def update_value(self, topic_name, message):
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name in message.__slots__:
self.update_value(topic_name + '/' + slot_name,
getattr(message, slot_name))
elif type(message) in (list, tuple):
if (len(message) > 0) and hasattr(message[0], '__slots__'):
for index, slot in enumerate(message):
if topic_name + '[%d]' % index in self._feedback_nodes:
self.update_value(topic_name + '[%d]' % index, slot)
else:
if topic_name in self._feedback_nodes:
base_type_str, _ = ros_topics._extract_array_info(
self._feedback_nodes[topic_name].text(
self.feedback_type))
self._recursive_create_items(
self._feedback_nodes[topic_name],
topic_name + '[%d]' % index, base_type_str,
slot, None)
# remove obsolete children
if topic_name in self._feedback_nodes:
if len(message) < len(
self._feedback_nodes[topic_name].get_children()):
for i in range(
len(message),
self._feedback_nodes[topic_name].childCount()):
item_topic_name = topic_name + '[%d]' % i
self.recursive_delete_items(
self._feedback_nodes[item_topic_name])
del self._feedback_nodes[item_topic_name]
else:
if topic_name in self._feedback_nodes and self._feedback_nodes[
topic_name] is not None:
self._feedback_nodes[topic_name].set_value(repr(message))
def _recursive_create_feedback_items(self, parent, feedback_topic_name,
type_name, feedback_message):
idx = self.idx
topic_text = feedback_topic_name.split('/')[-1]
if '[' in topic_text:
topic_text = topic_text[topic_text.index('['):]
# This here are 'complex data'
if hasattr(feedback_message, '__slots__') and hasattr(
feedback_message, '_slot_types'):
complex_type = True
new_node = parent.add_object(
ua.NodeId(feedback_topic_name, parent.nodeid.NamespaceIndex,
ua.NodeIdType.String),
ua.QualifiedName(feedback_topic_name,
parent.nodeid.NamespaceIndex))
for slot_name, type_name_child in zip(
feedback_message.__slots__, feedback_message._slot_types):
self._recursive_create_feedback_items(
new_node, feedback_topic_name + '/' + slot_name,
type_name_child, getattr(feedback_message, slot_name))
self._feedback_nodes[feedback_topic_name] = new_node
else:
# This are arrays
base_type_str, array_size = ros_topics._extract_array_info(
type_name)
try:
base_instance = roslib.message.get_message_class(
base_type_str)()
except (ValueError, TypeError):
base_instance = None
if array_size is not None and hasattr(base_instance, '__slots__'):
for index in range(array_size):
self._recursive_create_feedback_items(
parent, feedback_topic_name + '[%d]' % index,
base_type_str, base_instance)
else:
new_node = ros_topics._create_node_with_type(
parent, idx, feedback_topic_name, topic_text, type_name,
array_size)
new_node.set_writable(True)
self._feedback_nodes[feedback_topic_name] = new_node
return