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 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