/usr/lib/python2.7/dist-packages/rospy/service.py is in python-rospy 1.13.5+ds1-3.
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# Revision $Id$
"""Base-classes and management of ROS services.
See L{rospy.tcpros_service} for actual implementation."""
import logging
import traceback
from rospy.core import *
from rospy.impl.registration import set_service_manager, Registration, get_registration_listeners
from rospy.impl.transport import *
logger = logging.getLogger('rospy.service')
class ServiceException(Exception):
"""Exception class for service-related errors"""
pass
class _Service(object):
"""Internal-use superclass for storing service information"""
def __init__(self, name, service_class):
self.resolved_name = resolve_name(name) #services remap as well
self.service_class = service_class
self.request_class = service_class._request_class
self.response_class = service_class._response_class
self.uri = None #initialize attr
class ServiceManager(object):
"""Keeps track of currently registered services in the ROS system"""
def __init__(self, registration_listeners=None):
"""
ctor
@param registration_listeners: override default registration listener.
@type registration_listeners: RegistrationListeners
"""
self.map = {} # {name : Service}
self.lock = threading.RLock()
if registration_listeners is None:
self.registration_listeners = get_registration_listeners()
else:
self.registration_listeners = registration_listeners
def get_services(self):
"""
@return: List of (service_name, service_uri) for all registered services.
@rtype: [(str, str)]
"""
with self.lock:
ret_val = []
for name, service in self.map.items():
ret_val.append((name, service.uri))
services = list(self.map.values())
return ret_val
def unregister_all(self):
"""
Unregister all registered services
"""
self.map.clear()
def register(self, resolved_service_name, service):
"""
Register service with ServiceManager and ROS master
@param resolved_service_name: name of service (resolved)
@type resolved_service_name: str
@param service: Service to register
@type service: L{_Service}
"""
err = None
with self.lock:
if resolved_service_name in self.map:
err = "service [%s] already registered"%resolved_service_name
else:
self.map[resolved_service_name] = service
# NOTE: this call can potentially take a long time under lock and thus needs to be reimplmented
self.registration_listeners.notify_added(resolved_service_name, service.uri, Registration.SRV)
if err:
raise ServiceException(err)
def unregister(self, resolved_service_name, service):
"""
Unregister service with L{ServiceManager} and ROS Master
@param resolved_service_name: name of service
@type resolved_service_name: str
@param service: service implementation
@type service: L{_Service}
"""
with self.lock:
curr = self.map.get(resolved_service_name, None)
if curr == service:
del self.map[resolved_service_name]
# NOTE: this call can potentially take a long time under lock
self.registration_listeners.notify_removed(resolved_service_name, service.uri, Registration.SRV)
def get_service(self, resolved_service_name):
"""
@param resolved_service_name: name of service
@type resolved_service_name: str
@return: service implementation
@rtype: _Service
"""
return self.map.get(resolved_service_name, None)
set_service_manager(ServiceManager())
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