status_tracker.py
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00001 # Copyright (c) 2009, Willow Garage, Inc.
00002 # All rights reserved.
00003 #
00004 # Redistribution and use in source and binary forms, with or without
00005 # modification, are permitted provided that the following conditions are met:
00006 #
00007 #     * Redistributions of source code must retain the above copyright
00008 #       notice, this list of conditions and the following disclaimer.
00009 #     * Redistributions in binary form must reproduce the above copyright
00010 #       notice, this list of conditions and the following disclaimer in the
00011 #       documentation and/or other materials provided with the distribution.
00012 #     * Neither the name of the Willow Garage, Inc. nor the names of its
00013 #       contributors may be used to endorse or promote products derived from
00014 #       this software without specific prior written permission.
00015 #
00016 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026 # POSSIBILITY OF SUCH DAMAGE.
00027 
00028 # Author: Alexander Sorokin.
00029 # Based on C++ goal_id_generator.h/cpp
00030 import rospy
00031 
00032 import actionlib_msgs.msg
00033 from actionlib import goal_id_generator
00034 
00035 
00036 class StatusTracker:
00037     """
00038     * @class StatusTracker
00039     * @brief A class for storing the status of each goal the action server
00040     * is currently working on
00041     """
00042 
00043     def __init__(self, goal_id=None, status=None, goal=None):
00044         """
00045         @brief create status tracker. Either pass goal_id and status OR goal
00046         """
00047         self.goal = None
00048         self.handle_tracker = None
00049         self.status = actionlib_msgs.msg.GoalStatus()
00050 
00051         self.handle_destruction_time = rospy.Time()
00052 
00053         self.id_generator = goal_id_generator.GoalIDGenerator()
00054 
00055         if goal_id:
00056             # set the goal id and status appropriately
00057             self.status.goal_id = goal_id
00058             self.status.status = status
00059         else:
00060             self.goal = goal
00061             self.status.goal_id = goal.goal_id
00062 
00063             # initialize the status of the goal to pending
00064             self.status.status = actionlib_msgs.msg.GoalStatus.PENDING
00065 
00066             # if the goal id is zero, then we need to make up an id for the goal
00067             if self.status.goal_id.id == "":
00068                 self.status.goal_id = self.id_generator.generate_ID()
00069 
00070             # if the timestamp of the goal is zero, then we'll set it to now()
00071             if self.status.goal_id.stamp == rospy.Time():
00072                 self.status.goal_id.stamp = rospy.Time.now()


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Sat Feb 16 2019 03:21:28