def set_alarm(self, srv):
''' Sets or updates the alarm
Updating the alarm triggers all of the alarms callbacks
'''
alarm = srv.alarm
# If the alarm name is `all`, clear all alarms
if alarm.alarm_name == "all":
rospy.loginfo("Clearing all alarms.")
for alarm in self.alarms.values():
# Don't want to clear meta alarms until the end
if alarm in self.meta_alarms:
continue
cleared_alarm = alarm.as_msg()
cleared_alarm.raised = False
self._alarm_pub.publish(alarm.as_msg())
alarm.update(cleared_alarm)
for _alarm in self.meta_alarms.keys():
alarm = self.alarms[_alarm]
cleared_alarm = alarm.as_msg()
cleared_alarm.raised = False
self._alarm_pub.publish(alarm.as_msg())
alarm.update(cleared_alarm)
return True
if alarm.alarm_name in self.alarms:
self.alarms[alarm.alarm_name].update(alarm)
else:
self.alarms[alarm.alarm_name] = Alarm.from_msg(alarm)
self._alarm_pub.publish(alarm)
return True
def make_tagged_alarm(self, name):
'''
Makes a blank alarm with the node_name of the alarm_server so that users know it is the
initial state
'''
alarm = Alarm.blank(name)
alarm.node_name = 'alarm_server'
return alarm
def __init__(self):
self._killed = False
self.initial_alarm = Alarm(self.alarm_name, True,
node_name='alarm_server',
problem_description='Initial kill')
self.bag_client = SimpleActionClient("/online_bagger/bag", BagOnlineAction)
self.task_client = MissionClient()
self.first = True
def __init__(self):
# Alarm server wil set this as the intial state of kill alarm
self.initial_alarm = Alarm(self.alarm_name,
False,
node_name='alarm_server',
parameters={'offline_thruster_names': []})
self.update_layout = rospy.ServiceProxy('update_thruster_layout',
UpdateThrusterLayout)
def __init__(self):
# Alarm server wil set this as the intial state of kill alarm (starts killed)
self.initial_alarm = Alarm(self.alarm_name,
True,
node_name='alarm_server',
problem_description='Initial kill')
self._killed = False
self._last_mission_killed = False
self.bag_client = SimpleActionClient('/online_bagger/bag',
BagOnlineAction)
self.first = True
def meta_predicate(self, meta_alarm, alarms):
ignore = []
# Don't kill on low battery, only on critical
# if alarms['battery-voltage'].raised and alarms['battery-voltage'].severity < 2:
# ignore.append('battery-voltage')
# Raised if any alarms besides the two above are raised
raised = [name for name, alarm in alarms.items() if name not in ignore and alarm.raised]
if len(raised):
return Alarm('kill', True, node_name=rospy.get_name(),
problem_description='Killed by meta alarm(s) ' + ', '.join(raised),
parameters={'Raised': raised})
return self._killed
def set_alarm(self, alarm):
''' Sets or updates the alarm
Updating the alarm triggers all of the alarms callbacks
'''
if alarm.alarm_name in self.handlers:
res = self.handlers[alarm.alarm_name].on_set(alarm)
if res is False:
return False
if alarm.alarm_name in self.alarms:
self.alarms[alarm.alarm_name].update(alarm)
else:
self.alarms[alarm.alarm_name] = Alarm.from_msg(alarm)
self._alarm_pub.publish(alarm)
return True
def _on_get_alarm(self, srv):
''' Either returns the alarm request if it exists or a blank alarm '''
rospy.logdebug("Got request for alarm: {}".format(srv.alarm_name))
return self.alarms.get(srv.alarm_name,
Alarm.blank(srv.alarm_name)).as_srv_resp()
def __init__(self):
self.initial_alarm = Alarm(self.alarm_name,
False,
node_name='alarm_server')
