task_list_stub.py

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#! /usr/bin/python
#***********************************************************
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#* Author: Eitan Marder-Eppstein
#***********************************************************
PKG = 'continuous_ops_web'
NAME = 'task_list_server'
import time
import roslib; roslib.load_manifest(PKG)

from continuous_ops_msgs.srv import *
from continuous_ops_msgs.msg import *
import rospy

tasks = {}

def get_tasks(req):
    print "getting task list"
    resp = GetTaskListResponse()
    for i in range(10):
        task = Task()
        task.name = 'task%d' % i
        task.task_id = '%d' % i
        task.image_file = '/wg/bwi/eitan/ros/dev/continuous_ops/continuous_ops_web/src/continuous_ops_web/images/cont.jpg'
        resp.tasks.append(task)
    available_pub.publish(resp.tasks)
    return resp

def add_task(req):
    print "adding a task: %s" % req.task_id
    time.sleep(1)
    print "done sleeping"
    tasks['run%s' % req.task_id] = req.task_id
    resp = AddTaskResponse()
    resp.run_id = 'run%s' % req.task_id
    for key in tasks.keys():
        task = Task()
        task.name = 'task%s' % tasks[key]
        task.task_id = tasks[key]
        task.run_id = key
        resp.tasks.append(task)
    print resp
    return resp

def remove_task(req):
    print "removing task: %s" % req.run_id
    time.sleep(1)
    del tasks[req.run_id]
    resp = ChangeTaskResponse()
    for key in tasks.keys():
        task = Task()
        task.name = 'task%s' % tasks[key]
        task.task_id = tasks[key]
        task.run_id = key
        resp.tasks.append(task)
    print resp
    return resp

def get_scheduled_tasks(req):
    print "serving scheduled tasks"
    resp = GetTaskListResponse()
    for key in tasks.keys():
        task = Task()
        task.name = 'task%s' % tasks[key]
        task.task_id = tasks[key]
        task.run_id = key
        resp.tasks.append(task)
    print resp
    return resp

def reorder_tasks(req):
    print "reorder"
    time.sleep(1)
    print req
    resp = ReorderTaskListResponse()
    for key in tasks.keys():
        task = Task()
        task.name = 'task%s' % tasks[key]
        task.task_id = tasks[key]
        task.run_id = key
        resp.tasks.append(task)
    print resp
    return resp

def task_list_server():
    rospy.init_node(NAME)
    get = rospy.Service('get_available_tasks', GetTaskList, get_tasks)
    get_s = rospy.Service('get_scheduled_tasks', GetTaskList, get_scheduled_tasks)
    reorder = rospy.Service('reorder_tasks', ReorderTaskList, reorder_tasks)
    add = rospy.Service('add_task', AddTask, add_task)
    remove = rospy.Service('remove_task', ChangeTask, remove_task)

    global available_pub
    available_pub = rospy.Publisher('available_tasks', Tasks, None, False, True)
    rospy.spin()

if __name__ == "__main__":
    task_list_server()