ref_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 # Author: Alexander Sorokin.
00030 # Based on code from ref_server.cpp by Vijay Pradeep
00031 PKG = 'actionlib'
00032 import rospy
00033 
00034 from actionlib.action_server import ActionServer
00035 from actionlib.msg import TestAction, TestFeedback, TestResult
00036 
00037 
00038 class RefServer (ActionServer):
00039 
00040     def __init__(self, name):
00041         action_spec = TestAction
00042         ActionServer.__init__(
00043             self, name, action_spec, self.goalCallback, self.cancelCallback, False)
00044         self.start()
00045         rospy.loginfo("Creating ActionServer [%s]\n", name)
00046 
00047         self.saved_goals = []
00048 
00049     def goalCallback(self, gh):
00050         goal = gh.get_goal()
00051 
00052         rospy.loginfo("Got goal %d", int(goal.goal))
00053         if goal.goal == 1:
00054             gh.set_accepted()
00055             gh.set_succeeded(None, "The ref server has succeeded")
00056         elif goal.goal == 2:
00057             gh.set_accepted()
00058             gh.set_aborted(None, "The ref server has aborted")
00059         elif goal.goal == 3:
00060             gh.set_rejected(None, "The ref server has rejected")
00061         elif goal.goal == 4:
00062             self.saved_goals.append(gh)
00063             gh.set_accepted()
00064         elif goal.goal == 5:
00065             gh.set_accepted()
00066             for g in self.saved_goals:
00067                 g.set_succeeded()
00068             self.saved_goals = []
00069             gh.set_succeeded()
00070         elif goal.goal == 6:
00071             gh.set_accepted()
00072             for g in self.saved_goals:
00073                 g.set_aborted()
00074             self.saved_goals = []
00075             gh.set_succeeded()
00076         elif goal.goal == 7:
00077             gh.set_accepted()
00078             n = len(self.saved_goals)
00079             for i, g in enumerate(self.saved_goals):
00080                 g.publish_feedback(TestFeedback(n-i))
00081             gh.set_succeeded()
00082         elif goal.goal == 8:
00083             gh.set_accepted()
00084             n = len(self.saved_goals)
00085             for i, g in enumerate(self.saved_goals):
00086                 if i % 2 == 0:
00087                     g.set_succeeded(TestResult(n - i), "The ref server has succeeded")
00088                 else:
00089                     g.set_aborted(TestResult(n - i), "The ref server has aborted")
00090             self.saved_goals = []
00091             gh.set_succeeded()
00092         else:
00093             pass
00094 
00095     def cancelCallback(self, gh):
00096         pass
00097 
00098 
00099 if __name__ == "__main__":
00100     rospy.init_node("ref_server")
00101     ref_server = RefServer("reference_action")
00102 
00103     rospy.spin()


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