Commit a508f5b2 authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
Browse files

changed responses format

parent ace36ad6

src/init/ros2_master.py

+7 −3
Original line number Diff line number Diff line
@@ -69,6 +69,10 @@ def cmd_callback(req,res): 
  print("Parsed command:")

  print(q)



  if q['cmd']=='list':

    res.response = '<?xml version="1.0"?><document>'+'\n'.join(['<target>'+c+'</target>' for c in q['targets']])+'</document>'

    return res



  if q['cmd']=='state':

    cmd_func = pass_cmd
@@ -88,7 +92,7 @@ def cmd_callback(req,res): 


    # if n/a

    if not cli.wait_for_service(timeout_sec=1.0):

      cmdres = "<response><node>"+tgt+"</node><state>dead</state></response>"

      cmdres = "<response><node>"+t+"</node><state>dead</state></response>"

    else:

      # timer?!

      timer = g_node.create_timer(0.0, cmd_func, callback_group=cb_group)
@@ -100,12 +104,12 @@ def cmd_callback(req,res): 
      # spin until it gets "blue"

      while rclpy.ok() and not did_get_result:

        rclpy.spin_once(g_node)

      cmdres = cmd_result.response

      cmdres  = "<response><node>"+t+"</node>"+cmd_result.response+"</response>"

    # store response

    reslist.append(cmdres)



  # convert to string

  res.response = '\n'.join(reslist)

  res.response = '<?xml version="1.0"?><document>'+'\n'.join(reslist)+'</document>'

  return res

src/init/ros2_slave.py

+2 −2
Original line number Diff line number Diff line
@@ -32,7 +32,7 @@ def cmd_callback(req,res): 
  print(q)



  if q['cmd']=='state':

    res.response = '<response><node>'+nodename+'</node><state>idle</state></response>'

    res.response = '<state>idle</state>'

  else:

    # call to localhost here, get response and send it back

    try:
@@ -40,7 +40,7 @@ def cmd_callback(req,res): 
    except subprocess.CalledProcessError:

      output = "<error>CalledProcessError</error>".encode()



    res.response = '<response><node>'+nodename+'</node><state>'+output.decode()+'</state></response>'

    res.response = '<state>'+output.decode()+'</state>'



  print('Slave sending: '+res.response)