From ce7854079f5a1d9e0952e6510e879da80d6fe683 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommmy.persson@liu.se>
Date: Thu, 4 Mar 2021 18:56:24 +0100
Subject: [PATCH] Work on smarc interface.
---
package.xml | 2 +-
src/gen_msgs_srvs_acions.py | 47 ++++++++++++++++++++++++++++++++-----
2 files changed, 42 insertions(+), 7 deletions(-)
diff --git a/package.xml b/package.xml
index 1b50c41..a9d56f2 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 f521e6e..3d43e33 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)
--
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