def _on_change_state_event(self, context: launch.LaunchContext) -> None:
typed_event = cast(ChangeState, context.locals.event)
if not typed_event.lifecycle_node_matcher(self):
return None
request = lifecycle_msgs.srv.ChangeState.Request()
request.transition.id = typed_event.transition_id
context.add_completion_future(
context.asyncio_loop.run_in_executor(None, self._call_change_state,
request, context))
def _on_change_state_event(self, context: launch.LaunchContext) -> None:
print('System action "' + self.get_name() +
'" caught state change request')
typed_event = cast(ChangeState, context.locals.event)
if not typed_event.system_part_matcher(self):
return None
request = lifecycle_msgs.srv.ChangeState.Request()
request.transition.id = typed_event.transition_id
print(' -> attempting state change of ' + self.get_name() + ' to ' +
str(typed_event.transition_id))
context.add_completion_future(
context.asyncio_loop.run_in_executor(None, self._call_change_state,
request, context))
def _on_change_mode_event(self, context: launch.LaunchContext) -> None:
print('System action "' + self.get_name() +
'" caught mode change request')
typed_event = cast(ChangeMode, context.locals.event)
if not typed_event.system_part_matcher(self):
return None
request = system_modes_msgs.srv.ChangeMode.Request()
request.mode_name = typed_event.mode_name
print(' -> attempting mode change of ' + self.get_name() + ' to ' +
typed_event.mode_name)
context.add_completion_future(
context.asyncio_loop.run_in_executor(None, self._call_change_mode,
request, context))
