def do_POST(self):
''' The ContextBroker is informing us via one of our subscriptions.
We convert the received content back and publish
it in ROS.
self: The "request" from the Context-Broker
we invoke """RosTopicHandler.publish""" here!
'''
# retreive Data and get the updated information
recData = self.rfile.read(int(self.headers['Content-Length']))
receivedData = json.loads(recData)
data = receivedData['data'][0] # Specific to NGSIv2
jsonData = json.dumps(data)
topics = data.keys() # Convention Topic-Names are the attributes by an JSON Object, except: type, id
# iterate through every 'topic', since we only receive updates from one topic
# Only id, type and 'topicname' are present
for topic in topics:
if topic != 'id' and topic != 'type':
dataStruct = self._buildTypeStruct(data[topic])
# Convert Back into a Python-Object
obj = self.TypeValue()
ObjectFiwareConverter.fiware2Obj(jsonData, obj, setAttr=True, useMetaData=False)
# Publish in ROS
RosTopicHandler.publish(data['id'], topic, getattr(obj, topic), dataStruct)
# Send OK!
self.send_response(204)
self.end_headers() # Python 3 needs an extra end_headers after send_response
def do_POST(self):
''' The ContextBroker is informing us via one of our subscriptions.
We convert the received content back and publish
it in ROS.
self: The "request" from the Context-Broker
we invoke """RosTopicHandler.publish""" here!
'''
# retreive Data and get the updated information
recData = self.rfile.read(int(self.headers['Content-Length']))
receivedData = json.loads(recData)
data = receivedData['data'][0] # Specific to NGSIv2
jsonData = json.dumps(data)
obj = self.TypeValue()
ObjectFiwareConverter.fiware2Obj(jsonData,
obj,
setAttr=True,
useMetaData=False,
encoded=True)
obj.id = obj.id.replace("_slash_", "/")
obj.type = obj.type.replace("_slash_", "/")
objType = obj.type
topic = obj.id
del data["id"]
del data["type"]
tempDict = dict(type=objType, value=data)
dataStruct = self._buildTypeStruct(tempDict)
RosTopicHandler.publish(topic, obj.__dict__, dataStruct)
# # Send OK!
self.send_response(204)
self.end_headers(
) # Python 3 needs an extra end_headers after send_response