message_info_service.py
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1 #!/usr/bin/env python
2 
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35 
36 """ The node provided by this file exposes a helper service used by
37 the C++ rosserial_server. The service allows the C++ driver to look
38 up message definitions and hash strings which would not have been
39 known to it at compile time, allowing it to fully advertise topics
40 originating from microcontrollers.
41 
42 This allows rosserial_server to be distributed in binary form. """
43 
44 import rospy
45 from rosserial_msgs.srv import RequestMessageInfo
46 from rosserial_msgs.srv import RequestServiceInfo
47 from rosserial_python import load_message
48 from rosserial_python import load_service
49 
50 
51 class MessageInfoService(object):
52  """ """
53  def __init__(self):
54  rospy.init_node("message_info_service")
55  rospy.loginfo("rosserial message_info_service node")
56  self.message_cache = {}
57  self.service_cache = {}
58  self.service = rospy.Service("message_info", RequestMessageInfo, self._message_info_cb)
59  self.serviceInfoService = rospy.Service("service_info", RequestServiceInfo, self._service_info_cb)
60 
61  def _message_info_cb(self, req):
62  package_message = tuple(req.type.split("/"))
63  if not self.message_cache.has_key(package_message):
64  rospy.loginfo("Loading module to return info on %s/%s." % package_message)
65  msg = load_message(*package_message)
66  self.message_cache[package_message] = (msg._md5sum, msg._full_text)
67  else:
68  rospy.loginfo("Returning info from cache on %s/%s." % package_message)
69  return self.message_cache[package_message]
70 
71  def _service_info_cb(self, req):
72  rospy.logdebug("req.service is %s" % req.service)
73  package_service = tuple(req.service.split("/"))
74  if not self.service_cache.has_key(package_service):
75  rospy.loginfo("Loading module to return info on service %s/%s." % package_service)
76  srv,mreq,mres = load_service(*package_service)
77  self.service_cache[package_service] = (srv._md5sum,mreq._md5sum,mres._md5sum)
78  else:
79  rospy.loginfo("Returning info from cache on %s/%s." % package_service)
80  return self.service_cache[package_service]
81 
82  def spin(self):
83  rospy.spin()
84 
85 if __name__=="__main__":
def load_message(package, message)
Definition: SerialClient.py:79
def load_service(package, service)
Definition: SerialClient.py:84


rosserial_python
Author(s): Michael Ferguson
autogenerated on Fri Jun 7 2019 22:02:51