simple_action_server_deadlock_companion.py
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00001 #! /usr/bin/env python
00002 #
00003 # Copyright (c) 2013, Miguel Sarabia
00004 # Imperial College London
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions are met:
00009 #
00010 #     * Redistributions of source code must retain the above copyright
00011 #       notice, this list of conditions and the following disclaimer.
00012 #     * Redistributions in binary form must reproduce the above copyright
00013 #       notice, this list of conditions and the following disclaimer in the
00014 #       documentation and/or other materials provided with the distribution.
00015 #     * Neither the name of Imperial College London nor the names of its
00016 #       contributors may be used to endorse or promote products derived from
00017 #       this software without specific prior written permission.
00018 #
00019 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029 # POSSIBILITY OF SUCH DAMAGE.
00030 #
00031 
00032 
00033 class Constants:
00034     node = "simple_action_server_deadlock_companion"
00035     topic = "deadlock"
00036     max_action_duration = 3
00037 
00038 
00039 import random
00040 
00041 import actionlib
00042 from actionlib.msg import TestAction, TestGoal
00043 from actionlib_msgs.msg import GoalStatus
00044 import rospy
00045 
00046 
00047 class DeadlockCompanion:
00048 
00049     def __init__(self):
00050         # Seed random with fully resolved name of node and current time
00051         random.seed(rospy.get_name() + str(rospy.Time.now().to_sec()))
00052 
00053         # Create actionlib client
00054         self.action_client = actionlib.SimpleActionClient(
00055             Constants.topic,
00056             TestAction)
00057 
00058     def run(self):
00059         while not rospy.is_shutdown():
00060             # Send dummy goal
00061             self.action_client.send_goal(TestGoal())
00062 
00063             # Wait for a random amount of time
00064             action_duration = random.uniform(0, Constants.max_action_duration)
00065             self.action_client.wait_for_result(rospy.Duration(action_duration))
00066 
00067             state = self.action_client.get_state()
00068             if state == GoalStatus.ACTIVE or state == GoalStatus.PENDING:
00069                 self.action_client.cancel_goal()
00070 
00071 
00072 if __name__ == '__main__':
00073     rospy.init_node(Constants.node)
00074     try:
00075         companion = DeadlockCompanion()
00076         companion.run()
00077     except (KeyboardInterrupt, SystemExit):
00078         raise
00079     except:
00080         pass


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