[as2_python_api] Result and goal handle changed to static class attributes #110
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Current changes affect to all BehaviorHandler instances, even if the namespace or the Behavior are different. import time
from enum import Enum
import rclpy
from as2_python_api.drone_interface import DroneInterface
class BehaviorStatus(Enum):
IDLE = 0
RUNNING = 1
PAUSED = 2
rclpy.init()
drone_interface = DroneInterface("", verbose=False)
drone_interface_2 = DroneInterface("other", verbose=False)
time.sleep(1)
print("STATUS:", BehaviorStatus(drone_interface.takeoff.status).name) # IDLE
print("STATUS:", BehaviorStatus(drone_interface_2.takeoff.status).name) # IDLE
print("START")
drone_interface.takeoff.start(1.0, 0.5, False)
time.sleep(2)
print("STATUS:", BehaviorStatus(drone_interface.takeoff.status).name) # RUNNING
print("STATUS:", BehaviorStatus(drone_interface_2.takeoff.status).name) # IDLE
print("PAUSE")
drone_interface_2.takeoff.pause()
time.sleep(2)
print("STATUS:", BehaviorStatus(drone_interface.takeoff.status).name) # RUNNING
print("STATUS:", BehaviorStatus(drone_interface_2.takeoff.status).name) # IDLE
print("RESUME")
drone_interface.takeoff.resume(False)
time.sleep(2)
print("STATUS:", BehaviorStatus(drone_interface.takeoff.status).name) # RUNNING
print("STATUS:", BehaviorStatus(drone_interface_2.takeoff.status).name) # IDLE
print("WAIT TO RESULT")
drone_interface.takeoff.wait_to_result()
print(drone_interface.takeoff.result) # as2_msgs.action.TakeOff_Result(takeoff_success=True)
print(drone_interface_2.takeoff.result) # as2_msgs.action.TakeOff_Result(takeoff_success=True)
print("Exit")
drone_interface.shutdown()
drone_interface_2.shutdown()However, it is interesting to share the result and goal_handle somehow. Probably, it might be much better to use |
UPDATEI'm closing this solution since it's doesn't work if both drone interfaces aren't instantiate from the same file. First python script rclpy.init()
drone_interface = DroneInterface("", verbose=False)
print("START")
drone_interface.takeoff.start(1.0, 0.5, False)
time.sleep(2)
print("PAUSE")
drone_interface.takeoff.pause()
time.sleep(2)
print("RESUME")
drone_interface.takeoff.resume(False)
time.sleep(2)
print("WAIT TO RESULT")
drone_interface.takeoff.wait_to_result()
print(drone_interface.takeoff.result) # as2_msgs.action.TakeOff_Result(takeoff_success=True)
drone_interface.shutdown()Second python script rclpy.init()
drone_interface = DroneInterface("", verbose=False)
i = 0
while True:
print(f"{i} STATUS: {BehaviorStatus(drone_interface.takeoff.status).name}")
try:
print(f"{i} RESULT: {ResultStatus(drone_interface.takeoff.result_status).name} - {drone_interface.takeoff.result}")
except BehaviorHandler.ResultUnknown:
print(f"{i} RESULT: {ResultStatus(drone_interface.takeoff.result_status).name} {None}")
i += 1
time.sleep(1)which prints: Status is always UNKNOWN! |
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@pariaspe do we have any update on this ? |
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