publish.py
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00003 # Copyright (c) 2012, Willow Garage, Inc.
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00033 
00034 from rosbridge_library.capability import Capability
00035 from rosbridge_library.internal.publishers import manager
00036 
00037 
00038 class Publish(Capability):
00039 
00040     publish_msg_fields = [(True, "topic", (str, unicode))]
00041 
00042     def __init__(self, protocol):
00043         # Call superclas constructor
00044         Capability.__init__(self, protocol)
00045 
00046         # Register the operations that this capability provides
00047         protocol.register_operation("publish", self.publish)
00048 
00049         # Save the topics that are published on for the purposes of unregistering
00050         self._published = {}
00051 
00052     def publish(self, message):
00053         # Do basic type checking
00054         self.basic_type_check(message, self.publish_msg_fields)
00055         topic = message["topic"]
00056         latch = message.get("latch", False)
00057         queue_size = message.get("queue_size", 100)
00058 
00059         # Register as a publishing client, propagating any exceptions
00060         client_id = self.protocol.client_id
00061         manager.register(client_id, topic, latch=latch, queue_size=queue_size)
00062         self._published[topic] = True
00063 
00064         # Get the message if one was provided
00065         msg = message.get("msg", {})
00066 
00067         # Publish the message
00068         manager.publish(client_id, topic, msg, latch=latch, queue_size=queue_size)
00069         
00070     def finish(self):
00071         client_id = self.protocol.client_id
00072         for topic in self._published:
00073             manager.unregister(client_id, topic)
00074         self._published.clear()


rosbridge_library
Author(s): Jonathan Mace
autogenerated on Thu Aug 27 2015 14:50:35