Refactor to make Facts public functions easier to understand.

am_i_up/Facts.py

@@ -15,32 +15,26 @@ import os
 import yaml
 from ament_index_python import get_package_share_directory
 
+from am_i_up.Ros import Ros
+
 class Facts:
     def __init__(self):
+        self._ros = Ros()
+
         self._start_time = time.monotonic()
         self._status_string = None
-        self._costmap_image_format = None
-        self._costmap_image_data = None
-        self._lat_lon = (None, None)
 
-    def set_lat_long(self, lat, lon):
-        self._lat_lon = (lat, lon)
+    async def run(self):
+        await self._ros.run()
 
     def get_lat_long(self):
-        return self._lat_lon
-
-    def set_costmap_image(self, image_format, image_data):
-        self._costmap_image_format = image_format
-        self._costmap_image_data = image_data
+        return self._ros.get_lat_long()
 
     def get_costmap_image(self):
-        return (self._costmap_image_format, self._costmap_image_data)
-
-    def set_status_string(self, status):
-        self._status_string = status
+        return self._ros.get_costmap_image()
 
     def get_status(self):
-        return self._status_string
+        return self._ros.get_status_string()
 
     def get_uptime(self):
         return time.monotonic() - self._start_time

am_i_up/Ros.py

@@ -15,29 +15,41 @@ from sensor_msgs.msg import NavSatFix
 import asyncio
 
 class Ros:
-    def __init__(self, facts):
+    def __init__(self):
         rclpy.init()
-        self._facts = facts
         self._node = rclpy.create_node('am_i_up')
 
-        self._node.create_subscription(String, "status", self.status_sub, 1)
-        self._node.create_subscription(CompressedImage, "image/compressed", self.image_sub, 1)
-        self._node.create_subscription(NavSatFix, "navsatfix", self.navsat_sub, 1)
+        self._status_sub = self._node.create_subscription(String, "status", self._status_callback, 1)
+        self._image_sub = self._node.create_subscription(CompressedImage, "image/compressed", self._image_callback, 1)
+        self._navsat_sub = self._node.create_subscription(NavSatFix, "navsatfix", self._navsat_callback, 1)
 
-    def status_sub(self, msg):
-        self._facts.set_status_string(msg.data)
+        self._status_string = None
+        self._lat_long = None
+        self._costmap_image = None
 
-    def navsat_sub(self, msg):
-        self._facts.set_lat_long(msg.latitude, msg.longitude)
+    def get_status_string(self):
+        return self._status_string
 
-    def image_sub(self, msg):
-        if msg.format != "jpg" and msg.format != "png":
-            # I don't know what to do with this image....
-            return
-        self._facts.set_costmap_image(msg.format, bytes(msg.data))
+    def get_lat_long(self):
+        return self._lat_long
+
+    def get_costmap_image(self):
+        return self._costmap_image
 
     async def run(self):
         while rclpy.ok():
             rclpy.spin_once(self._node, timeout_sec=0)
             await asyncio.sleep(1e-4)
 
+    def _status_callback(self, msg):
+        self._status_string = msg.data
+
+    def _navsat_callback(self, msg):
+        self._lat_long = (msg.latitude, msg.longitude)
+
+    def _image_callback(self, msg):
+        if msg.format != "jpg" and msg.format != "png":
+            # I don't know what to do with this image....
+            return
+        self._costmap_image = (msg.format, bytes(msg.data))
+

am_i_up/server.py

@@ -10,14 +10,12 @@
 #
 from am_i_up.Api import Api
 from am_i_up.Facts import Facts
-from am_i_up.Ros import Ros
 
 import asyncio
 
 def main():
     facts = Facts()
-    ros = Ros(facts)
     api = Api(facts)
 
-    future = asyncio.gather(api.run(), ros.run())
+    future = asyncio.gather(api.run(), facts.run())
     asyncio.get_event_loop().run_until_complete(future)