def METHOD_NAME(self, data):
    # Handle synchronous requests
    if data == constants["PING"]["REQUEST"]:
        self.last_ping = rospy.Time.now()
        self.buffer = constants["PING"]["RESPONSE"] + self.buffer
    elif data == constants["COMPUTER"]["KILL"]["REQUEST"]:
        self._set_kill("COMPUTER", True)
        self.buffer = constants["COMPUTER"]["KILL"]["RESPONSE"] + self.buffer
    elif data == constants["COMPUTER"]["CLEAR"]["REQUEST"]:
        self._set_kill("COMPUTER", False)
        self.buffer = constants["COMPUTER"]["CLEAR"]["RESPONSE"] + self.buffer
    elif data == constants["LIGHTS"]["OFF_REQUEST"]:
        self._set_light("OFF")
        self.buffer = constants["LIGHTS"]["OFF_RESPONSE"] + self.buffer
    elif data == constants["LIGHTS"]["YELLOW_REQUEST"]:
        self._set_light("YELLOW")
        self.buffer = constants["LIGHTS"]["YELLOW_RESPONSE"] + self.buffer
    elif data == constants["LIGHTS"]["GREEN_REQUEST"]:
        self._set_light("GREEN")
        self.buffer = constants["LIGHTS"]["GREEN_RESPONSE"] + self.buffer
    else:
        self._get_status(data)