def transition_cb(self, goal, handler):
'''
When a task "transitions" (canceled, started, aborted, succeded), update
the log and result pane
'''
status = handler.get_goal_status()
if status == GoalStatus.ACTIVE:
if self.current_task and goal.id != self.current_task:
pass
# Another active goal happened, clear Feedback and stuff
self.result_label.clear()
self.current_task = goal.id
self.current_task_task = handler.comm_state_machine.action_goal.goal.task
self.current_task_status = 'In progress'
self.current_task_status_label.setText(self.current_task_status)
self.current_task_result = ''
self.current_task_label.setText(self.current_task_task)
self.ui_log('STARTING: new task {}'.format(self.current_task_task))
if goal.id == self.current_task:
terminal_state = TerminalState.to_string(status)
if terminal_state == 'NO_SUCH_STATE_1':
return
result = handler.get_result()
if result and result.result != self.current_task_result:
self.result_label.setText(result.result)
self.ui_log('RESULT: {}'.format(result.result))
if terminal_state != self.current_task_status:
self.current_task_status = terminal_state
self.current_task_status_label.setText(
self.current_task_status)
self.ui_log('FINISHED: task finished ({})'.format(
self.current_task_status))
def transition_cb(self, goal, handler):
'''
When a mission "transitions" (canceled, started, aborted, succeded), update
the log and result pane
'''
status = handler.get_goal_status()
if status == GoalStatus.ACTIVE:
if self.current_mission and goal.id != self.current_mission:
pass
# Another active goal happened, clear Feedback and stuff
self.result_label.clear()
self.current_mission = goal.id
self.current_mission_mission = handler.comm_state_machine.action_goal.goal.mission
self.current_mission_status = 'In progress'
self.current_mission_status_label.setText(self.current_mission_status)
self.current_mission_result = ''
self.current_mission_label.setText(self.current_mission_mission)
self.ui_log('STARTING: new mission {}'.format(self.current_mission_mission))
if goal.id == self.current_mission:
terminal_state = TerminalState.to_string(status)
if terminal_state == 'NO_SUCH_STATE_1':
return
result = handler.get_result()
if result and result.result != self.current_mission_result:
self.result_label.setText(result.result)
self.ui_log('RESULT: {}'.format(result.result))
if terminal_state != self.current_mission_status:
self.current_mission_status = terminal_state
self.current_mission_status_label.setText(self.current_mission_status)
self.ui_log('FINISHED: mission finished ({})'.format(self.current_mission_status))
def _client_cb(self, terminal_state, result):
if terminal_state != 3:
rospy.logwarn('Station hold goal failed (Status={}, Result={})'.format(
TerminalState.to_string(terminal_state), result.result))
return
rospy.loginfo('Station holding!')
self.broadcaster.clear_alarm()
def _client_cb(self, terminal_state, result):
if terminal_state != 3:
rospy.logwarn(
'Station hold goal failed (Status={}, Result={})'.format(
TerminalState.to_string(terminal_state), result.result))
return
rospy.loginfo('Station holding!')
self.broadcaster.clear_alarm()
def cb(terminal_state, result):
if terminal_state == 3:
rospy.loginfo('Thrusters Retracted!')
else:
rospy.logwarn(
'Error rectracting thrusters: {}, status: {}'.format(
TerminalState.to_string(terminal_state),
result.status))
def _client_cb(self, terminal_state, result):
if terminal_state != 3:
rospy.logwarn('Station hold goal failed (Status={}, Result={})'.format(
TerminalState.to_string(terminal_state), result))
return
try:
self.change_wrench('autonomous')
rospy.loginfo('Now station holding')
self.broadcaster.clear_alarm()
except rospy.ServiceException as e:
rospy.logwarn('Station hold changing wrench failed: {}'.format(e))
def _client_cb(self, terminal_state, result):
if terminal_state != 3:
rospy.logwarn(
'Station hold goal failed (Status={}, Result={})'.format(
TerminalState.to_string(terminal_state), result))
return
try:
self.change_wrench('autonomous')
rospy.loginfo('Now station holding')
self.broadcaster.clear_alarm()
except rospy.ServiceException as e:
rospy.logwarn('Station hold changing wrench failed: {}'.format(e))
def bag(self, timeout=rospy.Duration(0)):
self.client.wait_for_server()
self.result = None
self.total_it = 0
self.bar = tqdm(desc='Writing bag', unit=' percent', total=100,
bar_format='{desc} {bar} {percentage:3.0f}%')
self.client.send_goal(self.goal, done_cb=self._done_cb,
feedback_cb=self._feedback_cb)
while self.result is None and not rospy.is_shutdown():
rospy.sleep(0.1)
self.bar.refresh()
self.bar.close()
(status, result) = self.result
if status == 3:
print 'Bag successful'
else:
print 'Bag {}: {}'.format(TerminalState.to_string(status), result.status)
def bag(self, timeout=rospy.Duration(0)):
self.client.wait_for_server()
self.result = None
self.total_it = 0
self.bar = tqdm(desc='Writing bag',
unit=' percent',
total=100,
bar_format='{desc} {bar} {percentage:3.0f}%')
self.client.send_goal(self.goal,
done_cb=self._done_cb,
feedback_cb=self._feedback_cb)
while self.result is None and not rospy.is_shutdown():
rospy.sleep(0.1)
self.bar.refresh()
self.bar.close()
(status, result) = self.result
if status == 3:
print 'Bag successful'
else:
print 'Bag {}: {}'.format(TerminalState.to_string(status),
result.status)
def _bag_done_cb(self, status, result):
if status == 3:
rospy.loginfo('KILL BAG WRITTEN TO {}'.format(result.filename))
else:
rospy.logwarn('KILL BAG {}, status: {}'.format(
TerminalState.to_string(status), result.status))
def _bag_done_cb(self, status, result):
if status == 3:
rospy.loginfo('KILL BAG WRITTEN TO {}'.format(result.filename))
else:
rospy.logwarn('KILL BAG {}, status: {}'.format(TerminalState.to_string(status), result.status))
def _kill_task_cb(self, status, result):
if status == 3:
rospy.loginfo('Killed task success!')
return
rospy.logwarn('Killed task failed ({}): {}'.format(TerminalState.to_string(status), result.result))
def _kill_task_cb(self, status, result):
if status == 3:
rospy.loginfo('Killed task success!')
return
rospy.logwarn('Killed task failed ({}): {}'.format(TerminalState.to_string(status), result.result))
