goal_id_generator.py
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00001 #! /usr/bin/env python
00002 # Copyright (c) 2009, Willow Garage, Inc.
00003 # All rights reserved.
00004 # 
00005 # Redistribution and use in source and binary forms, with or without
00006 # modification, are permitted provided that the following conditions are met:
00007 # 
00008 #     * Redistributions of source code must retain the above copyright
00009 #       notice, this list of conditions and the following disclaimer.
00010 #     * Redistributions in binary form must reproduce the above copyright
00011 #       notice, this list of conditions and the following disclaimer in the
00012 #       documentation and/or other materials provided with the distribution.
00013 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00014 #       contributors may be used to endorse or promote products derived from
00015 #       this software without specific prior written permission.
00016 # 
00017 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027 # POSSIBILITY OF SUCH DAMAGE.
00028 
00029 # Author: Alexander Sorokin. 
00030 # Based on C++ goal_id_generator.h/cpp
00031 
00032 import rospy
00033 
00034 import sys
00035 
00036 from actionlib_msgs.msg import GoalID
00037 import threading
00038 
00039 global s_goalcount_lock
00040 global s_goalcount
00041 s_goalcount_lock = threading.Lock();
00042 s_goalcount = 0
00043 
00044 
00045 class GoalIDGenerator:
00046 
00047 
00048     def __init__(self,name=None):
00049         """
00050         * Create a generator that prepends the fully qualified node name to the Goal ID
00051         * \param name Unique name to prepend to the goal id. This will
00052         *             generally be a fully qualified node name.
00053         """
00054         if name is not None:
00055             self.set_name(name)
00056         else:
00057             self.set_name(rospy.get_name());
00058 
00059 
00060     def set_name(self,name):
00061         """
00062         * \param name Set the name to prepend to the goal id. This will
00063         *             generally be a fully qualified node name.
00064         """
00065         self.name=name;
00066 
00067       
00068 
00069     def generate_ID(self):
00070         """
00071         * \brief Generates a unique ID
00072         * \return A unique GoalID for this action
00073         """
00074         id = GoalID();
00075         cur_time = rospy.Time.now();
00076         ss = self.name +  "-";
00077         global s_goalcount_lock
00078         global s_goalcount
00079         with s_goalcount_lock:
00080             s_goalcount += 1
00081             ss += str(s_goalcount) + "-";
00082         ss +=  str(cur_time.secs) + "." + str(cur_time.nsecs);
00083 
00084         id.id = ss;
00085         id.stamp = cur_time;
00086         return id;


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Sun Oct 5 2014 22:02:55