[Ontolopy] FeederPublisher registerNotificationCallback

sarthou · Jan 22, 2024 · 6eb7136 · 6eb7136
1 parent b2762a7
commit 6eb7136
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Showing 2 changed files with 20 additions and 0 deletions.
diff --git a/docs/python_API/FeederPublisher.html b/docs/python_API/FeederPublisher.html
@@ -153,6 +153,7 @@ <h2 id="methods">Methods</h2>
               <tr><td class="memItemLeft rightAlign topAlign"> str </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#commit">commitAuto</a></b>(self, timeout = 100000000)</td></tr>
               <tr><td class="memItemLeft rightAlign topAlign"> bool </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#commit2">commit</a></b>(self, commit_name, timeout = 100000000)</td></tr>
               <tr><td class="memItemLeft rightAlign topAlign"> bool </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#checkout">checkout</a></b>(self, commit_name, timeout = 100000000)</td></tr>
+              <tr><td class="memItemLeft rightAlign topAlign"> </td><td class="memItemRight bottomAlign"><b><a href="FeederPublisher.html#registerNotificationCallback">registerNotificationCallback</a></b>(self, callback)</td></tr>
             </tbody>
           </table>
         </div>
@@ -256,6 +257,10 @@ <h3 class="fn" id="checkout"><a name="checkout"></a><span class="name">checkout<
           <p>Returns False if the function returns on a timeout.</p>
           <p>This function can only be used on a copied ontology.</p>
 
+          <h3 class="fn" id="registerNotificationCallback"><a name="registerNotificationCallback"></a><span class="name">registerNotificationCallback</span>(self, callback)</h3>
+          <p>Register a callback function to get notifications from the feeder.</p>
+          <p>The parameter <i>callback</i> is the callback function taking a string.</p>
+
         </div>
       </div>
     </div>

diff --git a/ontopy/ontologenius/FeederPublisher.py b/ontopy/ontologenius/FeederPublisher.py
@@ -37,6 +37,11 @@ def __init__(self, name):
         if self._name != '':
             sub_topic_name += '/' + self._name
         self._commit_sub = Ontoros.createSubscriber(sub_topic_name, String, self.commitCallback)
+        notif_topic_name = 'ontologenius/feeder_notifications'
+        if self._name != '':
+            notif_topic_name += '/' + self._name
+        self._notif_sub = Ontoros.createSubscriber(notif_topic_name, String, self._notifCallback)
+        self.user_notif_callback = None
         self._updated = False
         random.seed()
         self._commit_nb = random.randint(1, 100000)
@@ -235,6 +240,12 @@ def checkout(self, commit_name, timeout = 100000000):
             return True
         else:
             return False
+
+    def registerNotificationCallback(self, callback):
+        """Register a callback function to get notifications from the feeder.
+           callback is the callback function taking a string.
+        """
+        self.user_notif_callback = callback
 
     def _sendNop(self):
         self._publish_stamped('[nop]nop|', Ontoros.getRosTime())
@@ -250,6 +261,10 @@ def commitCallback(self, data):
         if data.data == 'end':
             self._updated = True
 
+    def _notifCallback(self, data):
+        if not self.user_notif_callback is None:
+            self.user_notif_callback(data)
+
     def millis_interval(self, start, end):
         diff = end - start
         millis = diff.days * 24 * 60 * 60 * 1000