def publish(self, message):
# Do basic type checking
self.basic_type_check(message, self.publish_msg_fields)
topic = message["topic"]
latch = message.get("latch", False)
queue_size = message.get("queue_size", 100)
if Publish.topics_glob is not None and Publish.topics_glob:
self.protocol.log("debug", "Topic security glob enabled, checking topic: " + topic)
match = False
for glob in Publish.topics_glob:
if (fnmatch.fnmatch(topic, glob)):
self.protocol.log("debug", "Found match with glob " + glob + ", continuing publish...")
match = True
break
if not match:
self.protocol.log("warn", "No match found for topic, cancelling publish to: " + topic)
return
else:
self.protocol.log("debug", "No topic security glob, not checking publish.")
# Register as a publishing client, propagating any exceptions
client_id = self.protocol.client_id
manager.register(client_id, topic, latch=latch, queue_size=queue_size)
self._published[topic] = True
# Get the message if one was provided
msg = message.get("msg", {})
# Publish the message
manager.publish(client_id, topic, msg, latch=latch, queue_size=queue_size)
def publish(self, message):
# Do basic type checking
self.basic_type_check(message, self.publish_msg_fields)
topic = message["topic"]
latch = message.get("latch", False)
queue_size = message.get("queue_size", 100)
if Publish.topics_glob is not None and Publish.topics_glob:
self.protocol.log("debug", "Topic security glob enabled, checking topic: " + topic)
match = False
for glob in Publish.topics_glob:
if (fnmatch.fnmatch(topic, glob)):
self.protocol.log("debug", "Found match with glob " + glob + ", continuing publish...")
match = True
break
if not match:
self.protocol.log("warn", "No match found for topic, cancelling publish to: " + topic)
return
else:
self.protocol.log("debug", "No topic security glob, not checking publish.")
# Register as a publishing client, propagating any exceptions
client_id = self.protocol.client_id
manager.register(client_id, topic, latch=latch, queue_size=queue_size)
self._published[topic] = True
# Get the message if one was provided
msg = message.get("msg", {})
# Publish the message
manager.publish(client_id, topic, msg, latch=latch, queue_size=queue_size)
def publish(self, message):
# Do basic type checking
self.basic_type_check(message, self.publish_msg_fields)
topic = message["topic"]
latch = message.get("latch", False)
queue_size = message.get("queue_size", 100)
if Publish.topics_glob is not None and Publish.topics_glob:
self.protocol.log("debug", "Topic security glob enabled, checking topic: " + topic)
match = False
for glob in Publish.topics_glob:
if (fnmatch.fnmatch(topic, glob)):
self.protocol.log("debug", "Found match with glob " + glob + ", continuing publish...")
match = True
break
if not match:
self.protocol.log("warn", "No match found for topic, cancelling publish to: " + topic)
return
else:
self.protocol.log("debug", "No topic security glob, not checking publish.")
if self.is_permitted(topic,
self.protocol.advertisement_wl,
self.protocol.advertisement_bl):
# Register as a publishing client, propagating any exceptions
client_id = self.protocol.client_id
manager.register(client_id, topic, latch=latch, queue_size=queue_size)
self._published[topic] = True
# Publish the message
manager.publish(client_id, topic, msg, latch=latch, queue_size=queue_size)
else:
rospy.logwarn("dropping publishing of topic because it is invalid: %s not allowed", topic)
def register_advertisement(self,
msg_type,
adv_id=None,
latch=False,
queue_size=100):
# Register with the publisher manager, propagating any exception
manager.register(self.client_id,
self.topic,
msg_type,
latch=latch,
queue_size=queue_size)
self.clients[adv_id] = True
def publish(self, message):
# Do basic type checking
self.basic_type_check(message, self.publish_msg_fields)
topic = message["topic"]
# Register as a publishing client, propagating any exceptions
client_id = self.protocol.client_id
manager.register(client_id, topic)
self._published[topic] = True
# Get the message if one was provided
msg = message.get("msg", {})
# Publish the message
manager.publish(client_id, topic, msg)
def publish(self, message):
# Do basic type checking
self.basic_type_check(message, self.publish_msg_fields)
topic = message["topic"]
latch = message.get("latch", False)
queue_size = message.get("queue_size", 100)
# Register as a publishing client, propagating any exceptions
client_id = self.protocol.client_id
manager.register(client_id, topic, latch=latch, queue_size=queue_size)
self._published[topic] = True
# Get the message if one was provided
msg = message.get("msg", {})
# Publish the message
manager.publish(client_id, topic, msg, latch=latch, queue_size=queue_size)
def register_advertisement(self, msg_type, adv_id=None):
# Register with the publisher manager, propagating any exception
manager.register(self.client_id, self.topic, msg_type)
self.clients[adv_id] = True
def register_advertisement(self, msg_type, adv_id=None, latch=False, queue_size=100):
# Register with the publisher manager, propagating any exception
manager.register(self.client_id, self.topic, msg_type, latch=latch, queue_size=queue_size)
self.clients[adv_id] = True
