task_latcher.py 文件源码

def latch_timer(self, step_name, tmr_id, duration, cb, oneshot=False):
        step_dict = self.get_step_dict(step_name)

        def handle_evt(evt):
            if self.step == step_name:
                cb(evt)

        timers = step_dict.get('timers', {})
        # Shutdown old timer with same ID if it exists
        timer = timers.get(tmr_id, None)
        if timer and timer.is_alive(): timer.shutdown()

        timer = rospy.Timer(duration, handle_evt, oneshot=oneshot)
        timers[tmr_id] = timer