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))