def runPostAction(self, req):
rsp = PlugSotResponse()
if self.supervisor is not None:
try:
success = self.supervisor.runPostAction(req.transition_name)
except Exception as e:
rospy.logerr(str(e))
rsp.success = False
rsp.msg = str(e)
return rsp
else:
answer = self.runCommand("supervisor.runPostAction('{}')".format(
req.transition_name))
if len(answer.standarderror) != 0:
rsp.success = False
rsp.msg = answer.standarderror
return rsp
else:
exec("success = " + answer.result)
rsp.success = success
rsp.msg = "Successfully called supervisor."
return rsp
def plugSot(self, req):
rsp = PlugSotResponse()
if self.supervisor is not None:
try:
self.supervisor.plugSot(req.transition_name, False)
except Exception as e:
rospy.logerr(str(e))
rsp.success = False
rsp.msg = str(e)
return rsp
else:
answer = self.runCommand("supervisor.plugSot('{}', False)".format(
req.transition_name))
if len(answer.standarderror) != 0:
rsp.success = False
rsp.msg = answer.standarderror
return rsp
rsp.success = True
return rsp
def runPreAction(self, req):
rsp = PlugSotResponse()
if self.supervisor is not None:
try:
rsp.success, rsp.start_time = self.supervisor.runPreAction(
req.transition_name)
except Exception as e:
rospy.logerr(str(e))
rsp.success = False
rsp.msg = str(e)
return rsp
else:
answer = self.runCommand("supervisor.runPreAction('{}')".format(
req.transition_name))
rsp.success, rsp.msg = self._isNotError(answer)
if rsp.success:
exec("rsp.success, rsp.start_time = " + answer.result)
else:
return rsp
rsp.msg = "Successfully called supervisor."
return rsp