def preempt(self):
rospy.loginfo("Executer Server: got preempt")
if self.sm:
self.sm.request_preempt()
result = ExecuteResult()
result.retval = result.RETVAL_SUCCESS
result.outcome = 'preempted'
self.actionlib_server.set_preempted(result)
def preempt(self):
rospy.loginfo("Executer Server: got preempt")
if self.sm:
self.sm.request_preempt()
result = ExecuteResult()
result.retval = result.RETVAL_SUCCESS
result.outcome = 'preempted'
self.actionlib_server.set_preempted(result)
def execute(self, goal):
rospy.loginfo('Got goal:\n %s' % str(goal))
# parse the json string
try:
action_dict = json.loads(goal.action)
except KeyError as e:
rospy.logerr('Unable to parse json string (%s)' % str(e))
result = ExecuteResult()
result.retval = result.RETVAL_PARSE_ERROR
result.error_string = str(e)
self.actionlib_server.set_succeeded(result)
return
# execute the action
try:
(outcome, outputs) = self.execute_action(action_dict)
except ValueError as e:
rospy.logerr('Runtime error while executing state machine: %s' %
str(e))
traceback.print_exc()
result = ExecuteResult()
result.retval = result.RETVAL_RUNTIME_ERROR
result.error_string = str(e)
self.actionlib_server.set_succeeded(result)
return
except Exception as e:
rospy.logerr('General error while executing state machine: %s' %
str(e))
traceback.print_exc()
result = ExecuteResult()
result.retval = result.RETVAL_RUNTIME_ERROR
result.error_string = str(e)
self.actionlib_server.set_aborted(result)
return
# set_preempted is done in the preempted callback function
if self.actionlib_server.is_preempt_requested():
return
# finished successfully (even though the action itself may have failed)
result = ExecuteResult()
result.retval = result.RETVAL_SUCCESS
if outputs:
try:
result.outputs = json.dumps(outputs)
except Exception as e:
rospy.logerr("Unable to dump outputs to json string: %s" %
str(e))
result.outcome = outcome
self.actionlib_server.set_succeeded(result)
return
def execute(self, goal):
rospy.loginfo('Got goal:\n %s' % str(goal))
# parse the json string
try:
action_dict = json.loads(goal.action)
except KeyError as e:
rospy.logerr('Unable to parse json string (%s)' % str(e))
result = ExecuteResult()
result.retval = result.RETVAL_PARSE_ERROR
result.error_string = str(e)
self.actionlib_server.set_succeeded(result)
return
# execute the action
try:
(outcome, outputs) = self.execute_action(action_dict)
except ValueError as e:
rospy.logerr('Runtime error while executing state machine: %s' % str(e))
traceback.print_exc()
result = ExecuteResult()
result.retval = result.RETVAL_RUNTIME_ERROR
result.error_string = str(e)
self.actionlib_server.set_succeeded(result)
return
except Exception as e:
rospy.logerr('General error while executing state machine: %s' % str(e))
traceback.print_exc()
result = ExecuteResult()
result.retval = result.RETVAL_RUNTIME_ERROR
result.error_string = str(e)
self.actionlib_server.set_aborted(result)
return
# set_preempted is done in the preempted callback function
if self.actionlib_server.is_preempt_requested():
return
# finished successfully (even though the action itself may have failed)
result = ExecuteResult()
result.retval = result.RETVAL_SUCCESS
if outputs:
try:
result.outputs = json.dumps(outputs)
except Exception as e:
rospy.logerr("Unable to dump outputs to json string: %s"%str(e))
result.outcome = outcome
self.actionlib_server.set_succeeded(result)
return
