-
Notifications
You must be signed in to change notification settings - Fork 530
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
More actions functionality and tests
- Loading branch information
Showing
6 changed files
with
388 additions
and
48 deletions.
There are no files selected for viewing
32 changes: 32 additions & 0 deletions
32
rosbridge_library/src/rosbridge_library/capabilities/action_result.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
174 changes: 174 additions & 0 deletions
174
rosbridge_library/src/rosbridge_library/capabilities/send_action_goal.py
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,174 @@ | ||
| # Software License Agreement (BSD License) | ||
| # | ||
| # Copyright (c) 2023, PickNik Inc. | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions | ||
| # are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright | ||
| # notice, this list of conditions and the following disclaimer. | ||
| # * Redistributions in binary form must reproduce the above | ||
| # copyright notice, this list of conditions and the following | ||
| # disclaimer in the documentation and/or other materials provided | ||
| # with the distribution. | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived | ||
| # from this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| # POSSIBILITY OF SUCH DAMAGE. | ||
|
|
||
| import fnmatch | ||
| from functools import partial | ||
| from threading import Thread | ||
|
|
||
| from rosbridge_library.capability import Capability | ||
| from rosbridge_library.internal.actions import ActionClientHandler, SendGoal | ||
|
|
||
|
|
||
| class SendActionGoal(Capability): | ||
|
|
||
| send_action_goal_msg_fields = [ | ||
| (True, "action", str), | ||
| (True, "action_type", str), | ||
| (False, "fragment_size", (int, type(None))), | ||
| (False, "compression", str), | ||
| ] | ||
|
|
||
| actions_glob = None | ||
|
|
||
| def __init__(self, protocol): | ||
| # Call superclass constructor | ||
| Capability.__init__(self, protocol) | ||
|
|
||
| # Register the operations that this capability provides | ||
| call_services_in_new_thread = ( | ||
| protocol.node_handle.get_parameter("call_services_in_new_thread") | ||
| .get_parameter_value() | ||
| .bool_value | ||
| ) | ||
| if call_services_in_new_thread: | ||
| # Sends the action goal in a separate thread so multiple actions can be processed simultaneously. | ||
| protocol.node_handle.get_logger().info("Sending action goal in new thread") | ||
| protocol.register_operation( | ||
| "send_action_goal", | ||
| lambda msg: Thread(target=self.send_action_goal, args=(msg,)).start(), | ||
| ) | ||
| else: | ||
| # Sends the actions goal in this thread, so actions block and must be processed sequentially. | ||
| protocol.node_handle.get_logger().info("Sending action goal in existing thread") | ||
| protocol.register_operation("send_action_goal", self.send_action_goal) | ||
|
|
||
| def send_action_goal(self, message): | ||
| # Pull out the ID | ||
| cid = message.get("id", None) | ||
|
|
||
| # Typecheck the args | ||
| self.basic_type_check(message, self.send_action_goal_msg_fields) | ||
|
|
||
| # Extract the args | ||
| action = message["action"] | ||
| action_type = message["action_type"] | ||
| fragment_size = message.get("fragment_size", None) | ||
| compression = message.get("compression", "none") | ||
| args = message.get("args", []) | ||
|
|
||
| if SendActionGoal.actions_glob is not None and SendActionGoal.actions_glob: | ||
| self.protocol.log("debug", f"Action security glob enabled, checking action: {action}") | ||
| match = False | ||
| for glob in SendActionGoal.actions_glob: | ||
| if fnmatch.fnmatch(action, glob): | ||
| self.protocol.log( | ||
| "debug", | ||
| f"Found match with glob {glob}, continuing sending action goal...", | ||
| ) | ||
| match = True | ||
| break | ||
| if not match: | ||
| self.protocol.log( | ||
| "warn", | ||
| f"No match found for action, cancelling sending action goal for: {action}", | ||
| ) | ||
| return | ||
| else: | ||
| self.protocol.log("debug", "No action security glob, not checking sendign action goal.") | ||
|
|
||
| # Check for deprecated action ID, eg. /rosbridge/topics#33 | ||
| cid = extract_id(action, cid) | ||
|
|
||
| # Create the callbacks | ||
| s_cb = partial(self._success, cid, action, fragment_size, compression) | ||
| e_cb = partial(self._failure, cid, action) | ||
| feedback = True # TODO: Implement | ||
| if feedback: | ||
| f_cb = partial(self._feedback, cid, action) | ||
| else: | ||
| f_cb = None | ||
|
|
||
| # Run action client handler in the same thread. | ||
| ActionClientHandler( | ||
| trim_action_name(action), action_type, args, s_cb, e_cb, f_cb, self.protocol.node_handle | ||
| ).run() | ||
|
|
||
| def _success(self, cid, action, fragment_size, compression, message): | ||
| outgoing_message = { | ||
| "op": "action_result", | ||
| "action": action, | ||
| "values": message, | ||
| "result": True, | ||
| } | ||
| if cid is not None: | ||
| outgoing_message["id"] = cid | ||
| # TODO: fragmentation, compression | ||
| self.protocol.send(outgoing_message) | ||
|
|
||
| def _failure(self, cid, action, exc): | ||
| self.protocol.log("error", "send_action_goal %s: %s" % (type(exc).__name__, str(exc)), cid) | ||
| # send response with result: false | ||
| outgoing_message = { | ||
| "op": "action_result", | ||
| "service": action, | ||
| "values": str(exc), | ||
| "result": False, | ||
| } | ||
| if cid is not None: | ||
| outgoing_message["id"] = cid | ||
| self.protocol.send(outgoing_message) | ||
|
|
||
| def _feedback(self, cid, action, message): | ||
| outgoing_message = { | ||
| "op": "action_feedback", | ||
| "action": action, | ||
| "values": message, | ||
| } | ||
| if cid is not None: | ||
| outgoing_message["id"] = cid | ||
| # TODO: fragmentation, compression | ||
| print("SENDING FEEDBACK") | ||
| print(outgoing_message) | ||
| self.protocol.send(outgoing_message) | ||
|
|
||
|
|
||
| def trim_action_name(action): | ||
| if "#" in action: | ||
| return action[: action.find("#")] | ||
| return action | ||
|
|
||
|
|
||
| def extract_id(action, cid): | ||
| if cid is not None: | ||
| return cid | ||
| elif "#" in action: | ||
| return action[action.find("#") + 1 :] |
Oops, something went wrong.