def provide_task_status_handler(self, missionId):
# If mission found...
for mission in self.missions:
if mission['missionId'] == missionId:
taskStatus = MSGConstructor.TaskStatusConstructor(
missionId=mission['missionId'],
taskId=mission['taskId'],
statusCode=mission['statusCode'],
statusDescription=mission['statusDescription'],
when=mission['when'])
return taskStatus
# If mission not found
taskStatus = MSGConstructor.TaskStatusConstructor(
missionId='null',
taskId='null',
statusCode=12,
statusDescription='null',
when=rospy.get_rostime())
return taskStatus
def update_mission_status(self, missionId, taskId, statusCode,
statusDescription):
if statusCode in [1, 3, 11]:
rospy.loginfo('[TaskManager] [' + str(self.robotId) + '] [' +
str(missionId) + '] ' + str(statusDescription))
elif statusCode in [4, 12]:
rospy.logerr('[TaskManager] [' + str(self.robotId) + '] [' +
str(missionId) + '] ' + str(statusDescription))
if self.taskStatusPub is not None:
taskStatus = MSGConstructor.TaskStatusConstructor(
missionId=missionId,
taskId=taskId,
statusCode=statusCode,
statusDescription=statusDescription,
when=rospy.get_rostime())
self.taskStatusPub.publish(taskStatus)
for mission in self.missions:
if mission['missionId'] == missionId:
mission['taskId'] = taskId
mission['statusCode'] = statusCode
mission['statusDescription'] = statusDescription
mission['when'] = rospy.get_rostime()