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[CLI] Add
set_hardware_component_state
verb (#1248)
Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Mateus Menezes <mateusmenezes95@gmail.com> (cherry picked from commit a902e27)
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ros2controlcli/ros2controlcli/verb/set_hardware_component_state.py
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# Copyright 2023 ros2_control Development Team | ||
# | ||
# Licensed under the Apache License, Version 2.0 (the "License"); | ||
# you may not use this file except in compliance with the License. | ||
# You may obtain a copy of the License at | ||
# | ||
# http://www.apache.org/licenses/LICENSE-2.0 | ||
# | ||
# Unless required by applicable law or agreed to in writing, software | ||
# distributed under the License is distributed on an "AS IS" BASIS, | ||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
# See the License for the specific language governing permissions and | ||
# limitations under the License. | ||
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from controller_manager import set_hardware_component_state | ||
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from ros2cli.node.direct import add_arguments | ||
from ros2cli.node.strategy import NodeStrategy | ||
from ros2cli.verb import VerbExtension | ||
from lifecycle_msgs.msg import State | ||
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from ros2controlcli.api import add_controller_mgr_parsers, LoadedHardwareComponentNameCompleter | ||
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class SetHardwareComponentStateVerb(VerbExtension): | ||
"""Adjust the state of the hardware component.""" | ||
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def add_arguments(self, parser, cli_name): | ||
add_arguments(parser) | ||
arg = parser.add_argument( | ||
"hardware_component_name", help="Name of the hardware_component to be changed" | ||
) | ||
arg.completer = LoadedHardwareComponentNameCompleter() | ||
arg = parser.add_argument( | ||
"state", | ||
choices=["unconfigured", "inactive", "active"], | ||
help="State in which the hardware component should be changed to", | ||
) | ||
add_controller_mgr_parsers(parser) | ||
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def main(self, *, args): | ||
with NodeStrategy(args) as node: | ||
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if args.state == "unconfigured": | ||
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unconfigured_state = State() | ||
unconfigured_state.id = State.PRIMARY_STATE_UNCONFIGURED | ||
unconfigured_state.label = "unconfigured" | ||
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response = set_hardware_component_state( | ||
node, args.controller_manager, args.hardware_component_name, unconfigured_state | ||
) | ||
if not response.ok: | ||
return "Error cleaning up hardware component, check controller_manager logs" | ||
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if args.state == "inactive": | ||
inactive_state = State() | ||
inactive_state.id = State.PRIMARY_STATE_INACTIVE | ||
inactive_state.label = "inactive" | ||
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response = set_hardware_component_state( | ||
node, args.controller_manager, args.hardware_component_name, inactive_state | ||
) | ||
if not response.ok: | ||
return "Error stopping hardware component, check controller_manager logs" | ||
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if args.state == "active": | ||
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active_state = State() | ||
active_state.id = State.PRIMARY_STATE_ACTIVE | ||
active_state.label = "active" | ||
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response = set_hardware_component_state( | ||
node, args.controller_manager, args.hardware_component_name, active_state | ||
) | ||
if not response.ok: | ||
return "Error activating hardware component, check controller_manager logs" | ||
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print(f"Successfully set {args.hardware_component_name} to state {response.state}") | ||
return 0 |
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