def __get_msg(self):
msg = InterfaceState()
msg.is_diff = True
msg.interface_id = self.interface_id
msg.items.append(InterfaceStateItem())
return msg
def __publish_state(self):
msg = InterfaceState()
msg.is_diff = False
msg.interface_id = self.interface_id
sys_state = InterfaceStateItem()
sys_state.type = self.state.current_syst_state
if self.state.current_syst_state in [InterfaceStateItem.STATE_LEARNING, InterfaceStateItem.STATE_PROGRAM_STOPPED, InterfaceStateItem.STATE_PROGRAM_RUNNING]:
sys_state.idata.append(self.state.program_id)
sys_state.idata.append(self.state.instruction_id)
elif self.state.current_syst_state == InterfaceStateItem.STATE_PROGRAM_FINISHED:
sys_state.idata.append(self.state.program_id)
msg.items.append(sys_state)
for obj_id in self.state.selected_object_ids:
tmp = InterfaceStateItem()
tmp.type = InterfaceStateItem.SELECTED_OBJECT_ID
tmp.data.append(obj_id)
msg.items.append(tmp)
for obj_type in self.state.selected_object_types:
tmp = InterfaceStateItem()
tmp.type = InterfaceStateItem.SELECTED_OBJECT_TYPE
tmp.data.append(obj_type)
msg.items.append(tmp)
for place in self.state.selected_places:
tmp = InterfaceStateItem()
tmp.type = InterfaceStateItem.SELECTED_PLACE
tmp.place = place
msg.items.append(tmp)
for polygon in self.state.polygons:
tmp = InterfaceStateItem()
tmp.type = InterfaceStateItem.POLYGON
tmp.polygon = polygon
msg.items.append(tmp)
self.interface_state_pub.publish(msg)
def __init__(self, interface_id, cb=None):
self.brain = False
self.state = InterfaceState()
self.interface_id = interface_id
self.cb = cb
if self.state.interface_id == InterfaceState.BRAIN_ID:
rospy.loginfo('InterfaceStateManager: brain mode')
self.brain = True
self.interface_state_pub = rospy.Publisher("/art/interface/state",
InterfaceState,
queue_size=10,
latch=True)
else:
rospy.loginfo('InterfaceStateManager: interface mode')
self.interface_state_pub = rospy.Publisher("/art/interface/state",
InterfaceState,
queue_size=10)
self.interface_state_sub = rospy.Subscriber('/art/interface/state',
InterfaceState,
self.state_cb)
