The GenericActionServer will launch a ROS node that blocks until a dedicated action request is made by the robot, such as 'OpenDoor'. More...

Public Member Functions
def	__init__
	Constructor for a GenericActionServer.
def	execute_cb
	Callback function that monitors the machine tool action sequence for 'ACTIVE', 'COMPLETE', and 'READY' data item states.
def	setup_topic_data
	This function imports the topic package and creates an action server for each package specified in the configuration file.
def	xml_callback
	Processes the xml chunk provided by the LongPull class instance and stores the result into the XML_queue since the tags have changed.
Public Attributes
	action_list
	adapter
	capture_xml
	config
	conn
	di_dict
	lib_manifests
	msg_parameters
	mtool
	ns
	port
	server_name
	type_handle
	url
	url_port
	XML_queue
Private Attributes
	_as
	_resultDict

Detailed Description

The GenericActionServer will launch a ROS node that blocks until a dedicated action request is made by the robot, such as 'OpenDoor'.

Once a request is received, the callback function will monitor the machine tool and complete the 'READY' handshake before returning the request result to the dedicated action client.

Dedicated action client data items are specified by a configuration file that must be included with the main program during execution. If this file is not provided, the node will terminate with an error message indicating the need for this file.

Command line example:

bridge_server.py -i bridge_server_config.yaml bridge_server.py -input bridge_server_config.yaml

The class contains the following methods: setup_topic_data -- sets up class instance variables. execute_cb -- triggered by a ROS action client, monitors machine tool response sequence and submits 'READY' handshake. xml_callback -- parses xml stream and stores xml into a data queue.

Definition at line 70 of file bridge_server.py.

Constructor & Destructor Documentation

def bridge_server.GenericActionServer.__init__ ( self )

Constructor for a GenericActionServer.

Definition at line 72 of file bridge_server.py.

Member Function Documentation

def bridge_server.GenericActionServer.execute_cb	(	self,
		goal
	)

Callback function that monitors the machine tool action sequence for 'ACTIVE', 'COMPLETE', and 'READY' data item states.

Once the machine tool is completed with the requested action and sends the machine tool 'READY' signal, the ROS action server returns set_succeeded to the ROS action client that requested the action.

Parameters:

goal,: from action client, class instance of the data item action goal, i.e. goal = mtconnect_msgs.msg.OpenDoorGoal()

Definition at line 195 of file bridge_server.py.

def bridge_server.GenericActionServer.setup_topic_data ( self )

This function imports the topic package and creates an action server for each package specified in the configuration file.

Data is stored in the following class attributes:

self.lib_manifests --> used to track which manifests have been loaded self.type_handle --> used for ROS SimpleActionClient, stores package name with action messages self.action_list --> used for ROS SimpleActionClient, stores CNC action request strings self.server_name --> dictionary of data_item:DataItem pairs in str:str format self._resultDict --> dictionary of result class instances, i.e. {'MaterialLoad':mtconnect_msgs.msg._MaterialLoadResult.MaterialLoadResult()} self._as --> dictionary of ROS action servers referenced by DataItem

Definition at line 154 of file bridge_server.py.