handler.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
00005 #*  Copyright (c) 2009, Willow Garage, Inc.
00006 #*  All rights reserved.
00007 #*
00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
00011 #*
00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
00014 #*   * Redistributions in binary form must reproduce the above
00015 #*     copyright notice, this list of conditions and the following
00016 #*     disclaimer in the documentation and/or other materials provided
00017 #*     with the distribution.
00018 #*   * Neither the name of Willow Garage, Inc. nor the names of its
00019 #*     contributors may be used to endorse or promote products derived
00020 #*     from this software without specific prior written permission.
00021 #*
00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 #*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 #*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 #*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 #*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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00028 #*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 #*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 #*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034 #* 
00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 import rospy
00038 import rosweb
00039 import threading
00040 import Image
00041 import cStringIO
00042 
00043 from continuous_ops_msgs.msg import Tasks, Task
00044 
00045 #_lock = threading.Lock()
00046 _image_cache = {}
00047 
00048 def task_cb(data):
00049     for task in data.tasks:
00050         print task.task_id
00051         print task.image_file
00052         im = Image.open(task.image_file)
00053         buf = cStringIO.StringIO()
00054         im.save(buf, format='JPEG')
00055         jpeg = buf.getvalue()
00056         _image_cache[task.task_id] = jpeg
00057 
00058 def config_plugin(context):
00059     global task_sub
00060     task_sub = rospy.Subscriber("task_manager/available_tasks", Tasks, task_cb)
00061     context.register_handler('/task', task_server_handler)
00062 
00063 def send_image(self, jpeg, cache_control='max-age=3600'):
00064     try:
00065         self.send_response(200)
00066         self.send_header('Cache-Control', cache_control)
00067         self.send_header('Content-Type', 'image/jpeg')
00068         self.send_header('Content-Length', str(len(jpeg)))
00069         self.end_headers()
00070         self.wfile.write(jpeg)
00071     except:
00072         pass
00073 
00074 
00075 def task_server_handler(self, path, qdict):
00076     print "task"
00077     print path
00078     print qdict
00079     if path == '/task/image':
00080         print qdict['id'][0]
00081         jpeg = _image_cache[qdict['id'][0]]
00082         send_image(self, jpeg)
00083     return True
00084 


task_image_server
Author(s): Eitan Marder-Eppstein
autogenerated on Fri Dec 6 2013 19:59:34