RoverLehre/ROS2_pubsub
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srv callback now accepts functions from outside

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winterhalderp 2021-04-22 15:56:37 +02:00
parent 7d0e7f1786
commit e5d6633aca
1 changed files with 29 additions and 5 deletions
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34
src/pubsub/pubsub/pubsub_library_v3.py
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@ -111,16 +111,41 @@ class MinimalSubscriber(Node):
#******************************************************************************#
class MinimalServiceProvider(Node):
def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE):
""" Minimal Service Provider Class
Inputs:
* NODE_NAME: string
* SRV_NAME: string
* SRV_TYPE: service type class
* srv_callback_fct: service callback function
srv_callback_fct - Inputs:
* request: class of type srv request
* response: class of type srv response
Return:
* response: class of type srv response
"""
def __init__(self, NODE_NAME, SRV_NAME, SRV_TYPE, srv_callback_fct=None):
self.NODE_NAME = NODE_NAME
self.SRV_NAME = SRV_NAME
self.SRV_TYPE = SRV_TYPE
if srv_callback_fct == None:
self.srv_callback = self.std_srv_callback
else:
self.srv_callback = srv_callback_fct
# Init above laying class "Node"
super().__init__(self.NODE_NAME)
print("\tStarting Service Host:\t%s"%(self.SRV_NAME))
self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.service_callback)
print("\tStarting Service as Host:\t%s"%(self.SRV_NAME))
#self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.service_callback)
self.srv_host = self.create_service(self.SRV_TYPE, self.SRV_NAME, self.srv_callback)
def service_callback(self, request, response):
#def service_callback(self, request, response):
def std_srv_callback(self, request, response):
"""
* request: first half of srv-file
* response: second half of srv-file
@ -134,7 +159,6 @@ class MinimalServiceProvider(Node):
response = self.user_defined(request, response) # Function defined below
return response
# Insert your callback code here
def user_defined(self, request, response):
""" Write your user defined code here which will be run at every service call