def on_transfer(self, req):
old_path = [s for s in req.old_path.split("/") if s]
new_path = [s for s in req.new_path.split("/") if s]
success = False
if req.mode == req.MODE_OBJECT:
moved_obj = MapManager.remove_object(old_path)
if moved_obj is not None:
success = MapManager.add_object(new_path, moved_obj)
else:
success = False
elif req.mode == req.MODE_CONTAINER:
rospy.logerr("container transfer not implemented")
elif req.mode == req.MODE_CONTAINER_OBJECTS:
old_ct = MapManager.get_container(old_path)
new_ct = MapManager.get_container(new_path)
if old_ct and new_ct:
new_ct.Elements += old_ct.Elements
old_ct.Elements = []
success = True
rospy.loginfo(
"TRANSFER (from={} to={}): {}".format(req.old_path, req.new_path, success)
)
return static_map.srv.MapTransferResponse(success)
def on_set(self, req):
rospy.loginfo("SET:" + str(req.path))
path = [s for s in req.path.split("/") if s]
obj = self._object_from_msg(req.object)
res_obj = None
success = False
if req.mode == req.MODE_ADD:
success = MapManager.add_object(path, obj)
elif req.mode == req.MODE_REMOVE:
res_obj = MapManager.remove_object(path)
if success or res_obj:
MapManager.Dirty = True
return static_map.srv.MapSetObjectResponse(
success, self._create_object_msg(res_obj)
)