def __init__(self):
'''
Constructor
'''
#onboard connection
self._as = ComplexActionServer('/flexbe/behavior_input', BehaviorInputAction, execute_cb=self.execute_cb, auto_start = False)
#self._as = actionlib.SimpleActionServer('/flexbe/behavior_input', BehaviorInputAction, execute_cb=self.execute_cb, auto_start = False)
self._as.start()
rospy.loginfo("Ready for data requests...")
class BehaviorInput(object):
def __init__(self):
'''
Constructor
'''
#onboard connection
self._as = ComplexActionServer('flexbe/behavior_input',
BehaviorInputAction,
execute_cb=self.execute_cb,
auto_start=False)
#self._as = actionlib.SimpleActionServer('flexbe/behavior_input', BehaviorInputAction, execute_cb=self.execute_cb, auto_start = False)
self._as.start()
rospy.loginfo("Ready for data requests...")
def execute_cb(self, goal, goal_handle):
rospy.loginfo("--> Got a request!")
rospy.loginfo('"%s"' % goal.msg)
relay_ocs_client_ = actionlib.SimpleActionClient(
'flexbe/operator_input', BehaviorInputAction)
# wait for data msg
print "waiting"
relay_ocs_client_.wait_for_server()
print "done"
# Fill in the goal here
relay_ocs_client_.send_goal(goal)
print "waiting for result"
relay_ocs_client_.wait_for_result()
print "got result"
result = BehaviorInputResult()
result = relay_ocs_client_.get_result()
#result.data now serialized
data_str = result.data
print data_str
if (result.result_code == BehaviorInputResult.RESULT_OK):
self._as.set_succeeded(
BehaviorInputResult(result_code=BehaviorInputResult.RESULT_OK,
data=data_str), "ok", goal_handle)
elif (result.result_code == BehaviorInputResult.RESULT_FAILED):
# remove
#data_str = "Request %d not yet implemented." % (goal.request_type)
self._as.set_succeeded(
BehaviorInputResult(
result_code=BehaviorInputResult.RESULT_FAILED,
data=data_str), "failed", goal_handle)
rospy.loginfo("<-- Replied with FAILED")
elif (result.result_code == BehaviorInputResult.RESULT_ABORTED):
#data_str = "ABORT" % (goal.request_type)
self._as.set_succeeded(
BehaviorInputResult(
result_code=BehaviorInputResult.RESULT_ABORTED,
data=data_str), "Aborted", goal_handle)
rospy.loginfo("<-- Replied with ABORT")
def __init__(self):
'''
Constructor
'''
#onboard connection
self._as = ComplexActionServer('flexbe/behavior_input', BehaviorInputAction, execute_cb=self.execute_cb, auto_start = False)
#self._as = actionlib.SimpleActionServer('flexbe/behavior_input', BehaviorInputAction, execute_cb=self.execute_cb, auto_start = False)
self._as.start()
rospy.loginfo("Ready for data requests...")
class BehaviorInput(object):
def __init__(self):
'''
Constructor
'''
#onboard connection
self._as = ComplexActionServer('flexbe/behavior_input', BehaviorInputAction, execute_cb=self.execute_cb, auto_start = False)
#self._as = actionlib.SimpleActionServer('flexbe/behavior_input', BehaviorInputAction, execute_cb=self.execute_cb, auto_start = False)
self._as.start()
rospy.loginfo("Ready for data requests...")
def execute_cb(self, goal , goal_handle):
rospy.loginfo("--> Got a request!")
rospy.loginfo('"%s"' % goal.msg)
relay_ocs_client_ = actionlib.SimpleActionClient('flexbe/operator_input', BehaviorInputAction)
# wait for data msg
print "waiting"
relay_ocs_client_.wait_for_server()
print "done"
# Fill in the goal here
relay_ocs_client_.send_goal(goal)
print "waiting for result"
relay_ocs_client_.wait_for_result()
print "got result"
result = BehaviorInputResult()
result = relay_ocs_client_.get_result()
#result.data now serialized
data_str = result.data
print data_str
if(result.result_code == BehaviorInputResult.RESULT_OK):
self._as.set_succeeded(BehaviorInputResult(result_code=BehaviorInputResult.RESULT_OK, data=data_str), "ok",goal_handle)
elif(result.result_code == BehaviorInputResult.RESULT_FAILED):
# remove
#data_str = "Request %d not yet implemented." % (goal.request_type)
self._as.set_succeeded(BehaviorInputResult(result_code=BehaviorInputResult.RESULT_FAILED, data=data_str),"failed",goal_handle)
rospy.loginfo("<-- Replied with FAILED")
elif(result.result_code == BehaviorInputResult.RESULT_ABORTED ):
#data_str = "ABORT" % (goal.request_type)
self._as.set_succeeded(BehaviorInputResult(result_code=BehaviorInputResult.RESULT_ABORTED, data=data_str),"Aborted",goal_handle)
rospy.loginfo("<-- Replied with ABORT")
