222 lines
No EOL
9.1 KiB
Python
Executable file
222 lines
No EOL
9.1 KiB
Python
Executable file
#!/usr/bin/env python3
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"""
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rbsInterface_node
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ROS 2 program for Robossembler
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@shalenikol release 0.1
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"""
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import os
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import json
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import yaml
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import rclpy
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from rclpy.node import Node
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# from rclpy.action import ActionServer, CancelResponse, GoalResponse
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from rclpy.callback_groups import ReentrantCallbackGroup
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from ament_index_python.packages import get_package_share_directory
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from rclpy.parameter import Parameter
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from rcl_interfaces.srv import SetParameters #, GetParameters
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# from rcl_interfaces.msg import Parameter, ParameterValue
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# rcl_interfaces.msg.ParameterValue
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from lifecycle_msgs.srv import ChangeState, GetState
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from lifecycle_msgs.msg import Transition
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# from lifecycle_msgs.msg import State
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from rbs_skill_interfaces.srv import RbsBt
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# from ros2node.api import get_node_names as get_all_node_names
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PARAM_NAME = "str_param"
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PARAM_SKILL_CONFIG = "skill_cfg"
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def get_transfer_path_():
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return os.path.join(get_package_share_directory("rbs_perception"), "config")
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class rbsInterface(Node):
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def __init__(self, node_name):
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"""Construct the node."""
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self._i_exe = 0 # run index
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self._timer = None # defer run after callback
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# self._cli_changestate = None # client for lifecycle node
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self.cfg_data = None # config for current action
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super().__init__(node_name)
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# self.declare_parameter(PARAM_NAME, rclpy.Parameter.Type.STRING)
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self.cb_group = ReentrantCallbackGroup()
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self._service = self.create_service(RbsBt, "rbs_interface", self.service_callback, callback_group=self.cb_group)
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# def get_remote_parameter(self, remote_node_name, param_name):
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# cli = self.create_client(GetParameters, remote_node_name + '/get_parameters')
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# while not cli.wait_for_service(timeout_sec=1.0):
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# self.get_logger().info('service not available, waiting again...')
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# req = GetParameters.Request()
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# req.names = [param_name]
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# future = cli.call_async(req)
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# while rclpy.ok():
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# rclpy.spin_once(self)
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# if future.done():
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# try:
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# res = future.result()
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# return getattr(res.values[0], self.type_arr[res.values[0].type])
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# except Exception as e:
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# self.get_logger().warn('Service call failed %r' % (e,))
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# break
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def set_remote_parameter(self, remote_node_name: str, parameter_name: str, new_parameter_value):
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self.cli = self.create_client(SetParameters, remote_node_name + "/set_parameters")
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while not self.cli.wait_for_service(timeout_sec=1.0):
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self.get_logger().info("'" + remote_node_name + "' service not available, waiting again...")
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req = SetParameters.Request()
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req.parameters = [Parameter(parameter_name, value=new_parameter_value).to_parameter_msg()]
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future = self.cli.call_async(req)
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self.executor.spin_until_future_complete(future)
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res = future.result()
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# self.get_logger().info(f"result : {type(res)}/{res}")
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return res.results[0].successful
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# while rclpy.ok():
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# rclpy.spin_once(self)
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# if future.done():
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# try:
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# res = future.result()
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# return res.results[0].successful
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# except Exception as e:
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# self.get_logger().warn("Service call failed %r" % (e,))
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# break
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def _deserialize(self, file_path: str):
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with open(file_path, "r") as f:
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if file_path.split() == ".yaml":
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s = yaml.load(f, Loader=yaml.FullLoader)
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else: # ".json"
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s = json.load(f)
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return s
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def _load_config(self, action: str): #, command: str):
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p = os.path.join(get_transfer_path_(), action+".json")
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# load config
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return self._deserialize(p)
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def run_action(self, command_data: dict) -> bool:
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p_list = command_data["param"]
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oper_type = command_data["type"]
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node_name = self.cfg_data["ROS2"]["node_name"]
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if len(p_list) > 0:
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ext = command_data["format"] # 'yaml' or 'json'
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param_file = os.path.join(get_transfer_path_(), command_data["name"]+"."+ext)
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with open(param_file, "r") as f:
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data = f.read()
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if not self.set_remote_parameter(node_name, PARAM_NAME, data):
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return False
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if not self.set_remote_parameter(node_name, PARAM_SKILL_CONFIG, yaml.dump(self.cfg_data)):
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return False
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ret = False # default return value
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if oper_type == "run":
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# if not self._cli_changestate:
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# self.cb_group = ReentrantCallbackGroup()
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self.cli_changestate = self.create_client(ChangeState, f"{node_name}/change_state") #, callback_group=self.cb_group)
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# self._cli_changestate = self.create_client(GetState, f"{node_name}/get_state")
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while not self.cli_changestate.wait_for_service(timeout_sec=1.0):
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self.get_logger().info(f"'{node_name}' not available... wait")
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req = ChangeState.Request()
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# self._req = GetState.Request()
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req.transition.id = Transition.TRANSITION_CONFIGURE
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# self._i_exe = 1 # call_async(self._req)
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# self._timer = self.create_timer(0.0001, self.timer_callback)
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future = self.cli_changestate.call_async(req)
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self.executor.spin_until_future_complete(future)
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res = future.result()
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if res: # is not None:
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if res.success:
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req = ChangeState.Request()
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req.transition.id = Transition.TRANSITION_ACTIVATE
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future = self.cli_changestate.call_async(req)
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self.executor.spin_until_future_complete(future)
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res = future.result()
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if res: # is not None:
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ret = res.success
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# self.cli_changestate.destroy()
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# else:
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# return False # state = future.exception()
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# self.get_logger().info(f"state : {type(state)}/{state}")
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elif oper_type == "stop":
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self.cli_changestate = self.create_client(ChangeState, f"{node_name}/change_state") #, callback_group=self.cb_group)
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while not self.cli_changestate.wait_for_service(timeout_sec=1.0):
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self.get_logger().info(f"'{node_name}' not available... wait")
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req = ChangeState.Request()
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req.transition.id = Transition.TRANSITION_DEACTIVATE
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future = self.cli_changestate.call_async(req)
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self.executor.spin_until_future_complete(future)
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res = future.result()
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if res: # is not None:
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if res.success:
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req = ChangeState.Request()
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req.transition.id = Transition.TRANSITION_CLEANUP
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future = self.cli_changestate.call_async(req)
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self.executor.spin_until_future_complete(future)
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res = future.result()
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if res: # is not None:
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ret = res.success
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# self.cli_changestate.destroy()
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return ret
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def timer_callback(self):
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if self._i_exe == 1:
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self._i_exe = 2
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# self.get_logger().info(f"{self._oper_type} timer_callback 1")
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# self._future = self._cli_changestate.call_async(self._req)
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# self.get_logger().info(f"self._future : {type(self._future)}/{self._future}")
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elif self._i_exe == 2:
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# self.get_logger().info(f"{self._oper_type} timer_callback 2")
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responce = True #self._future.result()
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if responce:
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# self.get_logger().info(f"responce : {responce}")
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self._i_exe == 0
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self._timer.cancel()
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else:
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self._timer.cancel()
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# def changestate_callback(self):
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# self.get_logger().info(f"changestate_callback is")
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def service_callback(self, request, response):
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self.get_logger().info(f"Incoming request for Action ({request.action}/{request.command})")
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self.cfg_data = self._load_config(request.action) #, request.command)
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self.get_logger().info(f'Config: Ok ({self.cfg_data["Module"]["description"]})')
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is_action = False
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for comm in self.cfg_data["BTAction"]:
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if comm["name"] == request.command:
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is_action = self.run_action(comm)
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# if not os.path.isfile(request.object.mesh_path):
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# response.call_status = False
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# response.error_msg = f"{request.object.mesh_path}: no such file"
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response.ok = is_action #True
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return response
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def main():
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rclpy.init()
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# i_node = rbsInterface("rbs_interface")
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# rclpy.spin(i_node)
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# rclpy.shutdown()
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# executor = rclpy.executors.SingleThreadedExecutor()
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executor = rclpy.executors.MultiThreadedExecutor()
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i_node = rbsInterface("rbs_interface")
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executor.add_node(i_node)
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try:
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executor.spin()
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except (KeyboardInterrupt, rclpy.executors.ExternalShutdownException):
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i_node.destroy_node()
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if __name__ == '__main__':
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main() |