def start_program(req):
global prog_timer
global current_item
global state_manager
global ph
global art
global iters
program = art.load_program(req.program_id)
if program is None:
return startProgramResponse(success=False)
if not ph.load(program):
return startProgramResponse(success=False)
current_item = ph.get_first_item_id()
iters = 0
state_manager.set_system_state(InterfaceState.STATE_PROGRAM_RUNNING)
prog_timer = rospy.Timer(rospy.Duration(4), timer_callback)
return startProgramResponse(success=True)
def start_program(req):
global prog_timer
global program
global current_item
global state_manager
prog_srv = rospy.ServiceProxy('/art/db/program/get', getProgram)
try:
resp = prog_srv(req.program_id)
program = resp.program
except rospy.ServiceException, e:
print "Service call failed: " + str(e)
program = None
return startProgramResponse(success=False)
def program_start_cb(self, req):
resp = startProgramResponse()
if self.executing_program:
resp.success = False
resp.error = 'Program already running'
return resp
rospy.loginfo('Loading program ' + str(req.program_id) + ' from db...')
prog_srv = rospy.ServiceProxy('/art/db/program/get', getProgram)
try:
presp = prog_srv(req.program_id)
except rospy.ServiceException, e:
rospy.logerr('Cannot get program :(')
resp.success = False
resp.error = 'Cannot get program'
return resp
def program_start_cb(self, req):
resp = startProgramResponse()
if self.executing_program:
resp.success = False
resp.error = 'Program already running'
return resp
rospy.loginfo('Loading program ' + str(req.program_id) + ' from db...')
program = self.art.load_program(req.program_id)
if not self.ph.load(program):
resp.success = False
resp.error = 'Cannot get program'
return resp
rospy.loginfo('Starting program')
self.executing_program = True
resp.success = True
return resp
prog_srv = rospy.ServiceProxy('/art/db/program/get', getProgram)
try:
resp = prog_srv(req.program_id)
program = resp.program
except rospy.ServiceException, e:
print "Service call failed: " + str(e)
program = None
return startProgramResponse(success=False)
current_item = 0
state_manager.set_system_state(InterfaceState.STATE_PROGRAM_RUNNING)
prog_timer = rospy.Timer(rospy.Duration(4), timer_callback)
return startProgramResponse(success=True)
# def stop_program(req):
#
# global prog_timer
# prog_timer.shutdown()
# # TODO state_manager.set_syst_state()
# return stopProgramResponse(success=True)
def callback(old_state, new_state, flags):
print "Got state update"
def main(args):
