def _set_mouse_lifecycle_state(self, transition_id):
request = ChangeState.Request()
request.transition.id = transition_id
future = self._client_change_state.call_async(request)
executor = rclpy.executors.SingleThreadedExecutor(context=self.context)
rclpy.spin_until_future_complete(self, future, executor=executor)
return future.result().success
def change_state(lifecycle_node, change_state_args=''):
node = rclpy.create_node('lc_client_py')
service_name = lifecycle_node + '/change_state'
cli = node.create_client(ChangeState, service_name)
if not cli.wait_for_service(timeout_sec=5.0):
node.get_logger().warn('Unable to call service %s' % service_name)
return
req = ChangeState.Request()
if change_state_args == 'configure':
req.transition.id = Transition.TRANSITION_CONFIGURE
elif change_state_args == 'cleanup':
req.transition.id = Transition.TRANSITION_CLEANUP
elif change_state_args == 'shutdown':
req.transition.id = Transition.TRANSITION_SHUTDOWN
elif change_state_args == 'activate':
req.transition.id = Transition.TRANSITION_ACTIVATE
elif change_state_args == 'deactivate':
req.transition.id = Transition.TRANSITION_DEACTIVATE
future = cli.call_async(req)
rclpy.spin_until_future_complete(node, future)
if future.result() is not None:
resp = future.result()
if resp.success:
node.get_logger().info('%s successfully triggered transition %s' %
(lifecycle_node, change_state_args))
else:
node.get_logger().info('%s failed to triggered transition %s' %
(lifecycle_node, change_state_args))
else:
node.get_logger.error(
'Exception %r during call %s in transition %s' %
(future.exception(), lifecycle_node, change_state_args))
def __init__(self):
super().__init__('gz_srv_disable')
self.cli = self.create_client(ChangeState,
'/joint_state_controller/change_state')
while not self.cli.wait_for_service(timeout_sec=5.0):
self.get_logger().info('service not available, waiting again...')
self.req = ChangeState.Request()
def change_state(lifecycle_node, change_state_args=''):
node = rclpy.create_node('lc_client_py')
service_name = lifecycle_node + '/change_state'
cli = node.create_client(ChangeState, service_name)
if not cli.wait_for_service(timeout_sec=5.0):
node.get_logger().warn('Unable to call service %s' % service_name)
return
req = ChangeState.Request()
if change_state_args == 'configure':
req.transition.id = Transition.TRANSITION_CONFIGURE
elif change_state_args == 'cleanup':
req.transition.id = Transition.TRANSITION_CLEANUP
elif change_state_args == 'shutdown':
req.transition.id = Transition.TRANSITION_SHUTDOWN
elif change_state_args == 'activate':
req.transition.id = Transition.TRANSITION_ACTIVATE
elif change_state_args == 'deactivate':
req.transition.id = Transition.TRANSITION_DEACTIVATE
cli.call(req)
cli.wait_for_future()
if cli.response.success:
node.get_logger().info('%s successfully triggered transition %s' %
(lifecycle_node, change_state_args))
else:
node.get_logger().info('%s failed to triggered transition %s' %
(lifecycle_node, change_state_args))
def set_lifecycle_state(self, transition_id):
"""
Set lifecycle state.
Arguments
---------
transition_id : int
Returns
-------
success : bool
"""
request = ChangeState.Request()
request.transition.id = transition_id
future = self.client_change_state.call_async(request)
rclpy.spin_until_future_complete(self,
future,
executor=self.executor,
timeout_sec=self.timeout_sec)
if future.result() is None:
raise RuntimeError(
"Interpreter tried to set current lifecycle state, but failed."
)
return future.result().success
def do_transition_(self, id):
req = ChangeState.Request()
req.transition = Transition()
req.transition.id = id
fut = self.change_state_client_.call_async(req)
rclpy.spin_until_future_complete(self.node_, fut, executor=self.exe_)
resp = fut.result()
self.assertTrue(resp is not None)
self.assertTrue(resp.success)
def __init__(self):
super().__init__('system_modes_test_client')
self.clis = self.create_client(ChangeState, '/sys/change_state')
while not self.clis.wait_for_service(timeout_sec=1.0):
self.get_logger().info('service not available, waiting again...')
self.reqs = ChangeState.Request()
self.clim = self.create_client(ChangeMode, '/sys/change_mode')
while not self.clim.wait_for_service(timeout_sec=1.0):
self.get_logger().info('service not available, waiting again...')
self.reqm = ChangeMode.Request()
def change_state(lifecycle_node, change_state_args=''):
node = rclpy.create_node('lc_client_py')
cli = node.create_client(ChangeState, lifecycle_node + '/change_state')
req = ChangeState.Request()
if change_state_args == 'configure':
req.transition.id = Transition.TRANSITION_CONFIGURE
elif change_state_args == 'cleanup':
req.transition.id = Transition.TRANSITION_CLEANUP
elif change_state_args == 'shutdown':
req.transition.id = Transition.TRANSITION_SHUTDOWN
elif change_state_args == 'activate':
req.transition.id = Transition.TRANSITION_ACTIVATE
elif change_state_args == 'deactivate':
req.transition.id = Transition.TRANSITION_DEACTIVATE
cli.call(req)
cli.wait_for_future()
if cli.response.success:
print('%s successfully triggered transition %s' % (lifecycle_node, change_state_args))
else:
print('%s failed to triggered transition %s' % (lifecycle_node, change_state_args))
def call_change_states(*, node, transitions):
clients = {}
futures = {}
# create clients
for node_name in transitions.keys():
client = node.create_client(
ChangeState, '/{node_name}/change_state'.format_map(locals()))
clients[node_name] = client
# wait until all clients have been called
while True:
for node_name in [n for n in transitions.keys() if n not in futures]:
# call as soon as ready
client = clients[node_name]
if client.service_is_ready():
request = ChangeState.Request()
request.node_name = node_name
request.transition = transitions[node_name]
future = client.call_async(request)
futures[node_name] = future
if len(futures) == len(clients):
break
rclpy.spin_once(node, timeout_sec=1.0)
# wait for all responses
for future in futures.values():
rclpy.spin_until_future_complete(node, future)
# return success flag or exception for each node
results = {}
for node_name, future in futures.items():
if future.result() is not None:
response = future.result()
results[node_name] = response.success
else:
results[node_name] = future.exception()
return results