def pub_command(self, duration, options):
self.command_flag = False
data = adapter_msgs.Adapter()
data.resource.id = unique_id.toMsg(unique_id.fromRandom())
data.command_duration = int(duration)
data.command = options
print data
time.sleep(1)
self.command_pub.publish(data)
def pub_resource_alloc(self, uri, options):
print 'uri: ', uri, ' options: ', options
self.resource_alloc_flag = False
data = adapter_msgs.Adapter()
data.resource.id = unique_id.toMsg(unique_id.fromRandom())
data.resource.uri = uri
data.resource.rapp = self.rapp_parse(uri)
data.command = options
print data
time.sleep(1)
self.resource_alloc_pub.publish(data)
def resources_alloc_request_callback(self, msg):
'''
For allocating a resource, this method is invoked by receiving a topic from bpel service
@param msg: incoming message
@type msg: adapter_msgs.Adapter
'''
result = False
# send a request
rospy.loginfo("AdapterSvc : send request by topic")
data = adapter_msgs.Adapter()
data.resource.id = unique_id.toMsg(unique_id.fromRandom())
data.resource.uri = msg.resource.uri
data.resource.rapp = msg.resource.rapp
self.command = msg.command
self.command_duration = msg.command_duration
data.command = self.command
data.command_duration = self.command_duration
resource_request_id = self.requester.new_request([data.resource])
self.pending_requests.append(resource_request_id)
self.requester.send_requests()
timeout_time = time.time() + self.allocation_timeout
while not rospy.is_shutdown() and time.time() < timeout_time:
if resource_request_id in self.pending_requests:
self.allocated_requests[msg.resource.uri] = resource_request_id
result = True
break
rospy.rostime.wallsleep(0.1)
if result == False:
rospy.logwarn(
"AdapterSvc : couldn't capture required resource [timed out][%s]"
% msg.resource.uri)
self.requester.rset[resource_request_id].cancel()
else:
rospy.loginfo(
"AdapterSvc : captured resouce [%s][%s]" %
(msg.resource.uri, self.allocated_requests[msg.resource.uri]))
def command_request_callback(self, msg):
'''
Called by Subscriber when the command arrived from the server
This method control the turtlebot according to the command
@param msg : incoming message
@type msg: adapter_msgs.Adapter
'''
topic_name = "/turtlebot/android/virtual_joystick/cmd_vel"
publisher = rospy.Publisher(topic_name, Twist)
data = adapter_msgs.Adapter()
command = msg.command
command_duration = msg.command_duration
print "=================================================="
rospy.loginfo(
"command_request_callback : ready to send cmd_vel to turtlebot")
rospy.loginfo("command_request_callback : command = %s", command)
print "=================================================="
twist = Twist()
if command == 'forward':
print 'in forward'
twist.linear.x = 0.1
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = 0
elif command == 'backward':
print 'in backward'
twist.linear.x = -0.1
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = 0
elif command == 'cycle_left':
print 'left'
twist.linear.x = 0
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = 1
elif command == 'cycle_right':
print 'right'
twist.linear.x = 0
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = -1
print "=================================================="
rospy.loginfo("command_request_callback : command value : ")
print command
rospy.loginfo("command_request_callback : command duration value : ")
print command_duration
rospy.loginfo("command_request_callback : published twist value : ")
print twist
r = rospy.Rate(10)
stop_time = time.time() + command_duration
# Publish Twist!
while time.time() < stop_time:
publisher.publish(twist)
r.sleep()
print "=================================================="
command_reply_publisher = rospy.Publisher(
'/services/adapter/command_reply', std_msgs.String)
time.sleep(1)
command_reply_publisher.publish("command_success")