__init__.py 文件源码

def request(self, uavcan_msg, node_id, callback, priority=None, timeout=None):
        #pylint: disable=W0613
        uavcan_type = uavcan.get_uavcan_data_type(uavcan_msg)
        if not uavcan_type.full_name in self.__service_proxies:
            self.__service_proxies[uavcan_type.full_name] = Service(uavcan_type.full_name).ServiceProxy()
        service_proxy = self.__service_proxies[uavcan_type.full_name]

        ros_req = copy_uavcan_ros(service_proxy.request_class(), uavcan_msg, request=True)
        setattr(ros_req, uavcan_id_field_name, node_id)

        def service_proxy_call():
            try:
                return service_proxy(ros_req)
            except rospy.ServiceException:
                return None

        def request_finished(fut):
            ros_resp = fut.result()
            if ros_resp is None:
                uavcan_resp = None
            else:
                uavcan_resp = uavcan_node._Event(self, uavcan_type, ros_resp, uavcan_id=node_id, request=False)
            callback(uavcan_resp)

        self.__request_executor.submit(service_proxy_call).add_done_callback(request_finished)