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 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


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Sep 28 2017 02:51:16