def remove_remote_service(self, msg):
for i, service in enumerate(self._instances['services']):
if msg.conn_name in service:
service[msg.conn_name]['bridgeservserver'].unregister()
del self._instances['services'][i]
break
return ROSDuctConnectionResponse()
def remove_remote_topic(self, msg):
for i, topic in enumerate(self._instances['topics']):
if msg.conn_name in topic:
topic[msg.conn_name]['rospub'].unregister()
del self._instances['topics'][i]
break
return ROSDuctConnectionResponse()
def add_local_service(self, msg):
rosservprox = rospy.ServiceProxy(
msg.conn_name, get_ROS_class(msg.conn_type, srv=True))
l_to_r_srv_cv = self.create_callback_from_local_to_remote_srv(
msg.conn_name, msg.conn_type, rosservprox)
remote_service_server = self.client.service_server(
msg.alias_name, msg.conn_type, l_to_r_srv_cv)
self._instances['services'].append({
msg.conn_name: {
'rosservprox': rosservprox,
'bridgeservserver': remote_service_server
}
})
return ROSDuctConnectionResponse()
def add_remote_service(self, msg):
remote_service_client = self.client.service_client(
msg.conn_name, msg.conn_type)
r_to_l_serv_cb = self.create_callback_from_remote_to_local_srv(
remote_service_client, msg.conn_name, msg.conn_type)
rosserv = rospy.Service(msg.alias_name,
get_ROS_class(msg.conn_type, srv=True),
r_to_l_serv_cb)
self._instances['services'].append({
msg.conn_name: {
'rosserv': rosserv,
'bridgeservclient': remote_service_client
}
})
return ROSDuctConnectionResponse()
def add_local_topic(self, msg):
bridgepub = self.client.publisher(msg.alias_name,
msg.conn_type,
latch=msg.latch)
cb_l_to_r = self.create_callback_from_local_to_remote(
msg.conn_name, msg.conn_type, bridgepub)
rossub = rospy.Subscriber(msg.conn_name, get_ROS_class(msg.conn_type),
cb_l_to_r)
self._instances['topics'].append(
{msg.conn_name: {
'rossub': rossub,
'bridgepub': bridgepub
}})
return ROSDuctConnectionResponse()
def add_remote_topic(self, msg):
rospub = rospy.Publisher(
msg.alias_name,
get_ROS_class(msg.conn_type),
# SubscribeListener added later
queue_size=1,
latch=msg.latch)
cb_r_to_l = self.create_callback_from_remote_to_local(
msg.conn_name, msg.conn_type, rospub)
subl = self.create_subscribe_listener(msg.conn_name, msg.conn_type,
cb_r_to_l)
rospub.impl.add_subscriber_listener(subl)
self._instances['topics'].append(
{msg.conn_name: {
'rospub': rospub,
'bridgesub': None
}})
return ROSDuctConnectionResponse()
