rfnserver.py

Go to the documentation of this file.

#!/usr/bin/env python
import roslib; roslib.load_manifest('rfnserver')
import rospy
import actionlib
import os
from actionlib import SimpleActionServer
from roboframenet_msgs.msg import FilledSemanticFrameAction
from roboframenet_msgs.srv import AddFrame, AddLexicalUnit, RegisterWithFrame


class RFNServer(SimpleActionServer):
    def __init__(self, callback_topic, callback_function):
        # Note: auto_start should _always_ be set to False; then call start().
        SimpleActionServer.__init__(self,
                                    callback_topic, # name
                                    FilledSemanticFrameAction, # ActionSpec
                                    # execute_cb = None
                                    # Unwrap the semantic frame automatically
                                    lambda semantic_frame_goal:
                                        callback_function(semantic_frame_goal.frame),
                                    False) # auto_start = True
        self.callback_topic = callback_topic
        self.callback_function = callback_function

    # Returns True on success or False on failure.
    def add_frame(self, filepath):
        rospy.wait_for_service('add_frame')
        try:
            srv = rospy.ServiceProxy('add_frame', AddFrame)
            result = srv(os.path.abspath(filepath))
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e
            return False
        return result


    # Returns True on success or False on failure.
    def add_lexical_unit(self, filepath):
        rospy.wait_for_service('add_lexical_unit')
        try:
            srv = rospy.ServiceProxy('add_lexical_unit', AddLexicalUnit)
            result = srv(os.path.abspath(filepath))
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e
            return False
        return result


    # Returns True on success or False on failure.
    def register_with_frame(self, frame_name):
        rospy.wait_for_service('register_with_frame')
        try:
            srv = rospy.ServiceProxy('register_with_frame', RegisterWithFrame)
            result = srv(frame_name, self.callback_topic)
        except rospy.ServiceException, e:
            print "Service call failed: %s"%e
            return False
        return result.success


    @staticmethod
    def frame_argument(filled_semantic_frame, parameter_name):
        for fe in filled_semantic_frame.frame_elements:
            if fe.name == parameter_name:
                return fe.argument
        return False # not found