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[jsk_rqt_plugins] add service_type and support Trigger for rqt service button #791

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merged 2 commits into from Nov 18, 2020
Merged

[jsk_rqt_plugins] add service_type and support Trigger for rqt service button #791

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d79ad80
add service_type and support Trigger for rqt service button
knorth55 Nov 16, 2020
81beca7
show error when trigger response.success=False
knorth55 Nov 17, 2020
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29 changes: 23 additions & 6 deletions jsk_rqt_plugins/src/jsk_rqt_plugins/button_general.py
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Expand Up @@ -26,6 +26,7 @@
from std_msgs.msg import Bool
from std_msgs.msg import Time
from std_srvs.srv import Empty
from std_srvs.srv import Trigger

if LooseVersion(python_qt_binding.QT_BINDING_VERSION).version[0] >= 5:
from python_qt_binding.QtWidgets import QAction
Expand Down Expand Up @@ -183,8 +184,18 @@ def setupButtons(self, yaml_file):
if button_data.has_key("name"):
name = button_data['name']
button.setText(name)
if button_data.has_key('service_type'):
if button_data['service_type'] == 'Trigger':
service_type = Trigger
elif button_data['service_type'] == 'Empty':
service_type = Empty
else:
raise Exception("Unsupported service type: {}".format(
button_data['service_type']))
else:
service_type = Empty
button.clicked.connect(
self.buttonCallback(button_data['service']))
self.buttonCallback(button_data['service'], service_type))
if self.button_type == "push":
button.setToolButtonStyle(
QtCore.Qt.ToolButtonTextUnderIcon)
Expand All @@ -200,16 +211,22 @@ def setupButtons(self, yaml_file):
self.layout.addWidget(group)
self.setLayout(self.layout)

def buttonCallback(self, service_name):
def buttonCallback(self, service_name, service_type):
"""
return function as callback
"""
return lambda x: self.buttonCallbackImpl(service_name)
return lambda x: self.buttonCallbackImpl(service_name, service_type)

def buttonCallbackImpl(self, service_name):
srv = rospy.ServiceProxy(service_name, Empty)
def buttonCallbackImpl(self, service_name, service_type=Empty):
srv = rospy.ServiceProxy(service_name, service_type)
try:
srv()
res = srv()
if hasattr(res, 'success'):
success = res.success
if not success:
self.showError(
"Succeeded to call {}, but service response is res.success=False"
.format(service_name))
except rospy.ServiceException as e:
self.showError("Failed to call %s" % service_name)

Expand Down