harmoni_common_lib.service_server¶
Module Contents¶
Classes¶
The service server is responsible for exposing the functionality of the service |
- class harmoni_common_lib.service_server.HarmoniServiceServer(name, service_manager, premption_rate=10)¶
Bases:
harmoni_common_lib.action_server.HarmoniActionServer,objectThe service server is responsible for exposing the functionality of the service to clients. As a server it has a callback for when it recieves action requests from the clients. In this callback it uses the handle it has on the service to control the service according to the requests of the client.
ActionServer functions used include: publish_feedback set_succeeded get_preemption_status
- start_sending_feedback(self, rate=0.2)¶
- Provides feedback at a constant rate on the status of the server
FIXME: this is a blocking function, so it probably needs to be threaded.
- Parameters
rate (float, optional) – Rate feedback on state is sent (hz). Defaults to .2.
- send_result(self, do_action, message)¶
Send the result and action set to succeded
- get_preemption_status(self)¶
- _preempt_callback(self)¶
Used to signal a cancel/pause to the currently running service so that a new goal can be received.
- _execute_goal_received_callback(self, goal)¶
Turns action goals into calls to the service manager. Is passed to the parent class to be used directly by the action server.
- Parameters
goal (HarmoniAction) –