class HMMRepROSServer(object):
"""This class provides a service for all requests specified in
'qsrrep_lib.rep_io.available_services'. The service name will be the key
of the entry."""
def __init__(self, name):
"""
:param name: The name of the node
"""
rospy.logdebug("[" + rospy.get_name() + "]: " + "Starting ")
self._lib = ProbRepLib()
self.services = {}
for namespace, services in ServiceManager.available_services.items():
# Automatically creating a service for all the entries in 'qsrrep_lib.rep_io.available_services'
# Passing the key of the dict entry to the service to identify the right function to call
for i, service in enumerate(services):
# The outer lambda function creates a new scope for the inner lambda function
# This is necessary to preserve the value of k, otherwise it will have the same value for all services
# x will be substituded by the service request
rospy.logdebug("[" + rospy.get_name() + "]: " +
"Creating service: [" + namespace + "][" +
service + "]")
self.services[service] = rospy.Service(
"~" + namespace + "/" + service, QSRProbRep,
(lambda a, b: lambda x: self.callback(x, a, b))(namespace,
service))
rospy.logdebug("[" + rospy.get_name() + "]: " + "Created")
rospy.logdebug("[" + rospy.get_name() + "]: " + "Done")
def callback(self, req, rep, srv_type):
r = ServiceManager.available_services[rep][srv_type][0](
**json.loads(req.data))
rr = self._lib.request(r)
dat = rr.get()
ans = QSRProbRepResponse(data=dat)
return ans
class HMMRepROSServer(object):
"""This class provides a service for all requests specified in
'qsrrep_lib.rep_io.available_services'. The service name will be the key
of the entry."""
def __init__(self, name):
"""
:param name: The name of the node
"""
rospy.loginfo("Starting %s" % name)
self._hmm_lib = ProbRepLib()
self._hmm_lib.print_hmms_available()
self.services = {}
# Automatically creating a service for all the entries in 'qsrrep_lib.rep_io.available_services'
# Passing the key of the dict entry to the service to identify the right function to call
for i, k in enumerate(available_services.keys()):
# The outer lambda function creates a new scope for the inner lambda function
# This is necessary to preserve the value of k, otherwise it will have the same value for all services
# x will be substituded by the service request
self.services[k] = rospy.Service(
"~" + k, QSRProbRep,
(lambda b: lambda x: self.callback(x, b))(k))
def callback(self, req, srv_type):
r = available_services[srv_type][0](qsr_type=req.qsr_type,
**json.loads(req.data))
return QSRProbRepResponse(qsr_type=req.qsr_type,
data=self._hmm_lib.request(r).get())
class HMMRepROSServer(object):
"""This class provides a service for all requests specified in
'qsrrep_lib.rep_io.available_services'. The service name will be the key
of the entry."""
def __init__(self, name):
"""
:param name: The name of the node
"""
rospy.logdebug( "[" + rospy.get_name() + "]: " + "Starting " )
self._lib = ProbRepLib()
self.services = {}
for namespace, services in ServiceManager.available_services.items():
# Automatically creating a service for all the entries in 'qsrrep_lib.rep_io.available_services'
# Passing the key of the dict entry to the service to identify the right function to call
for i, service in enumerate(services):
# The outer lambda function creates a new scope for the inner lambda function
# This is necessary to preserve the value of k, otherwise it will have the same value for all services
# x will be substituded by the service request
rospy.logdebug( "[" + rospy.get_name() + "]: " + "Creating service: ["+namespace+"]["+service+"]" )
self.services[service] = rospy.Service("~"+namespace+"/"+service, QSRProbRep, (lambda a,b: lambda x: self.callback(x, a, b))(namespace,service))
rospy.logdebug( "[" + rospy.get_name() + "]: " + "Created" )
rospy.logdebug( "[" + rospy.get_name() + "]: " + "Done" )
def callback(self, req, rep, srv_type):
r = ServiceManager.available_services[rep][srv_type][0](**json.loads(req.data))
rr = self._lib.request(r)
dat = rr.get()
ans = QSRProbRepResponse(data=dat)
return ans
class HMMRepROSServer(object):
"""This class provides a service for all requests specified in
'qsrrep_lib.rep_io.available_services'. The service name will be the key
of the entry."""
def __init__(self, name):
"""
:param name: The name of the node
"""
rospy.loginfo("Starting %s" % name)
self._hmm_lib = ProbRepLib()
self._hmm_lib.print_hmms_available()
self.services = {}
# Automatically creating a service for all the entries in 'qsrrep_lib.rep_io.available_services'
# Passing the key of the dict entry to the service to identify the right function to call
for i, k in enumerate(available_services.keys()):
# The outer lambda function creates a new scope for the inner lambda function
# This is necessary to preserve the value of k, otherwise it will have the same value for all services
# x will be substituded by the service request
self.services[k] = rospy.Service("~"+k, QSRProbRep, (lambda b: lambda x: self.callback(x, b))(k))
def callback(self, req, srv_type):
r = available_services[srv_type][0](qsr_type=req.qsr_type, **json.loads(req.data))
return QSRProbRepResponse(qsr_type=req.qsr_type, data=self._hmm_lib.request(r).get())