fibonacci_server.py
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00001 #! /usr/bin/env python
00002 
00003 # Copyright (c) 2010, Washington University in St. Louis
00004 # All rights reserved.
00005 # 
00006 # Redistribution and use in source and binary forms, with or without
00007 # modification, are permitted provided that the following conditions are met:
00008 # 
00009 #     * Redistributions of source code must retain the above copyright
00010 #       notice, this list of conditions and the following disclaimer.
00011 #     * Redistributions in binary form must reproduce the above copyright
00012 #       notice, this list of conditions and the following disclaimer in the
00013 #       documentation and/or other materials provided with the distribution.
00014 #     * Neither the name of the Washington University in St. Louis nor the 
00015 #       names of its contributors may be used to endorse or promote products 
00016 #       derived from this software without specific prior written permission.
00017 # 
00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00019 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00020 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00021 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00022 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00023 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00024 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00025 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00026 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00027 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00028 # POSSIBILITY OF SUCH DAMAGE.
00029 
00030 import roslib; roslib.load_manifest('actionlib_tutorials')
00031 import rospy
00032 
00033 import actionlib
00034 
00035 import actionlib_tutorials.msg
00036 
00037 class FibonacciAction(object):
00038         # create messages that are used to publish feedback/result
00039         _feedback = actionlib_tutorials.msg.FibonacciFeedback()
00040         _result   = actionlib_tutorials.msg.FibonacciResult()
00041 
00042         def __init__(self, name):
00043                 self._action_name = name
00044                 _as = actionlib.SimpleActionServer(self._action_name, actionlib_tutorials.msg.FibonacciAction, execute_cb=self.execute_cb, auto_start=False)
00045                 _as.start()
00046                 self._as = _as
00047                 
00048         def execute_cb(self, goal):
00049                 # helper variables
00050                 r = rospy.Rate(1)
00051                 success = True
00052                 
00053                 # append the seeds for the fibonacci sequence
00054                 self._feedback.sequence = []
00055                 self._feedback.sequence.append(0)
00056                 self._feedback.sequence.append(1)
00057                 
00058                 # publish info to the console for the user
00059                 rospy.loginfo('%s: Executing, creating fibonacci sequence of order %i with seeds %i, %i' % (self._action_name, goal.order, self._feedback.sequence[0], self._feedback.sequence[1]))
00060                 
00061                 # start executing the action
00062                 for i in xrange(1, goal.order):
00063                         # check that preempt has not been requested by the client
00064                         if self._as.is_preempt_requested():
00065                                 rospy.loginfo('%s: Preempted' % self._action_name)
00066                                 self._as.set_preempted()
00067                                 success = False
00068                                 break
00069                         self._feedback.sequence.append(self._feedback.sequence[i] + self._feedback.sequence[i-1])
00070                         # publish the feedback
00071                         self._as.publish_feedback(self._feedback)
00072                         # this step is not necessary, the sequence is computed at 1 Hz for demonstration purposes
00073                         r.sleep()
00074                         
00075                 if success:
00076                         self._result.sequence = self._feedback.sequence
00077                         rospy.loginfo('%s: Succeeded' % self._action_name)
00078                         self._as.set_succeeded(self._result)
00079                         
00080 if __name__ == '__main__':
00081   rospy.init_node('fibonacci')
00082   FibonacciAction(rospy.get_name())
00083   rospy.spin()
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agentsystem_examples
Author(s): k-okada
autogenerated on Thu Jun 27 2013 14:58:26