ref_server.py

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#!/usr/bin/env python
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Willow Garage, Inc. nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
 
# Author: Alexander Sorokin.
# Based on code from ref_server.cpp by Vijay Pradeep
PKG = 'actionlib'
import rospy
 
from actionlib.action_server import ActionServer
from actionlib.msg import TestAction, TestFeedback, TestResult
 
 
class RefServer (ActionServer):
 
    def __init__(self, name):
        action_spec = TestAction
        ActionServer.__init__(
            self, name, action_spec, self.goalCallback, self.cancelCallback, False)
        self.start()
        rospy.loginfo("Creating ActionServer [%s]\n", name)
 
        self.saved_goals = []
 
    def goalCallback(self, gh):
        goal = gh.get_goal()
 
        rospy.loginfo("Got goal %d", int(goal.goal))
        if goal.goal == 1:
            gh.set_accepted()
            gh.set_succeeded(None, "The ref server has succeeded")
        elif goal.goal == 2:
            gh.set_accepted()
            gh.set_aborted(None, "The ref server has aborted")
        elif goal.goal == 3:
            gh.set_rejected(None, "The ref server has rejected")
        elif goal.goal == 4:
            self.saved_goals.append(gh)
            gh.set_accepted()
        elif goal.goal == 5:
            gh.set_accepted()
            for g in self.saved_goals:
                g.set_succeeded()
            self.saved_goals = []
            gh.set_succeeded()
        elif goal.goal == 6:
            gh.set_accepted()
            for g in self.saved_goals:
                g.set_aborted()
            self.saved_goals = []
            gh.set_succeeded()
        elif goal.goal == 7:
            gh.set_accepted()
            n = len(self.saved_goals)
            for i, g in enumerate(self.saved_goals):
                g.publish_feedback(TestFeedback(n-i))
            gh.set_succeeded()
        elif goal.goal == 8:
            gh.set_accepted()
            n = len(self.saved_goals)
            for i, g in enumerate(self.saved_goals):
                if i % 2 == 0:
                    g.set_succeeded(TestResult(n - i), "The ref server has succeeded")
                else:
                    g.set_aborted(TestResult(n - i), "The ref server has aborted")
            self.saved_goals = []
            gh.set_succeeded()
        else:
            pass
 
    def cancelCallback(self, gh):
        pass
 
 
if __name__ == "__main__":
    rospy.init_node("ref_server")
    ref_server = RefServer("reference_action")
 
    rospy.spin()