unadvertise_service.py

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import fnmatch
from rosbridge_library.capability import Capability


class UnadvertiseService(Capability):

    # unadvertise_service_msg_fields = [(True, "service", (str, unicode))]

    services_glob = None

    def __init__(self, protocol):
        # Call superclass constructor
        Capability.__init__(self, protocol)

        # Register the operations that this capability provides
        protocol.register_operation("unadvertise_service", self.unadvertise_service)

    def unadvertise_service(self, message):
        # parse the message
        service_name = message["service"]

        if UnadvertiseService.services_glob is not None and UnadvertiseService.services_glob:
            self.protocol.log("debug", "Service security glob enabled, checking service: " + service_name)
            match = False
            for glob in UnadvertiseService.services_glob:
                if (fnmatch.fnmatch(service_name, glob)):
                    self.protocol.log("debug", "Found match with glob " + glob + ", continuing service unadvertisement...")
                    match = True
                    break
            if not match:
                self.protocol.log("warn", "No match found for service, cancelling service unadvertisement for: " + service_name)
                return
        else:
            self.protocol.log("debug", "No service security glob, not checking service unadvertisement...")

        # unregister service in ROS
        if service_name in self.protocol.external_service_list.keys():
            self.protocol.external_service_list[service_name].graceful_shutdown(timeout=1.0)
            self.protocol.external_service_list[service_name].service_handle.shutdown("Unadvertise request.")
            del self.protocol.external_service_list[service_name]
            self.protocol.log("info", "Unadvertised service %s." % service_name)
        else:
            self.protocol.log("error", "Service %s has not been advertised via rosbridge, can't unadvertise." % service_name)