def publish(self, msg_data):
#rospy.loginfo('json_wrapper publish ' + str(msg_data['topic_name']))
(msg, msg_cls) = self.decode_json_message(msg_data['msg_path'],
msg_data)
publisher = get_publisher(msg_data['topic_name'], msg_cls)
publisher.publish(msg)
return JSONWrapperResponse()
def unsubscribe(self, msg_data):
try:
topic_name = msg_data['topic_name']
subscriber = self.ros_subscriber[topic_name]
subscriber.unregister()
del self.ros_subscriber[topic_name]
except:
pass
return JSONWrapperResponse()
def service(self, request_data):
# TODO: also include a status field in response
srv_module = self.get_service_module(request_data['service_path'])
module_name = request_data['service_path'].split('/')[-1]
srv_cls = getattr(srv_module, module_name)
req_cls = getattr(srv_module, module_name + 'Request')
res_cls = getattr(srv_module, module_name + 'Response')
# instantiate the message
request = req_cls()
self.assign_slots(request, request_data)
# get a service handle
srv = self.get_service(request_data['service_name'], srv_cls)
# send it
response = JSONWrapperResponse()
try:
srv_response = srv(request)
response.json_data = self.read_slots(res_cls, srv_response)
except:
response.json_data = ''
# return the json encoded response
return response
def publish(self, msg_data):
(msg, msg_cls) = self.decode_json_message(msg_data['msg_path'],
msg_data)
publisher = self.get_publisher(msg_data['topic_name'], msg_cls)
publisher.publish(msg)
return JSONWrapperResponse()
def subscribe(self, msg_data):
# TODO: won't work at the moment when there are
# subscribers of the same topic
msg_cls = self.get_msg_class(msg_data['msg_path'])
self.get_subscriber(msg_data['topic_name'], msg_cls)
return JSONWrapperResponse()
def action(self, request_data):
#rospy.loginfo('json_wrapper action')
# TODO implement
return JSONWrapperResponse()