status_tracker.py
Go to the documentation of this file.00001 # Copyright (c) 2009, Willow Garage, Inc. 00002 # All rights reserved. 00003 # 00004 # Redistribution and use in source and binary forms, with or without 00005 # modification, are permitted provided that the following conditions are met: 00006 # 00007 # * Redistributions of source code must retain the above copyright 00008 # notice, this list of conditions and the following disclaimer. 00009 # * Redistributions in binary form must reproduce the above copyright 00010 # notice, this list of conditions and the following disclaimer in the 00011 # documentation and/or other materials provided with the distribution. 00012 # * Neither the name of the Willow Garage, Inc. nor the names of its 00013 # contributors may be used to endorse or promote products derived from 00014 # this software without specific prior written permission. 00015 # 00016 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00017 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00018 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00019 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00020 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00021 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00022 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00023 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00024 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00025 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00026 # POSSIBILITY OF SUCH DAMAGE. 00027 00028 # Author: Alexander Sorokin. 00029 # Based on C++ goal_id_generator.h/cpp 00030 00031 import roslib; roslib.load_manifest('actionlib') 00032 import rospy 00033 00034 import actionlib 00035 import actionlib_msgs.msg 00036 from actionlib import goal_id_generator 00037 00038 00039 class StatusTracker: 00040 """ 00041 * @class StatusTracker 00042 * @brief A class for storing the status of each goal the action server 00043 * is currently working on 00044 """ 00045 00046 def __init__(self, goal_id=None, status=None, goal=None): 00047 """ 00048 @brief create status tracker. Either pass goal_id and status OR goal 00049 """ 00050 self.goal = None ; 00051 self.handle_tracker = None; 00052 self.status = actionlib_msgs.msg.GoalStatus(); 00053 00054 self.handle_destruction_time = rospy.Time(); 00055 00056 self.id_generator = goal_id_generator.GoalIDGenerator(); 00057 00058 if goal_id: 00059 #set the goal id and status appropriately 00060 self.status.goal_id = goal_id; 00061 self.status.status = status; 00062 else: 00063 self.goal = goal 00064 self.status.goal_id = goal.goal_id; 00065 00066 #initialize the status of the goal to pending 00067 self.status.status = actionlib_msgs.msg.GoalStatus.PENDING; 00068 00069 #if the goal id is zero, then we need to make up an id for the goal 00070 if self.status.goal_id.id == "": 00071 self.status.goal_id = self.id_generator.generate_ID(); 00072 00073 #if the timestamp of the goal is zero, then we'll set it to now() 00074 if self.status.goal_id.stamp == rospy.Time(): 00075 self.status.goal_id.stamp = rospy.Time.now();