hbp_nrp_cleserver.server.ROSNotificator module

This module implements a ROS Notificator interface for status/error messages.

class ROSNotificator

Bases: object

This class encapsulates publishing of state/errors/task status to the frontend/clients.

finish_task()

Sends a status notification that the current task is finished.

publish_error(error_msg)

Publishes an error message

Parameters

error_msg – and cle_ros_msgs.CLEError message to publish.

publish_state(state_msg)

Publishes a state message

Parameters

state_msgs – A string of formatted JSON to publish.

shutdown()

Shutdown all publishers, notification will no longer function after called.

start_task(task_name, subtask_name, number_of_subtasks, block_ui)

Sends a status notification that a task starts on the ROS status topic. This method will save the task name and the task size in class members so that it could be reused in subsequent call to the update_task method.

Param

task_name: Title of the task (example: initializing experiment).

Param

subtask_name: Title of the first subtask. Could be empty (example: loading Virtual Room).

Param

number_of_subtasks: Number of expected subsequent calls to update_current_task(_, True, _).

Param

block_ui: Indicate that the client should block any user interaction.

task_notifier(task_name, subtask_name)

Task notifier context manager

Parameters

• task_name –

• subtask_name –

update_task(new_subtask_name, update_progress, block_ui)

Sends a status notification that the current task is updated with a new subtask.

Param

subtask_name: Title of the first subtask. Could be empt (example: loading Virtual Room).

Param

update_progress: Boolean indicating if the index of the current subtask should be updated (usually yes).

Param

block_ui: Indicate that the client should block any user interaction.