def registerService(self, caller_id, service, service_api, caller_api):
"""
Forked from ROSMasterHandler.
Register the caller as a provider of the specified service.
0. If service is `remote-only`, register with ROS Master
1. If Service is `local-only`, register with current shadow instance.
2. Otherwise, register with both sides.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: Fully-qualified name of service
@type service: str
@param service_api: Service URI
@type service_api: str
@param caller_api: XML-RPC URI of caller node
@type caller_api: str
@return: (code, message, ignore)
@rtype: (int, str, int)
"""
cfg = swcfg.services.get_config(service)
if not cfg.is_local_only():
self._reg_remote_service(caller_id, service, service_api,
caller_api)
if not cfg.is_remote_only():
self._reg_local_service(caller_id, service, service_api,
caller_api)
return ResponseFactory.service_reg(caller_id, service).pack()
def registerService(self, caller_id, service, service_api, caller_api):
"""
Forked from ROSMasterHandler.
Register the caller as a provider of the specified service.
0. If service is `remote-only`, register with ROS Master
1. If Service is `local-only`, register with current shadow instance.
2. Otherwise, register with both sides.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: Fully-qualified name of service
@type service: str
@param service_api: Service URI
@type service_api: str
@param caller_api: XML-RPC URI of caller node
@type caller_api: str
@return: (code, message, ignore)
@rtype: (int, str, int)
"""
cfg = swcfg.services.get_config(service)
if not cfg.is_local_only():
self._reg_remote_service(caller_id, service, service_api, caller_api)
if not cfg.is_remote_only():
self._reg_local_service(caller_id, service, service_api, caller_api)
return ResponseFactory.service_reg(caller_id, service).pack()
def regCell(self, service, service_uri, daemon_uri):
with self.record_lock:
self.records[service].insert(service_uri, daemon_uri)
return ResponseFactory.service_reg(daemon_uri, service).pack()
