goal_id_generator.py
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1 #! /usr/bin/env python
2 # Copyright (c) 2009, Willow Garage, Inc.
3 # All rights reserved.
4 #
5 # Redistribution and use in source and binary forms, with or without
6 # modification, are permitted provided that the following conditions are met:
7 #
8 # * Redistributions of source code must retain the above copyright
9 # notice, this list of conditions and the following disclaimer.
10 # * Redistributions in binary form must reproduce the above copyright
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12 # documentation and/or other materials provided with the distribution.
13 # * Neither the name of the Willow Garage, Inc. nor the names of its
14 # contributors may be used to endorse or promote products derived from
15 # this software without specific prior written permission.
16 #
17 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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26 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 # POSSIBILITY OF SUCH DAMAGE.
28 
29 # Author: Alexander Sorokin.
30 # Based on C++ goal_id_generator.h/cpp
31 import rospy
32 
33 from actionlib_msgs.msg import GoalID
34 import threading
35 
36 global s_goalcount_lock
37 global s_goalcount
38 s_goalcount_lock = threading.Lock()
39 s_goalcount = 0
40 
41 
43 
44  def __init__(self, name=None):
45  """
46  * Create a generator that prepends the fully qualified node name to the Goal ID
47  * \param name Unique name to prepend to the goal id. This will
48  * generally be a fully qualified node name.
49  """
50  if name is not None:
51  self.set_name(name)
52  else:
53  self.set_name(rospy.get_name())
54 
55  def set_name(self, name):
56  """
57  * \param name Set the name to prepend to the goal id. This will
58  * generally be a fully qualified node name.
59  """
60  self.name = name
61 
62  def generate_ID(self):
63  """
64  * \brief Generates a unique ID
65  * \return A unique GoalID for this action
66  """
67  id = GoalID()
68  cur_time = rospy.Time.now()
69  ss = self.name + "-"
70  global s_goalcount_lock
71  global s_goalcount
72  with s_goalcount_lock:
73  s_goalcount += 1
74  ss += str(s_goalcount) + "-"
75  ss += str(cur_time.secs) + "." + str(cur_time.nsecs)
76 
77  id.id = ss
78  id.stamp = cur_time
79  return id


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Tue Sep 3 2019 03:41:41