def activate(self):
if (self.state == State.PRIMARY_STATE_INACTIVE):
self.state = State.TRANSITION_STATE_ACTIVATING
self.pub_transition_event.publish(
TransitionEvent(
timestamp=self.get_clock().now().nanoseconds,
transition=Transition(id=Transition.TRANSITION_ACTIVATE,
label=self.get_label(
Transition,
Transition.TRANSITION_ACTIVATE)),
start_state=State(id=State.PRIMARY_STATE_INACTIVE,
label=self.get_label(
State,
State.PRIMARY_STATE_INACTIVE)),
goal_state=State(id=self.state,
label=self.get_label(State, self.state))))
task_activate = self.executor.create_task(self.on_activate)
self.executor.spin_until_future_complete(task_activate)
result_transition = None
if (task_activate.result() ==
Transition.TRANSITION_CALLBACK_SUCCESS):
self.state = State.PRIMARY_STATE_ACTIVE
result_transition = Transition.TRANSITION_ON_ACTIVATE_SUCCESS
elif (task_activate.result() ==
Transition.TRANSITION_CALLBACK_FAILURE):
self.state = State.PRIMARY_STATE_INACTIVE
result_transition = Transition.TRANSITION_ON_ACTIVATE_FAILURE
else:
self.state = State.TRANSITION_STATE_ERRORPROCESSING
result_transition = Transition.TRANSITION_ON_CONFIGURE_ERROR
self.pub_transition_event.publish(
TransitionEvent(
timestamp=self.get_clock().now().nanoseconds,
transition=Transition(id=result_transition,
label=self.get_label(
Transition, result_transition)),
start_state=State(id=State.TRANSITION_STATE_ACTIVATING,
label=self.get_label(
State,
State.TRANSITION_STATE_ACTIVATING)),
goal_state=State(id=self.state,
label=self.get_label(State, self.state))))
return task_activate.result()
else:
return Transition.TRANSITION_CALLBACK_FAILURE
def do_transition_(self, id):
req = ChangeState.Request()
req.transition = Transition()
req.transition.id = id
fut = self.change_state_client_.call_async(req)
rclpy.spin_until_future_complete(self.node_, fut, executor=self.exe_)
resp = fut.result()
self.assertTrue(resp is not None)
self.assertTrue(resp.success)
def __init__(self, **kwargs):
assert all(['_' + key in self.__slots__ for key in kwargs.keys()]), \
"Invalid arguments passed to constructor: %r" % kwargs.keys()
from lifecycle_msgs.msg import Transition
self.transition = kwargs.get('transition', Transition())
from lifecycle_msgs.msg import State
self.start_state = kwargs.get('start_state', State())
from lifecycle_msgs.msg import State
self.goal_state = kwargs.get('goal_state', State())
def __init__(self, **kwargs):
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
'Invalid arguments passed to constructor: %s' % \
', '.join(sorted(k for k in kwargs.keys() if '_' + k not in self.__slots__))
from lifecycle_msgs.msg import Transition
self.transition = kwargs.get('transition', Transition())
from lifecycle_msgs.msg import State
self.start_state = kwargs.get('start_state', State())
from lifecycle_msgs.msg import State
self.goal_state = kwargs.get('goal_state', State())
def create(self):
if (self.state == State.PRIMARY_STATE_UNKNOWN):
self.pub_transition_event.publish(
TransitionEvent(
timestamp=self.get_clock().now().nanoseconds,
transition=Transition(id=Transition.TRANSITION_CREATE,
label=self.get_label(
Transition,
Transition.TRANSITION_CREATE)),
start_state=State(id=State.PRIMARY_STATE_UNKNOWN,
label=self.get_label(
State, State.PRIMARY_STATE_UNKNOWN)),
goal_state=State(id=State.PRIMARY_STATE_UNCONFIGURED,
label=self.get_label(
State,
State.PRIMARY_STATE_UNCONFIGURED))))
self.state = State.PRIMARY_STATE_UNCONFIGURED
return Transition.TRANSITION_CALLBACK_SUCCESS
else:
return Transition.TRANSITION_CALLBACK_FAILURE
def __init__(self, **kwargs):
assert all(['_' + key in self.__slots__ for key in kwargs.keys()]), \
"Invalid arguments passed to constructor: %r" % kwargs.keys()
self.node_name = kwargs.get('node_name', str())
from lifecycle_msgs.msg import Transition
self.transition = kwargs.get('transition', Transition())
def shutdown(self):
if (self.state == State.PRIMARY_STATE_UNCONFIGURED):
self.pub_transition_event.publish(
TransitionEvent(
timestamp=self.get_clock().now().nanoseconds,
transition=Transition(
id=Transition.TRANSITION_UNCONFIGURED_SHUTDOWN,
label=self.get_label(
Transition,
Transition.TRANSITION_UNCONFIGURED_SHUTDOWN)),
start_state=State(id=State.PRIMARY_STATE_UNCONFIGURED,
label=self.get_label(
State,
State.PRIMARY_STATE_UNCONFIGURED)),
goal_state=State(
id=State.TRANSITION_STATE_SHUTTINGDOWN,
label=self.get_label(
State, State.TRANSITION_STATE_SHUTTINGDOWN))))
elif (self.state == State.PRIMARY_STATE_INACTIVE):
self.pub_transition_event.publish(
TransitionEvent(
timestamp=self.get_clock().now().nanoseconds,
transition=Transition(
id=Transition.TRANSITION_INACTIVE_SHUTDOWN,
label=self.get_label(
Transition,
Transition.TRANSITION_INACTIVE_SHUTDOWN)),
start_state=State(id=State.PRIMARY_STATE_INACTIVE,
label=self.get_label(
State,
State.PRIMARY_STATE_INACTIVE)),
goal_state=State(
id=State.TRANSITION_STATE_SHUTTINGDOWN,
label=self.get_label(
State, State.TRANSITION_STATE_SHUTTINGDOWN))))
elif (self.state == State.PRIMARY_STATE_ACTIVE):
self.pub_transition_event.publish(
TransitionEvent(
timestamp=self.get_clock().now().nanoseconds,
transition=Transition(
id=Transition.TRANSITION_ACTIVE_SHUTDOWN,
label=self.get_label(
Transition,
Transition.TRANSITION_ACTIVE_SHUTDOWN)),
start_state=State(id=State.PRIMARY_STATE_ACTIVE,
label=self.get_label(
State, State.PRIMARY_STATE_ACTIVE)),
goal_state=State(
id=State.TRANSITION_STATE_SHUTTINGDOWN,
label=self.get_label(
State, State.TRANSITION_STATE_SHUTTINGDOWN))))
else:
return Transition.TRANSITION_CALLBACK_FAILURE
self.state = State.TRANSITION_STATE_SHUTTINGDOWN
task_shutdown = self.executor.create_task(self.on_shutdown)
self.executor.spin_until_future_complete(task_shutdown)
result_transition = None
if (task_shutdown.result() == Transition.TRANSITION_CALLBACK_SUCCESS):
self.state = State.PRIMARY_STATE_FINALIZED
result_transition = Transition.TRANSITION_ON_SHUTDOWN_SUCCESS
else:
self.state = State.TRANSITION_STATE_ERRORPROCESSING
result_transition = Transition.TRANSITION_ON_SHUTDOWN_ERROR
self.pub_transition_event.publish(
TransitionEvent(
timestamp=self.get_clock().now().nanoseconds,
transition=Transition(id=result_transition,
label=self.get_label(
Transition, result_transition)),
start_state=State(id=State.TRANSITION_STATE_SHUTTINGDOWN,
label=self.get_label(
State,
State.TRANSITION_STATE_SHUTTINGDOWN)),
goal_state=State(id=self.state,
label=self.get_label(State, self.state))))
return task_shutdown.result()
def send_request(self):
transition = Transition()
transition.id = 4 # Disable JointStatePublisher
self.req.transition = transition
self.future = self.cli.call_async(self.req)
