def _handle_get_capability_spec(self, req):
rospy.loginfo("Servicing request for get capability spec '{0}'...".format(req.capability_spec))
response = GetCapabilitySpecResponse()
for package_name, package_dict in self.spec_file_index.items():
for spec_type in ['capability_interface', 'semantic_capability_interface', 'capability_provider']:
for path in package_dict[spec_type]:
with open(path, 'r') as f:
raw = f.read()
default_provider = ''
# If a capability interface, try to lookup the default provider
iface = None
if spec_type == 'capability_interface':
iface = capability_interface_from_string(raw, path)
if spec_type == 'semantic_capability_interface':
iface = semantic_capability_interface_from_string(raw, path)
if spec_type in ['capability_interface', 'semantic_capability_interface']:
iface.name = '{package}/{name}'.format(package=package_name, name=iface.name)
if iface.name not in self.__default_providers:
default_provider = ''
else:
default_provider = self.__default_providers[iface.name]
if iface and iface.name == req.capability_spec:
response.capability_spec = CapabilitySpec(package_name, spec_type, raw, default_provider)
return response
raise RuntimeError("Could not find requested spec '{0}'".format(req.capability_spec))
def _handle_get_capability_spec(self, req):
rospy.loginfo("Servicing request for get capability spec '{0}'...".format(req.capability_spec))
response = GetCapabilitySpecResponse()
for package_name, package_dict in self.spec_file_index.items():
for spec_type in ['capability_interface', 'semantic_capability_interface', 'capability_provider']:
for path in package_dict[spec_type]:
with open(path, 'r') as f:
raw = f.read()
default_provider = ''
# If a capability interface, try to lookup the default provider
iface = None
if spec_type == 'capability_interface':
iface = capability_interface_from_string(raw, path)
if spec_type == 'semantic_capability_interface':
iface = semantic_capability_interface_from_string(raw, path)
if spec_type in ['capability_interface', 'semantic_capability_interface']:
iface.name = '{package}/{name}'.format(package=package_name, name=iface.name)
if iface.name not in self.__default_providers:
default_provider = ''
else:
default_provider = self.__default_providers[iface.name]
if iface and iface.name == req.capability_spec:
response.capability_spec = CapabilitySpec(package_name, spec_type, raw, default_provider)
return response
raise RuntimeError("Could not find requested spec '{0}'".format(req.capability_spec))
def test_semantic_capability_interface_from_string():
test_file = 'Minimal.yaml'
checker, expected_exception, expected_exception_regex = test_files_map[test_file]
test_file_path = os.path.join(test_data_dir, test_file)
with open(test_file_path, 'r') as f:
with assert_raises_regex(expected_exception, expected_exception_regex):
cp = si.semantic_capability_interface_from_string(f.read())
checker(cp)
def test_semantic_capability_interface_from_string():
test_file = 'Minimal.yaml'
checker, expected_exception, expected_exception_regex = test_files_map[test_file]
test_file_path = os.path.join(test_data_dir, test_file)
with open(test_file_path, 'r') as f:
with assert_raises_regex(expected_exception, expected_exception_regex):
cp = si.semantic_capability_interface_from_string(f.read())
checker(cp)
def _handle_get_capability_specs(self, req):
rospy.loginfo("Servicing request for capability specs...")
response = GetCapabilitySpecsResponse()
for package_name, package_dict in self.spec_file_index.items():
for spec_type in ["capability_interface", "semantic_capability_interface", "capability_provider"]:
for path in package_dict[spec_type]:
with open(path, "r") as f:
raw = f.read()
default_provider = ""
# If a capability interface, try to lookup the default provider
iface = None
if spec_type == "capability_interface":
iface = capability_interface_from_string(raw, path)
if spec_type == "semantic_capability_interface":
iface = semantic_capability_interface_from_string(raw, path)
if spec_type in ["capability_interface", "semantic_capability_interface"]:
iface.name = "{package}/{name}".format(package=package_name, name=iface.name)
if iface.name not in self.__default_providers:
default_provider = ""
else:
default_provider = self.__default_providers[iface.name]
cs = CapabilitySpec(package_name, spec_type, raw, default_provider)
response.capability_specs.append(cs)
return response
def semantic_capability_loader(interface_tuple, package_name, spec_index):
raw, default_provider = interface_tuple
si = semantic_capability_interface_from_string(raw)
si.default_provider = default_provider
spec_index.add_semantic_interface(si, 'service call', package_name)
def semantic_capability_loader(interface_tuple, package_name, spec_index):
raw, default_provider = interface_tuple
si = semantic_capability_interface_from_string(raw)
si.default_provider = default_provider
spec_index.add_semantic_interface(si, 'service call', package_name)
