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Merge pull request #38 from fmessmer/fix/pylint
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fix pylint
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@fmessmer
fmessmer authored May 23, 2024
2 parents 797ae6b + 90d30db commit 899fbd9
Showing 1 changed file with 64 additions and 68 deletions.
132 changes: 64 additions & 68 deletions flexbe_input/src/flexbe_input/complex_action_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,7 +83,7 @@ def __init__(self, name, ActionSpec, execute_cb = None, auto_start = True):
self.execute_thread.start();
else:
self.execute_thread = None


#create the action server
self.action_server = ActionServer(name, ActionSpec, self.internal_goal_callback,self.internal_preempt_callback,auto_start);
Expand All @@ -99,16 +99,16 @@ def __del__(self):


## @brief Accepts a new goal when one is available The status of this
## goal is set to active upon acceptance,
## goal is set to active upon acceptance,
def accept_new_goal(self):
with self.action_server.lock, self.lock:

rospy.logdebug("Accepting a new goal");

self.goals_received_ -= 1;

#get from queue
current_goal = self.goal_queue_.get()
#get from queue
current_goal = self.goal_queue_.get()

#set the status of the current goal to be active
current_goal.set_accepted("This goal has been accepted by the simple action server");
Expand All @@ -125,20 +125,20 @@ def is_new_goal_available(self):
## @brief Allows polling implementations to query about the status of the current goal
## @return True if a goal is active, false otherwise
def is_active(self):
if not self.current_goal.get_goal():
return False;
if not self.current_goal.get_goal():
return False;

status = self.current_goal.get_goal_status().status;
return status == actionlib_msgs.msg.GoalStatus.ACTIVE #or status == actionlib_msgs.msg.GoalStatus.PREEMPTING;
status = self.current_goal.get_goal_status().status;
return status == actionlib_msgs.msg.GoalStatus.ACTIVE #or status == actionlib_msgs.msg.GoalStatus.PREEMPTING;

## @brief Sets the status of the active goal to succeeded
## @param result An optional result to send back to any clients of the goal
def set_succeeded(self,result=None, text="", goal_handle=None):
with self.action_server.lock, self.lock:
if not result:
result=self.get_default_result();
#self.current_goal.set_succeeded(result, text);
goal_handle.set_succeeded(result,text)
with self.action_server.lock, self.lock:
if not result:
result=self.get_default_result();
#self.current_goal.set_succeeded(result, text);
goal_handle.set_succeeded(result,text)

## @brief Sets the status of the active goal to aborted
## @param result An optional result to send back to any clients of the goal
Expand Down Expand Up @@ -174,71 +174,67 @@ def start(self):

## @brief Callback for when the ActionServer receives a new goal and passes it on
def internal_goal_callback(self, goal):
self.execute_condition.acquire();
self.execute_condition.acquire();

try:
rospy.logdebug("A new goal %shas been recieved by the single goal action server",goal.get_goal_id().id);

try:
rospy.logdebug("A new goal %shas been recieved by the single goal action server",goal.get_goal_id().id);

print("got a goal")
self.next_goal = goal;
self.new_goal = True;
self.goals_received_ += 1

print("got a goal")
self.next_goal = goal;
self.new_goal = True;
self.goals_received_ += 1

#add goal to queue
self.goal_queue_.put(goal)
#add goal to queue
self.goal_queue_.put(goal)

#Trigger runLoop to call execute()
self.execute_condition.notify();
self.execute_condition.release();
#Trigger runLoop to call execute()
self.execute_condition.notify();
self.execute_condition.release();

except Exception as e:
rospy.logerr("ComplexActionServer.internal_goal_callback - exception %s",str(e))
self.execute_condition.release();

except Exception as e:
rospy.logerr("ComplexActionServer.internal_goal_callback - exception %s",str(e))
self.execute_condition.release();


## @brief Callback for when the ActionServer receives a new preempt and passes it on
def internal_preempt_callback(self,preempt):
return
return

## @brief Called from a separate thread to call blocking execute calls
def executeLoop(self):
loop_duration = rospy.Duration.from_sec(.1);

while (not rospy.is_shutdown()):
rospy.logdebug("SAS: execute");

with self.terminate_mutex:
if (self.need_to_terminate):
break;

if (self.is_new_goal_available()):
# accept_new_goal() is performing its own locking
goal_handle = self.accept_new_goal();
if not self.execute_callback:
rospy.logerr("execute_callback_ must exist. This is a bug in ComplexActionServer");
return

try:

print("run new executecb")
thread = threading.Thread(target=self.run_goal,args=(goal_handle.get_goal(),goal_handle));
thread.start()

except Exception as ex:
rospy.logerr("Exception in your execute callback: %s\n%s", str(ex),
traceback.format_exc())
self.set_aborted(None, "Exception in execute callback: %s" % str(ex))

with self.execute_condition:
self.execute_condition.wait(loop_duration.to_sec());




def run_goal(self,goal, goal_handle):
print('new thread')
self.execute_callback(goal,goal_handle);
loop_duration = rospy.Duration.from_sec(.1);

while (not rospy.is_shutdown()):
rospy.logdebug("SAS: execute");

with self.terminate_mutex:
if (self.need_to_terminate):
break;


if (self.is_new_goal_available()):
# accept_new_goal() is performing its own locking
goal_handle = self.accept_new_goal();
if not self.execute_callback:
rospy.logerr("execute_callback_ must exist. This is a bug in ComplexActionServer");
return

try:
print("run new executecb")
thread = threading.Thread(target=self.run_goal,args=(goal_handle.get_goal(),goal_handle));
thread.start()

except Exception as ex:
rospy.logerr("Exception in your execute callback: %s\n%s", str(ex),
traceback.format_exc())
self.set_aborted(None, "Exception in execute callback: %s" % str(ex))

with self.execute_condition:
self.execute_condition.wait(loop_duration.to_sec());




def run_goal(self,goal, goal_handle):
print('new thread')
self.execute_callback(goal,goal_handle);

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