points_manager.py

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#! /usr/bin/env python
 
 
 
import rospy
from geometry_msgs.msg import Point
from final_assignment.srv import get_point, get_pointRequest, get_pointResponse
from final_assignment.srv import position_defined, position_definedRequest, position_definedResponse
import random
from datetime import datetime
 
 
 
# --------------------------------- DATA
 
 
node_name = "points_manager"
 
 
positions = [ Point(-4,-3,0), Point(-4,2,0), Point(-4,7,0), Point(5,-7, 0), Point(5,-3,0), Point(5,1,0) ]
 
 
 
# --------------------------------- SERVICES
 
# server 'get_point'
name_get_point = "/get_point"
 
# server 'position_defined'
name_position_defined = "/position_defined"
 
 
 
 
def cbk_get_point( req ):
    global positions
    
    to_return = get_pointResponse( )
    to_return.position = random.choice( positions )
    
    return to_return
 
 
 
 
def cbk_point_defined( req ):
    global positions
    
    to_return = position_definedResponse( )
    to_return.defined = True if ( req.position in positions ) else False
    
    return to_return
 
 
 
# --------------------------------- NODE
 
 
def shut_msg():
    rospy.loginfo( " [points_manager] shutdown" )
 
 
 
if __name__ == "__main__":
    rospy.init_node( node_name )
    rospy.on_shutdown( shut_msg )
    
    random.seed( datetime.now( ) )
    
    # advertise the server 'get_point'
    handler_get_point = rospy.Service( name_get_point, get_point, cbk_get_point )
    rospy.loginfo( " [points_manager] %s ONLINE.", name_get_point )
    
    # advertise the server 'psition_defined'
    handler_position_defined = rospy.Service( name_position_defined, position_defined, cbk_point_defined )
    rospy.loginfo( " [points_manager] %s ONLINE.", name_position_defined )
    
    rospy.on_shutdown( shut_msg )
    rospy.spin()