def map(self):
"""Get the associated pose map for this pose.
:return: The Map object.
"""
from fetchcore.resources.maps import Map
return Map.load(self.map_id)
def on_message(ws, message):
"""Handle the incoming WebSocket message.
:param ws: The WebSocketApp which contains a reference to the associated Fetch client.
:param message: The message sent from the server.
"""
try:
# Attempt to parse the message as a JSON object
payload = json.loads(message)['payload']
model = payload['model'].replace('api.', '')
# TODO: check created/modified/deleted and handle differently
# See if we know about this kind of model
resource = None
# TODO: add more models
if model == 'log':
from fetchcore.resources import Log
resource = Log(**payload['data'])
elif model == 'task':
from fetchcore.resources import Task
resource = Task(**payload['data'])
elif model == 'action':
from fetchcore.resources import Action
resource = \
Action.get_action_class(payload['data']['action_definition'])(**payload['data'])
elif model == 'robotstate':
from fetchcore.resources.robots import RobotState
resource = RobotState(**payload['data'])
elif model == 'robot':
from fetchcore.resources.robots import Robot
resource = Robot(**payload['data'])
elif model == 'revision':
from fetchcore.resources.maps import Revision
resource = Revision(**payload['data'])
elif model == 'map':
from fetchcore.resources.maps import Map
try:
# Image must be a dummy string since we don't receive it as part of change
resource = Map(image="", **payload['data'])
except Exception as err:
print "Tried to make a map resource with %s, but got %s" % (
payload['data'], err)
elif model == 'chargesettings':
from fetchcore.resources import ChargeSettings
resource = ChargeSettings(**payload['data'])
elif model == 'hmisettings':
from fetchcore.resources import HMISettings
resource = HMISettings(**payload['data'])
elif model == 'robotsettings':
from fetchcore.resources import RobotSettings
resource = RobotSettings(**payload['data'])
elif model == 'stagesettings':
from fetchcore.resources import StageSettings
resource = StageSettings(**payload['data'])
elif model == 'updatesettings':
from fetchcore.resources import UpdateSettings
resource = UpdateSettings(**payload['data'])
if resource is not None:
for callback in ws.client._callbacks:
callback(
resource,
ResourceActions.__getattribute__(
payload['action'].upper()),
ResourceTypes.__getattribute__(model.upper()))
else:
logging.error("%s responded with unknown model '%s'." %
(ws.url, model))
except (ValueError, KeyError, AttributeError) as e:
logging.error("%s responded with malformed message '%s'. %s" %
(ws.url, message, e))
def map(self):
"""Get the map object that this revision belongs to.
:return: The Map object.
"""
return Map.load(self.map_id)
def map(self):
"""Get the map object for this robot.
:return: The robot's map object.
"""
return None if self.map_id is None else Map.load(self.map_id)