memory_node.py 文件源码

def handle_wait_event(self, goal):
        d = datetime.datetime.fromtimestamp(rospy.get_time())

        query_result_count = 0;
        while query_result_count == 0 and self.wait_for_event_server.is_active() == True:
            if self.wait_for_event_server.is_preempt_requested():
                result = WaitForEventResult()
                result.result = False
                result.error_msg = 'The client cancel goal.'
                self.wait_for_event_server.set_preempted(result)
                return result

            for i in range(len(goal.event_name)):
                memory_name = goal.event_name[i]
                memory_query = json.loads(goal.query[i])
                memory_query['time'] = {"$gte": d}

                query_result = self.collector[memory_name].find(memory_query)
                query_result_count += query_result.count()

            rospy.sleep(0.2)

        result = WaitEventResult()
        result.result = True
        self.wait_for_event_server.set_succeeded(result)