def __init__(self, waypoints_name, is_random, n_iterations):
# Create the main state machine
self.long_term_patrol_sm = WaypointPatrollerWithPulse(
waypoints_name, is_random, n_iterations)
# Create a logger
logger = PatrollLogger("autonomous_patrolling")
self.long_term_patrol_sm.set_logger(logger)
# dynamic reconfiguration of battery tresholds
self.srv = Server(PatrollerTresholdsConfig, self.reconfigure_callback)
pass
class LongTermPatroller(object):
"""
Constructor.
:param waypoints_name: str, name of waypoints as appears in the datacentre
:param is_random: bool, should the waypoints be visited in random order
:param n_iterations: int, how many times to visit all the waypoints
"""
def __init__(self, waypoints_name, is_random, n_iterations):
# Create the main state machine
self.long_term_patrol_sm = WaypointPatrollerWithPulse(waypoints_name,
is_random,
n_iterations)
# Create a logger
logger = PatrollLogger("autonomous_patrolling")
self.long_term_patrol_sm.set_logger(logger)
# dynamic reconfiguration of battery tresholds
self.srv = Server(PatrollerTresholdsConfig, self.reconfigure_callback)
pass
""" Dyanmic reconfigure callback for the battery tresholds """
def reconfigure_callback(self, config, level):
self.long_term_patrol_sm.set_patroller_thresholds(config.very_low_battery,
config.low_battery,
config.charged_battery,
config.max_bumper_recovery_attempts,
config.max_move_base_recovery_attempts)
#ParameterStore().CHARGED_BATTERY = config.charged_battery
#ParameterStore().LOW_BATTERY = config.low_battery
#ParameterStore().VERY_LOW_BATTERY = config.very_low_battery
return config
""" The Main start point for Long Term Patroller """
def main(self):
# Execute SMACH plan
sis = smach_ros.IntrospectionServer('server_name',
self.long_term_patrol_sm,
'/SM_ROOT')
sis.start()
outcome = self.long_term_patrol_sm.execute()
rospy.spin()
sis.stop()
class LongTermPatroller(object):
"""
Constructor.
:param waypoints_name: str, name of waypoints as appears in the datacentre
:param is_random: bool, should the waypoints be visited in random order
:param n_iterations: int, how many times to visit all the waypoints
"""
def __init__(self, waypoints_name, is_random, n_iterations):
# Create the main state machine
self.long_term_patrol_sm = WaypointPatrollerWithPulse(
waypoints_name, is_random, n_iterations)
# Create a logger
logger = PatrollLogger("autonomous_patrolling")
self.long_term_patrol_sm.set_logger(logger)
# dynamic reconfiguration of battery tresholds
self.srv = Server(PatrollerTresholdsConfig, self.reconfigure_callback)
pass
""" Dyanmic reconfigure callback for the battery tresholds """
def reconfigure_callback(self, config, level):
self.long_term_patrol_sm.set_patroller_thresholds(
config.very_low_battery, config.low_battery,
config.charged_battery, config.max_bumper_recovery_attempts,
config.max_move_base_recovery_attempts)
#ParameterStore().CHARGED_BATTERY = config.charged_battery
#ParameterStore().LOW_BATTERY = config.low_battery
#ParameterStore().VERY_LOW_BATTERY = config.very_low_battery
return config
""" The Main start point for Long Term Patroller """
def main(self):
# Execute SMACH plan
sis = smach_ros.IntrospectionServer('server_name',
self.long_term_patrol_sm,
'/SM_ROOT')
sis.start()
outcome = self.long_term_patrol_sm.execute()
rospy.spin()
sis.stop()
def __init__(self, waypoints_name, is_random, n_iterations):
# Create the main state machine
self.long_term_patrol_sm = WaypointPatrollerWithPulse(waypoints_name,
is_random,
n_iterations)
# Create a logger
logger = PatrollLogger("autonomous_patrolling")
self.long_term_patrol_sm.set_logger(logger)
# dynamic reconfiguration of battery tresholds
self.srv = Server(PatrollerTresholdsConfig, self.reconfigure_callback)
pass