kelsey_sandbox.behavior_manager.BehaviorManagerClient Class Reference

List of all members.

Public Member Functions
def	__init__
	Interfaces with the behavior manager to control who has access to each of the robot resources at any given time.
def	relinquish
	Relinquishes control of the resource to the behavior manager.
def	request
	Requests control of the resource from the behavior manager.
def	set_preempt_cb
def	set_resume_cb
Private Member Functions
def	_call_preempt
def	_call_resume
def	_heartbeat_cb
Private Attributes
	_bname
	_default_priority
	_heartbeat_pub
	_heartbeat_timer
	_preempt_cb
	_preempt_srv
	_relinquish_resource
	_request_resource
	_resource
	_resume_cb
	_resume_srv

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Detailed Description

Definition at line 157 of file behavior_manager.py.

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Constructor & Destructor Documentation

def kelsey_sandbox.behavior_manager.BehaviorManagerClient.__init__	(		self,
			resource,
			preempt_cb,
			resume_cb = None,
			priority = BMPriorities.MEDIUM,
			name = "behavior"
	)

Interfaces with the behavior manager to control who has access to each of the robot resources at any given time.

Parameters:

resource	Name of the resource this behavior will register (must be in ALLOWED_RESOURCES) ['l_arm', 'r_arm', 'l_gripper', 'r_gripper', 'base', 'head', 'torso']
preempt_cb	Function to be called preempt_cb() when behavior needs to be preempted. Make sure this function is non-blocking.
resume_cb	Function to be called will_resume = resume_cb() when the preemptor has released control. The bool will_resume, if True, will give that behavior back control. Make sure this function is non-blocking.
priority	The strength of the behavior to overrule others. A behavior with equal or greater priority will be able to preempt the current active behavior.
name	Optional prefix given to the behavior to make services more readable

Definition at line 172 of file behavior_manager.py.

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Member Function Documentation

def kelsey_sandbox.behavior_manager.BehaviorManagerClient._call_preempt	(		self,
			req
	)		[private]

Definition at line 205 of file behavior_manager.py.

def kelsey_sandbox.behavior_manager.BehaviorManagerClient._call_resume	(		self,
			req
	)		[private]

Definition at line 209 of file behavior_manager.py.

def kelsey_sandbox.behavior_manager.BehaviorManagerClient._heartbeat_cb	(		self,
			te
	)		[private]

Definition at line 218 of file behavior_manager.py.

def kelsey_sandbox.behavior_manager.BehaviorManagerClient.relinquish

(

self

)

Relinquishes control of the resource to the behavior manager.

Definition at line 239 of file behavior_manager.py.

def kelsey_sandbox.behavior_manager.BehaviorManagerClient.request	(		self,
			priority = None
	)

Requests control of the resource from the behavior manager.

Parameters:

priority

Override the default priority set in the initialization.

Returns:

Returns True if the resource is available, False if not.

Definition at line 225 of file behavior_manager.py.

def kelsey_sandbox.behavior_manager.BehaviorManagerClient.set_preempt_cb	(		self,
			preempt_cb
	)

Definition at line 212 of file behavior_manager.py.

def kelsey_sandbox.behavior_manager.BehaviorManagerClient.set_resume_cb	(		self,
			resume_cb
	)

Definition at line 215 of file behavior_manager.py.

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Member Data Documentation

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_bname [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_default_priority [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_heartbeat_pub [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_heartbeat_timer [private]

Definition at line 225 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_preempt_cb [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_preempt_srv [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_relinquish_resource [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_request_resource [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_resource [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_resume_cb [private]

Definition at line 172 of file behavior_manager.py.

kelsey_sandbox::behavior_manager.BehaviorManagerClient::_resume_srv [private]

Definition at line 172 of file behavior_manager.py.

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The documentation for this class was generated from the following file:

• behavior_manager.py