def ask_slider_entry(self):
goal = AskOnGuiGoal()
goal.type = "slider"
goal.content = "How many steps would you like to walk?"
goal.options = ["steps"]
goal.args = ["100", "500", "50", "200"]
self._action_client.wait_for_server()
self._action_client.send_goal(goal)
self._action_client.wait_for_result()
response = self._action_client.get_result()
def ask_multiple_choice(self):
goal = AskOnGuiGoal()
goal.type = "multiple choice"
goal.content = "How are you doing today? Is everything good?"
goal.options = ["Great", "Okay", "Bad"]
goal.args = []
self._action_client.wait_for_server()
self._action_client.send_goal(goal)
self._action_client.wait_for_result()
response = self._action_client.get_result()
def ask_text_entry(self):
goal = AskOnGuiGoal()
goal.type = "text entry"
goal.content = "What is your name?"
goal.options = ["Is my name"]
goal.args = ["Your name"]
self._action_client.wait_for_server()
self._action_client.send_goal(goal)
self._action_client.wait_for_result()
response = self._action_client.get_result()
def ask_time_entry(self):
goal = AskOnGuiGoal()
goal.type = "time entry"
goal.content = "When would you like to walk?"
goal.options = ["is when"]
goal.args = ["30", "12:30"]
self._action_client.wait_for_server()
self._action_client.send_goal(goal)
self._action_client.wait_for_result()
response = self._action_client.get_result()
rospy.wait_for_service(self._ASK_SERVICE)
def call_ask_action_service(self, message):
rospy.loginfo("Calling action")
if type(message) is not Message:
raise TypeError("Invalid message class.")
goal = AskOnGuiGoal()
goal.type = message.message_type
goal.content = message.content
goal.options = message.options
goal.args = message.args
self._cordial_action_client.wait_for_server()
self._cordial_action_client.send_goal(goal, feedback_cb=self._cordial_feedback_cb)
self._cordial_action_client.wait_for_result()
response = self._cordial_action_client.get_result()
return response.data
def test_ask_on_gui_action_preempt(self):
client = actionlib.SimpleActionClient(
_SAY_AND_ASK_ON_GUI_ACTION,
AskOnGuiAction
)
goal = AskOnGuiGoal()
goal.type = "multiple choice"
goal.content = "Hello there"
goal.options = ["Next"]
goal.args = []
self.assertTrue(client.wait_for_server(rospy.Duration(2)), "Could not connect")
rospy.loginfo("Connected to server")
client.send_goal(goal)
rospy.sleep(1)
client.cancel_goal()
rospy.sleep(1)
self.assertEqual(actionlib.GoalStatus.PREEMPTED, client.get_state())
def test_ask_on_gui_action(self):
client = actionlib.SimpleActionClient(
_SAY_AND_ASK_ON_GUI_ACTION,
AskOnGuiAction
)
goal = AskOnGuiGoal()
goal.type = "multiple choice"
goal.content = "Hello there"
goal.options = ["Next"]
goal.args = []
self.assertTrue(client.wait_for_server(rospy.Duration(2)), "Could not connect")
rospy.loginfo("Connected to server")
client.send_goal(goal)
self.assertTrue(client.wait_for_result(rospy.Duration(5)),
"Goal didn't finish")
self.assertEqual(actionlib.GoalStatus.SUCCEEDED, client.get_state())
self.assertEqual(client.get_result().data, "Debugging")