srs_decision_making_ui_interface_client.py

Go to the documentation of this file.

#!/usr/bin/python
#################################################################
##\file
#
# \note
# Copyright (c) 2012 \n
# Cardiff University \n\n
#
#################################################################
#
# \note
# Project name: Multi-Role Shadow Robotic System for Independent Living
# \note
# ROS stack name: srs
# \note
# ROS package name: srs_decision_making_interface
#
# \author
# Author: Renxi Qiu, email: renxi.qiu@gmail.com
#
# \date Date of creation: Jan 2012
#
# \brief
# Interface for SRS decision making
#
#################################################################
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# - Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer. \n
#
# - Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution. \n
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License LGPL as
# published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License LGPL for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License LGPL along with this program.
# If not, see <http://www.gnu.org/licenses/>.
#
#################################################################

import roslib; roslib.load_manifest('srs_decision_making_interface')

from srs_decision_making_interface.srv import srs_dm_ui_interface
from std_msgs.msg import *
import rospy
import actionlib

def srs_decision_making_ui_interface_client(action, parameter, priority, json_parameters):

    rospy.wait_for_service('srs_decision_making_ui_interface')
    
    srs_decision_making_action = rospy.ServiceProxy('srs_decision_making_ui_interface', srs_dm_ui_interface)

    resp = srs_decision_making_action(action, parameter, priority, json_parameters)
        
    return resp
    
if __name__ == '__main__':
    try:
        # Initializes a rospy node so that the SimpleActionClient can
        # publish and subscribe over ROS.
        rospy.init_node('dm_client_test')
        action = 'get'
        parameter = 'Milkbox'
        priority = '1'
        json_parameters = '{"tasks":[{"time_schedule":1263798000000,"task":"get","deliver_destination":{"predefined_pose":"order"},"object":{"object_type":"Milkbox"}}],"initializer":{"device_type":"ui_loc","device_id":"ui_loc_0001"}}'
        
        print (action, parameter, priority, json_parameters )
        result = srs_decision_making_ui_interface_client(action, parameter, priority, json_parameters)
        rospy.loginfo('The task has been passed to DM, the allocated task id is: %s',result)
        # print ("Result:" result)
    except rospy.ROSInterruptException:
        print "program interrupted before completion"