def GetInfoHandler(_):
rosmsg = canros.srv.GetNodeInfoResponse()
rosmsg.node_info = canros.copy_uavcan_ros(rosmsg.node_info,
uavcan_node.node_info,
request=False)
setattr(rosmsg.node_info.status, canros.uavcan_id_field_name,
uavcan_node.node_id)
return rosmsg
def handler(event):
ros_req = canros.copy_uavcan_ros(self.Request_Type(),
event.request,
request=True)
setattr(ros_req, canros.uavcan_id_field_name,
event.transfer.source_node_id)
try:
ros_resp = self.ROS_ServiceProxy(ros_req)
except rospy.ServiceException:
return
return canros.copy_ros_uavcan(self.UAVCAN_Type.Response(),
ros_resp,
request=False)
def handler(event):
uavcan_req = canros.copy_ros_uavcan(self.UAVCAN_Type.Request(),
event,
request=True)
q = Queue(maxsize=1)
def callback(event):
q.put(event.response if event else None)
uavcan_id = getattr(event, canros.uavcan_id_field_name)
if uavcan_id == 0:
return
uavcan_node.request(
uavcan_req, uavcan_id, callback,
timeout=1) # Default UAVCAN service timeout is 1 second
uavcan_resp = q.get()
if uavcan_resp is None:
return
return canros.copy_uavcan_ros(self.Response_Type(),
uavcan_resp,
request=False)
def handler(event):
ros_msg = canros.copy_uavcan_ros(self.Type(), event.message)
if self.HasIdFeild:
setattr(ros_msg, canros.uavcan_id_field_name,
event.transfer.source_node_id)
self.ROS_Publisher.publish(ros_msg)