ui.py 文件源码

def monitor(self):
        # Wait until subscriber on instruct message is present
        notified = False
        while not rospy.is_shutdown():
            _, subscribers, _ = Master('/needybot').getSystemState()
            if dict(subscribers).get(nb_channels.Messages.instruct.value) is not None:
                if self.is_connected == False:
                    self.connected_pub.publish()
                self.is_connected = True
            else:
                if self.is_connected or not notified:
                    notified = True
                    self.disconnected_pub.publish()
                self.is_connected = False 

            rospy.sleep(0.1)