handlers.py

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#! /usr/bin/env python
# -*- coding: utf-8 -*-

# Software License Agreement (BSD)
#
#  file      @handlers.py
#  authors   Mike Purvis <mpurvis@clearpathrobotics.com>
#            NovAtel <novatel.com/support>
#  copyright Copyright (c) 2012, Clearpath Robotics, Inc., All rights reserved.
#            Copyright (c) 2014, NovAtel Inc., All rights reserved.
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#    following disclaimer.
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import translator
import rospy

from novatel_msgs.msg import Ack


class Handler:
    def handle(self, buff, header):
        raise NotImplementedError


class MessageHandler(Handler):
    def __init__(self, name, data_class):
        self.publisher = rospy.Publisher("novatel_data/" + name, data_class, queue_size=1)
        self.message = self.publisher.data_class()

    def handle(self, buff, header):
        self.message.translator().deserialize(buff)
        self.message.header = header
        self.publisher.publish(self.message)