def ros_action(fn = None, type = None, name = None):
""" The @ros_action decorator.
This decorator is very similar to the standard
:py:meth:`morse.core.services.async_service` decorator. It sets a
class method to be a asynchronous service, exposed as a ROS action of
type `type`.
This decorator can only be used on methods in classes inheriting from
:py:class:`morse.core.object.MorseObjectClass`.
:param callable fn: [automatically set by Python to point to the
decorated function]
:param class type: you MUST set this parameter to define the
type of the ROS action.
:param string name: by default, the name of the service is the name
of the method. You can override it by setting the 'name' argument.
Your ROS action will appear as /component_instance/<name>/...
"""
if not type:
logger.error("You must provide a valid ROS action type when using the " + \
"@ros_action decorator, e.g. @ros_action(type=MyRosAction). Action ignored.")
return
if not hasattr(fn, "__call__"):
return partial(ros_action, type = type, name = name)
fn._ros_action_type = type
return services.service(fn, component = None, name = name, async = True)
def ros_action(fn = None, type = None, name = None):
""" The @ros_action decorator.
This decorator is very similar to the standard
:py:meth:`morse.core.services.async_service` decorator. It sets a
class method to be a asynchronous service, exposed as a ROS action of
type `type`.
This decorator can only be used on methods in classes inheriting from
:py:class:`morse.core.object.Object`.
:param callable fn: [automatically set by Python to point to the
decorated function]
:param class type: you MUST set this parameter to define the
type of the ROS action.
:param string name: by default, the name of the service is the name
of the method. You can override it by setting the 'name' argument.
Your ROS action will appear as /component_instance/<name>/...
"""
if not type:
logger.error("You must provide a valid ROS action type when using the " + \
"@ros_action decorator, e.g. @ros_action(type=MyRosAction). Action ignored.")
return
if not hasattr(fn, "__call__"):
return partial(ros_action, type = type, name = name)
fn._ros_action_type = type
return services.service(fn, component = None, name = name, async = True)
def ros_service(fn=None, type=None, component=None, name=None):
""" The @ros_service decorator.
This decorator is very similar to the standard
:py:meth:`morse.core.services.service` decorator. It sets a free function or
class method to be a (synchronous) service, exposed as a ROS service of
type `type`.
This decorator works both with free function and for methods in
classes inheriting from
:py:class:`morse.core.object.Object`. In the former case,
you must specify a component (your service will belong to this
namespace), in the later case, it is automatically set to the name
of the corresponding MORSE component.
:param callable fn: [automatically set by Python to point to the
decorated function]
:param class type: you MUST set this parameter to define the
type of the ROS action.
:param string component: you MUST set this parameter to define the
name of the component which export the service ONLY for free
functions. Cf explanation above.
:param string name: by default, the name of the service is the name
of the method. You can override it by setting the 'name' argument.
Your ROS service will appear as /<name>
"""
if not type:
logger.error("You must provide a valid ROS action type when using the " + \
"@ros_action decorator, e.g. @ros_action(type=MyRosAction). Service ignored.")
return
if not hasattr(fn, "__call__"):
return partial(ros_service, type=type, component=component, name=name)
fn._ros_service_type = type
return services.service(fn,
component=component,
name=name,
asynchronous=False)
def ros_service(fn=None, type=None, component=None, name=None):
""" The @ros_service decorator.
This decorator is very similar to the standard
:py:meth:`morse.core.services.service` decorator. It sets a free function or
class method to be a (synchronous) service, exposed as a ROS service of
type `type`.
This decorator works both with free function and for methods in
classes inheriting from
:py:class:`morse.core.object.Object`. In the former case,
you must specify a component (your service will belong to this
namespace), in the later case, it is automatically set to the name
of the corresponding MORSE component.
:param callable fn: [automatically set by Python to point to the
decorated function]
:param class type: you MUST set this parameter to define the
type of the ROS action.
:param string component: you MUST set this parameter to define the
name of the component which export the service ONLY for free
functions. Cf explanation above.
:param string name: by default, the name of the service is the name
of the method. You can override it by setting the 'name' argument.
Your ROS service will appear as /<name>
"""
if not type:
logger.error(
"You must provide a valid ROS action type when using the "
+ "@ros_action decorator, e.g. @ros_action(type=MyRosAction). Service ignored."
)
return
if not hasattr(fn, "__call__"):
return partial(ros_service, type=type, component=component, name=name)
fn._ros_service_type = type
return services.service(fn, component=component, name=name, async=False)
