def _ros_service_set_interactions(self, request):
'''
Add or remove interactions from the interactions table.
Note: uniquely identifying apps by name (not very sane).
@param request list of roles-apps to set
@type concert_srvs.SetInteractionsRequest
'''
if request.load:
interactions = self._bind_dynamic_symbols(request.interactions)
(new_interactions,
invalid_interactions) = self.interactions_table.load(interactions)
for i in new_interactions:
rospy.loginfo("Interactions : loading %s [%s-%s-%s]" %
(i.display_name, i.name, i.role, i.namespace))
for i in invalid_interactions:
rospy.logwarn("Interactions : failed to load %s [%s-%s-%s]" (
i.display_name, i.name, i.role, i.namespace))
else:
removed_interactions = self.interactions_table.unload(
request.interactions)
for i in removed_interactions:
rospy.loginfo("Interactions : unloading %s [%s-%s-%s]" %
(i.display_name, i.name, i.role, i.namespace))
# could check explicitly if roles were added/removed, but this isn't called often, so it's not expensive
# just to republish the list (so long as nothing is assuming there HAS to be state changes this is ok.
self._publish_roles()
# send response
response = interaction_srvs.SetInteractionsResponse()
response.result = True
return response
def _ros_service_set_interactions(self, request):
'''
Add or remove interactions from the interactions table.
Note: uniquely identifying apps by name (not very sane).
@param request list of roles-apps to set
@type concert_srvs.SetInteractionsRequest
'''
if request.load:
interactions = self._bind_dynamic_symbols(request.interactions)
(new_interactions, invalid_interactions
) = self._interactions_table.load(interactions)
for i in new_interactions:
rospy.loginfo("Interactions : loading %s [%s-%s-%s]" %
(i.display_name, i.name, i.role, i.namespace))
for i in invalid_interactions:
rospy.logwarn("Interactions : failed to load %s [%s-%s-%s]" (
i.display_name, i.name, i.role, i.namespace))
else:
removed_interactions = self._interactions_table.unload(
request.interactions)
for i in removed_interactions:
rospy.loginfo("Interactions : unloading %s [%s-%s-%s]" %
(i.display_name, i.name, i.role, i.namespace))
# send response
response = interaction_srvs.SetInteractionsResponse()
response.result = True
return response
def _ros_service_set_interactions(self, request):
'''
Add or remove interactions from the interactions table.
Note: uniquely identifying apps by name (not very sane).
@param request list of roles-apps to set
@type concert_srvs.SetInteractionsRequest
'''
if request.load:
(new_pairings,
invalid_pairings) = self.pairings_table.load(request.pairings)
(new_interactions,
invalid_interactions) = self.interactions_table.load(
request.interactions)
for p in new_pairings:
rospy.loginfo("Interactions : loading %s [%s]" %
(p.name, p.rapp))
for p in invalid_pairings:
rospy.logwarn("Interactions : failed to load %s [%s]" (p.name,
p.rapp))
for i in new_interactions:
rospy.loginfo("Interactions : loading %s [%s-%s-%s]" %
(i.name, i.command, i.group, i.namespace))
for i in invalid_interactions:
rospy.logwarn("Interactions : failed to load %s [%s-%s-%s]" (
i.name, i.command, i.group, i.namespace))
else:
removed_pairings = self._pairings_table.unload(request.pairings)
removed_interactions = self._interactions_table.unload(
request.interactions)
for p in removed_pairings:
rospy.loginfo("Interactions : unloading %s [%s]" %
(p.name, p.rapp))
for i in removed_interactions:
rospy.loginfo("Interactions : unloading %s [%s-%s-%s]" %
(i.name, i.command, i.group, i.namespace))
# send response
response = interaction_srvs.SetInteractionsResponse()
response.result = True
return response