def assert_error_code_equals(self, code1, code2):
self.assertEqual(
code1,
code2,
"Error codes do not match: '%s' vs '%s'! " %
(RLLErrorCode(code1), RLLErrorCode(code2)),
)
def test_0_error_codes(self):
e_ok = RLLErrorCode(RLLErrorCode.SUCCESS)
e_invalid = RLLErrorCode(RLLErrorCode.INVALID_INPUT)
e_recoverable = RLLErrorCode(RLLErrorCode.RECOVERABLE_FAILURE)
e_critical = RLLErrorCode(RLLErrorCode.CRITICAL_FAILURE)
def check_code(error_code, success, failure, recoverable, invalid):
self.assertEqual(error_code.succeeded(), success)
self.assertEqual(error_code.failed(), not success)
self.assertEqual(error_code.is_critical_failure(), failure)
self.assertEqual(error_code.is_recoverable_failure(), recoverable)
self.assertEqual(error_code.is_invalid_input(), invalid)
# basic checks to validate the ErrorCode class
check_code(e_ok, True, False, False, False)
check_code(e_invalid, False, False, False, True)
check_code(e_recoverable, False, False, True, False)
check_code(e_critical, False, True, False, False)
def __init__(self, execute=None, verbose=True):
self.verbose = verbose
RLLBasicMoveClient.__init__(self)
RLLMoveClientListener.__init__(self, execute)
self.get_start_goal_srv = rospy.ServiceProxy('get_start_goal',
GetStartGoal)
self.move_srv = rospy.ServiceProxy('move', Move)
self.check_srv = rospy.ServiceProxy('check_path',
CheckPath,
persistent=True)
RLLErrorCode.set_error_code_details(
RLLErrorCode.PROJECT_SPECIFIC_RECOVERABLE_1,
"PREVIOUS_MOVE_FAILED",
"A previous move service call failed. As a result all further move"
" service calls will be rejected. Please verify that a movement is"
" possible by calling check_path first.")
RLLErrorCode.set_error_code_details(
RLLErrorCode.PROJECT_SPECIFIC_INVALID_1, "TOO_LITTLE_MOVEMENT",
"Requests that cover a distance between 0 and 5 mm or sole "
"rotations less than 20 degrees are not supported!")
RLLErrorCode.set_error_code_details(
RLLErrorCode.PROJECT_SPECIFIC_INVALID_2, "NO_PATH_FOUND", None)
override_formatting_for_ros_types()
def _handle_response_error_code(self, srv_name, resp):
name = ansi_format(srv_name, C_NAME)
if resp.success:
if self.verbose:
rospy.loginfo("%s %ssucceeded%s", name, C_OK, C_END)
return True
error_code = RLLErrorCode(resp.error_code)
if error_code.is_critical_failure():
rospy.logerr(
"%s %sfailed critically with error: %s%s",
name, C_FAIL, C_END, error_code)
raise CriticalServiceCallFailure(
error_code,
"Service call %s failed with error: %s" % (
srv_name, error_code))
else:
rospy.logwarn("%s %sfailed: %s%s", name, C_FAIL, C_END, error_code)
if self._exception_on_any_failure:
raise ServiceCallFailure(
error_code,
"Service call %s failed: %s" % (srv_name, error_code))
elif error_code.code == RLLErrorCode.JOB_EXECUTION_TIMED_OUT:
raise ServiceCallFailure(
error_code,
"You exceeded the maximum job execution duration.")
hint = error_code.get_hint()
if hint is not None:
rospy.loginfo("%sPossible failure reason:%s %s", C_INFO, C_END,
hint)
return False
def __init__(self):
self.verbose = True
self._exception_on_any_failure = False
self._last_error_code = RLLErrorCode()
self._logging_stream = rospy.logdebug