recharge_web_adaptor.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2009, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of the Willow Garage nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 import roslib
00035 roslib.load_manifest('pr2_plugs_actions')
00036 
00037 import rospy
00038 
00039 from actionlib import *
00040 from pr2_plugs_msgs.msg import *
00041 from pr2_plugs_msgs.srv import *
00042 
00043 class RechargeActionWebAdapter:
00044   def __init__(self):
00045     # Construct action client
00046     self.recharge_client = SimpleActionClient('recharge',RechargeAction)
00047     if self.recharge_client.wait_for_server(rospy.Duration(120.0)):
00048       rospy.loginfo("Recharge action web adapter connected to recharge action server.")
00049     else:
00050       rospy.logerr("Recharge action web adapter timed out while waiting for recharge action server.")
00051       raise Exception()
00052 
00053     # Construct publisher for recharge state, and broadcast initial state
00054     self.recharge_state = RechargeState()
00055     self.recharge_state.state = RechargeState.UNPLUGGED
00056 
00057     self.recharge_state_pub = rospy.Publisher('recharge_state', RechargeState, None, False, True)
00058     self.recharge_state_pub.publish(self.recharge_state)
00059 
00060     # Construct subscriber for recharge commands
00061     self.recharge_command_sub = rospy.Subscriber("recharge_command", RechargeCommand, self.recharge_command_cb)
00062     self.recharge_request_srv = rospy.Service('recharge_request', RechargeRequest, self.recharge_request_cb)
00063 
00064 
00065   def recharge_request_cb(self, req):
00066     self.recharge_command_cb(req.command)
00067 
00068   def recharge_command_cb(self,msg):
00069     if self.recharge_state.state == RechargeState.WAITING_FOR_STATE:
00070       rospy.logerr("Recharge action web adapter can't execute commands while still waiting for state.")
00071       return
00072     
00073     # There are only two valid things to do
00074     valid_plug_in_cmd = (self.recharge_state.state == RechargeState.UNPLUGGED and msg.command == RechargeCommand.PLUG_IN)
00075     valid_unplug_cmd = (self.recharge_state.state == RechargeState.PLUGGED_IN and msg.command == RechargeCommand.UNPLUG)
00076 
00077     if valid_plug_in_cmd or valid_unplug_cmd:
00078       # Publish ack to web
00079       rospy.loginfo("Recharge action web adapter sending command to action server...")
00080       self.recharge_state.state = RechargeState.WAITING_FOR_STATE
00081       self.recharge_state_pub.publish(self.recharge_state)
00082 
00083       # Send action to action server
00084       self.recharge_client.send_goal(
00085           RechargeGoal(command = msg),
00086           done_cb = self.action_done_cb)
00087 
00088       # Store recharge command
00089       self.recharge_command = msg.command
00090     else:
00091       rospy.logerr("Invalid command for the current recharge state.")
00092 
00093   def action_done_cb(self,result_state,result):
00094     rospy.loginfo("Recharge action completed with state: %d and result: %s" % (result_state, str(result)))
00095 
00096     # Store result
00097     self.recharge_state.state = result.state.state
00098 
00099     # Publish result to the web
00100     self.recharge_state_pub.publish(self.recharge_state)
00101 
00102 
00103 
00104 def main():
00105   rospy.init_node("recharge_action_web_adapter")
00106   adapter = RechargeActionWebAdapter()
00107   rospy.spin()
00108 
00109 if __name__ == "__main__":
00110   main()
00111 


pr2_plugs_actions
Author(s): Jon Bohren, Patrick Mihelich, Wim Meeussen, and Melonee Wise
autogenerated on Thu Nov 28 2013 11:47:13