def test_anymsg(self):
# rospy.AnyMsg really only exists at the client level as nothing within
# rospy uses its functionality.
try:
from cStringIO import StringIO
except ImportError:
from io import StringIO
import rospy
import rospy.exceptions
#trip wires against AnyMsg API
m = rospy.AnyMsg()
try:
m.serialize(StringIO())
self.fail("AnyMsg should not allow serialization")
except rospy.exceptions.ROSException:
pass
teststr = 'foostr-%s' % time.time()
m.deserialize(teststr)
self.assertEquals(teststr, m._buff)
#test AnyMsg ctor error checking
try:
m = rospy.AnyMsg('foo')
self.fail("AnyMsg ctor should not allow args")
except:
pass
def _threadedCall(self, msg):
rosMsg = rospy.AnyMsg()
rosMsg._buff = msg
rospy.wait_for_service(self._addr[1], timeout=5)
serviceFunc = rospy.ServiceProxy(self._addr[1], self._srvCls)
return serviceFunc(rosMsg)
def _send(self, msg, msgID, protocol, remoteID):
rosMsg = rospy.AnyMsg()
rosMsg._buff = msg
try:
self._publisher.publish(rosMsg)
except rospy.ROSInterruptException:
pass # TODO: How should the error be returned?
except rospy.ROSSerializationException:
pass # TODO: How should the error be returned?
def _rceCB(self, resp, event):
""" Internally used method to send received message to the ROS
Service as response.
"""
rosResp = rospy.AnyMsg()
if _GZIP_LVL:
rosResp._buff = zlib.decompress(resp.getvalue())
else:
rosResp._buff = resp.getvalue()
event.set(rosResp)
def _rceCB(self, msg):
""" Internally used method to send received messages to the ROS
Publisher.
"""
rosMsg = rospy.AnyMsg()
if _GZIP_LVL:
rosMsg._buff = zlib.decompress(msg.getvalue())
else:
rosMsg._buff = msg.getvalue()
self._pub.publish(rosMsg)
def _send(self, msg, msgID, protocol, remoteID):
rosMsg = rospy.AnyMsg()
rosMsg._buff = msg
try:
with self._pendingLock:
event = self._pending[msgID]
self._pending[msgID] = rosMsg
except KeyError:
return
event.set()
def publish(self, ros_topic, msg_type_str, msg_data):
# Publish a message via ROS
with self._lock:
msg = rospy.AnyMsg()
decomp = zlib.decompress(msg_data)
msg._buff = decomp
if ros_topic not in self._publishers:
self._log.info("Publishing to ROS topic %s", ros_topic)
mtype_cls = roslib.message.get_message_class(msg_type_str)
pub = rospy.Publisher(ros_topic, mtype_cls)
self._publishers[ros_topic] = pub
pub = self._publishers[ros_topic]
pub.publish(msg)
def _rceCB(self, req):
""" Internally used method to send received message to the ROS
Service as request.
"""
rosReq = rospy.AnyMsg()
if _GZIP_LVL:
rosReq._buff = zlib.decompress(req.getvalue())
else:
rosReq._buff = req.getvalue()
rospy.wait_for_service(self._addr, timeout=5)
serviceFunc = rospy.ServiceProxy(self._addr, self._srvCls)
rosResp = serviceFunc(rosReq)
if _GZIP_LVL:
resp = StringIO(zlib.compress(rosResp._buff, _GZIP_LVL))
else:
resp = StringIO(rosResp._buff)
return resp