def _log_service_call(self, srv_name, log_format, *args):
if self.verbose:
name = ansi_format(srv_name, C_NAME)
if args:
rospy.loginfo(log_format, name, *args)
else:
rospy.loginfo(log_format, name)
def __execute(self):
self._is_job_running = True
success = None
rospy.loginfo("Code execution triggered")
try:
if self.execute_func is not None:
success = self.execute_func(self)
else:
success = self.execute()
except ServiceCallFailure as expt:
rospy.logerr("The client routine was interrupted by an uncaught "
"service call exception: \n%s", expt)
except NotImplementedError:
rospy.logerr("You haven't (fully) implemented function: %s",
ansi_format(get_exception_raising_function(), C_NAME))
except KeyboardInterrupt:
rospy.logwarn("The client routine was interrupted by the user.")
except Exception: # pylint: disable=broad-except
# catch all exceptions to ensure that the interface is informed
# about the job result, but still log the full stack trace
rospy.logerr("The client routine was interrupted by an uncaught "
"exception: %s", traceback.format_exc())
if not isinstance(success, bool):
rospy.loginfo("Client code did not return boolean indicating "
"success, assuming %sunsuccessful completion%s",
C_WARN, C_END)
success = False
elif success:
rospy.loginfo("Client code completed %ssuccessfully%s",
C_OK, C_END)
else:
rospy.loginfo("Client code completed %sunsuccessfully%s",
C_WARN, C_END)
self.notify_job_finished(success)
rospy.loginfo("Code execution completed")
return success
def _handle_response_error_code(self, srv_name, resp):
name = ansi_format(srv_name, C_NAME)
if resp.success:
if self.verbose:
rospy.loginfo("%s %ssucceeded%s", name, C_OK, C_END)
return True
error_code = RLLErrorCode(resp.error_code)
if error_code.is_critical_failure():
rospy.logerr(
"%s %sfailed critically with error: %s%s",
name, C_FAIL, C_END, error_code)
raise CriticalServiceCallFailure(
error_code,
"Service call %s failed with error: %s" % (
srv_name, error_code))
else:
rospy.logwarn("%s %sfailed: %s%s", name, C_FAIL, C_END, error_code)
if self._exception_on_any_failure:
raise ServiceCallFailure(
error_code,
"Service call %s failed: %s" % (srv_name, error_code))
elif error_code.code == RLLErrorCode.JOB_EXECUTION_TIMED_OUT:
raise ServiceCallFailure(
error_code,
"You exceeded the maximum job execution duration.")
hint = error_code.get_hint()
if hint is not None:
rospy.loginfo("%sPossible failure reason:%s %s", C_INFO, C_END,
hint)
return False