def onDisConnect(request, action):
''' Removes the robot specified via url like
'/disconnect/ROBOT_ID' from ROS-Publisher and
Ros-Subscriber
We only are here when the URl is like:
'/robot/disconnect/ROBOT_ID'
TODO DL RosConfigurator is here used?
'''
partURL = request.path
# If at the end is a slash we remove it simply
if "/" is partURL[-1]:
partURL = partURL[:-1]
# Get ROBOT_ID, which is the last element
robotID = partURL.split("/")[-1]
Log("INFO", "Disconnecting robot '{}'".format(robotID))
# Iterate through every topic and unregister, then delete it
if robotID in ROS_PUBLISHER:
for topic in ROS_PUBLISHER[robotID]:
ROS_PUBLISHER[robotID][topic].unregister()
del ROS_PUBLISHER[robotID]
RosConfigurator.removeRobot(robotID)
if robotID in ROS_SUBSCRIBER:
for topic in ROS_SUBSCRIBER[robotID]:
ROS_SUBSCRIBER[robotID][topic].unregister()
del ROS_SUBSCRIBER[robotID]
RosConfigurator.removeRobot(robotID)
# Return success
end_request(request, None, 200, "")
def robotDisconnection(data):
## \brief Handle robot diconnection
# \param robot data dict (name)
robot_name = data.data
Log("INFO", "Disconnected robot: " + robot_name)
if robot_name in ROBOT_TOPICS:
CloudSubscriber.deleteEntity(robot_name, DEFAULT_CONTEXT_TYPE)
CloudSubscriber.disconnect(robot_name, True)
for topic in ROBOT_TOPICS[robot_name]["publisher"]:
ROBOT_TOPICS[robot_name]["publisher"][topic]["publisher"].unregister()
for topic in ROBOT_TOPICS[robot_name]["subscriber"]:
ROBOT_TOPICS[robot_name]["subscriber"][topic]["subscriber"].unregister()
RosConfigurator.removeRobot(robot_name)
def onDisConnect(request, action):
## \brief Disconnect robot
# \param client request
# \param action
robot_name = pathParams(request, action["regexp"])[0]
Log("INFO", "Disconnecting robot" + robot_name)
if robot_name in ROBOT_TOPICS:
CloudSubscriber.deleteEntity(robot_name, DEFAULT_CONTEXT_TYPE)
CloudSubscriber.disconnect(robot_name, True)
for topic in ROBOT_TOPICS[robot_name]["publisher"]:
ROBOT_TOPICS[robot_name]["publisher"][topic][
"publisher"].unregister()
for topic in ROBOT_TOPICS[robot_name]["subscriber"]:
ROBOT_TOPICS[robot_name]["subscriber"][topic][
"subscriber"].unregister()
RosConfigurator.removeRobot(robot_name)
request.send_response(200)
request.end_headers()
request.wfile.write("")
