def callback(data):
# Get field names ('/left_arm/sholder_pitch') from defined number (1)
fields_num = self.field_subscription[message.type]
fields_name = (
self.field_table[field]
for field in fields_num
)
# Convert individual fields values
for field_num in fields_num:
if self.field_conv_table.has_key(field_num):
value = get_attr(data, self.field_table[field_num])
value = self.field_conv_table[field_num](value)
set_attr(data, self.field_table[field_num], value)
# Extract appropriate fields from the ROS message
if desc.has_key('ROS_field_map'):
# There is a map between ROS messsage and embedded message.
# Convert from ROS value to embedded value:
d = attrs_to_dict(data, desc['fields'], desc['ROS_field_map'])
else:
d = attrs_to_dict(data, desc['fields'])
d['array'] = []
for field in fields_name:
d[desc['fields'][-1]].append(get_attr(data, field))
d['length'] = len(d[desc['fields'][-1]])
if desc.has_key('ROS_emb_conv'):
for key in desc['ROS_emb_conv'].keys():
d[key] = desc['ROS_emb_conv'][key](d[key])
self.send(message.type, **d)
def convert_ROS_to_embedded(self, desc, data):
"""
Converts ROS topic/message to embedded message.
Keyword arguments:
desc -- Description of embedded message.
data -- ROS message.
"""
if desc.has_key('ROS_field_map'):
# There is a map between ROS messsage and embedded message:
d = attrs_to_dict(data, desc['fields'], desc['ROS_field_map'])
else:
d = attrs_to_dict(data, desc['fields'])
if desc.has_key('ROS_emb_conv'):
for key in desc['ROS_emb_conv'].keys():
d[key] = desc['ROS_emb_conv'][key](d[key])
return d
