handlers.py
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00001 #! /usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 
00004 # Software License Agreement (BSD)
00005 #
00006 #  file      @handlers.py
00007 #  authors   Mike Purvis <mpurvis@clearpathrobotics.com>
00008 #            NovAtel <novatel.com/support>
00009 #  copyright Copyright (c) 2012, Clearpath Robotics, Inc., All rights reserved.
00010 #            Copyright (c) 2014, NovAtel Inc., All rights reserved.
00011 #
00012 # Redistribution and use in source and binary forms, with or without modification, are permitted provided that
00013 # the following conditions are met:
00014 #  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
00015 #    following disclaimer.
00016 #  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
00017 #    following disclaimer in the documentation and/or other materials provided with the distribution.
00018 #  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
00019 #    products derived from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
00022 # RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
00023 # PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
00024 # DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
00025 # OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00026 # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 
00029 import translator
00030 import rospy
00031 
00032 from novatel_msgs.msg import Ack
00033 
00034 
00035 class Handler:
00036     def handle(self, buff, header):
00037         raise NotImplementedError
00038 
00039 
00040 class MessageHandler(Handler):
00041     def __init__(self, name, data_class):
00042         self.publisher = rospy.Publisher("novatel_data/" + name, data_class, queue_size=1)
00043         self.message = self.publisher.data_class()
00044 
00045     def handle(self, buff, header):
00046         self.message.translator().deserialize(buff)
00047         self.message.header = header
00048         self.publisher.publish(self.message)


novatel_span_driver
Author(s): NovAtel Support
autogenerated on Mon Apr 1 2019 10:03:10