish_flight_intent_ros_once ...
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"""
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from __future__ import annotations
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import argparse
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import json
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import sys
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from pathlib import Path
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from typing import Any
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import rospy
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from std_msgs.msg import String
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def _load_payload(path: str | None) -> dict[str, Any]:
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if path and path != "-":
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raw = Path(path).read_text(encoding="utf-8")
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else:
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raw = sys.stdin.read()
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data = json.loads(raw)
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if not isinstance(data, dict):
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raise ValueError("root must be a JSON object")
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return data
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def main() -> None:
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ap = argparse.ArgumentParser(description="Publish flight_intent JSON once to ROS String topic")
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ap.add_argument(
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"json_file",
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nargs="?",
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default="-",
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help="Path to JSON file, or - for stdin (default: stdin)",
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)
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ap.add_argument("--topic", default="/input", help="ROS topic (default: /input)")
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ap.add_argument(
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"--wait-subscribers",
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type=float,
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default=0.0,
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help="Seconds to wait for at least one subscriber (default: 0)",
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)
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args = ap.parse_args()
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payload = _load_payload(args.json_file if args.json_file != "-" else None)
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json_str = json.dumps(payload, ensure_ascii=False, separators=(",", ":"))
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rospy.init_node("flight_intent_ros_publisher_once", anonymous=True)
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pub = rospy.Publisher(args.topic, String, queue_size=1, latch=False)
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deadline = rospy.Time.now() + rospy.Duration(args.wait_subscribers)
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while args.wait_subscribers > 0 and pub.get_num_connections() < 1 and not rospy.is_shutdown():
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if rospy.Time.now() > deadline:
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break
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rospy.sleep(0.05)
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rospy.sleep(0.15)
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pub.publish(String(data=json_str))
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rospy.sleep(0.25)
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if __name__ == "__main__":
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main()
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