def _setupForwarding(clsDict, interface, attr, attrCls):
""" Define all methods declared by the interface. All defined methods will
forward the call to an instance attribute using the same method
signature as the target methods.
@param clsDict: Class dictionary where the created methods are
stored and which can then be used to create the
class. (Modifies the given reference)
@type clsDict: dict
@param interface: Interface which is used to get the names of all the
methods which should be forwarded. The class
created using @param clsDict implements this
interface.
@type interface: zope.interface.Interface
@param attr: The name of the attribute to which the calls will
be forwarded.
@type attr: str
@param attrCls: The class of the attribute to which the calls will
be forwarded. It also has to implement the
interface @param interface.
"""
verifyClass(interface, attrCls)
for name in interface.names():
clsDict[name] = _createForwardingMethod(attr, getattr(attrCls, name))
def registerCommand(self, cmdList):
""" Register a command class which should be used to (de-)serialize
the command which should be added.
@param cmdList: List of command classes which should be
registered.
@type cmdList: [ core.interfaces.ISerializable ]
@raise: util.interfaces.InterfaceError if the command class
does not implement core.interfaces.ISerializable.
"""
for cmd in cmdList:
verifyClass(ISerializable, cmd)
self._cmdCls[cmd.IDENTIFIER] = cmd
def addCustomConverter(self, converter):
""" Register a new custom Converter.
@raise: errors.InternalError, util.interfaces.InterfaceError
"""
verifyClass(IROSConverter, converter)
if converter.MESSAGE_TYPE in self._customTypes:
raise InternalError('There are multiple Converters given for '
'message type "{0}".'.format(
converter.MESSAGE_TYPE))
args = converter.MESSAGE_TYPE.split('/')
if len(args) != 2:
raise InternalError('msg type is not valid. Has to be of the from '
'pkg/msg, i.e. std_msgs/Int8.')
self._customTypes[converter.MESSAGE_TYPE] = (converter,
self._loader.loadMsg(*args))
