recipe_handler.py 文件源码

def set_recipe(self, recipe, start_time):
        """
        Set the currently running recipe... this is the CouchDB recipe document.
        """
        with self.lock:
            if self.__recipe is not None:
                raise RecipeRunningError("Recipe is already running")
            # Set recipe and time
            self.__recipe = recipe
            self.__start_time = start_time
            if self.__start_time is None:
                self.__start_time = rospy.get_time()
            rospy.set_param(params.CURRENT_RECIPE, recipe["_id"])
            rospy.set_param(params.CURRENT_RECIPE_START, self.__start_time  )
        return self