def get_service_response_typedef_recursive(servicetype):
""" Returns a list of typedef dicts for this type and all contained type fields """
# Get an instance of the service response class and get its typedef
instance = ros_loader.get_service_response_instance(servicetype)
typedef = _get_typedef(instance)
# Return the list of sub-typedefs
return _get_subtypedefs_recursive(typedef, [])
def get_service_response_typedef_recursive(servicetype):
""" Returns a list of typedef dicts for this type and all contained type fields """
# Get an instance of the service response class and get its typedef
instance = ros_loader.get_service_response_instance(servicetype)
typedef = _get_typedef(instance)
# Return the list of sub-typedefs
return _get_subtypedefs_recursive(typedef, [])
def test_irregular_servicenames(self):
irregular = ["roscpp//GetLoggers", "/roscpp/GetLoggers/",
"/roscpp/GetLoggers", "//roscpp/GetLoggers", "/roscpp//GetLoggers",
"roscpp/GetLoggers//", "/roscpp/GetLoggers//", "roscpp/GetLoggers/",
"roscpp//GetLoggers//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
def test_irregular_servicenames(self):
irregular = ["roscpp//GetLoggers", "/roscpp/GetLoggers/",
"/roscpp/GetLoggers", "//roscpp/GetLoggers", "/roscpp//GetLoggers",
"roscpp/GetLoggers//", "/roscpp/GetLoggers//", "roscpp/GetLoggers/",
"roscpp//GetLoggers//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_response_instance(x), None)
def test_srv_cache(self):
common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
"std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
"sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
"topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
"rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
for x in common:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
self.assertTrue(x in ros_loader._loaded_srvs)
def test_srv_cache(self):
common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
"std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
"sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
"topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
"rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
for x in common:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_response_instance(x), None)
self.assertTrue(x in ros_loader._loaded_srvs)
def service_response(self, message):
# check for the service
service_name = message["service"]
if service_name in self.protocol.external_service_list:
service_handler = self.protocol.external_service_list[service_name]
# parse the message
request_id = message["id"]
values = message["values"]
# create a message instance
resp = ros_loader.get_service_response_instance(service_handler.service_type)
message_conversion.populate_instance(values, resp)
# pass along the response
service_handler.responses[request_id] = resp
else:
self.protocol.log("error", "Service %s has no been advertised externally." % service_name)
def service_response(self, message):
# convert the message into according response instance
# then just put response into singleton list for responses.. the requesting process will find it there and clean up after delivery to client
# get information about the request with the same id as the incoming response
# ..this information gets written into "request_list" by advertise_service.py within "handle_service_request()"
request = self.protocol.request_list[message["request_id"]]
# get module and type
service_module = request["service_module"]
service_type = request["service_type"]
## Create a message instance
inst = ros_loader.get_service_response_instance(service_module+"/"+service_type)
# Populate the instance, propagating any exceptions that may be thrown
message_conversion.populate_instance(message["data"], inst)
# add response instance to response_list
self.response_list[message["request_id"]] = inst
def service_response(self, message):
# convert the message into according response instance
# then just put response into singleton list for responses.. the requesting process will find it there and clean up after delivery to client
# get information about the request with the same id as the incoming response
# ..this information gets written into "request_list" by advertise_service.py within "handle_service_request()"
request = self.protocol.request_list[message["request_id"]]
# get module and type
service_module = request["service_module"]
service_type = request["service_type"]
## Create a message instance
inst = ros_loader.get_service_response_instance(service_module + "/" +
service_type)
# Populate the instance, propagating any exceptions that may be thrown
message_conversion.populate_instance(message["data"], inst)
# add response instance to response_list
self.response_list[message["request_id"]] = inst
def get_service_response_typedef(servicetype):
""" Returns a typedef dict for the service response class for the specified service type """
# Get an instance of the service response class and return its typedef
instance = ros_loader.get_service_response_instance(servicetype)
return _get_typedef(instance)
def get_service_response_typedef(servicetype):
""" Returns a typedef dict for the service response class for the specified service type """
# Get an instance of the service response class and return its typedef
instance = ros_loader.get_service_response_instance(servicetype)
return _get_typedef(instance)
