def callback_manage_trajectory(self, req):
cmd_type = req.cmd_type
trajectory_id = req.trajectory_id
trajectory_data = Trajectory(
name=req.trajectory.name,
description=req.trajectory.description,
trajectory_plan=req.trajectory.trajectory_plan)
# GET an existing trajectory
if cmd_type == TrajectoryCommandType.GET:
traj = self.get_trajectory(trajectory_id)
if traj is None:
return self.create_trajectory_response(
400, "No trajectory found with id : " + str(trajectory_id))
return self.create_trajectory_response(
200, "trajectory has been found", traj)
# Create a new trajectory
elif cmd_type == TrajectoryCommandType.CREATE:
(new_trajectory_id,
msg) = self.create_new_trajectory(trajectory_data)
new_trajectory = self.get_trajectory(new_trajectory_id)
if new_trajectory is None:
return self.create_trajectory_response(400, msg)
return self.create_trajectory_response(200, msg, new_trajectory)
# UPDATE existing trajectory
elif cmd_type == TrajectoryCommandType.UPDATE:
traj = self.get_trajectory(trajectory_id)
if traj is None:
return self.create_trajectory_response(
400, "No trajectory found with id : " + str(trajectory_id))
success, update_msg = self.update_trajectory(traj, trajectory_data)
if not success:
return self.create_trajectory_response(
400, update_msg + str(trajectory_id))
return self.create_trajectory_response(200, update_msg, traj)
# DELETE sequence
elif cmd_type == TrajectoryCommandType.DELETE:
success = self.delete_trajectory(trajectory_id)
if not success:
return self.create_trajectory_response(
400, "Could not delete trajectory with id : " +
str(trajectory_id))
return self.create_trajectory_response(
200, "Trajectory has been deleted")
# Wrong cmd_type
else:
return self.create_trajectory_response(400, "Wrong command type")
def create_trajectory_response(status, message, trajectory=None):
trajectory_msg = Trajectory()
if trajectory is not None:
trajectory_msg.trajectory_plan = trajectory.trajectory_plan
trajectory_msg.id = trajectory.id
trajectory_msg.name = trajectory.name
trajectory_msg.description = trajectory.description
return {
'status': status,
'message': message,
'trajectory': trajectory_msg
}
return {'status': status, 'message': message}