def _make_predicate(type_name, parameters):
new_type_name, is_negative = _is_predicate_negative(type_name)
kb_item = KnowledgeItem()
kb_item.knowledge_type = KB_ITEM_FACT
kb_item.is_negative = is_negative
kb_item.attribute_name = new_type_name
kb_item.values = dict_to_keyval(parameters)
return kb_item
def _action_receiver(msg):
global action_ids
actions = _list_actions()
rospy.loginfo("[RPpt][AIF] a message is received: '%d', '%s'" % (msg.action_id, msg.name))
rospy.loginfo(actions)
if msg.name in actions:
action_name = msg.name
rospy.loginfo("[RPpt][AIF] start '%s' action" % action_name)
try:
action = actions[action_name](msg.action_id, msg.dispatch_time,
feedback,
keyval_to_dict(msg.parameters))
action_ids[msg.action_id] = action
if issubclass(action.__class__, ActionSink):
action.execute(action_name, **keyval_to_dict(msg.parameters))
else:
action.execute(**keyval_to_dict(msg.parameters))
except Exception as e:
rospy.logwarn("[RPpt][AIF] action '%s' failed." % msg.name, exc_info=1)
feedback.publish(ActionFeedback(msg.action_id,
"action failed",
dict_to_keyval(None)))
elif msg.action_id in action_ids:
operation = msg.name
rospy.loginfo("[RPpt][AIF] update action '%d', doing '%s'" % (msg.action_id, operation))
if operation == "cancel_action":
action_ids[msg.action_id].cancel()
elif operation == "pause_action":
action_ids[msg.action_id].pause()
elif operation == "resume_action":
action_ids[msg.action_id].resume()
else:
rospy.loginfo("[RPpt][AR] no operation")
def _feedback(self, status, info=None):
self.feedback_pub.publish(ActionFeedback(self.action_id,
status,
dict_to_keyval(info)))
def send_action(name, **kwargs):
msg = ActionDispatch()
msg.name = name
msg.parameters = dict_to_keyval(kwargs)
_action_dispatch_publisher.publish(msg)