def register_request_manager_mapping(self, component, request_manager):
"""Adds a mapping between a component and a request manager: all
services exposed by this component are handled by this request manager.
A component may have 0, 1 or more request managers. if more than one,
each request manager can independently invoke the service.
:param string component: the name of the component that use *request_manager*
as request manager.
:param string request_manager: the classpath of the request manager (eg:
'morse.middleware.socket_request_manager.SocketRequestManager',
'morse.middleware.yarp_request_manager.YarpRequestManager',...).
"""
if not request_manager in self._request_managers:
raise MorseServiceError(
"Request manager '%s' has not been registered!" %
request_manager)
instance = self._request_managers[request_manager]
if component in self._service_mappings:
self._service_mappings[component].add(instance)
else:
self._service_mappings[component] = {
instance,
}
def get_request_managers(self, component):
if not component in self._service_mappings:
logger.error("no service manager is available for the " + component + " component! This error " + \
"can have several causes. Maybe you forgot to add the middleware 'empty', or " + \
"you are using a middleware that does not currently support requests. ")
raise MorseServiceError(
"No request manager has been mapped to the component %s" %
component)
return self._service_mappings[component]
def decorated_fn(self, callback, *param):
# Stores in the callback the original calling
# service.
try:
callback.service = decorated_fn
except AttributeError:
raise MorseServiceError(
"Invalid callback for async service. Did you forget to pass the chain callback from an overlay?"
)
self.set_service_callback(callback)
try:
fn(self, *param)
except BaseException as e:
# Failure during service invokation? remove the
# callback and re-raise
self.on_completion = None
raise e
def joint_trajectory_action(self, req):
# Fill a MORSE trajectory structure from ROS JointTrajectory
traj = {}
req = req.trajectory
traj["starttime"] = self._stamp_to_secs(req.header.stamp)
joint_names = req.joint_names
target_joints = self.overlaid_object.local_data.keys()
diff = set(joint_names).difference(set(target_joints))
if diff:
raise MorseServiceError("Trajectory contains unknown joints! %s" %
diff)
points = []
for p in req.points:
point = {}
# Re-order joint values to match the local_data order
pos = dict(zip(joint_names, p.positions))
point["positions"] = [pos[j] for j in target_joints if j in pos]
vel = dict(zip(joint_names, p.velocities))
point["velocities"] = [vel[j] for j in target_joints if j in vel]
acc = dict(zip(joint_names, p.accelerations))
point["accelerations"] = [
acc[j] for j in target_joints if j in acc
]
point["time_from_start"] = self._stamp_to_secs(p.time_from_start)
points.append(point)
traj["points"] = points
logger.info(traj)
self.overlaid_object.trajectory(
self.chain_callback(self.joint_trajectory_action_result), traj)