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"""
Interface for gzserver and gzbridge spawning classes.
"""
from builtins import object
__author__ = 'Alessandro Ambrosano'
[docs]class IGazeboServerInstance(object):
"""
Takes care of starting a gzserver process somewhere, connect it to the given roscore.
Each implementation has to take care of providing the methods start, stop and restart as
well as a property containing the gzserver master URI.
"""
def __init__(self):
self.__gazebo_died_callback = None
@property
def gazebo_died_callback(self): # pragma: no cover
"""
Gets the callback when gazebo dies
"""
return self.__gazebo_died_callback
@gazebo_died_callback.setter
def gazebo_died_callback(self, callback):
"""
Sets the callback when gazebo dies
:param callback: The new callback
"""
self.__gazebo_died_callback = callback
def _raise_gazebo_died(self):
"""
Informs clients that Gazebo has died
"""
if self.__gazebo_died_callback is not None:
self.__gazebo_died_callback()
[docs] def start(self, ros_master_uri, models_path=None, gzserver_args=None): # pragma: no cover
"""
Starts a gzserver instance connected to the local roscore (provided by
ros_master_uri)
:param ros_master_uri: The ros master uri where to connect gzserver.
:param models_path: An additional path where Gazebo may find models
:param gzserver_args: Additional formatted string of command line arguments to pass to
gzserver (e.g. --seed 123456 -e simbody)
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")
[docs] def stop(self): # pragma: no cover
"""
Stops the gzserver instance.
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")
[docs] def try_extend(self, new_timeout): # pragma: no cover
""""
Verifies that the gazebo can accept the new simulation timeout
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")
@property
def gazebo_master_uri(self): # pragma: no cover
"""
Returns a string containing the gazebo master
URI (like:'http://bbpviz001.cscs.ch:11345')
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")
[docs] def restart(self, ros_master_uri): # pragma: no cover
"""
Restarts the gzserver instance.
:param ros_master_uri: The ros master uri where to connect gzserver.
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")
[docs]class IGazeboBridgeInstance(object): # pragma: no cover
"""
Takes care of starting a gzserver instance somewhere.
"""
[docs] def start(self):
"""
Starts the gzbridge instance represented by the object.
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")
[docs] def stop(self):
"""
Stops the gzbridge instance represented by the object.
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")
[docs] def restart(self):
"""
Restarts the gzbridge instance represented by the object.
"""
raise NotImplementedError("This method was not implemented in the concrete implementation")