def _run(self, _):
"""
@brief Tick tasks at 25hz
"""
BtTicker._finished_skill_ids = dict()
rate = rospy.Rate(25)
log.info("[BtTicker]", "Execution starts.")
for uid in list(BtTicker._tasks.keys()):
t = BtTicker._tasks[uid]
printer = visitors.VisitorPrint(BtTicker._visitor._wm, BtTicker._visitor._instanciator)
printer.traverse(t)
self.publish_progress(uid, printer)
while BtTicker._tasks:
self._tick()
rate.sleep()
self._tick_cb()
log.info("[BtTicker]", "Execution stops.")
def _tick(self):
visitor = BtTicker._visitor
printer = visitors.VisitorPrint(BtTicker._visitor._wm,
BtTicker._visitor._instanciator)
for uid in list(BtTicker._tasks.keys()):
if uid in BtTicker._tasks_to_preempt:
BtTicker._tasks_to_preempt.remove(uid)
visitor.preempt()
if uid in BtTicker._tasks_to_pause.keys():
if BtTicker._tasks_to_pause[uid] > 0:
BtTicker._tasks_to_pause[uid] -= 1
else:
continue
t = BtTicker._tasks[uid]
result = visitor.traverse(t)
printer.traverse(t)
self.publish_progress(uid, printer)
if result != State.Running and result != State.Idle:
self.remove_task(uid)
def print_task(self, uid):
self.visitor = visitors.VisitorPrint(self._local_wm, self._instanciator)
self.visitor.setVerbose(self._verbose)
return self._ticker.start(self.visitor, uid)