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 import rospy 00032 00033 from actionlib_msgs.msg import GoalID 00034 import threading 00035 00036 global s_goalcount_lock 00037 global s_goalcount 00038 s_goalcount_lock = threading.Lock() 00039 s_goalcount = 0 00040 00041 00042 class GoalIDGenerator: 00043 00044 def __init__(self, name=None): 00045 """ 00046 * Create a generator that prepends the fully qualified node name to the Goal ID 00047 * \param name Unique name to prepend to the goal id. This will 00048 * generally be a fully qualified node name. 00049 """ 00050 if name is not None: 00051 self.set_name(name) 00052 else: 00053 self.set_name(rospy.get_name()) 00054 00055 def set_name(self, name): 00056 """ 00057 * \param name Set the name to prepend to the goal id. This will 00058 * generally be a fully qualified node name. 00059 """ 00060 self.name = name 00061 00062 def generate_ID(self): 00063 """ 00064 * \brief Generates a unique ID 00065 * \return A unique GoalID for this action 00066 """ 00067 id = GoalID() 00068 cur_time = rospy.Time.now() 00069 ss = self.name + "-" 00070 global s_goalcount_lock 00071 global s_goalcount 00072 with s_goalcount_lock: 00073 s_goalcount += 1 00074 ss += str(s_goalcount) + "-" 00075 ss += str(cur_time.secs) + "." + str(cur_time.nsecs) 00076 00077 id.id = ss 00078 id.stamp = cur_time 00079 return id