def test_client_srs_ui_pro_echo_server(json_input):
client = actionlib.SimpleActionClient('srs_ui_pro/echo_server', echo_server_msg.dm_serverAction)
client.wait_for_server()
goal = echo_server_msg.dm_serverGoal()
goal.json_input = json_input
print "###type of goal is", type(goal)
print "###goal is", goal
print "###goal.json_input is", goal.json_input
#server_feedback = echo_server_msg.dm_serverFeedback()
#server_result = echo_server_msg.dm_serverResult()
server_feedback = echo_server_msg.dm_serverFeedback()
server_result = echo_server_msg.dm_serverResult()
try:
client.send_goal(goal, result_callback, None, feedback_callback)
except rospy.ServiceException, e:
print "Service did not process request: %s"%str(e)
def test_client_srs_ui_pro_echo_server(json_input):
client = actionlib.SimpleActionClient('srs_ui_pro/echo_server',
echo_server_msg.dm_serverAction)
client.wait_for_server()
goal = echo_server_msg.dm_serverGoal()
goal.json_input = json_input
print "###type of goal is", type(goal)
print "###goal is", goal
print "###goal.json_input is", goal.json_input
#server_feedback = echo_server_msg.dm_serverFeedback()
#server_result = echo_server_msg.dm_serverResult()
server_feedback = echo_server_msg.dm_serverFeedback()
server_result = echo_server_msg.dm_serverResult()
try:
client.send_goal(goal, result_callback, None, feedback_callback)
except rospy.ServiceException, e:
print "Service did not process request: %s" % str(e)
def execute(self,userdata):
print ('CHECKING IF USER INTERVENTION IS REQUIRED')
# check if user intervention is required.
# give_up if the task is in fully autonomous mode
if userdata.semi_autonomous_mode == False:
return 'give_up'
global current_task_info
#name of the overall task
#the_task_name = current_task_info.task_feedback.task_name
#if not the_task_name:
#return 'give_up'
the_task_feedback = current_task_info.task_feedback
if not the_task_feedback:
return 'give_up'
#parameter of the overall task
the_task_parameter = current_task_info.task_feedback.task_parameter
step_id = len (current_task_info.last_step_info)
print "### user intervention is going on..."
if step_id > 0:
#name of the current step
the_action_name = current_task_info.last_step_info[step_id-1].step_name
#out come of the last action
the_action_outcome = current_task_info.last_step_info[step_id-1].outcome
#object of the action
the_action_object = current_task_info.task_feedback.action_object
#parent of the object
the_action_object_parent = current_task_info.task_feedback.action_object_parent
try:
print "### action client of echo server is working..."
client = actionlib.SimpleActionClient('srs_ui_pro/echo_server', echo_server_msg.dm_serverAction)
if client.wait_for_server(timeout=rospy.Duration(5)) is False:
rospy.loginfo ("there is no response from srs_ui_pro, this intervention action cannot be executed now...")
return self.give_up(the_action_name)
else:
global sss
rospy.sleep(6)
sss.say(["I can not finish the task"])
sss.say(["Remote Operators are Online Should we ask them for help"])
rospy.wait_for_service('answer_yes_no')
try:
# call ui_pri_topic_yes_no
# if the answer is "no", then return 'give_up'
answer_yes_no = rospy.ServiceProxy('answer_yes_no', xsrv.answer_yes_no)
resp = answer_yes_no()
if resp.answer == "No":
rospy.loginfo ("the use refused to get any remote assistance...")
# in this stage, the anser_yes_no is not used
# to use it, just make sure the following line is available
#return 'give_up'
except rospy.ServiceException, e:
print "Service call failed: %s"%e
goal = echo_server_msg.dm_serverGoal()
# see the json_parser file
try:
json_decoded = json.loads(current_task_info.json_parameters)
except Exception:
rospy.loginfo ("current_task_info.json_parameters is invalid...")
return self.give_up(the_action_name)
current_tasks = json_decoded['tasks']
# value for "exception_id" in goal
exception_id = 1
time_schedule = 'null'
current_task = 'null'
deliver_destination = 'null'
# value for "time_schedule" in goal
try:
time_schedule = current_tasks[0]['time_schedule']
except Exception:
rospy.loginfo ("no time schedule in this task set null")
# value for "task" in goal
try:
current_task = current_tasks[0]['task']
except Exception:
rospy.loginfo ("no name in this task set null")
# value for "deliver_destination" in goal
try:
deliver_destination = current_tasks[0]['deliver_destination']
except Exception:
rospy.loginfo ("no destination in this task set null")
# value for "additional_information" in goal
additional_information = "this is a test message"
current_goal = {"exception_id": exception_id, "tasks": [{"time_schedule": time_schedule, "task": current_task, "deliver_destination": deliver_destination}], "additional_information": additional_information}
#convert current goal to json object
json_input = json.dumps(current_goal)
# construct a goal
goal.json_input = json_input
server_feedback = echo_server_msg.dm_serverFeedback()
server_result = echo_server_msg.dm_serverResult()
# send the goal to echo server
client.send_goal(goal, self.result_callback, self.active_callback, self.feedback_callback)
#rospy.sleep(25)
timeout = 6000
while(self.flag != True and timeout > 0):
rospy.sleep(1)
timeout = timeout - 1
if self.server_json_result == "" :
rospy.loginfo ("*******")
rospy.loginfo ("there is no response from srs_ui_pro, the current intervention action has been given up...")
rospy.loginfo ("*******")
rospy.sleep(3)
return self.give_up(the_action_name)
_feedback = xmsg.ExecutionFeedback()
_feedback.current_state = self.server_current_status + ": started"
_feedback.solution_required = False
_feedback.exceptional_case_id = exception_id
_feedback.json_feedback = self.server_json_feedback
current_task_info._srs_as._as.publish_feedback(_feedback)
json_decoded = json.loads(self.server_json_result)
result = json_decoded['result']
# result should be succeeded
if result == "succeeded":
sss.say(["With the help of remote Operators, The task has been completed "])
return 'completed'
elif result == "failed":
sss.say(["This task is impossible, I have to give up"])
return "failed"
else:
return "give_up"
except rospy.ROSInterruptException:
print "error before completion"
return "failed"
def execute(self, userdata):
print('CHECKING IF USER INTERVENTION IS REQUIRED')
# check if user intervention is required.
# give_up if the task is in fully autonomous mode
if userdata.semi_autonomous_mode == False:
return 'give_up'
global current_task_info
#name of the overall task
#the_task_name = current_task_info.task_feedback.task_name
#if not the_task_name:
#return 'give_up'
the_task_feedback = current_task_info.task_feedback
if not the_task_feedback:
return 'give_up'
#parameter of the overall task
the_task_parameter = current_task_info.task_feedback.task_parameter
step_id = len(current_task_info.last_step_info)
print "### user intervention is going on..."
if step_id > 0:
#name of the current step
the_action_name = current_task_info.last_step_info[step_id -
1].step_name
#out come of the last action
the_action_outcome = current_task_info.last_step_info[step_id -
1].outcome
#object of the action
the_action_object = current_task_info.task_feedback.action_object
#parent of the object
the_action_object_parent = current_task_info.task_feedback.action_object_parent
try:
print "### action client of echo server is working..."
client = actionlib.SimpleActionClient(
'srs_ui_pro/echo_server', echo_server_msg.dm_serverAction)
if client.wait_for_server(timeout=rospy.Duration(5)) is False:
rospy.loginfo(
"there is no response from srs_ui_pro, this intervention action cannot be executed now..."
)
return self.give_up(the_action_name)
else:
global sss
rospy.sleep(6)
sss.say(["I can not finish the task"])
sss.say([
"Remote Operators are Online Should we ask them for help"
])
rospy.wait_for_service('answer_yes_no')
try:
# call ui_pri_topic_yes_no
# if the answer is "no", then return 'give_up'
answer_yes_no = rospy.ServiceProxy(
'answer_yes_no', xsrv.answer_yes_no)
resp = answer_yes_no()
if resp.answer == "No":
rospy.loginfo(
"the use refused to get any remote assistance..."
)
# in this stage, the anser_yes_no is not used
# to use it, just make sure the following line is available
#return 'give_up'
except rospy.ServiceException, e:
print "Service call failed: %s" % e
goal = echo_server_msg.dm_serverGoal()
# see the json_parser file
try:
json_decoded = json.loads(
current_task_info.json_parameters)
except Exception:
rospy.loginfo(
"current_task_info.json_parameters is invalid...")
return self.give_up(the_action_name)
current_tasks = json_decoded['tasks']
# value for "exception_id" in goal
exception_id = 1
time_schedule = 'null'
current_task = 'null'
deliver_destination = 'null'
# value for "time_schedule" in goal
try:
time_schedule = current_tasks[0]['time_schedule']
except Exception:
rospy.loginfo("no time schedule in this task set null")
# value for "task" in goal
try:
current_task = current_tasks[0]['task']
except Exception:
rospy.loginfo("no name in this task set null")
# value for "deliver_destination" in goal
try:
deliver_destination = current_tasks[0][
'deliver_destination']
except Exception:
rospy.loginfo("no destination in this task set null")
# value for "additional_information" in goal
additional_information = "this is a test message"
current_goal = {
"exception_id":
exception_id,
"tasks": [{
"time_schedule": time_schedule,
"task": current_task,
"deliver_destination": deliver_destination
}],
"additional_information":
additional_information
}
#convert current goal to json object
json_input = json.dumps(current_goal)
# construct a goal
goal.json_input = json_input
server_feedback = echo_server_msg.dm_serverFeedback()
server_result = echo_server_msg.dm_serverResult()
# send the goal to echo server
client.send_goal(goal, self.result_callback,
self.active_callback, self.feedback_callback)
#rospy.sleep(25)
timeout = 6000
while (self.flag != True and timeout > 0):
rospy.sleep(1)
timeout = timeout - 1
if self.server_json_result == "":
rospy.loginfo("*******")
rospy.loginfo(
"there is no response from srs_ui_pro, the current intervention action has been given up..."
)
rospy.loginfo("*******")
rospy.sleep(3)
return self.give_up(the_action_name)
_feedback = xmsg.ExecutionFeedback()
_feedback.current_state = self.server_current_status + ": started"
_feedback.solution_required = False
_feedback.exceptional_case_id = exception_id
_feedback.json_feedback = self.server_json_feedback
current_task_info._srs_as._as.publish_feedback(_feedback)
json_decoded = json.loads(self.server_json_result)
result = json_decoded['result']
# result should be succeeded
if result == "succeeded":
sss.say([
"With the help of remote Operators, The task has been completed "
])
return 'completed'
elif result == "failed":
sss.say(["This task is impossible, I have to give up"])
return "failed"
else:
return "give_up"
except rospy.ROSInterruptException:
print "error before completion"
return "failed"
