def call_service_util(service_name, service_args, service_class=None):
rospy.init_node('rosservice', anonymous=True, disable_signals=True)
if service_class is None:
service_class = get_service_class_by_name(service_name)
request = service_class._request_class()
try:
now = rospy.get_rostime()
keys = {'now': now, 'auto': std_msgs.msg.Header(stamp=now)}
genpy.message.fill_message_args(request, service_args, keys=keys)
except genpy.MessageException as e:
def argsummary(args):
if type(args) in [tuple, list]:
return '\n'.join(
[' * %s (type %s)' % (a, type(a).__name__) for a in args])
else:
return ' * %s (type %s)' % (args, type(args).__name__)
raise ROSServiceException(
"Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"
% (e, argsummary(service_args),
genpy.message.get_printable_message_args(request)))
try:
return request, rospy.ServiceProxy(service_name,
service_class)(request)
except rospy.ServiceException as e:
raise ROSServiceException(str(e))
except genpy.SerializationError as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
def call_service_util(service_name, service_args, service_class=None):
rospy.init_node('rosservice', anonymous=True, disable_signals=True)
if service_class is None:
service_class = get_service_class_by_name(service_name)
request = service_class._request_class()
try:
now = rospy.get_rostime()
keys = {'now': now, 'auto': std_msgs.msg.Header(stamp=now) }
genpy.message.fill_message_args(request, service_args, keys=keys)
except genpy.MessageException as e:
def argsummary(args):
if type(args) in [tuple, list]:
return '\n'.join([' * %s (type %s)'%(a, type(a).__name__) for a in args])
else:
return ' * %s (type %s)'%(args, type(args).__name__)
raise ROSServiceException("Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"%(e, argsummary(service_args), genpy.message.get_printable_message_args(request)))
try:
return request, rospy.ServiceProxy(service_name, service_class)(request)
except rospy.ServiceException as e:
raise ROSServiceException(str(e))
except genpy.SerializationError as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
def test_get_srv_text(self):
d = get_test_path()
srv_d = os.path.join(d, 'srv')
with open(os.path.join(srv_d, 'RossrvA.srv'), 'r') as f:
text = f.read()
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvA', raw=False))
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvA', raw=True))
# std_msgs/empty / std_msgs/empty
with open(os.path.join(srv_d, 'RossrvB.srv'), 'r') as f:
text = f.read()
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvB', raw=False))
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvB', raw=True))
def test_get_srv_text(self):
d = get_test_path()
srv_d = os.path.join(d, 'srv')
with open(os.path.join(srv_d, 'RossrvA.srv'), 'r') as f:
text = f.read()
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvA', raw=False))
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvA', raw=True))
# std_msgs/empty / std_msgs/empty
with open(os.path.join(srv_d, 'RossrvB.srv'), 'r') as f:
text = f.read()
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvB', raw=False))
self.assertEquals(text, rosmsg.get_srv_text('test_ros/RossrvB', raw=True))
def call_service(service_name, service_args, service_class=None):
"""
Call the specified service_name
@param service_name: fully-resolved name of service to call
@type service_name: str
@param service_args: args to pass to service
@type service_args: [any]
@param service_class: (optional) service type class. If this
argument is provided, it saves a probe call against the service
@type service_class: Message class
@return: service request, service response
@rtype: Message, Message
@raise ROSServiceException: if call command cannot be executed
"""
# can't use time w/o being a node. We could optimize this by
# search for the now/auto keywords first
import std_msgs.msg
rospy.init_node('rosservice', anonymous=True)
if service_class is None:
service_class = get_service_class_by_name(service_name)
request = service_class._request_class()
try:
now = rospy.get_rostime()
keys = {'now': now, 'auto': std_msgs.msg.Header(stamp=now)}
genpy.message.fill_message_args(request, service_args, keys=keys)
except genpy.MessageException as e:
def argsummary(args):
if type(args) in [tuple, list]:
return '\n'.join(
[' * %s (type %s)' % (a, type(a).__name__) for a in args])
else:
return ' * %s (type %s)' % (args, type(args).__name__)
raise ROSServiceException(
"Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"
% (e, argsummary(service_args),
genpy.message.get_printable_message_args(request)))
try:
return request, rospy.ServiceProxy(service_name,
service_class)(request)
except rospy.ServiceException as e:
raise ROSServiceException(str(e))
except genpy.SerializationError as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
def show(*args):
# TODO: provide plugin?
if not args:
raise ValueError("show requires an argument")
arg = args[0]
if hasattr(arg, '_show'):
return arg._show()
# duck-type check for generated services
elif isinstance(arg, type) and hasattr(arg, '_request_class') and hasattr(arg, '_response_class'):
print rosmsg.get_srv_text(arg._type)
# duck-type check for generated messages
elif isinstance(arg, type) and hasattr(arg, '_slot_types'):
print rosmsg.get_msg_text(arg._type)
else:
raise ValueError("unknown show arg: %s: %s"%(type(arg), arg))
def test_get_srv_text(self):
d = get_test_path()
srv_d = os.path.join(d, 'srv')
test_srv_package = 'test_rosmaster'
rospack = rospkg.RosPack()
srv_raw_d = os.path.join(rospack.get_path(test_srv_package), 'srv')
for t in ['RossrvA', 'RossrvB']:
with open(os.path.join(srv_d, '%s.srv'%t), 'r') as f:
text = f.read()
with open(os.path.join(srv_raw_d, '%s.srv'%t), 'r') as f:
text_raw = f.read()
type_ = test_srv_package+'/'+t
self.assertEquals(text, rosmsg.get_srv_text(type_, raw=False))
self.assertEquals(text_raw, rosmsg.get_srv_text(type_, raw=True))
def _rightclick_menu(self, event):
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
selected = self.messages_tree.selectedIndexes()
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if self._mode == rosmsg.MODE_MSG:
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException, e:
QMessageBox.warning(
self, self.tr('Warning'),
self.
tr('The selected item component does not have text to view.'
))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext))
self._browsers[-1].show()
def __str__(self):
if self._type is None:
self._init_type()
if self._type is None:
return self._ns
else:
return rosmsg.get_srv_text(self._type._type)
def test_get_srv_text(self):
d = get_test_path()
srv_d = os.path.join(d, 'srv')
test_srv_package = 'diagnostic_msgs'
rospack = rospkg.RosPack()
srv_raw_d = os.path.join(rospack.get_path(test_srv_package), 'srv')
for t in ['AddDiagnostics', 'SelfTest']:
with open(os.path.join(srv_d, '%s.srv'%t), 'r') as f:
text = f.read()
with open(os.path.join(srv_raw_d, '%s.srv'%t), 'r') as f:
text_raw = f.read()
type_ = test_srv_package+'/'+t
self.assertEquals(text, rosmsg.get_srv_text(type_, raw=False))
self.assertEquals(text_raw, rosmsg.get_srv_text(type_, raw=True))
def get_srv_fields(srv_name, rospack=None):
lines = rosmsg.get_srv_text(srv_name, False, rospack).splitlines()
sep = '---'
if sep not in lines:
raise ValueError('bad srv definition')
i = lines.index(sep)
return get_fields(lines[:i]), get_fields(lines[i + 1:])
def call_service(service_name, service_args, service_class=None):
"""
Call the specified service_name
@param service_name: fully-resolved name of service to call
@type service_name: str
@param service_args: args to pass to service
@type service_args: [any]
@param service_class: (optional) service type class. If this
argument is provided, it saves a probe call against the service
@type service_class: Message class
@return: service request, service response
@rtype: Message, Message
@raise ROSServiceException: if call command cannot be executed
"""
# can't use time w/o being a node. We could optimize this by
# search for the now/auto keywords first
import std_msgs.msg
rospy.init_node('rosservice', anonymous=True)
if service_class is None:
service_class = get_service_class_by_name(service_name)
request = service_class._request_class()
try:
now = rospy.get_rostime()
keys = { 'now': now, 'auto': std_msgs.msg.Header(stamp=now) }
genpy.message.fill_message_args(request, service_args, keys=keys)
except genpy.MessageException as e:
def argsummary(args):
if type(args) in [tuple, list]:
return '\n'.join([' * %s (type %s)'%(a, type(a).__name__) for a in args])
else:
return ' * %s (type %s)'%(args, type(args).__name__)
raise ROSServiceException("Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"%(e, argsummary(service_args), genpy.message.get_printable_message_args(request)))
try:
return request, rospy.ServiceProxy(service_name, service_class)(request)
except rospy.ServiceException as e:
raise ROSServiceException(str(e))
except genpy.SerializationError as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
def __init__(self, srv_name, rospack=None):
# parse srv definition
lines = rosmsg.get_srv_text(srv_name, False, rospack).splitlines()
sep = '---'
if sep not in lines:
raise ValueError('bad srv definition')
i = lines.index(sep)
self.typespec = TypeSpec(srv_name)
self.req = Fields(lines[:i])
self.resp = Fields(lines[i+1:])
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
remove_action = QAction(self.tr('Remove message'), menu)
menu.addAction(remove_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG
or self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException as e:
QMessageBox.warning(
self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(
TextBrowseDialog(browsetext, self._rospack))
self._browsers[-1].show()
if action == remove_action:
self._messages_tree.model().removeRow(selected[0].row())
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
remove_action = QAction(self.tr('Remove message'), menu)
menu.addAction(remove_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG or
self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException as e:
QMessageBox.warning(self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext,
self._rospack))
self._browsers[-1].show()
if action == remove_action:
self._messages_tree.model().removeRow(selected[0].row())
def call_service(service_name, service_args):
"""
Call a service. Mostly extracted from rosservice.
"""
service_class = rosservice.get_service_class_by_name(service_name)
request = service_class._request_class()
try:
now = rospy.get_rostime()
keys = {'now': now, 'auto': std_msgs.msg.Header(stamp=now)}
genpy.message.fill_message_args(request, service_args, keys=keys)
except genpy.MessageException as e:
def argsummary(args):
if type(args) in [tuple, list]:
return '\n'.join(
[' * %s (type %s)' % (a, type(a).__name__) for a in args])
else:
return ' * %s (type %s)' % (args, type(args).__name__)
raise rosservice.ROSServiceException(
"Incompatible arguments to call service:\n%s\n" +
"Provided arguments are:\n%s\n\n" + "Service arguments are: [%s]" %
(e, argsummary(service_args),
genpy.message.get_printable_message_args(request)))
try:
return request, rospy.ServiceProxy(service_name,
service_class)(request)
except rospy.ServiceException as e:
raise rosservice.ROSServiceException(str(e))
except genpy.SerializationError as e:
raise rosservice.ROSServiceException(
"Unable to send request. One of the fields has an incorrect type:\n"
+ " %s\n\nsrv file:\n%s" %
(e, rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException as e:
raise rosservice.ROSServiceException(
"Unable to send request. One of the fields has an incorrect type:\n"
+ " %s\n\nsrv file:\n%s" %
(e, rosmsg.get_srv_text(service_class._type)))
% (
e, argsummary(service_args),
roslib.message.get_printable_message_args(request)))
try:
return rospy.ServiceProxy(
service_name, service_class)(request)
except rospy.ServiceException, e:
return str(e)
except roslib.message.SerializationError, e:
return (
"Unable to send request."
" One of the fields has an incorrect type:\n"
" %s\n\nsrv file:\n%s"
% (
e,
rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException, e:
return (
"Unable to send request."
" One of the fields has an incorrect type:\n"
" %s\n\nsrv file:\n%s" % (
e, rosmsg.get_srv_text(service_class._type)))
def _rosservice(self, args):
parser = argparse.ArgumentParser(prog='/rosservice')
subparsers = parser.add_subparsers(dest='cmd',
help='sub-command')
subparsers.add_parser('list', help='show services')
subparsers.add_parser(
'call', help='call server: /rosservice call <service> [<args>]'
).add_argument(
[' * %s (type %s)' % (a, type(a).__name__) for a in args])
else:
return ' * %s (type %s)' % (args, type(args).__name__)
raise ROSServiceException(
"Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"
% (e, argsummary(service_args),
roslib.message.get_printable_message_args(request)))
try:
return request, rospy.ServiceProxy(service_name,
service_class)(request)
except rospy.ServiceException, e:
raise ROSServiceException(str(e))
except roslib.message.SerializationError, e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException, e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
def _rosservice_call(service_name,
service_args,
verbose=False,
service_class=None):
"""
Implements 'rosservice call'
@param service_name: name of service to call
@type service_name: str
@param service_args: arguments to call service with
@type service_args: [args]
def __doc__(self):
return ("%s is of type %s,\n"
"and has the following structure:\n"
"%s\n") % (self._name, self.srv_class._type,
rosmsg.get_srv_text(self.srv_class._type))
genpy.message.fill_message_args(request, service_args, keys=keys)
except genpy.MessageException as e:
def argsummary(args):
if type(args) in [tuple, list]:
return '\n'.join([' * %s (type %s)'%(a, type(a).__name__) for a in args])
else:
return ' * %s (type %s)'%(args, type(args).__name__)
raise ROSServiceException("Incompatible arguments to call service:\n%s\nProvided arguments are:\n%s\n\nService arguments are: [%s]"%(e, argsummary(service_args), genpy.message.get_printable_message_args(request)))
try:
return request, rospy.ServiceProxy(service_name, service_class)(request)
except rospy.ServiceException, e:
raise ROSServiceException(str(e))
except genpy.SerializationError as e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
except rospy.ROSSerializationException, e:
raise ROSServiceException("Unable to send request. One of the fields has an incorrect type:\n"+\
" %s\n\nsrv file:\n%s"%(e, rosmsg.get_srv_text(service_class._type)))
def _rosservice_call(service_name, service_args, verbose=False, service_class=None):
"""
Implements 'rosservice call'
@param service_name: name of service to call
@type service_name: str
@param service_args: arguments to call service with
@type service_args: [args]
@param verbose: if True, print extra output
@type verbose: bool
@param service_class Message class: (optional) service type
class. If this argument is provided, it saves a probe call against
