server.py 文件源码

def UAVCAN_Subscribe(self):
        def handler(event):
            ros_req = canros.copy_uavcan_ros(self.Request_Type(), event.request, request=True)
            setattr(ros_req, canros.uavcan_id_field_name, event.transfer.source_node_id)
            try:
                ros_resp = self.ROS_ServiceProxy(ros_req)
            except rospy.ServiceException:
                return
            return canros.copy_ros_uavcan(self.UAVCAN_Type.Response(), ros_resp, request=False)
        uavcan_node.add_handler(self.UAVCAN_Type, handler)