class CounterWithDelayActionClass(object):
# create messages that are used to publish feedback/result
_feedback = CounterWithDelayFeedback()
_result = CounterWithDelayResult()
def __init__(self, name):
# This will be the name of the action server which clients can use to connect to.
self._action_name = name
# Create a simple action server of the newly defined action type and
# specify the execute callback where the goal will be processed.
self._as = actionlib.SimpleActionServer(self._action_name, CounterWithDelayAction, execute_cb=self.execute_cb, auto_start = False)
# Start the action server.
self._as.start()
rospy.loginfo("Action server started...")
def execute_cb(self, goal):
counter_delay_value = 1.0
## Assignment 3 - Part3
## modify counter delay using a private parameter .
## Uncomment the following lines (37-41) and modify them acordingly
# if rospy.has_param("<write your code here>"):
# counter_delay_value = rospy.get_param("<write your code here>")
# rospy.loginfo("Parameter %s was found on the parameter server. Using %fs for counter delay."%("counter_delay", counter_delay_value))
# else:
# rospy.loginfo("Parameter %s not found on the parameter server. Using default value of 1.0s for counter delay.","counter_delay")
## End of Assignment 3 - Part3
# Variable for delay
delay_rate = rospy.Rate(counter_delay_value)
# Variable to decide the final state of the action server.
success = True
# publish info to the console for the user
rospy.loginfo('%s action server is counting up to %i with %fs delay between each count' % (self._action_name, goal.num_counts, counter_delay_value))
# start executing the action
for counter_idx in range(0, goal.num_counts):
# check that preempt has not been requested by the client
if self._as.is_preempt_requested():
rospy.loginfo('%s: Preempted' % self._action_name)
self._as.set_preempted()
success = False
break
# publish the feedback
self._feedback.counts_elapsed = counter_idx
self._as.publish_feedback(self._feedback)
# Wait for counter_delay s before incrementing the counter.
delay_rate.sleep()
if success:
self._result.result_message = "Successfully completed counting."
rospy.loginfo('%s: Succeeded' % self._action_name)
self._as.set_succeeded(self._result)
class CounterWithDelayActionClass(object):
# create messages that are used to publish feedback/result
_feedback = CounterWithDelayFeedback()
_result = CounterWithDelayResult()
def __init__(self, name):
# This will be the name of the action server which clients can use to connect to.
self._action_name = name
# Create a simple action server of the newly defined action type and
# specify the execute callback (execute_cb) where the goal will be processed.
self._as = actionlib.SimpleActionServer(self._action_name,
CounterWithDelayAction,
execute_cb=self.execute_cb,
auto_start=False)
# Start the action server.
self._as.start()
rospy.loginfo("Action server started...")
def execute_cb(self, goal):
#
# OPTIONAL: NOT GRADED Check if the parameter for the counter delay is available on the parameter server.
if not rospy.has_param('counter_delay'):
rospy.loginfo(
"Parameter %s not found on the parameter server. Using default value of 1.0s for counter delay.",
"counter_delay")
counter_delay = 1.0
else:
pass
# Get the parameter for delay between counts.
counter_delay_value = rospy.get_param('~counter_delay')
rospy.loginfo(
"Parameter %s was found on the parameter server. Using %fs for counter delay."
% ("counter_delay", counter_delay_value))
# Variable to decide the final state of the action server.
success = True
# publish info to the console for the user
rospy.loginfo(
'%s action server is counting up to %i with %fs delay between each count'
% (self._action_name, goal.num_counts, counter_delay_value))
# start executing the action
for counter_idx in range(0, goal.num_counts):
# check that preempt has not been requested by the client
if self._as.is_preempt_requested():
rospy.loginfo('%s: Preempted' % self._action_name)
self._as.set_preempted()
success = False
break
# publish the feedback
self._feedback.counts_elapsed = counter_idx
self._as.publish_feedback(self._feedback)
# Wait for counter_delay s before incrementing the counter.
rospy.sleep(counter_delay)
if success:
self._result.result_message = "Successfully completed counting."
rospy.loginfo('%s: Succeeded' % self._action_name)
self._as.set_succeeded(self._result)