def recursive_create_objects(self, topic_name, idx, parent):
rospy.logdebug("reached parent object creation! current parent: " + str(parent))
hierachy = topic_name.split('/')
rospy.logdebug("Current hierachy: " + str(hierachy))
if len(hierachy) == 0 or len(hierachy) == 1:
return parent
for name in hierachy:
rospy.logdebug("current name: " + str(name))
if name != '':
try:
nodewithsamename = self.server.find_action_node_with_same_name(name, idx)
if nodewithsamename is not None:
rospy.logdebug("Found node with same name, is now new parent")
return self.recursive_create_objects(ros_server.nextname(hierachy, hierachy.index(name)), idx,
nodewithsamename)
else:
# if for some reason 2 services with exactly same name are created use hack>: add random int, prob to hit two
# same ints 1/10000, should be sufficient
newparent = parent.add_object(
ua.NodeId(name, parent.nodeid.NamespaceIndex, ua.NodeIdType.String),
ua.QualifiedName(name, parent.nodeid.NamespaceIndex))
return self.recursive_create_objects(ros_server.nextname(hierachy, hierachy.index(name)), idx,
newparent)
# thrown when node with parent name is not existent in server
except IndexError, UaError:
newparent = parent.add_object(
ua.NodeId(name + str(random.randint(0, 10000)), parent.nodeid.NamespaceIndex,
ua.NodeIdType.String),
ua.QualifiedName(name, parent.nodeid.NamespaceIndex))
return self.recursive_create_objects(ros_server.nextname(hierachy, hierachy.index(name)), idx,
newparent)
def recursive_create_objects(self, name, idx, parent):
hierachy = name.split('/')
if len(hierachy) == 0 or len(hierachy) == 1:
return parent
for name in hierachy:
if name != '':
try:
nodewithsamename = self.server.find_service_node_with_same_name(
name, idx)
rospy.logdebug("nodewithsamename for name: " + str(name) +
" is : " + str(nodewithsamename))
if nodewithsamename is not None:
rospy.logdebug("recursive call for same name for: " +
name)
return self.recursive_create_objects(
ros_server.nextname(hierachy,
hierachy.index(name)), idx,
nodewithsamename)
else:
newparent = parent.add_object(
ua.NodeId(name, parent.nodeid.NamespaceIndex,
ua.NodeIdType.String),
ua.QualifiedName(name,
parent.nodeid.NamespaceIndex))
return self.recursive_create_objects(
ros_server.nextname(hierachy,
hierachy.index(name)), idx,
newparent)
except IndexError, common.uaerrors.UaError:
newparent = parent.add_object(
ua.NodeId(name + str(random.randint(0, 10000)),
parent.nodeid.NamespaceIndex,
ua.NodeIdType.String),
ua.QualifiedName(name, parent.nodeid.NamespaceIndex))
return self.recursive_create_objects(
ros_server.nextname(hierachy, hierachy.index(name)),
idx, newparent)