def __init__(self, label=None, input_keys=[], output_keys=[], io_keys=[]):
"""Initialise a Container.
"""
Task.__init__(self, label=label, input_keys=input_keys, output_keys=output_keys, io_keys=io_keys)
ContainerMixin.__init__(self)
self._tasks = []
self._remappings = []
self._block_on_preempt = []
def __init__(self, sleep_duration, label=None, succeed=True):
Task.__init__(self, label=label)
# Write-once
self._sleep_duration = rospy.Duration(sleep_duration) if isinstance(sleep_duration, (int, long, float)) else sleep_duration
self._sleep_rate = rospy.Rate(1000.0)
self._result = Task.SUCCEEDED if succeed else Task.ABORTED
# Mutable
self._preempt_requested = False
self._parent_cb = None
def __init__(self, sleep_duration, label=None, succeed=True):
Task.__init__(self, label=label)
# Write-once
self._sleep_duration = rospy.Duration(sleep_duration) if isinstance(
sleep_duration, (int, long, float)) else sleep_duration
self._sleep_rate = rospy.Rate(1000.0)
self._result = Task.SUCCEEDED if succeed else Task.ABORTED
# Mutable
self._preempt_requested = False
self._parent_cb = None
def __init__(self, state, label=None, success_outcomes=['success'], should_block=False):
"""Initialise a StateTask.
state: State to wrap as a Task.
success_outcomes: list of outcomes to be considered successful; any other outcomes will be unsuccessful
should_block: true if the Task should block until a result is received, rather than returning a Deferred object
"""
Task.__init__(self, label=label)
# Write-once
self._state = state
self._should_block = should_block
self._success_outcomes = success_outcomes
self._thread = None
# Mutable
self._parent_cb = None
def __init__(self,
state,
label=None,
success_outcomes=['success'],
should_block=False):
"""Initialise a StateTask.
state: State to wrap as a Task.
success_outcomes: list of outcomes to be considered successful; any other outcomes will be unsuccessful
should_block: true if the Task should block until a result is received, rather than returning a Deferred object
"""
Task.__init__(self, label=label)
# Write-once
self._state = state
self._should_block = should_block
self._success_outcomes = success_outcomes
self._thread = None
# Mutable
self._parent_cb = None
def __init__(
self,
topic_name,
topic_spec,
label=None,
# Receive Policy
exec_cb=None,
exec_cb_args=[],
exec_cb_kwargs={},
exec_key=None,
exec_slots=[],
# Keys
input_keys=[],
output_keys=[]):
Task.__init__(self,
label=label,
input_keys=input_keys,
output_keys=output_keys)
self._topic_name = topic_name
self._topic_spec = topic_spec
self._exec_cb = exec_cb
self._exec_cb_args = exec_cb_args
self._exec_cb_kwargs = exec_cb_kwargs
self._exec_cb_input_keys = input_keys
self._exec_cb_output_keys = output_keys
self._exec_key = exec_key
if exec_key is not None:
self.register_output_keys([exec_key])
self._exec_slots = exec_slots
self.register_output_keys(exec_slots)
self._sub = rospy.Subscriber(topic_name, topic_spec, self._recv_cb)
self._last_msg = None
def __init__(
self,
topic_name,
topic_spec,
label=None,
# Receive Policy
exec_cb=None,
exec_cb_args=[],
exec_cb_kwargs={},
exec_key=None,
exec_slots=[],
# Keys
input_keys=[],
output_keys=[]
):
Task.__init__(self, label=label, input_keys=input_keys, output_keys=output_keys)
self._topic_name = topic_name
self._topic_spec = topic_spec
self._exec_cb = exec_cb
self._exec_cb_args = exec_cb_args
self._exec_cb_kwargs = exec_cb_kwargs
self._exec_cb_input_keys = input_keys
self._exec_cb_output_keys = output_keys
self._exec_key = exec_key
if exec_key is not None:
self.register_output_keys([exec_key])
self._exec_slots = exec_slots
self.register_output_keys(exec_slots)
self._sub = rospy.Subscriber(topic_name, topic_spec, self._recv_cb)
self._last_msg = None
def __init__(self, value, label=None, key="data"):
"""Initialise a SetUserDataTask.
"""
Task.__init__(self, label=label, output_keys=[key])
self._key = key
self._value = value
def __init__(self, output_key, label=None):
Task.__init__(self, label=label)
self._output_key = output_key
def __init__(self, msg, label=None):
Task.__init__(self, label=label)
self._msg = msg
def __init__(self, task, label=None):
Task.__init__(self, label=label)
assert (task is not None)
self._task = task
def __init__(self, label=None):
"""Initialise a FalseTask.
"""
Task.__init__(self, label=label)
def __init__(self, value, label=None, key="data"):
"""Initialise a SetUserDataTask.
"""
Task.__init__(self, label=label, output_keys=[key])
self._key = key
self._value = value
def __init__(self, output_key, label=None):
Task.__init__(self, label=label)
self._output_key = output_key
def __init__(self, msg, label=None):
Task.__init__(self, label=label)
self._msg = msg
def __init__(self, task, label=None):
Task.__init__(self, label=label)
assert(task is not None)
self._task = task
def __init__(self, label=None):
"""Initialise a FalseTask.
"""
Task.__init__(self, label=label)
