00001 #! /usr/bin/python 00002 # ********************************************************** 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2009, Willow Garage, Inc. 00006 # All rights reserved. 00007 # 00008 # Redistribution and use in source and binary forms, with or without 00009 # modification, are permitted provided that the following conditions 00010 # are met: 00011 # 00012 # * Redistributions of source code must retain the above copyright 00013 # notice, this list of conditions and the following disclaimer. 00014 # * Redistributions in binary form must reproduce the above 00015 # copyright notice, this list of conditions and the following 00016 # disclaimer in the documentation and/or other materials provided 00017 # with the distribution. 00018 # * Neither the name of Willow Garage, Inc. nor the names of its 00019 # contributors may be used to endorse or promote products derived 00020 # from this software without specific prior written permission. 00021 # 00022 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 # POSSIBILITY OF SUCH DAMAGE. 00034 # 00035 # Author: Eitan Marder-Eppstein 00036 # ********************************************************** 00037 import roslib 00038 import rospy 00039 import sys 00040 00041 00042 class DynamicAction(object): 00043 def __init__(self, name): 00044 # remove "Action" string from name 00045 assert("Action" in name) 00046 self.name = name[0:len(name)-6] 00047 self.action = self.load_submsg('Action') 00048 self.goal = self.load_submsg('Goal') 00049 self.feedback = self.load_submsg('Feedback') 00050 self.result = self.load_submsg('Result') 00051 00052 def load_submsg(self, subname): 00053 msgclass = roslib.message.get_message_class(self.name + subname) 00054 if msgclass is None: 00055 rospy.logfatal('Could not load message for: %s' % (self.name + subname)) 00056 sys.exit(1) 00057 return msgclass