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rospy: less strict type-checking in service handler in order to enable serialization and deserialization tricks

This commit is contained in:
Ken Conley 2010-07-21 22:17:51 +00:00
parent 73e3ad19e1
commit 8c0069c539
1 changed files with 11 additions and 2 deletions
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13
core/rospy/src/rospy/impl/tcpros_service.py
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@ -161,7 +161,12 @@ def convert_return_to_response(response, response_class):
4. If the return type is a list/tuple type, it is used as a args-style 4. If the return type is a list/tuple type, it is used as a args-style
initialization for a new response instance. initialization for a new response instance.
""" """
if isinstance(response, response_class):
# use this declared ROS type check instead of a direct instance
# check, which allows us to play tricks with serialization and
# deserialization
if isinstance(response, roslib.message.Message) and response._type == response_class._type:
#if isinstance(response, response_class):
return response return response
elif type(response) == dict: elif type(response) == dict:
# kwds response # kwds response
@ -420,7 +425,11 @@ class ServiceProxy(_Service):
""" """
if not isinstance(request, roslib.message.Message): if not isinstance(request, roslib.message.Message):
raise TypeError("request object is not a valid request message instance") raise TypeError("request object is not a valid request message instance")
if not self.request_class == request.__class__: # in order to support more interesting overrides, we only
# check that it declares the same ROS type instead of a
# stricter class check
#if not self.request_class == request.__class__:
if not self.request_class._type == request._type:
raise TypeError("request object type [%s] does not match service type [%s]"%(request.__class__, self.request_class)) raise TypeError("request object type [%s] does not match service type [%s]"%(request.__class__, self.request_class))
#TODO: subscribe to service changes #TODO: subscribe to service changes