def copy(self):
'''Makes a copy of the instance'''
action = ProgrammedAction(self.action_index, self.step_click_cb)
action.seq = ActionStepSequence()
for i in range(len(self.seq.seq)):
action_step = self.seq.seq[i]
copy = ProgrammedAction._copy_action_step(action_step)
action.seq.seq.append(copy)
return action
def clear(self):
'''Clears the action.'''
self.reset_viz()
self.lock.acquire()
self.seq = ActionStepSequence()
self.r_markers = []
self.l_markers = []
self.r_links = dict()
self.l_links = dict()
self.lock.release()
def copy(self):
'''Returns a copy of this instance.
Returns:
ProgrammedAction
'''
action = ProgrammedAction(self._world, self.action_index, self.step_click_cb)
action.seq = ActionStepSequence()
for action_step in self.seq.seq:
copy = ProgrammedAction._copy_action_step(action_step)
action.seq.seq.append(copy)
return action
def __init__(self, action_index, step_click_cb):
self.seq = ActionStepSequence()
self.action_index = action_index
self.step_click_cb = step_click_cb
self.r_markers = []
self.l_markers = []
self.r_links = dict()
self.l_links = dict()
self.lock = threading.Lock()
if ProgrammedAction._marker_publisher == None:
ProgrammedAction._marker_publisher = rospy.Publisher(
'visualization_marker_array', MarkerArray)
def __init__(self, world, action_index, step_click_cb):
'''
Args:
action_index (int): The index of this action.
step_click_cb (function(int)): The function to call when a
step is clicked on (normally in the GUI). The function
should take the UID of the step as calculated in
ActionStepMarker.calc_uid(...).
'''
# Initialize a bunch of state.
self.name = '' # Human-friendly name for this action.
self._world = world
self.seq = ActionStepSequence()
self.action_index = action_index
self.step_click_cb = step_click_cb
self.r_markers = []
self.l_markers = []
self.r_links = {}
self.l_links = {}
# NOTE(mbforbes): It appears that this is locking manipulation
# of the internal sequence (self.seq). There have been race
# conditions involving this (e.g. marker_click_cb(...)), in
# which it was actually necessary to lock when accessing
# self.r_markers and self.l_markers.
#
# In general, be aware the other code calling these methods
# with with data about this class (like how many steps it holds)
# is bad because that means the outside code is assuming that it
# knows about state internal to this class, and that information
# may not be true by the time the code here gets executed. This
# is because there are several callbacks that trigger here so
# we must reason asyncronously.
#
# Unless the information you have (e.g. about the number of
# steps that exist) was learned while this lock was acquired,
# you cannot assume it is true.
self.lock = threading.Lock()
if ProgrammedAction._marker_publisher is None:
ProgrammedAction._marker_publisher = rospy.Publisher(TOPIC_MARKERS,
MarkerArray)