yumi_arm.py 文件源码

def __getattr__(self, name):
        """ Override the __getattr__ method so that function calls become server requests

        If the name is a method of the YuMiArm class, this returns a function that calls that
        function on the YuMiArm instance in the server. The wait_for_res argument is not available
        remotely and will always be set to True. This is to prevent odd desynchronized crashes

        Otherwise, the name is considered to be an attribute, and getattr is called on the
        YuMiArm instance in the server. Note that if it isn't an attribute either a RuntimeError
        will be raised.

        The difference here is that functions access the server *on call* and non-functions do
        *on getting the name*

        Also note that this is __getattr__, so things like __init__ and __dict__ WILL NOT trigger
        this function as the YuMiArm_ROS object already has these as attributes.
        """
        if name in YuMiArm.__dict__:
            def handle_remote_call(*args, **kwargs):
                """ Handle the remote call to some YuMiArm function.
                """
                rospy.wait_for_service(self.arm_service, timeout = self.timeout)
                arm = rospy.ServiceProxy(self.arm_service, ROSYumiArm)
                if 'wait_for_res' in kwargs:
                    kwargs['wait_for_res'] = True
                try:
                    response = arm(pickle.dumps(name), pickle.dumps(args), pickle.dumps(kwargs))
                except rospy.ServiceException, e:
                    raise RuntimeError("Service call failed: {0}".format(str(e)))
                return pickle.loads(response.ret)
            return handle_remote_call
        else:
            rospy.wait_for_service(self.arm_service, timeout = self.timeout)
            arm = rospy.ServiceProxy(self.arm_service, ROSYumiArm)
            try:
                response = arm(pickle.dumps('__getattribute__'), pickle.dumps(name), pickle.dumps(None))
            except rospy.ServiceException, e:
                raise RuntimeError("Could not get attribute: {0}".format(str(e)))
            return pickle.loads(response.ret)