/usr/lib/actionlib/axclient.py is in python-actionlib 1.11.7-1.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 | #! /usr/bin/python
#***********************************************************
#* Software License Agreement (BSD License)
#*
#* Copyright (c) 2009, Willow Garage, 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 Willow Garage, Inc. 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.
#*
#* Author: Eitan Marder-Eppstein
#***********************************************************
"""
usage: %prog /action_name action_type
"""
PKG='actionlib'
import roslib.message
from optparse import OptionParser
import wx
import sys
import rospy
import actionlib
import time
import threading
import socket
import rostopic
from cStringIO import StringIO
from library import *
from dynamic_action import DynamicAction
from actionlib_msgs.msg import GoalStatus
class AXClientApp(wx.App):
def __init__(self, action_type, action_name):
self.action_type = action_type
wx.App.__init__(self)
self.client = actionlib.SimpleActionClient(action_name, self.action_type.action)
self.condition = threading.Condition()
self.goal_msg = None
self.execute_type = None
def set_status(self, label, color):
self.status_bg.SetBackgroundColour(color)
self.status.SetLabel(label)
def set_cancel_button(self, enabled):
if enabled:
self.cancel_goal.Enable()
else:
self.cancel_goal.Disable()
def set_server_status(self, label, color, enabled):
self.server_status_bg.SetBackgroundColour(color)
self.server_status.SetLabel(label)
if enabled:
self.send_goal.Enable()
else:
self.send_goal.Disable()
def server_check(self, event):
TIMEOUT = 0.01
if self.client.wait_for_server(rospy.Duration.from_sec(TIMEOUT)):
wx.CallAfter(self.set_server_status, "Connected to server",
wx.Colour(192, 252, 253), True)
else:
wx.CallAfter(self.set_server_status, "Disconnected from server",
wx.Colour(200, 0, 0), False)
def on_cancel(self, event):
#we'll cancel the current goal
self.client.cancel_goal()
self.set_status("Canceling goal", wx.Colour(211, 34, 243))
def on_goal(self, event):
try:
self.goal_msg = yaml_msg_str(self.action_type.goal,
self.goal.GetValue())
buff = StringIO()
self.goal_msg.serialize(buff)
#send the goal to the action server and register the relevant
#callbacks
self.client.send_goal(self.goal_msg, self.done_cb, self.active_cb,
self.feedback_cb)
self.set_status("Goal is pending", wx.Colour(255, 174, 59))
self.set_cancel_button(True)
except roslib.message.SerializationError, e:
self.goal_msg = None
wx.MessageBox(str(e), "Error serializing goal", wx.OK)
def set_result(self, result):
try:
self.result.SetValue(to_yaml(result))
except UnicodeDecodeError:
self.result.SetValue("Cannot display result due to unprintable characters")
def status_gui(self, status):
return {GoalStatus.PENDING: ['PENDING', wx.Colour(255, 174, 59)],
GoalStatus.ACTIVE: ['ACTIVE', wx.Colour(0, 255, 0)],
GoalStatus.PREEMPTED: ['PREEMPTED', wx.Colour(255,252,16)],
GoalStatus.SUCCEEDED: ['SUCCEEDED',wx.Colour(38,250,253)],
GoalStatus.ABORTED: ['ABORTED',wx.Colour(200,0,0)],
GoalStatus.REJECTED: ['REJECTED',wx.Colour(253,38,159)],
GoalStatus.PREEMPTING: ['PREEMPTING',wx.Colour(253,38,159)],
GoalStatus.RECALLING: ['RECALLING',wx.Colour(230,38,253)],
GoalStatus.RECALLED: ['RECALLED',wx.Colour(230,38,253)],
GoalStatus.LOST: ['LOST',wx.Colour(255,0,0)]}[status]
def done_cb(self, state, result):
status_string, status_color = self.status_gui(state)
wx.CallAfter(self.set_status, ''.join(["Goal finished with status: ",
status_string]), status_color)
wx.CallAfter(self.set_result, result)
wx.CallAfter(self.set_cancel_button, False)
def active_cb(self):
wx.CallAfter(self.set_status, "Goal is active", wx.Colour(0,200,0))
def set_feedback(self, feedback):
try:
self.feedback.SetValue(to_yaml(feedback))
except UnicodeDecodeError:
self.feedback.SetValue("Cannot display feedback due to unprintable characters")
def feedback_cb(self, feedback):
wx.CallAfter(self.set_feedback, feedback)
def OnQuit(self):
self.server_check_timer.Stop()
def OnInit(self):
self.frame = wx.Frame(None, -1, self.action_type.name + ' GUI Client')
self.sz = wx.BoxSizer(wx.VERTICAL)
tmp_goal = self.action_type.goal()
self.goal = wx.TextCtrl(self.frame, -1, style=wx.TE_MULTILINE)
self.goal.SetValue(to_yaml(tmp_goal))
self.goal_st_bx = wx.StaticBox(self.frame, -1, "Goal")
self.goal_st = wx.StaticBoxSizer(self.goal_st_bx, wx.VERTICAL)
self.goal_st.Add(self.goal, 1, wx.EXPAND)
self.feedback = wx.TextCtrl(self.frame, -1, style=(wx.TE_MULTILINE |
wx.TE_READONLY))
self.feedback_st_bx = wx.StaticBox(self.frame, -1, "Feedback")
self.feedback_st = wx.StaticBoxSizer(self.feedback_st_bx, wx.VERTICAL)
self.feedback_st.Add(self.feedback, 1, wx.EXPAND)
self.result = wx.TextCtrl(self.frame, -1, style=(wx.TE_MULTILINE |
wx.TE_READONLY))
self.result_st_bx = wx.StaticBox(self.frame, -1, "Result")
self.result_st = wx.StaticBoxSizer(self.result_st_bx, wx.VERTICAL)
self.result_st.Add(self.result, 1, wx.EXPAND)
self.send_goal = wx.Button(self.frame, -1, label="SEND GOAL")
self.send_goal.Bind(wx.EVT_BUTTON, self.on_goal)
self.send_goal.Disable()
self.cancel_goal = wx.Button(self.frame, -1, label="CANCEL GOAL")
self.cancel_goal.Bind(wx.EVT_BUTTON, self.on_cancel)
self.cancel_goal.Disable()
self.status_bg = wx.Panel(self.frame, -1)
self.status_bg.SetBackgroundColour(wx.Colour(200,0,0))
self.status = wx.StaticText(self.status_bg, -1, label="No Goal")
self.server_status_bg = wx.Panel(self.frame, -1)
self.server_status_bg.SetBackgroundColour(wx.Colour(200,0,0))
self.server_status = wx.StaticText(self.server_status_bg, -1, label="Disconnected from server.")
self.sz.Add(self.goal_st, 1, wx.EXPAND)
self.sz.Add(self.feedback_st, 1, wx.EXPAND)
self.sz.Add(self.result_st, 1, wx.EXPAND)
self.sz.Add(self.send_goal, 0, wx.EXPAND)
self.sz.Add(self.cancel_goal, 0, wx.EXPAND)
self.sz.Add(self.status_bg, 0, wx.EXPAND)
self.sz.Add(self.server_status_bg, 0, wx.EXPAND)
self.frame.SetSizer(self.sz)
self.server_check_timer = wx.Timer(self.frame)
self.frame.Bind(wx.EVT_TIMER, self.server_check,
self.server_check_timer)
self.server_check_timer.Start(1000)
self.sz.Layout()
self.frame.Show()
return True
def main():
rospy.init_node('axclient', anonymous=True)
parser = OptionParser(__doc__.strip())
# parser.add_option("-t","--test",action="store_true", dest="test",default=False,
# help="A testing flag")
# parser.add_option("-v","--var",action="store",type="string", dest="var",default="blah")
(options, args) = parser.parse_args(rospy.myargv())
if (len(args) == 2):
# get action type via rostopic
topic_type = rostopic._get_topic_type("%s/goal"%args[1])[0]
# remove "Goal" string from action type
assert("Goal" in topic_type)
topic_type = topic_type[0:len(topic_type)-4]
elif (len(args) == 3):
topic_type = args[2]
print(topic_type)
assert("Action" in topic_type)
else:
parser.error("You must specify the action topic name (and optionally type) Eg: ./axclient.py action_topic actionlib/TwoIntsAction ")
action = DynamicAction(topic_type)
app = AXClientApp(action, args[1])
app.MainLoop()
app.OnQuit()
rospy.signal_shutdown('GUI shutdown')
if __name__ == '__main__':
main()
|