proxy.py 文件源码

def on_message(self, ws, message):
        data = json.loads(message)
        if not data or data['op'] != 'service_response' or data['service'] != self.service_name:
            rospy.logerr('Failed to handle message on service type %s [%s]', self.service, data)
            return

        try:
            rosmsg = self.srvtype()._response_class()
            msgconv.populate_instance(data['values'], rosmsg)
            # need lock to protect
            call_id = data.get('id').encode('ascii')

            with self.lock:
                self.event_queue[call_id]['result'] = rosmsg
                self.event_queue[call_id]['event'].set()

        except Exception, e:
            rospy.logerr('Failed to call service on %s. Reason: %s', self.service_name, str(e))