def _ros_service_get_interaction(self, request):
'''
Handle incoming requests for a single app.
'''
response = interaction_srvs.GetInteractionResponse()
interaction = self._interactions_table.find(request.hash)
if interaction is None:
response.interaction = interaction_msgs.Interaction()
response.result = False
else:
response.interaction = interaction.msg
response.result = True
return response
def load_msgs_from_yaml_file(file_path):
"""
Load interactions from a yaml resource.
:param str file_path: file path of a yaml formatted interactions file (ext=.interactions).
:returns: a list of ros msg interaction specifications
:rtype: rocon_interaction_msgs.Interaction_ []
:raises: :exc:`.YamlResourceNotFoundException` if yaml is not found.
:raises: :exc:`.MalformedInteractionsYaml` if yaml is malformed.
.. include:: weblinks.rst
"""
interactions = []
try:
yaml_filename = file_path
if not os.path.isfile(yaml_filename):
raise YamlResourceNotFoundException(str(e))
except rospkg.ResourceNotFound as e: # resource not found.
raise YamlResourceNotFoundException(str(e))
with open(yaml_filename) as f:
# load the interactions from yaml into a python object
interaction_yaml_objects = yaml.load(f)
# now drop it into message format
for interaction_yaml_object in interaction_yaml_objects:
# convert the parameters from a freeform yaml variable to a yaml string suitable for
# shipping off in ros msgs (where parameters is a string variable)
if 'parameters' in interaction_yaml_object: # it's an optional key
# chomp trailing newlines
interaction_yaml_object['parameters'] = yaml.dump(
interaction_yaml_object['parameters']).rstrip()
interaction = interaction_msgs.Interaction()
try:
genpy.message.fill_message_args(interaction,
interaction_yaml_object)
except genpy.MessageException as e:
raise MalformedInteractionsYaml(
"malformed yaml preventing converting of yaml to interaction msg type [%s]"
% str(e))
interactions.append(interaction)
return interactions
def load_msgs_from_yaml_resource(resource_name):
"""
Load interactions from a yaml resource.
:param resource_name: pkg/filename of a yaml formatted interactions file (ext=.interactions).
:type resource_name: str
:returns: a list of ros msg interaction specifications
:rtype: concert_msgs.Interaction[]
:raises: :exc:`rocon_interactions.YamlResourceNotFoundException,` if yaml is not found.
:raises: :exc:`rocon_interactions.MalformedInteractionsYaml,` if yaml is malformed.
"""
interactions = []
try:
yaml_filename = rocon_python_utils.ros.find_resource_from_string(
resource_name, extension='interactions')
except rospkg.ResourceNotFound as e: # resource not found.
raise YamlResourceNotFoundException(str(e))
with open(yaml_filename) as f:
# load the interactions from yaml into a python object
interaction_yaml_objects = yaml.load(f)
# now drop it into message format
for interaction_yaml_object in interaction_yaml_objects:
# convert the parameters from a freeform yaml variable to a yaml string suitable for
# shipping off in ros msgs (where parameters is a string variable)
if 'parameters' in interaction_yaml_object: # it's an optional key
# chomp trailing newlines
interaction_yaml_object['parameters'] = yaml.dump(
interaction_yaml_object['parameters']).rstrip()
interaction = interaction_msgs.Interaction()
try:
genpy.message.fill_message_args(interaction,
interaction_yaml_object)
except genpy.MessageException as e:
raise MalformedInteractionsYaml(
"malformed yaml preventing converting of yaml to interaction msg type [%s]"
% str(e))
interactions.append(interaction)
return interactions
def load_msgs_from_yaml_file(file_path):
"""
Load interactions from a yaml resource.
:param str file_path: file path of a yaml formatted interactions file (ext=.interactions).
:returns: a list of ros msg pairing-interaction specifications
:rtype: (rocon_interaction_msgs.Pairing[], rocon_interaction_msgs.Interaction [])
:raises: :exc:`.YamlResourceNotFoundException` if yaml is not found.
:raises: :exc:`.MalformedInteractionsYaml` if yaml is malformed.
.. include:: weblinks.rst
"""
pairings = []
interactions = []
try:
yaml_filename = file_path
if not os.path.isfile(yaml_filename):
raise YamlResourceNotFoundException(
str(yaml_filename) + " NOT FOUND")
except rospkg.ResourceNotFound as e: # resource not found.
raise YamlResourceNotFoundException(str(e))
with open(yaml_filename) as f:
# load the interactions from yaml into a python object
yaml_objects = yaml.load(f)
try:
pairing_yaml_objects = yaml_objects['pairings']
for pairing_yaml_object in pairing_yaml_objects:
pairing = interaction_msgs.Pairing()
try:
genpy.message.fill_message_args(pairing,
pairing_yaml_object)
except genpy.MessageException as e:
raise MalformedInteractionsYaml(
"malformed yaml preventing converting of yaml to pairing msg [%s]"
% str(e))
pairings.append(pairing)
except KeyError:
# probably just interactions in this yaml file - not an error, so just continue
pass
try:
interaction_yaml_objects = yaml_objects['interactions']
if interaction_yaml_objects is not None:
# now drop it into message format
for interaction_yaml_object in interaction_yaml_objects:
# convert the parameters from a freeform yaml variable to a yaml string suitable for
# shipping off in ros msgs (where parameters is a string variable)
if 'parameters' in interaction_yaml_object: # it's an optional key
# chomp trailing newlines
interaction_yaml_object['parameters'] = yaml.dump(
interaction_yaml_object['parameters']).rstrip()
interaction = interaction_msgs.Interaction()
try:
genpy.message.fill_message_args(
interaction, interaction_yaml_object)
except genpy.MessageException as e:
raise MalformedInteractionsYaml(
"malformed yaml preventing converting of yaml to interaction msg [%s]"
% str(e))
interactions.append(interaction)
except KeyError:
# probably just pairings in this yaml file - not an error, so just continue
pass
return (pairings, interactions)