base.py 文件源码

def __init__(self, name):
        super(Task, self).__init__(name, rospy.Rate(50))

        self.nb_blackboard = NeedybotBlackboard()
        self.lock = threading.Lock()

        # Flags
        self.active = False
        self.completed = False
        self.did_fail = False

        self.current_step = None

        self.name = name
        self.subscribers = []
        self.step_timer = None
        self.steps = {} 

        self.task_latcher = TaskLatcher()
        self.task_latcher.register_task()

        self.step_load_time = None 
        self.paused_time = None 
        self.paused = False

        self.register_services([
            ('abort', AbortTask),
            ('step_name', Message),
            ('next_step', NextStep),
            ('task_payload', TaskPayload),
            ('reset', Empty),
            ('status', TaskStatus),
            ('step', StepTask)
        ])

        self.add_steps([
            TaskStep(
                'load',
                failure_step='abort',
                success_step='complete',
                entered_handler=self.load_entered
            ),
            TaskStep(
                'complete',
                entered_handler=self.complete_entered
            ),
            TaskStep(
                'abort',
                entered_handler=self.abort_entered,
                blocking=True
            ),
        ])