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fix recording_demo

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shalenikol 2025-05-29 15:18:05 +03:00
parent b22a64e5e9
commit a87d577989
1 changed files with 17 additions and 14 deletions
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31
rbs_utils/rbs_utils/rbs_utils/recording_demo.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3
"""
recording_demo_lib
recording_demo_service_node
ROS 2 program for recording a demo via RosBag
@shalenikol release 0.1
@ -39,32 +39,35 @@ KEY_SIDPATH = "@path@" # prefix for filepath
class RbsActionClient(Node):
def __init__(self):
self.res_ok = False
self.is_record_run = False
super().__init__("rbs_action_client")
self._action_client = ActionClient(self, RbsBt, SERVER_NAME)
self._recorder_service = self.create_service(
Recorder, "recorder", self.recorder
)
self._recorder_service = self.create_service(Recorder, "recorder", self.recorder)
def recorder(
self, request: Recorder.Request, response: Recorder.Response
) -> Recorder.Response:
def recorder(self, request: Recorder.Request, response: Recorder.Response) -> Recorder.Response:
# response.ok = recording_demo(request.command.command)
if request.command.command == RecorderCommands.RUN:
response.ok = False
if request.command.command == RecorderCommands.RUN and not self.is_record_run:
response.ok = recording_demo(CommandType.RUN)
self.is_record_run = response.ok
elif request.command.command == RecorderCommands.SAVE_AND_NEXT:
elif request.command.command == RecorderCommands.SAVE_AND_NEXT and self.is_record_run:
response.ok = recording_demo(CommandType.SAVE_AND_NEXT)
elif request.command.command == RecorderCommands.CANCEL_AND_NEXT:
elif request.command.command == RecorderCommands.CANCEL_AND_NEXT and self.is_record_run:
response.ok = recording_demo(CommandType.CANCEL_AND_NEXT)
self.is_record_run = response.ok
elif request.command.command == RecorderCommands.STOP_AND_SAVE:
elif request.command.command == RecorderCommands.STOP_AND_SAVE and self.is_record_run:
response.ok = recording_demo(CommandType.STOP_AND_SAVE)
if response.ok:
self.is_record_run = False
elif request.command.command == RecorderCommands.STOP_AND_CANCEL:
elif request.command.command == RecorderCommands.STOP_AND_CANCEL and self.is_record_run:
response.ok = recording_demo(CommandType.STOP_AND_CANCEL)
else:
response.ok = False
if response.ok:
self.is_record_run = False
return response
def send_goal(self, sid: str, action: str, command: str):