def do_POST(self):
''' The ContextBroker is informing us via one of our subscriptions.
We convert the received content back and publish
it in ROS.
self: The "request" from the Context-Broker
we invoke """RosTopicHandler.publish""" here!
'''
# retreive Data and get the updated information
recData = self.rfile.read(int(self.headers['Content-Length']))
receivedData = json.loads(recData)
data = receivedData['data'][0] # Specific to NGSIv2
jsonData = json.dumps(data)
topics = data.keys() # Convention Topic-Names are the attributes by an JSON Object, except: type, id
# iterate through every 'topic', since we only receive updates from one topic
# Only id, type and 'topicname' are present
for topic in topics:
if topic != 'id' and topic != 'type':
dataStruct = self._buildTypeStruct(data[topic])
# Convert Back into a Python-Object
obj = self.TypeValue()
ObjectFiwareConverter.fiware2Obj(jsonData, obj, setAttr=True, useMetaData=False)
# Publish in ROS
RosTopicHandler.publish(data['id'], topic, getattr(obj, topic), dataStruct)
# Send OK!
self.send_response(204)
self.end_headers() # Python 3 needs an extra end_headers after send_response
def publish(self, topic, rawMsg, msgDefintionDict):
''' This is the actual publish-Routine which updates and creates Entities on the
ContextBroker. It also keeps track via posted_history on already posted entities and topics
topic: a string, corresponding to the topic in ros
rawMsg: the raw data directly obtained from rospy
msgDefintionDict: The Definition as obtained directly from ROS-Messages
We do not need to invoke something special here. This method gets called automatically,
after Firos received a Message from the ROS-World
TODO DL During Runtime an Entitiy might get deleted, check it here!
'''
# Do nothing if no Configuratuion
if self.noConf:
return
# if struct not initilized, intitilize it even on ContextBroker!
if topic not in self.posted_history:
self.posted_history[topic] = rawMsg
obj = {s: getattr(rawMsg, s, None) for s in rawMsg.__slots__}
obj["type"] = rawMsg._type.replace("/", "%2F") # OCB Specific!!
obj["id"] = (topic).replace("/", ".") # OCB Specific!!
jsonStr = ObjectFiwareConverter.obj2Fiware(
obj,
ind=None,
dataTypeDict=msgDefintionDict[topic],
ignorePythonMetaData=True,
encode=True)
response = requests.post(self.CB_BASE_URL,
data=jsonStr,
headers=self.CB_HEADER)
self._responseCheck(response, attrAction=0, topEnt=topic)
return
# Replace previous rawMsg with current one
self.posted_history[topic] = rawMsg
# Create Update-JSON
obj = {s: getattr(rawMsg, s, None) for s in rawMsg.__slots__}
obj["type"] = rawMsg._type.replace("/", "%2F") # OCB Specific!!
obj["id"] = (topic).replace("/", ".") # OCB Specific!!
jsonStr = ObjectFiwareConverter.obj2Fiware(
obj,
ind=None,
dataTypeDict=msgDefintionDict[topic],
ignorePythonMetaData=True,
showIdValue=False,
encode=True)
#print(jsonStr)
# Update attribute on ContextBroker
response = requests.post(self.CB_BASE_URL + obj["id"] + "/attrs",
data=jsonStr,
headers=self.CB_HEADER)
self._responseCheck(response, attrAction=1, topEnt=topic)
def do_POST(self):
''' The ContextBroker is informing us via one of our subscriptions.
We convert the received content back and publish
it in ROS.
self: The "request" from the Context-Broker
we invoke """RosTopicHandler.publish""" here!
'''
# retreive Data and get the updated information
recData = self.rfile.read(int(self.headers['Content-Length']))
receivedData = json.loads(recData)
data = receivedData['data'][0] # Specific to NGSIv2
jsonData = json.dumps(data)
obj = self.TypeValue()
ObjectFiwareConverter.fiware2Obj(jsonData,
obj,
setAttr=True,
useMetaData=False,
encoded=True)
obj.id = obj.id.replace("_slash_", "/")
obj.type = obj.type.replace("_slash_", "/")
objType = obj.type
topic = obj.id
del data["id"]
del data["type"]
tempDict = dict(type=objType, value=data)
dataStruct = self._buildTypeStruct(tempDict)
RosTopicHandler.publish(topic, obj.__dict__, dataStruct)
# # Send OK!
self.send_response(204)
self.end_headers(
) # Python 3 needs an extra end_headers after send_response
def onRobotData(request, action):
''' Returns the actual Content of the last sent Data of this robot onto
the page. No Manipulation is done here. NOTE: only the data the robot published is shown here!
Depending what is written after 'robot', specific content is published
'''
name = request.path[7:]
lastPubData = ROS_SUBSCRIBER_LAST_MESSAGE[name]
lastPubData["type"] = C.CONTEXT_TYPE
lastPubData["id"] = name
json = ObjectFiwareConverter.obj2Fiware(lastPubData,
dataTypeDict=ROS_TOPIC_AS_DICT,
ignorePythonMetaData=True,
ind=0)
# Return the Information provided by the Context-Broker
end_request(request, ('Content-Type', 'application/json'), 200, json)
def onRobotData(request, action):
''' Returns the actual Content of the last sent Data of this robot onto
the page. No Manipulation is done here. NOTE: only the data the robot published is shown here!
Depending what is written after 'robot', specific content is published
'''
name = request.path[6:]
if name in ROS_SUBSCRIBER_LAST_MESSAGE:
lastPubData = ROS_SUBSCRIBER_LAST_MESSAGE[name]
if lastPubData is not None:
obj = {s: getattr(lastPubData, s, None) for s in lastPubData.__slots__}
obj["id"] = name
obj["type"] = lastPubData._type
json = ObjectFiwareConverter.obj2Fiware(obj, dataTypeDict=ROS_TOPIC_AS_DICT[name], ignorePythonMetaData=True, ind=None)
else:
json = ""
else:
json = ""
# Return the Information provided by the Context-Broker
end_request(request, ('Content-Type', 'application/json'), 200, json)
def publish(self, robotID, topic, rawMsg, msgDefintionDict):
''' This is the actual publish-Routine which updates and creates Entities on the
ContextBroker. It also keeps track via posted_history on already posted entities and topics
robotID: A string corresponding to the Robot-Id
topic: Also a string, corresponding to the topic of the robot
rawMsg: the raw data directly obtained from rospy
msgDefintionDict: The Definition as obtained directly from ROS-Messages
We do not need to invoke something special here. This method gets called automatically,
after Firos received a Message from the ROS-World
TODO DL During Runtime an Entitiy might get deleted, check it here!
'''
# Do nothing if no Configuratuion
if self.noConf:
return
# if struct not initilized, intitilize it even on ContextBroker!
if robotID not in self.posted_history:
self.posted_history[robotID] = {}
self.posted_history[robotID]['type'] = C.CONTEXT_TYPE
self.posted_history[robotID]['id'] = robotID
# Intitialize Entitiy/Robot-Construct on ContextBroker
jsonStr = ObjectFiwareConverter.obj2Fiware(
self.posted_history[robotID], ind=0, ignorePythonMetaData=True)
response = requests.post(self.CB_BASE_URL,
data=jsonStr,
headers=self.CB_HEADER)
self._responseCheck(response, attrAction=0, topEnt=robotID)
if topic not in self.posted_history[robotID]:
self.posted_history[robotID][topic] = {}
# Check if descriptions are already added, if not execute again with descriptions!
if 'descriptions' not in self.posted_history[robotID]:
self.posted_history[robotID][
'descriptions'] = self._loadDescriptions(robotID)
if self.posted_history[robotID]['descriptions'] is not None:
self.publish(robotID, 'descriptions',
self.posted_history[robotID]['descriptions'],
None)
# check if previous posted topic type is the same, iff not, we do not post it to the context broker
if (self.posted_history[robotID][topic] != {}
and topic != "descriptions"
and rawMsg._type != self.posted_history[robotID][topic]._type):
Log(
"ERROR",
"Received Msg-Type '{}' but expected '{}' on Topic '{}'".
format(rawMsg._type, self.posted_history[robotID][topic]._type,
topic))
return
# Replace previous rawMsg with current one
self.posted_history[robotID][topic] = rawMsg
# Set Definition-Dict if not set
if msgDefintionDict is None:
msgDefintionDict = {}
# Convert rawMsg
completeJsonStr = ObjectFiwareConverter.obj2Fiware(
self.posted_history[robotID],
ind=0,
dataTypeDict=msgDefintionDict,
ignorePythonMetaData=True)
# format json, so that the contextbroker accepts it.
partJsonStr = json.dumps({topic: json.loads(completeJsonStr)[topic]})
# Update attribute on ContextBroker
response = requests.post(self.CB_BASE_URL + robotID + "/attrs",
data=partJsonStr,
headers=self.CB_HEADER)
self._responseCheck(response, attrAction=1, topEnt=topic)