publish.py
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33 
34 import fnmatch
35 from rosbridge_library.capability import Capability
36 from rosbridge_library.internal.publishers import manager
37 from rosbridge_library.util import string_types
38 
39 
41 
42  publish_msg_fields = [(True, "topic", string_types)]
43 
44  topics_glob = None
45 
46  def __init__(self, protocol):
47  # Call superclas constructor
48  Capability.__init__(self, protocol)
49 
50  # Register the operations that this capability provides
51  protocol.register_operation("publish", self.publish)
52 
53  # Save the topics that are published on for the purposes of unregistering
54  self._published = {}
55 
56  if protocol.parameters and "unregister_timeout" in protocol.parameters:
57  manager.unregister_timeout = protocol.parameters.get("unregister_timeout")
58 
59  def publish(self, message):
60  # Do basic type checking
61  self.basic_type_check(message, self.publish_msg_fields)
62  topic = message["topic"]
63  latch = message.get("latch", False)
64  queue_size = message.get("queue_size", 100)
65 
66  if Publish.topics_glob is not None and Publish.topics_glob:
67  self.protocol.log("debug", "Topic security glob enabled, checking topic: " + topic)
68  match = False
69  for glob in Publish.topics_glob:
70  if (fnmatch.fnmatch(topic, glob)):
71  self.protocol.log("debug", "Found match with glob " + glob + ", continuing publish...")
72  match = True
73  break
74  if not match:
75  self.protocol.log("warn", "No match found for topic, cancelling publish to: " + topic)
76  return
77  else:
78  self.protocol.log("debug", "No topic security glob, not checking publish.")
79 
80  # Register as a publishing client, propagating any exceptions
81  client_id = self.protocol.client_id
82  manager.register(client_id, topic, latch=latch, queue_size=queue_size)
83  self._published[topic] = True
84 
85  # Get the message if one was provided
86  msg = message.get("msg", {})
87 
88  # Publish the message
89  manager.publish(client_id, topic, msg, latch=latch, queue_size=queue_size)
90 
91  def finish(self):
92  client_id = self.protocol.client_id
93  for topic in self._published:
94  manager.unregister(client_id, topic)
95  self._published.clear()
def basic_type_check(self, msg, types_info)
Definition: capability.py:76


rosbridge_library
Author(s): Jonathan Mace
autogenerated on Wed Jun 3 2020 03:55:14