script_server.py
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00001 #!/usr/bin/python
00002 #################################################################
00003 ##\file
00004 #
00005 # \note
00006 #   Copyright (c) 2010 \n
00007 #   Fraunhofer Institute for Manufacturing Engineering
00008 #   and Automation (IPA) \n\n
00009 #
00010 #################################################################
00011 #
00012 # \note
00013 #   Project name: care-o-bot
00014 # \note
00015 #   ROS stack name: cob_apps
00016 # \note
00017 #   ROS package name: cob_script_server
00018 #
00019 # \author
00020 #   Author: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de
00021 # \author
00022 #   Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de
00023 #
00024 # \date Date of creation: Aug 2010
00025 #
00026 # \brief
00027 #   Implementation of ROS node for script_server.
00028 #
00029 #################################################################
00030 #
00031 # Redistribution and use in source and binary forms, with or without
00032 # modification, are permitted provided that the following conditions are met:
00033 #
00034 #     - Redistributions of source code must retain the above copyright
00035 #       notice, this list of conditions and the following disclaimer. \n
00036 #     - Redistributions in binary form must reproduce the above copyright
00037 #       notice, this list of conditions and the following disclaimer in the
00038 #       documentation and/or other materials provided with the distribution. \n
00039 #     - Neither the name of the Fraunhofer Institute for Manufacturing
00040 #       Engineering and Automation (IPA) nor the names of its
00041 #       contributors may be used to endorse or promote products derived from
00042 #       this software without specific prior written permission. \n
00043 #
00044 # This program is free software: you can redistribute it and/or modify
00045 # it under the terms of the GNU Lesser General Public License LGPL as 
00046 # published by the Free Software Foundation, either version 3 of the 
00047 # License, or (at your option) any later version.
00048 # 
00049 # This program is distributed in the hope that it will be useful,
00050 # but WITHOUT ANY WARRANTY; without even the implied warranty of
00051 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00052 # GNU Lesser General Public License LGPL for more details.
00053 # 
00054 # You should have received a copy of the GNU Lesser General Public 
00055 # License LGPL along with this program. 
00056 # If not, see <http://www.gnu.org/licenses/>.
00057 #
00058 #################################################################
00059 
00060 import time
00061 import inspect
00062 
00063 import roslib
00064 roslib.load_manifest('cob_script_server')
00065 import rospy
00066 import actionlib
00067 
00068 from cob_script_server.msg import *
00069 from simple_script_server import *
00070 
00071 sss = simple_script_server()
00072 
00073 ## Script server class which inherits from script class.
00074 #
00075 # Implements actionlib interface for the script server.
00076 #
00077 class script_server():
00078         ## Initializes the actionlib interface of the script server.
00079         #
00080         def __init__(self):
00081                 self.ns_global_prefix = "/script_server"
00082                 self.script_action_server = actionlib.SimpleActionServer(self.ns_global_prefix, ScriptAction, self.execute_cb, False)
00083                 self.script_action_server.start()
00084         
00085 #------------------- Actionlib section -------------------#
00086         ## Executes actionlib callbacks.
00087         #
00088         # \param server_goal ScriptActionGoal
00089         #
00090         def execute_cb(self, server_goal):
00091                 server_result = ScriptActionResult().result
00092                 if server_goal.function_name == None or server_goal.function_name.strip() == "":
00093                         rospy.logerr("function name cannot be blank")
00094                         return
00095                         
00096                 if server_goal.function_name in dir(sss):
00097                         func = getattr(sss, server_goal.function_name)
00098                         argspec = inspect.getargspec(func)
00099                         args = {}
00100                         for arg in argspec.args:
00101                                 if arg in dir(server_goal):
00102                                         serverArg = getattr(server_goal, arg)
00103                                         if type(serverArg) == str:
00104                                                 try:
00105                                                         serverArg = eval(serverArg)
00106                                                 except:
00107                                                         pass
00108                                         args[arg] = serverArg
00109                         
00110                         handle01 = func(*(), **args)
00111                 else:
00112                         rospy.logerr("function <<%s>> not supported", server_goal.function_name)
00113                         self.script_action_server.set_aborted(server_result)
00114                         return
00115                 
00116                 if 'get_error_code' in dir(handle01):
00117                         server_result.error_code = handle01.get_error_code()
00118                 else:
00119                         rospy.logwarn("unexpected action result type <<%s>> for function %s", type(handle01), server_goal.function_name)
00120                 if server_result.error_code == 0:
00121                         rospy.logdebug("action result success")
00122                         self.script_action_server.set_succeeded(server_result)
00123                 else:
00124                         rospy.logerr("action result error, error_code: " + str(server_result.error_code))
00125                         self.script_action_server.set_aborted(server_result)
00126 
00127 ## Main routine for running the script server
00128 #
00129 if __name__ == '__main__':
00130         rospy.init_node('script_server')
00131         script_server()
00132         rospy.loginfo("script_server is running")
00133         rospy.spin()


cob_script_server
Author(s): Florian Weisshardt
autogenerated on Sun Oct 5 2014 22:59:42