def callback(self, msg):
if self.binary:
req = StringIO()
msg.serialize(req)
reqs = req.getvalue()
content_type = ROS_MSG_MIMETYPE_WITH_TYPE(self.rostype)
else:
req = msgconv.extract_values(msg)
req['_format'] = 'ros'
reqs = json.dumps(req)
content_type = 'application/json'
wsreq = urllib2.Request(self.url.encode('utf-8'), data=reqs, headers={'Content-Type': content_type})
try:
wsres = urllib2.urlopen(wsreq)
except Exception, e:
print content_type
print reqs
raise e
def callback(self, msg):
if self.binary:
req = StringIO()
msg.serialize(req)
reqs = req.getvalue()
content_type = ROS_MSG_MIMETYPE_WITH_TYPE(self.rostype)
else:
req = msgconv.extract_values(msg)
req['_format'] = 'ros'
reqs = json.dumps(req)
content_type = 'application/json'
wsreq = urllib2.Request(self.url.encode('utf-8'),
data=reqs,
headers={'Content-Type': content_type})
try:
wsres = urllib2.urlopen(wsreq)
except Exception, e:
print content_type
print reqs
raise e
def _handle_get(self, environ, start_response):
path = environ['PATH_INFO']
full = get_query_bool(environ['QUERY_STRING'], 'full')
kwargs = urlparse.parse_qs(environ['QUERY_STRING'],
keep_blank_values=True)
for key in kwargs:
kwargs[key] = kwargs[key][-1]
if self.base_path and path.startswith(self.base_path):
path = path[len(self.base_path):]
json_suffix = '.json'
jsn = False
handler = NullTransform()
last_path = path.split('/')[-1].split('.')
if len(last_path) > 1:
file_type = last_path[-1]
path = path[:-(len(file_type) + 1)]
# cuts suffix ('json') and preceding period
if file_type in mappings:
handler = mappings.get(file_type)
else:
handler = BadTransform()
else:
jsn = get_query_bool(environ['QUERY_STRING'], 'json')
use_ros = environ.get('HTTP_ACCEPT', '').find(ROS_MSG_MIMETYPE) != -1
suffix = get_suffix(path)
# TODO: Figure out what this does
if path == CONFIG_PATH:
dfile = definitions.manifest(self.services,
self.topics,
self.actions,
full=full)
if jsn:
return response_200(start_response,
str(dfile.tojson()),
content_type='application/json')
else:
return response_200(start_response,
dfile.tostring(suppress_formats=True),
content_type='text/plain')
if not suffix:
if not self.topics.has_key(path):
for action_suffix in [
Action.STATUS_SUFFIX, Action.RESULT_SUFFIX,
Action.FEEDBACK_SUFFIX
]:
action_name = path[:-(len(action_suffix) + 1)]
if path.endswith('/' + action_suffix
) and self.actions.has_key(action_name):
action = self.actions[action_name]
msg = action.get(action_suffix)
break
else:
return response_404(start_response)
else:
topic = self.topics[path]
if not topic.allow_sub:
return response_405(start_response)
msg = topic.get()
if handler and handler.valid():
return handler.get(start_response, msg, **kwargs)
elif use_ros:
content_type = ROS_MSG_MIMETYPE
output_data = StringIO()
if msg is not None:
msg.serialize(output_data)
output_data = output_data.getvalue()
else:
content_type = 'application/json'
output_data = msgconv.extract_values(
msg) if msg is not None else None
output_data = json.dumps(output_data)
return response_200(start_response,
output_data,
content_type=content_type)
path = path[:-(len(suffix) + 1)]
if suffix == MSG_PATH and self.topics.has_key(path):
return response_200(start_response,
definitions.get_topic_msg(self.topics[path]),
content_type='text/plain')
elif suffix == SRV_PATH and self.services.has_key(path):
return response_200(start_response,
definitions.get_service_srv(
self.services[path]),
content_type='text/plain')
elif suffix == ACTION_PATH and self.actions.has_key(path):
return response_200(start_response,
definitions.get_action_action(
self.actions[path]),
content_type='text/plain')
elif suffix == CONFIG_PATH:
if self.services.has_key(path):
service_name = path
service = self.services[service_name]
dfile = definitions.describe_service(service_name,
service,
full=full)
if jsn:
return response_200(start_response,
str(dfile.tojson()),
content_type='application/json')
else:
return response_200(start_response,
dfile.tostring(suppress_formats=True),
content_type='text/plain')
elif self.topics.has_key(path):
topic_name = path
topic = self.topics[topic_name]
dfile = definitions.describe_topic(topic_name,
topic,
full=full)
if jsn:
return response_200(start_response,
str(dfile.tojson()),
content_type='application/json')
else:
return response_200(start_response,
dfile.tostring(suppress_formats=True),
content_type='text/plain')
elif self.actions.has_key(path):
action_name = path
action = self.actions[action_name]
dfile = definitions.describe_action(action_name,
action,
full=full)
if jsn:
return response_200(start_response,
str(dfile.tojson()),
content_type='application/json')
else:
return response_200(start_response,
dfile.tostring(suppress_formats=True),
content_type='text/plain')
else:
for suffix in [
Action.STATUS_SUFFIX, Action.RESULT_SUFFIX,
Action.FEEDBACK_SUFFIX, Action.GOAL_SUFFIX,
Action.CANCEL_SUFFIX
]:
if path.endswith('/' + suffix):
path = path[:-(len(suffix) + 1)]
if self.actions.has_key(path):
action_name = path
action = self.actions[action_name]
dfile = definitions.describe_action_topic(
action_name, suffix, action, full=full)
if jsn:
return response_200(
start_response,
str(dfile.tojson()),
content_type='application/json')
else:
return response_200(
start_response,
dfile.tostring(suppress_formats=True),
content_type='text/plain')
return response_404(start_response)
else:
return response_404(start_response)
def _handle_get(self, environ, start_response):
path = environ['PATH_INFO']
full = get_query_bool(environ['QUERY_STRING'], 'full')
kwargs = urlparse.parse_qs(environ['QUERY_STRING'], keep_blank_values=True)
for key in kwargs:
kwargs[key] = kwargs[key][-1]
if self.base_path and path.startswith(self.base_path):
path = path[len(self.base_path):]
json_suffix = '.json'
jsn = False
handler = NullTransform()
last_path = path.split('/')[-1].split('.')
if len(last_path) > 1:
file_type = last_path[-1]
path = path[:-(len(file_type) + 1)]
# cuts suffix ('json') and preceding period
if file_type in mappings:
handler = mappings.get(file_type)
else:
handler = BadTransform()
else:
jsn = get_query_bool(environ['QUERY_STRING'], 'json')
use_ros = environ.get('HTTP_ACCEPT','').find(ROS_MSG_MIMETYPE) != -1
suffix = get_suffix(path)
# TODO: Figure out what this does
if path == CONFIG_PATH:
dfile = definitions.manifest(self.services, self.topics, self.actions, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
if not suffix:
if not self.topics.has_key(path):
for action_suffix in [Action.STATUS_SUFFIX,Action.RESULT_SUFFIX,Action.FEEDBACK_SUFFIX]:
action_name = path[:-(len(action_suffix)+1)]
if path.endswith('/' + action_suffix) and self.actions.has_key(action_name):
action = self.actions[action_name]
msg = action.get(action_suffix)
break
else:
return response_404(start_response)
else:
topic = self.topics[path]
if not topic.allow_sub:
return response_405(start_response)
msg = topic.get()
if handler and handler.valid():
return handler.get(start_response, msg, **kwargs)
elif use_ros:
content_type = ROS_MSG_MIMETYPE
output_data = StringIO()
if msg is not None:
msg.serialize(output_data)
output_data = output_data.getvalue()
else:
content_type = 'application/json'
output_data = msgconv.extract_values(msg) if msg is not None else None
output_data = json.dumps(output_data)
return response_200(start_response, output_data, content_type=content_type)
path = path[:-(len(suffix)+1)]
if suffix == MSG_PATH and self.topics.has_key(path):
return response_200(start_response, definitions.get_topic_msg(self.topics[path]), content_type='text/plain')
elif suffix == SRV_PATH and self.services.has_key(path):
return response_200(start_response, definitions.get_service_srv(self.services[path]), content_type='text/plain')
elif suffix == ACTION_PATH and self.actions.has_key(path):
return response_200(start_response, definitions.get_action_action(self.actions[path]), content_type='text/plain')
elif suffix == CONFIG_PATH:
if self.services.has_key(path):
service_name = path
service = self.services[service_name]
dfile = definitions.describe_service(service_name, service, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
elif self.topics.has_key(path):
topic_name = path
topic = self.topics[topic_name]
dfile = definitions.describe_topic(topic_name, topic, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
elif self.actions.has_key(path):
action_name = path
action = self.actions[action_name]
dfile = definitions.describe_action(action_name, action, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
else:
for suffix in [Action.STATUS_SUFFIX,Action.RESULT_SUFFIX,Action.FEEDBACK_SUFFIX,Action.GOAL_SUFFIX,Action.CANCEL_SUFFIX]:
if path.endswith('/' + suffix):
path = path[:-(len(suffix)+1)]
if self.actions.has_key(path):
action_name = path
action = self.actions[action_name]
dfile = definitions.describe_action_topic(action_name, suffix, action, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
return response_404(start_response)
else:
return response_404(start_response)
def _handle_get(self, environ, start_response):
path = environ['PATH_INFO'][1:]
full = get_query_bool(environ['QUERY_STRING'], 'full')
json_suffix = '.json'
if path.endswith(json_suffix):
path = path[:-len(json_suffix)]
jsn = True
else:
jsn = get_query_bool(environ['QUERY_STRING'], 'json')
use_ros = environ.get('HTTP_ACCEPT','').find(ROS_MSG_MIMETYPE) != -1
suffix = get_suffix(path)
if path == CONFIG_PATH:
dfile = definitions.manifest(self.services, self.topics, self.actions, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
if not suffix:
if not self.topics.has_key(path):
for action_suffix in [Action.STATUS_SUFFIX,Action.RESULT_SUFFIX,Action.FEEDBACK_SUFFIX]:
action_name = path[:-(len(action_suffix)+1)]
if path.endswith('/' + action_suffix) and self.actions.has_key(action_name):
action = self.actions[action_name]
msg = action.get(action_suffix)
break
else:
return response_404(start_response)
else:
topic = self.topics[path]
if not topic.allow_sub:
return response_405(start_response)
msg = topic.get()
if use_ros:
content_type = ROS_MSG_MIMETYPE
output_data = StringIO()
if msg is not None:
msg.serialize(output_data)
output_data = output_data.getvalue()
else:
content_type = 'application/json'
output_data = msgconv.extract_values(msg) if msg is not None else None
output_data = json.dumps(output_data)
return response_200(start_response, output_data, content_type=content_type)
path = path[:-(len(suffix)+1)]
if suffix == MSG_PATH and self.topics.has_key(path):
return response_200(start_response, definitions.get_topic_msg(self.topics[path]), content_type='text/plain')
elif suffix == SRV_PATH and self.services.has_key(path):
return response_200(start_response, definitions.get_service_srv(self.services[path]), content_type='text/plain')
elif suffix == ACTION_PATH and self.actions.has_key(path):
return response_200(start_response, definitions.get_action_action(self.actions[path]), content_type='text/plain')
elif suffix == CONFIG_PATH:
if self.services.has_key(path):
service_name = path
service = self.services[service_name]
dfile = definitions.describe_service(service_name, service, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
elif self.topics.has_key(path):
topic_name = path
topic = self.topics[topic_name]
dfile = definitions.describe_topic(topic_name, topic, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
elif self.actions.has_key(path):
action_name = path
action = self.actions[action_name]
dfile = definitions.describe_action(action_name, action, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
else:
for suffix in [Action.STATUS_SUFFIX,Action.RESULT_SUFFIX,Action.FEEDBACK_SUFFIX,Action.GOAL_SUFFIX,Action.CANCEL_SUFFIX]:
if path.endswith('/' + suffix):
path = path[:-(len(suffix)+1)]
if self.actions.has_key(path):
action_name = path
action = self.actions[action_name]
dfile = definitions.describe_action_topic(action_name, suffix, action, full=full)
if jsn:
return response_200(start_response, str(dfile.tojson()), content_type='application/json')
else:
return response_200(start_response, dfile.tostring(suppress_formats=True), content_type='text/plain')
return response_404(start_response)
else:
return response_404(start_response)
