harmoni_pytree.leaves.web_service

Module Contents

Classes

WebServicePytree

Functions

main()

class harmoni_pytree.leaves.web_service.WebServicePytree(name='WebServicePytree')

Bases: py_trees.behaviour.Behaviour

setup(**additional_parameters)

initialise()

update()

terminate(new_status)

new_state = self.service_client_web.get_state() print(“terminate : “,new_state) if new_state == GoalStatus.SUCCEEDED or new_state == GoalStatus.ABORTED or new_state == GoalStatus.LOST:

self.send_request = True

if new_state == GoalStatus.PENDING:

self.send_request = True self.logger.debug(f”Cancelling goal to {self.server_name}”) self.service_client_web.cancel_all_goals() self.client_result = None self.logger.debug(f”Goal cancelled to {self.server_name}”) self.service_client_web.stop_tracking_goal() self.logger.debug(f”Goal tracking stopped to {self.server_name}”)

_result_callback(result)

Recieve and store result with timestamp

_feedback_callback(feedback)

Feedback is currently just logged

harmoni_pytree.leaves.web_service.main()