mock_simple_server.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 import sys
00030 import time
00031 import rospy
00032 import rostest
00033 
00034 from actionlib.simple_action_server import SimpleActionServer
00035 from actionlib.server_goal_handle import ServerGoalHandle;
00036 from actionlib.msg import *
00037 
00038 class RefSimpleServer(SimpleActionServer):
00039 
00040     def __init__(self, name):
00041         SimpleActionServer.__init__(self, name, TestRequestAction, self.execute_cb, False)
00042         self.start()
00043 
00044     def execute_cb(self, goal):
00045         rospy.logdebug("Goal:\n" + str(goal))
00046         result = TestRequestResult(goal.the_result, True)
00047 
00048         if goal.pause_status > rospy.Duration(0.0):
00049             rospy.loginfo("Locking the action server for %.3f seconds" % goal.pause_status.to_sec())
00050             status_continue_time = rospy.get_rostime() + goal.pause_status
00051             # Takes the action server lock to prevent status from
00052             # being published (simulates a freeze).
00053             with self.action_server.lock:
00054                 while rospy.get_rostime() < status_continue_time:
00055                     time.sleep(0.02)
00056                 rospy.loginfo("Unlocking the action server")
00057 
00058 
00059         terminate_time = rospy.get_rostime() + goal.delay_terminate
00060         while rospy.get_rostime() < terminate_time:
00061             time.sleep(0.02)
00062             if not goal.ignore_cancel:
00063                 if self.is_preempt_requested():
00064                     self.set_preempted(result, goal.result_text)
00065                     return
00066 
00067         rospy.logdebug("Terminating goal as: %i" % goal.terminate_status)
00068 
00069         if goal.terminate_status == TestRequestGoal.TERMINATE_SUCCESS:
00070             self.set_succeeded(result, goal.result_text)
00071         elif goal.terminate_status == TestRequestGoal.TERMINATE_ABORTED:
00072             self.set_aborted(result, goal.result_text)
00073         elif goal.terminate_status == TestRequestGoal.TERMINATE_REJECTED:
00074             rospy.logerr("Simple action server cannot reject goals")
00075             self.set_aborted(None, "Simple action server cannot reject goals")
00076         elif goal.terminate_status == TestRequestGoal.TERMINATE_DROP:
00077             rospy.loginfo("About to drop the goal.  This should produce an error message.")
00078             return
00079         elif goal.terminate_status == TestRequestGoal.TERMINATE_EXCEPTION:
00080             rospy.loginfo("About to throw an exception.  This should produce an error message.")
00081             raise Exception("Terminating by throwing an exception")
00082         elif goal.terminate_status == TestRequestGoal.TERMINATE_LOSE:
00083             # Losing the goal requires messing about in the action server's innards
00084             for i, s in enumerate(self.action_server.status_list):
00085                 if s.status.goal_id.id == self.current_goal.goal.goal_id.id:
00086                     del self.action_server.status_list[i]
00087                     break
00088             self.current_goal = ServerGoalHandle()
00089         else:
00090             rospy.logerr("Don't know how to terminate as %d" % goal.terminate_status)
00091             self.set_aborted(None, "Don't know how to terminate as %d" % goal.terminate_status)
00092 
00093 
00094 
00095 if __name__ == '__main__':
00096     rospy.init_node("ref_simple_server")
00097     ref_server = RefSimpleServer("test_request_action")
00098     print "Spinning"
00099     rospy.spin()


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Fri Aug 28 2015 10:04:41