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How to use _trigger_event method in ATX

Best Python code snippet using ATX

monitor_state.py

Source:monitor_state.py

1import roslib; roslib.load_manifest('smach_ros')2import rospy3import threading4import traceback5import smach6__all__ = ['MonitorState']7class MonitorState(smach.State):8    """9    A state that will check a given ROS topic with a condition function.10    """11    def __init__(self, topic, msg_type, cond_cb, max_checks=-1,input_keys = [],output_keys=[]):12        """State constructor13        @type topic string14        @param topic the topic to monitor15        @type msg_type a ROS message type16        @param msg_type determines the type of the monitored topic17        @type max_checks int18        @param max_checks the number of messages to receive and evaluate. If cond_cb returns False for any19               of them, the state will finish with outcome 'invalid'. If cond_cb returns True for 20               all of them, the outcome will be 'valid'21        22        """23        smach.State.__init__(24            self,25            outcomes=['valid','invalid','preempted'],26            input_keys = input_keys,27            output_keys = output_keys)28        self._topic = topic29        self._msg_type = msg_type30        self._cond_cb = cond_cb31        self._max_checks = max_checks32        self._n_checks = 033        self._trigger_event = threading.Event()34    def execute(self, ud):35        # If prempted before even getting a chance, give up.36        if self.preempt_requested():37            self.service_preempt()38            return 'preempted'39        self._n_checks = 040        self._trigger_event.clear()41        self._sub = rospy.Subscriber(self._topic, self._msg_type, self._cb, callback_args=ud)42        self._trigger_event.wait()43        self._sub.unregister()44        if self.preempt_requested():45            self.service_preempt()46            return 'preempted'47        if self._max_checks > 0 and self._n_checks >= self._max_checks:48            return 'valid'49        return 'invalid'50    def _cb(self,msg,ud) :51        try:52            if self._cond_cb(ud, msg):53                self._n_checks +=154            else:55                self._trigger_event.set()56        except Exception as e:57            rospy.logerr("Error thrown while executing condition callback %s: %s" % (str(self._cond_cb), e))58            self._trigger_event.set()59            60        if (self._max_checks > 0 and self._n_checks >= self._max_checks):61            self._trigger_event.set()62    def request_preempt(self):63        smach.State.request_preempt(self)...

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