wrapper.py

Go to the documentation of this file.

# -*- coding: utf-8 -*-
# Base class for Python bindings to C++ class with ROS messages, Python part
# of the binding.

from StringIO import StringIO


class WrapperPy(object):
    def _to_cpp(self, msg):
        """Return a serialized string from a ROS message

        Parameters
        ----------
        - msg: a ROS message instance.
        """
        buf = StringIO()
        msg.serialize(buf)
        return buf.getvalue()

    def _from_cpp(self, str_msg, cls):
        """Return a ROS message from a serialized string

        Parameters
        ----------
        - str_msg: str, serialized message
        - cls: ROS message class, e.g. sensor_msgs.msg.LaserScan.
        """
        msg = cls()
        return msg.deserialize(str_msg)