status_tracker.py
Go to the documentation of this file.
1 # Copyright (c) 2009, Willow Garage, Inc.
2 # All rights reserved.
3 #
4 # Redistribution and use in source and binary forms, with or without
5 # modification, are permitted provided that the following conditions are met:
6 #
7 # * Redistributions of source code must retain the above copyright
8 # notice, this list of conditions and the following disclaimer.
9 # * Redistributions in binary form must reproduce the above copyright
10 # notice, this list of conditions and the following disclaimer in the
11 # documentation and/or other materials provided with the distribution.
12 # * Neither the name of the Willow Garage, Inc. nor the names of its
13 # contributors may be used to endorse or promote products derived from
14 # this software without specific prior written permission.
15 #
16 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
17 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
18 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
19 # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
20 # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
21 # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
22 # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
23 # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
24 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
25 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
26 # POSSIBILITY OF SUCH DAMAGE.
27 
28 # Author: Alexander Sorokin.
29 # Based on C++ goal_id_generator.h/cpp
30 import rospy
31 
32 import actionlib_msgs.msg
33 from actionlib import goal_id_generator
34 
35 
37  """
38  * @class StatusTracker
39  * @brief A class for storing the status of each goal the action server
40  * is currently working on
41  """
42 
43  def __init__(self, goal_id=None, status=None, goal=None):
44  """
45  @brief create status tracker. Either pass goal_id and status OR goal
46  """
47  self.goal = None
48  self.handle_tracker = None
49  self.status = actionlib_msgs.msg.GoalStatus()
50 
51  self.handle_destruction_time = rospy.Time()
52 
54 
55  if goal_id:
56  # set the goal id and status appropriately
57  self.status.goal_id = goal_id
58  self.status.status = status
59  else:
60  self.goal = goal
61  self.status.goal_id = goal.goal_id
62 
63  # initialize the status of the goal to pending
64  self.status.status = actionlib_msgs.msg.GoalStatus.PENDING
65 
66  # if the goal id is zero, then we need to make up an id for the goal
67  if self.status.goal_id.id == "":
68  self.status.goal_id = self.id_generator.generate_ID()
69 
70  # if the timestamp of the goal is zero, then we'll set it to now()
71  if self.status.goal_id.stamp == rospy.Time():
72  self.status.goal_id.stamp = rospy.Time.now()
def __init__(self, goal_id=None, status=None, goal=None)


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep, Mikael Arguedas
autogenerated on Mon Aug 24 2020 03:40:47