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.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())
