def move_arm(self, positions): self._arm_goal = copy.deepcopy(positions) jp = YoubotProxy.make_brics_msg_arm(self.arm_num, positions) rospy.logdebug("brics message created") rospy.logdebug(jp) r = rospy.Rate(50) t0 = rospy.Time().now() pubbed = False while not rospy.is_shutdown(): curr_jpos = self._joint_positions_arm d = BaseProxy.measure_joint_distance_sum(curr_jpos, positions) v = BaseProxy.measure_joint_velocity_ss(self._joint_velocities_arm) rospy.logdebug(d) rospy.logdebug("arm joint positions") rospy.logdebug(curr_jpos) rospy.logdebug(d) rospy.logdebug("arm joint velocities") rospy.logdebug(self._joint_velocities_arm) if ((d < self.arm_joint_distance_tol) and (v<=self.arm_joint_velocity_tol)): # rospy.logdebug("moved arm to joint position error of: " + str(d)) break td = rospy.Time().now() if (td-t0 > self.arm_move_duration): rospy.logerr("move arm timeout") raise Exception("move arm timeout") break self._arm_pub.publish(jp) # if not pubbed: # self._arm_pub.publish(jp) # pubbed = True r.sleep()
def move_arm(self, positions): self._arm_goal = copy.deepcopy(positions) jp = YoubotProxy.make_brics_msg_arm(self.arm_num, positions) rospy.logdebug("brics message created") rospy.logdebug(jp) r = rospy.Rate(50) t0 = rospy.Time().now() pubbed = False while not rospy.is_shutdown(): curr_jpos = self._joint_positions_arm d = BaseProxy.measure_joint_distance_sum(curr_jpos, positions) v = BaseProxy.measure_joint_velocity_ss(self._joint_velocities_arm) rospy.logdebug(d) rospy.logdebug("arm joint positions") rospy.logdebug(curr_jpos) rospy.logdebug(d) rospy.logdebug("arm joint velocities") rospy.logdebug(self._joint_velocities_arm) if ((d < self.arm_joint_distance_tol) and (v <= self.arm_joint_velocity_tol)): # rospy.logdebug("moved arm to joint position error of: " + str(d)) break td = rospy.Time().now() if (td - t0 > self.arm_move_duration): rospy.logerr("move arm timeout") raise Exception("move arm timeout") break self._arm_pub.publish(jp) # if not pubbed: # self._arm_pub.publish(jp) # pubbed = True r.sleep()
def __init__(self): BaseProxy.__init__(self) self.html_comment_re = re.compile(r"<!--.*?-->", re.S) self.html_script_re = re.compile(r"<script.*?</script>", re.S) # note: we use re.match which requires match from beginning self.public_paths_re = re.compile( r"/(s/|images/|favicon\.ico|rest/api/1\.0/(header-separator|dropdowns)($|\?))" )
def _collect_request_parameters(self, **kwargs): BaseProxy._collect_request_parameters(self, **kwargs) # jira puts hostname into self-referential links, and hostname comes from jira configuration. # in case of jira proxy-served pages, that hostname is wrong. # this means an http accelerator like varnish which does not edit response bodies # cannot serve usable pages when running on any host other than configured jira host. # in turn this means jira proxy must always be involved in proxying process. # running an accelerator on top of jira-proxy makes latency even worse, so to maintain # some semblance of sanity we have to do all transformations that varnish does. self._adjust_request()
def perform(self, **kwargs): BaseProxy.perform(self, **kwargs) self._adjust_cache_directives() self._adjust_host_in_links()
def _issue_remote_request(self): BaseProxy._issue_remote_request(self) # see note in _collect_request_parameters. # do what should be done in varnish self._adjust_response()