Work on ardupilot

README.md

@@ -236,72 +236,35 @@ like fly-to, move-to, look-at-position and so on are robot/agent
 specific.  Common types are things like seq (S), conc (S), wait,
 send-signal and so on and are implemented in the system (in lrs_exec).
 
-Here is how the [wait executor](https://gitlab.liu.se/lrs2/lrs_exec/-/blob/main/lrs_exec/executors/wait.py) is implemented in Pyhton:
+Here is how the [noop executor](https://gitlab.liu.se/lrs2/lrs_exec/-/blob/main/lrs_exec/executors/noop.py) is implemented in Python:
 ```python
 import time
 import rclpy
 from rclpy.executors import MultiThreadedExecutor
 
-from lrs_exec.executor import Executor
-from lrs_exec.executor_factory import ExecutorFactory
+from lrs_exec.ticked_executor import TickedExecutor
+from lrs_exec.ticked_executor_factory import TickedExecutorFactory
 
-class WaitExecutor(Executor):
+class NoopExecutor(TickedExecutor):
     def __init__(self, node, id):
         super().__init__(node, id)
-        self.set_signals(["$abort", "$pause", "$continue", "$enough", "$finished"])                
+        
+    def do_work(self):
+        return
 
-    def start(self):
-        try:
-            self.node.get_logger().info("WaitExecutor start")
-            # self.params.print()
-            index = 0
-            paused = False
-            duration = self.params.get_value("duration")
-            if not duration:
-                self.fail("duration param must be specified")
-                return
-            self.node.get_logger().error(f'Duration: {duration}')            
-            finished_flag = False
-            while not finished_flag and 0.1*index < duration:
-                if self.have_signal():
-                    signal = self.pop_signal()
-                    self.node.get_logger().info(f'WaitExecutor got signal: {signal}')
-                    if signal == "$finished":
-                        self.signal_finish()
-                        finished_flag = True                        
-                    if signal == "$enough":
-                        finished_flag = True
-                    if signal == "$abort":
-                        self.abort_fail("Got abort signal")
-                        finished_flag = True
-                    if signal == "$pause":
-                        paused = True
-                    if signal == "$continue":
-                        self.dji.mission_continue()                        
-                        paused = False
-                if not paused:
-                    index += 1
-                time.sleep(0.1)
-            self.node.get_logger().error(f'Wait finished.')                            
-        except Exception as exc:
-            self.node.get_logger().error(f'EXCEPTION start: {type(exc)} - {exc}')            
-            self.fail(f'Exception: {exc}')
-        ## self.node.get_logger().info("WaitExecutor end")
-            
-class WaitExecutorFactory(ExecutorFactory):
+class NoopExecutorFactory(TickedExecutorFactory):
     def __init__(self):
-        super().__init__("wait")
-        
+        super().__init__("no-op")
+
     def get_executor(self, node, id):
-        return WaitExecutor(node, id)
-    
+        return self.add_executor(NoopExecutor(node, id))
 
 def main(args=None):
     rclpy.init(args=args)
     
     executor = MultiThreadedExecutor(num_threads=8)    
     
-    node = WaitExecutorFactory()
+    node = NoopExecutorFactory()
     
     executor.add_node(node)    
     print(f"Spinning {__name__}")