00001 #!/usr/bin/env python 00002 00003 # Software License Agreement (BSD License) 00004 # 00005 # Copyright (c) 2010, UC Regents 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 the University of California 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 modes_to_standby.py 00036 00037 This roshlet is used to bring additional control modes to standby. It also necessarily brings the 00038 controller to operational first. 00039 00040 Usage: 00041 rosrun rosh roshlet.py flyer_common/modes_to_standby.py mode_1 [mode_2 [... mode_n]] --plugins=rosh_common,rosh_geometry 00042 """ 00043 import sys 00044 import roslib 00045 roslib.load_manifest('flyer_common') 00046 from rospy import myargv, get_namespace, loginfo 00047 import rospy 00048 00049 from starmac_roshlib.topics import wait_for_topic, wait_for_topic_sub 00050 from starmac_roshlib.commanding import cmd_wait 00051 00052 #rospy.init_node('modes_to_standby') 00053 00054 loginfo('modes_to_standby script starting') 00055 00056 ns = get_namespace() 00057 print "ns = ", ns 00058 00059 modes = rospy.get_param('~modes').split() #parameters['~'].modes() #myargv(argv=sys.argv) 00060 loginfo('modes: %s' % modes) 00061 00062 wait_for_topic_sub(ns + 'manager', ns + 'controller/cmd') 00063 for mode in modes: 00064 wait_for_topic(ns + 'manager', ns + 'control_mode_%s/cmd' % mode) 00065 sleep(5.0) 00066 00067 ccmd = topics[ns + 'controller/cmd'] 00068 00069 cmd_wait(ccmd, "mode operational", 3.0) 00070 00071 for mode in modes: 00072 cmd_wait(ccmd, "control_mode to_standby %s" % mode, 2.0) 00073 00074 # TODO: add some verification that the modes actually end up in standby 00075 loginfo('modes_to_standby script finished')