def execute(self,
execution_id=-1,
skill_list=None,
action=srvs.SkillCommandRequest().START):
"""
@brief Execute a list of skills
"""
msg = srvs.SkillCommandRequest()
msg.action = action
msg.author = self._author
msg.execution_id = execution_id
if skill_list is not None:
for s in skill_list:
msg.skills.append(s.toMsg())
res = self.call(self._skill_exe_client, msg)
if res is None:
return -1
if not res.ok:
log.error("", "Can t execute task.")
return -1
return res.execution_id
def preempt_all(self, author):
msg = srvs.SkillCommandRequest()
msg.action = msg.PREEMPT
msg.author = author
msg.execution_id = -1
res = self.call(self._skill_exe_client, msg)
if res is None:
return False
elif not res.ok:
log.error("Can t stop tasks.")
return False
self._active_tasks = list()
return True
def execute(self, skill_list, author):
msg = srvs.SkillCommandRequest()
msg.action = msg.START
msg.author = author
for s in skill_list:
msg.skills.append(s.toMsg())
res = self.call(self._skill_exe_client, msg)
if res is None:
return -1
if not res.ok:
log.error("Can t execute task ")
return -1
self._active_tasks.append(res.execution_id)
return res.execution_id
def preempt(self, author, execution_id=None):
msg = srvs.SkillCommandRequest()
msg.action = msg.PREEMPT
msg.author = author
if not self.active_tasks:
return False
if execution_id is None:
execution_id = self.active_tasks[-1]
msg.execution_id = execution_id
res = self.call(self._skill_exe_client, msg)
if res is None:
return False
elif not res.ok:
log.error("Can t stop task " + execution_id)
return False
return True
def pause_one(self, execution_id=None):
"""
@brief Pause ticking
"""
msg = srvs.SkillCommandRequest()
msg.action = msg.PAUSE
msg.author = self._author
if not self.tasks:
return False
if execution_id is None:
execution_id = self.task
msg.execution_id = execution_id
res = self.call(self._skill_exe_client, msg)
if res is None:
return False
elif not res.ok:
log.error("", "Can t stop tasks.")
return False
return True
def preempt_one(self, execution_id=None):
"""
@brief Stop one task
"""
msg = srvs.SkillCommandRequest()
msg.action = msg.PREEMPT
msg.author = self._author
if not self.tasks:
return False
if execution_id is None:
execution_id = self.task
msg.execution_id = execution_id
res = self.call(self._skill_exe_client, msg)
if res is None:
return False
elif not res.ok:
log.error("", "Can t stop task " + execution_id)
return False
return True
def tick_once(self, execution_id=-1, skill_list=None):
"""
@brief Tick behavior tree once
"""
return self.execute(execution_id, skill_list,
srvs.SkillCommandRequest().TICK_ONCE)