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actions.py
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actions.py
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# Software License Agreement (BSD License)
#
# Copyright (c) 2023, PickNik Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import time
from threading import Thread
from typing import Any, Callable, Optional, Union
from rclpy.action import ActionClient
from rclpy.expand_topic_name import expand_topic_name
from rclpy.node import Node
from rclpy.task import Future
from rosbridge_library.internal.message_conversion import (
extract_values,
populate_instance,
)
from rosbridge_library.internal.ros_loader import (
get_action_class,
get_action_goal_instance,
)
class InvalidActionException(Exception):
def __init__(self, action_name) -> None:
Exception.__init__(self, f"Action {action_name} does not exist")
class ActionClientHandler(Thread):
def __init__(
self,
action: str,
action_type: str,
args: dict,
success_callback: Callable[[str, str, int, bool, dict], None],
error_callback: Callable[[str, str, Exception], None],
feedback_callback: Callable[[str, str, dict], None],
node_handle: Node,
) -> None:
"""
Create a client handler for the specified action.
Use start() to start in a separate thread or run() to run in this thread.
Keyword arguments:
action -- the name of the action to execute.
action_type -- the type of the action to execute.
args -- arguments to pass to the action. Can be an
ordered list, or a dict of name-value pairs. Anything else will be
treated as though no arguments were provided (which is still valid for
some kinds of actions)
success_callback -- a callback to call with the JSON result of the
service call
error_callback -- a callback to call if an error occurs. The
callback will be passed the exception that caused the failure
node_handle -- a ROS 2 node handle to call services.
"""
Thread.__init__(self)
self.daemon = True
self.action = action
self.action_type = action_type
self.args = args
self.success = success_callback
self.error = error_callback
self.feedback = feedback_callback
self.node_handle = node_handle
self.send_goal_helper = None
def run(self) -> None:
try:
# Call the service and pass the result to the success handler
self.send_goal_helper = SendGoal()
self.success(
self.send_goal_helper.send_goal(
self.node_handle,
self.action,
self.action_type,
args=self.args,
feedback_cb=self.feedback,
)
)
except Exception as e:
# On error, just pass the exception to the error handler
self.error(e)
def args_to_action_goal_instance(action: str, inst: Any, args: Union[list, dict]) -> Any:
""" "
Populate an action goal instance with the provided args
args can be a dictionary of values, or a list, or None
Propagates any exceptions that may be raised.
"""
msg = {}
if isinstance(args, list):
msg = dict(zip(inst.get_fields_and_field_types().keys(), args))
elif isinstance(args, dict):
msg = args
# Populate the provided instance, propagating any exceptions
populate_instance(msg, inst)
class SendGoal:
"""Helper class to send action goals."""
def __init__(self, server_timeout_time: float = 1.0, sleep_time: float = 0.001) -> None:
self.server_timeout_time = server_timeout_time
self.sleep_time = sleep_time
self.goal_handle = None
self.goal_canceled = False
def get_result_cb(self, future: Future) -> None:
self.result = future.result()
def goal_response_cb(self, future: Future) -> None:
self.goal_handle = future.result()
if not self.goal_handle.accepted:
raise Exception("Action goal was rejected")
result_future = self.goal_handle.get_result_async()
result_future.add_done_callback(self.get_result_cb)
def send_goal(
self,
node_handle: Node,
action: str,
action_type: str,
args: Optional[dict] = None,
feedback_cb: Optional[Callable[[str, str, dict], None]] = None,
) -> dict:
# Given the action name and type, fetch a request instance
action_name = expand_topic_name(action, node_handle.get_name(), node_handle.get_namespace())
action_class = get_action_class(action_type)
inst = get_action_goal_instance(action_type)
# Populate the instance with the provided args
args_to_action_goal_instance(action_name, inst, args)
self.result = None
client = ActionClient(node_handle, action_class, action_name)
client.wait_for_server(timeout_sec=self.server_timeout_time)
send_goal_future = client.send_goal_async(inst, feedback_callback=feedback_cb)
send_goal_future.add_done_callback(self.goal_response_cb)
while self.result is None and not self.goal_canceled:
time.sleep(self.sleep_time)
client.destroy()
if self.result is not None:
# Turn the response into JSON and pass to the callback
json_response = extract_values(self.result)
else:
raise Exception(self.result)
return json_response
def cancel_goal(self) -> None:
if self.goal_handle is None:
return
cancel_goal_future = self.goal_handle.cancel_goal_async()
while not cancel_goal_future.done():
time.sleep(self.sleep_time)
self.goal_canceled = True