def handle_get(self, request):
""" Handles the get field of a request.
The get field is constructed as follows::
{
'get': {
'obj_name_1': ('var_path_1', 'var_path_2', ...),
'obj_name_2': ('var_path_1', 'var_path_2', ...),
# ...
}
}
For each couple obj_name_1, var_path_1, the handler will get the value corresponding to self.robot.obj_name_1.var_path_1: i.e. if we want to get the present_position and present_speed of the motor named l_knee_y we would use::
{
'get': {
'l_knee_y': ('present_position', 'present_speed'),
}
}
.. note:: The var_path could be complete path, e.g. "skeleton.left_foot.position.x".
"""
answer = defaultdict(dict)
for obj_name, paths in request.iteritems():
obj = getattr(self.robot, obj_name) if obj_name else self.robot
for var_path in paths:
answer[obj_name][var_path] = attrgetter(var_path)(obj)
return answer
def handle_get(self, request):
""" Handles the get field of a request.
The get field is constructed as follows::
{
'get': {
'obj_name_1': ('var_path_1', 'var_path_2', ...),
'obj_name_2': ('var_path_1', 'var_path_2', ...),
# ...
}
}
For each couple obj_name_1, var_path_1, the handler will get the value corresponding to self.robot.obj_name_1.var_path_1: i.e. if we want to get the present_position and present_speed of the motor named l_knee_y we would use::
{
'get': {
'l_knee_y': ('present_position', 'present_speed'),
}
}
.. note:: The var_path could be complete path, e.g. "skeleton.left_foot.position.x".
"""
answer = defaultdict(dict)
for obj_name, paths in request.iteritems():
obj = getattr(self.robot, obj_name) if obj_name else self.robot
for var_path in paths:
answer[obj_name][var_path] = attrgetter(var_path)(obj)
return answer
def handle_call(self, request):
""" Handles the call field of a request.
The call field is constructed as follows::
'call': {
'obj_name_1': {'meth_path_1': (arg1, arg2, ...),
'meth_path_2': (arg1, arg2, ...),
...
},
'obj_name_2': {'meth_path_1': (arg1, arg2, ...),
'meth_path_2': (arg1, arg2, ...),
...
},
...
}
For each tuple obj_name_1, meth_path_1 and args the handler will call the corresponding method of the object with the args: i.e. if we want to call the switch_mode method of a primitive named 'balance' to switch to the third mode we would use::
'call': {
'balance': {'switch_mode': (3, )}
}
.. note:: To call a method without argument juste use an empty list as args::
'call': {'balance': {'start': ()}}
"""
answer = defaultdict(dict)
for obj_name, meth_pairs in request.iteritems():
obj = getattr(self.robot, obj_name)
for meth, args in meth_pairs.iteritems():
f = attrgetter(meth)(obj)
answer[obj_name][meth] = f(args) if args else f()
return answer
def handle_call(self, request):
""" Handles the call field of a request.
The call field is constructed as follows::
'call': {
'obj_name_1': {'meth_path_1': (arg1, arg2, ...),
'meth_path_2': (arg1, arg2, ...),
...
},
'obj_name_2': {'meth_path_1': (arg1, arg2, ...),
'meth_path_2': (arg1, arg2, ...),
...
},
...
}
For each tuple obj_name_1, meth_path_1 and args the handler will call the corresponding method of the object with the args: i.e. if we want to call the switch_mode method of a primitive named 'balance' to switch to the third mode we would use::
'call': {
'balance': {'switch_mode': (3, )}
}
.. note:: To call a method without argument juste use an empty list as args::
'call': {'balance': {'start': ()}}
"""
answer = defaultdict(dict)
for obj_name, meth_pairs in request.iteritems():
obj = getattr(self.robot, obj_name)
for meth, args in meth_pairs.iteritems():
f = attrgetter(meth)(obj)
answer[obj_name][meth] = f(*args) if args else f()
return answer