status_tracker.py

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# Copyright (c) 2009, Willow Garage, Inc.
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# Author: Alexander Sorokin.
# Based on C++ goal_id_generator.h/cpp
import rospy

import actionlib_msgs.msg
from actionlib import goal_id_generator


class StatusTracker:
    """
    * @class StatusTracker
    * @brief A class for storing the status of each goal the action server
    * is currently working on
    """

    def __init__(self, goal_id=None, status=None, goal=None):
        """
        @brief create status tracker. Either pass goal_id and status OR goal
        """
        self.goal = None
        self.handle_tracker = None
        self.status = actionlib_msgs.msg.GoalStatus()

        self.handle_destruction_time = rospy.Time()

        self.id_generator = goal_id_generator.GoalIDGenerator()

        if goal_id:
            # set the goal id and status appropriately
            self.status.goal_id = goal_id
            self.status.status = status
        else:
            self.goal = goal
            self.status.goal_id = goal.goal_id

            # initialize the status of the goal to pending
            self.status.status = actionlib_msgs.msg.GoalStatus.PENDING

            # if the goal id is zero, then we need to make up an id for the goal
            if self.status.goal_id.id == "":
                self.status.goal_id = self.id_generator.generate_ID()

            # if the timestamp of the goal is zero, then we'll set it to now()
            if self.status.goal_id.stamp == rospy.Time():
                self.status.goal_id.stamp = rospy.Time.now()