[ontopy] compat layer for base clients

sarthou · Jan 12, 2024 · f6f468b · f6f468b
1 parent 8d2a6f2
commit f6f468b
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Showing 17 changed files with 69 additions and 212 deletions.
diff --git a/ontopy/ontologenius/__init__.py b/ontopy/ontologenius/__init__.py
@@ -1,5 +1,6 @@
 from .clients import *
 from .clientsIndex import *
+from .compat import *
 
 from .OntologyManipulator import OntologyManipulator
 from .OntologyManipulatorIndex import OntologyManipulatorIndex

diff --git a/ontopy/ontologenius/clients/ActionClient.py b/ontopy/ontologenius/clients/ActionClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .ClientBase import ClientBase
 
 class ActionClient(ClientBase):

diff --git a/ontopy/ontologenius/clients/ClassClient.py b/ontopy/ontologenius/clients/ClassClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .OntologyClient import OntologyClient
 
 class ClassClient(OntologyClient):

diff --git a/ontopy/ontologenius/clients/ClientBase.py b/ontopy/ontologenius/clients/ClientBase.py
@@ -1,6 +1,6 @@
-import rospy
+from ..compat.ros import Ontoros, OntoService
 
-from ontologenius.srv import OntologeniusService
+from ontologenius.srv import OntologeniusService, OntologeniusServiceRequest
 
 class ClientBase:
     """The ClientBase class provides an abstraction for any ROS services.
@@ -15,7 +15,7 @@ def __init__(self, name):
         """Constructs a ROS client linked to the service name(str)."""
         self._name = name
         self.error_code = 0
-        self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusService, True)
+        self._client = Ontoros.createService('ontologenius/' + self._name, OntologeniusService)
 
     def nb(self):
         """Gives the total number (int) of service calls from all ClientBase instances since the last reset."""
@@ -37,83 +37,47 @@ def call(self, action, param):
            If the service call fails, the function returns None
         """
         ClientBase._cpt += 1
-        try:
-            response = self._client(action, param)
+        request = OntologeniusServiceRequest(action, param)
+        response = self._client.call(request, ClientBase._verbose)
+        if(response is None):
+            self.error_code = -1
+            return None
+        else:
             self.error_code = response.code
             return response.values
-        except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-            if ClientBase._verbose == True:
-                print("Failure to call ontologenius/" + self._name)
-            self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusService, True)
-            try:
-                response = self._client(action, param)
-                self.error_code = response.code
-                if ClientBase._verbose == True:
-                    print("Restored ontologenius/" + self._name)
-                return response.values
-            except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-                if ClientBase._verbose == True:
-                    print("Failure of service restoration")
-                self.error_code = -1
-                return None
 
     def callStr(self, action, param):
         """Call the service set up in the constructor of ClientBase with the request
            defined with action(str) and param(str) and returns all the first result (str).
            If the service call fails, the function returns None
         """
         ClientBase._cpt += 1
-        try:
-            response = self._client(action, param)
+        request = OntologeniusServiceRequest(action, param)
+        response = self._client.call(request, ClientBase._verbose)
+        if(response is None):
+            self.error_code = -1
+            return None
+        else:
             self.error_code = response.code
             if len(response.values) > 0:
                 return response.values[0]
             else:
                 return ''
-        except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-            if ClientBase._verbose == True:
-                print("Failure to call ontologenius/" + self._name)
-            self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusService, True)
-            try:
-                response = self._client(action, param)
-                self.error_code = response.code
-                if ClientBase._verbose == True:
-                    print("Restored ontologenius/" + self._name)
-                if len(response.values) > 0:
-                    return response.values[0]
-                else:
-                    return ''
-            except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-                if ClientBase._verbose == True:
-                    print("Failure of service restoration")
-                self.error_code = -1
-                return None
 
     def callNR(self, action, param):
         """Call the service set up in the constructor of ClientBase with the
            request defined with action(str) and param(str).
            If the service call fails, the function returns False
         """
         ClientBase._cpt += 1
-        try:
-            response = self._client(action, param)
+        request = OntologeniusServiceRequest(action, param)
+        response = self._client.call(request, ClientBase._verbose)
+        if(response is None):
+            self.error_code = -1
+            return False
+        else:
             self.error_code = response.code
             return True
-        except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-            if ClientBase._verbose == True:
-                print("Failure to call ontologenius/" + self._name)
-            self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusService, True)
-            try:
-                response = self._client(action, param)
-                self.error_code = response.code
-                if ClientBase._verbose == True:
-                    print("Restored ontologenius/" + self._name)
-                return True
-            except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-                if ClientBase._verbose == True:
-                    print("Failure of service restoration")
-                self.error_code = -1
-                return False
 
     def callBool(self, action, param):
         """Call the service set up in the constructor of ClientBase with the
@@ -122,22 +86,11 @@ def callBool(self, action, param):
            service is different from SUCCESS.
         """
         ClientBase._cpt += 1
-        try:
-            response = self._client(action, param)
+        request = OntologeniusServiceRequest(action, param)
+        response = self._client.call(request, ClientBase._verbose)
+        if(response is None):
+            self.error_code = -1
+            return False
+        else:
             self.error_code = response.code
             return response.code == 0
-        except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-            if ClientBase._verbose == True:
-                print("Failure to call ontologenius/" + self._name)
-            self._client = rospy.ServiceProxy('ontologenius/' + self._name, OntologeniusService, True)
-            try:
-                response = self._client(action, param)
-                if ClientBase._verbose == True:
-                    print("Restored ontologenius/" + self._name)
-                self.error_code = response.code
-                return response.code == 0
-            except (rospy.ServiceException, rospy.exceptions.TransportTerminated) as e:
-                if ClientBase._verbose == True:
-                    print("Failure of service restoration")
-                self.error_code = -1
-                return False
diff --git a/ontopy/ontologenius/clients/DataPropertyClient.py b/ontopy/ontologenius/clients/DataPropertyClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .OntologyClient import OntologyClient
 
 class DataPropertyClient(OntologyClient):

diff --git a/ontopy/ontologenius/clients/IndividualClient.py b/ontopy/ontologenius/clients/IndividualClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .OntologyClient import OntologyClient
 
 class IndividualClient(OntologyClient):

diff --git a/ontopy/ontologenius/clients/ManagerClient.py b/ontopy/ontologenius/clients/ManagerClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .ClientBase import ClientBase
 
 class ManagerClient(ClientBase):

diff --git a/ontopy/ontologenius/clients/ObjectPropertyClient.py b/ontopy/ontologenius/clients/ObjectPropertyClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .OntologyClient import OntologyClient
 
 class ObjectPropertyClient(OntologyClient):

diff --git a/ontopy/ontologenius/clients/OntologyClient.py b/ontopy/ontologenius/clients/OntologyClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .ClientBase import ClientBase
 
 class OntologyClient(ClientBase):

diff --git a/ontopy/ontologenius/clients/ReasonerClient.py b/ontopy/ontologenius/clients/ReasonerClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .ClientBase import ClientBase
 
 class ReasonerClient(ClientBase):

diff --git a/ontopy/ontologenius/clientsIndex/ClassIndexClient.py b/ontopy/ontologenius/clientsIndex/ClassIndexClient.py
@@ -1,5 +1,3 @@
-import rospy
-
 from .OntologyIndexClient import OntologyIndexClient
 
 class ClassIndexClient(OntologyIndexClient):