diff --git a/package.xml b/package.xml index 1b50c41b412eb3ab833366dc1253e734eaf32a0a..a9d56f27237e511dc685fbf78b12f2eb579a9360 100644 --- a/package.xml +++ b/package.xml @@ -7,7 +7,7 @@ <!-- One maintainer tag required, multiple allowed, one person per tag --> <!-- Example: --> <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> - <maintainer email="tompe@todo.todo">tompe</maintainer> + <maintainer email="tommy.persson@liu.se">tompe</maintainer> <!-- One license tag required, multiple allowed, one license per tag --> diff --git a/src/gen_msgs_srvs_acions.py b/src/gen_msgs_srvs_acions.py index f521e6e49a2cfcf271d7adf2d3c7d84dcba5bc9c..3d43e338ea762d6907b180b11a179a0ba90509b4 100755 --- a/src/gen_msgs_srvs_acions.py +++ b/src/gen_msgs_srvs_acions.py @@ -32,6 +32,40 @@ def gen_task_params_msg(jobj, prefix): s += f'string {name}\n' return s +def gen_task_signal_service(prefix): + s = "" + s += "string uuid # uuid for the started task\n" + s += "string signal # Standard: \"$abort\", \"$pause\", \"$continue\", \"$enough\"\n" + s += "---\n" + s += "bool success\n" + s += "int32 error\n" + s += "string reason\n" + return s + +def gen_task_check_service(prefix): + s = "" + s += f'lrs_task_msgs/{prefix}Task task\n' + s += "---\n" + s += "bool success\n" + s += "int32 error\n" + s += "string reason\n" + return s + +def gen_task_start_action(prefix): + s = "" + s += "string uuid # uuid that are used in signal service call to send signals to the running action\n" + s += f'lrs_task_msgs/{prefix}Task task\n' + s += "---\n" + s += "string signal_received\n" + s += "bool paused\n" + s += "---\n" + s += "bool success\n" + s += "string fail_reason\n" + s += "bool aborted\n" + s += "bool enoughed" + return s + + def get_msg_name_prefix(taskname): #print("TASKNAME:", taskname, taskname.split("-")) lst = [el[0].upper() + el[1:] for el in taskname.split("-")] @@ -50,14 +84,15 @@ if __name__ == '__main__': print("TASK:", objstr) taskname = obj["key"] msgprefix = get_msg_name_prefix(taskname) - print(taskname, msgprefix) - print("========================") + # print(taskname, msgprefix) tmsg = gen_task_msg(obj, msgprefix) - print(tmsg) - print("========================") tpmsg = gen_task_params_msg(obj, msgprefix) - print(tpmsg) - print("========================") + tstartaction = gen_task_start_action(msgprefix) + tsignalservice = gen_task_signal_service(msgprefix) + tcheckservice = gen_task_check_service(msgprefix) open(f'{options.outdir}/msg/{msgprefix}Task.msg', "w").write(tmsg) open(f'{options.outdir}/msg/{msgprefix}TaskParams.msg', "w").write(tpmsg) + open(f'{options.outdir}/action/{msgprefix}Start.action', "w").write(tstartaction) + open(f'{options.outdir}/srv/{msgprefix}Signal.srv', "w").write(tsignalservice) + open(f'{options.outdir}/srv/{msgprefix}Check.srv', "w").write(tcheckservice)