147 lines
5.2 KiB
Python
Executable File
147 lines
5.2 KiB
Python
Executable File
#!/usr/bin/env python3
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# Copyright 2026 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from typing import List
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import rclpy
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from controller_manager_msgs.srv import SetHardwareComponentState
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from lifecycle_msgs.msg import State
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from rclpy.node import Node
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from std_srvs.srv import Trigger
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class MotorDisableServiceNode(Node):
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"""Expose a simple Trigger service to disable arm motors via ros2_control."""
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def __init__(self) -> None:
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super().__init__("motor_disable_service")
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self.declare_parameter("controller_manager_name", "/controller_manager")
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self.declare_parameter(
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"hardware_components",
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["openarm_left_hardware_interface", "openarm_right_hardware_interface"],
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)
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self.declare_parameter("service_name", "disable_motors")
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self.declare_parameter("service_timeout_sec", 3.0)
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controller_manager_name = (
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self.get_parameter("controller_manager_name").get_parameter_value().string_value
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)
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service_name = self.get_parameter("service_name").get_parameter_value().string_value
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self._component_names = self._read_component_names()
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self._service_timeout_sec = (
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self.get_parameter("service_timeout_sec").get_parameter_value().double_value
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)
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if not controller_manager_name.startswith("/"):
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controller_manager_name = "/" + controller_manager_name
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controller_manager_name = controller_manager_name.rstrip("/")
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set_state_service = f"{controller_manager_name}/set_hardware_component_state"
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self._set_state_client = self.create_client(
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SetHardwareComponentState,
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set_state_service,
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)
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self.create_service(Trigger, service_name, self._handle_disable_request)
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self.get_logger().info(
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f"Motor disable service ready: service='{service_name}', "
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f"cm='{controller_manager_name}', components={self._component_names}"
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)
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def _read_component_names(self) -> List[str]:
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raw_value = (
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self.get_parameter("hardware_components")
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.get_parameter_value()
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.string_array_value
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)
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component_names = [name.strip() for name in raw_value if name.strip()]
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return component_names
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def _handle_disable_request(
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self, _request: Trigger.Request, response: Trigger.Response
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) -> Trigger.Response:
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if not self._component_names:
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response.success = False
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response.message = "No hardware_components configured."
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return response
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if not self._set_state_client.wait_for_service(timeout_sec=self._service_timeout_sec):
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response.success = False
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response.message = "controller_manager set_hardware_component_state service not available."
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return response
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failed_components = []
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for component_name in self._component_names:
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if not self._set_component_inactive(component_name):
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failed_components.append(component_name)
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if failed_components:
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response.success = False
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response.message = "Failed to disable components: " + ", ".join(failed_components)
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return response
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response.success = True
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response.message = "Motors disabled for: " + ", ".join(self._component_names)
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return response
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def _set_component_inactive(self, component_name: str) -> bool:
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request = SetHardwareComponentState.Request()
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request.name = component_name
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request.target_state.id = State.PRIMARY_STATE_INACTIVE
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request.target_state.label = "inactive"
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future = self._set_state_client.call_async(request)
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rclpy.spin_until_future_complete(self, future, timeout_sec=self._service_timeout_sec)
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if not future.done() or future.result() is None:
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self.get_logger().error(
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f"Timeout or empty response when disabling hardware component '{component_name}'."
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)
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return False
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result = future.result()
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if not result.ok:
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self.get_logger().error(
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f"controller_manager rejected disable request for '{component_name}' "
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f"(state={result.state.id}:{result.state.label})."
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)
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return False
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self.get_logger().info(
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f"Disabled component '{component_name}' -> "
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f"state={result.state.id}:{result.state.label}"
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)
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return True
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def main(args=None) -> None:
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rclpy.init(args=args)
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node = MotorDisableServiceNode()
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try:
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rclpy.spin(node)
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except KeyboardInterrupt:
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pass
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finally:
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node.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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