text: # Copyright (c) 2021 Ichiro ITS
  #
  # Permission is hereby granted, free of charge, to any person obtaining a copy
  # of this software and associated documentation files (the "Software"), to deal
  # in the Software without restriction, including without limitation the rights
  # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  # copies of the Software, and to permit persons to whom the Software is
  # furnished to do so, subject to the following conditions:
  #
  # The above copyright notice and this permission notice shall be included in
  # all copies or substantial portions of the Software.
  #
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
  # THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  # THE SOFTWARE.
  
  from rclpy.logging import get_logger
  from rclpy.node import Node, MsgType
  from yakusha import dict_to_msg
  
  from kumo.handlers.base_handler import BaseHandler, Connection
  from kumo.message import Message, MessageType
  
  
  class PublisherHandler(BaseHandler):
  
      def __init__(self, connection: Connection, node: Node, message_type: MsgType, topic_name: str):
          super().__init__(connection)
  
          self.publisher = node.create_publisher(message_type, topic_name, 10)
  
          self.logger = get_logger('publisher_%s' % self.id)
  
      def destroy(self) -> bool:
          if super().destroy():
              self.logger.warn('Destroying publisher...')
              self.publisher.destroy()
  
      async def handle_message(self, message: Message) -> None:
          if message.type == MessageType.DESTROY_PUBLISHER:
              try:
                  return await self.handle_destroy_publisher(message)
  
              except Exception as e:
                  self.logger.error('Failed to destroy Publisher! %s' % str(e))
                  await self.send_error_response(message, e)
  
          elif message.type == MessageType.PUBLISHER_MESSAGE:
              try:
                  return await self.handle_publisher_message(message)
  
              except Exception as e:
                  self.logger.error('Failed to publish Publisher message! %s' % str(e))
                  await self.send_error_response(message, e)
  
          await super().handle_message(message)
  
      async def handle_destroy_publisher(self, message: Message) -> None:
          if message.content.get('publisher_id') == self.id:
              self.destroy()
              await self.send_response(message, {'publisher_id': self.id})
  
      async def handle_publisher_message(self, message: Message) -> None:
          if message.content.get('publisher_id') == self.id:
              msg_dict: dict = message.content.get('message')
              msg = dict_to_msg(msg_dict, self.publisher.msg_type())
  
              self.logger.debug('Publishing Publisher message: %s' % str(msg))
              self.publisher.publish(msg)
  
              await self.send_response(message, {'publisher_id': self.id})
  