def callback(request):
if not isinstance(request, AddTwoIntsRequest): return
a = request.a
b = request.b
# 业务逻辑处理
c = a + b
response = AddTwoIntsResponse()
response.sum = c
return response
def my_callback(request):
h = request.a
w = request.b
if (h < 10 or w < 10):
return AddTwoIntsResponse()
global d
if (h > w):
d = h / float(34)
else:
d = w / float(34)
global pose_result
global roll, pitch, yaw
orientation_q = pose_result.orientation
orientation_list = [
orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w
]
(roll, pitch, yaw) = euler_from_quaternion(orientation_list)
bottle_pos = Point()
bottle_pos.x = d * math.cos(yaw) + pose_result.position.x
bottle_pos.y = d * math.sin(yaw) + pose_result.position.y
bottle_pos.z = 0
print("--------------")
print("h: " + str(h))
print("w: " + str(w))
print("d: " + str(d))
print("yaw: " + str(yaw))
print("x: " + str(pose_result.position.x))
print("y: " + str(pose_result.position.y))
print("bx: " + str(bottle_pos.x))
print("by: " + str(bottle_pos.y))
global liste
th = 2
for pos in liste:
if (bottle_pos.x - th < pos.x < bottle_pos.x + th):
if (bottle_pos.y - th < pos.y < bottle_pos.y + th):
return AddTwoIntsResponse()
liste.append(bottle_pos)
pub.publish(bottle_pos)
return AddTwoIntsResponse()
def handle_request(self, req):
if 'cookies' in req._connection_header:
print("GOT", req._connection_header['cookies'])
self.success = req._connection_header['cookies'] == 'peanut butter'
return AddTwoIntsResponse(3)
def handle_add_two_ints(req):
print "Returning [%s + %s = %s]" % (req.a, req.b, (req.a + req.b))
return AddTwoIntsResponse(req.a + req.b)