def do_gazebo_request(self,
request,
data=None,
dbl_data=None,
msg_id=None):
"""
Convenience wrapper to use `do_request` with a default Gazebo
`Request` message. See that method for more info.
:param request:
:type request: str
:param data:
:param dbl_data:
:param msg_id: Force the message to use this ID. Sequencer is used if no message
ID is specified.
:type msg_id: int
:return:
"""
if msg_id is None:
msg_id = self.get_msg_id()
req = request_pb2.Request()
req.id = msg_id
req.request = request
if data is not None:
req.data = data
if dbl_data is not None:
req.dbl_data = dbl_data
future = yield From(self.do_request(req))
raise Return(future)
def _do_gazebo_request(self, request, data=None, dbl_data=None):
"""
Convenience wrapper to use `do_request` with a default Gazebo
`Request` message. See that method for more info.
:param request:
:type request: str
:param data:
:param dbl_data:
:param msg_id: Force the message to use this ID. Sequencer is used if no message
ID is specified.
:type msg_id: int
:return:
"""
req = request_pb2.Request()
req.id = self.get_unique_id()
req.request = request
if data is not None:
req.data = data
if dbl_data is not None:
req.dbl_data = dbl_data
return self.request_handler.do_request(req)