pitasc_library - scripts/io.xml
Model definitions
line 95: script_call_empty_srvs
line 110: script_call_trigger_srvs
line 138: script_call_setbool_srvs
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<pitasc>
4
5 <models>
6
7 <type id="script_action_caller" prototype="script">
8 <meta>
9 <member id="description">A prototype for action caller scripts</member>
10 <member id="categories">internal</member>
11 </meta>
12 <data>
13 <type id="namespace" prototype="string_parameter">
14 <meta>
15 <member id="description">Namespace of the action to be called</member>
16 <member id="visibility">basic</member>
17 </meta>
18 <data></data>
19 </type>
20
21 <type id="on_start" prototype="bool_parameter">
22 <meta>
23 <member id="description">If true, the script is executed when the parent skill starts</member>
24 <member id="visibility">basic</member>
25 </meta>
26 <data>True</data>
27 </type>
28
29 <type id="wait_until_done" prototype="bool_parameter">
30 <meta>
31 <member id="description">Wait for the action to complete before returning</member>
32 <member id="visibility">basic</member>
33 </meta>
34 <data>True</data>
35 </type>
36
37 <type id="wait_for_action" prototype="bool_parameter">
38 <meta>
39 <member id="description">Wait until the action becomes available</member>
40 <member id="visibility">basic</member>
41 </meta>
42 <data>True</data>
43 </type>
44 </data>
45 </type>
46
47 <type id="script_service_caller" prototype="script">
48 <meta>
49 <member id="description">Prototype for service caller scripts</member>
50 <member id="categories">internal</member>
51 </meta>
52 <data>
53 <type id="service_name" prototype="string_parameter">
54 <meta>
55 <member id="description">Name of the service to be called</member>
56 <member id="visibility">required</member>
57 </meta>
58 </type>
59
60 <type id="namespace" prototype="string_parameter">
61 <meta>
62 <member id="description">Namespace of the service to be called</member>
63 <member id="visibility">basic</member>
64 </meta>
65 <data></data>
66 </type>
67
68 <type id="on_start" prototype="bool_parameter">
69 <meta>
70 <member id="description">If true, the script is executed when the parent skill starts</member>
71 <member id="visibility">basic</member>
72 </meta>
73 <data>True</data>
74 </type>
75
76 <type id="blocking" prototype="bool_parameter">
77 <meta>
78 <member id="description">Decides if the ros service call blocks the pitasc cycle until the service returned. If set to false, on_start must be set to true.</member>
79 <member id="visibility">basic</member>
80 </meta>
81 <data>True</data>
82 </type>
83
84 <type id="wait_for_service" prototype="bool_parameter">
85 <meta>
86 <member id="description">Wait until service becomes available</member>
87 <member id="visibility">basic</member>
88 </meta>
89 <data>True</data>
90 </type>
91 <!-- TODO retries, throw error -->
92 </data>
93 </type>
94
95 <type id="script_call_empty_srvs" prototype="script_service_caller">
96 <meta>
97 <member id="description">Calls a srvs with type 'std_msgs/Empty'.</member>
98 <member id="categories">io</member>
99 <member id="implementation">
100 <clone prototype="orocos">
101 <member id="package">cppitasc_ros_components</member>
102 <member id="component">ScriptRosServiceEmpty</member>
103 </clone>
104 </member>
105 </meta>
106 <data>
107 </data>
108 </type>
109
110 <type id="script_call_trigger_srvs" prototype="script_service_caller">
111 <meta>
112 <member id="description">Calls a srvs with type 'std_msgs/Trigger'.</member>
113 <member id="categories">io</member>
114 <member id="implementation">
115 <clone prototype="orocos">
116 <member id="package">cppitasc_ros_components</member>
117 <member id="component">ScriptRosServiceTrigger</member>
118 </clone>
119 </member>
120 </meta>
121 <data>
122 <type id="retries" prototype="int_parameter">
123 <meta>
124 <member id="description">Number of retries in case of a failure.</member>
125 <member id="visibility">basic</member>
126 </meta>
127 <data>0</data>
128 </type>
129 <type id="throw_if_failed" prototype="string_parameter">
130 <meta>
131 <member id="visibility">basic</member>
132 </meta>
133 <data>False</data>
134 </type>
135 </data>
136 </type>
137
138 <type id="script_call_setbool_srvs" prototype="script_service_caller">
139 <meta>
140 <member id="description">Calls a srvs with type 'std_msgs/SetBool'.</member>
141 <member id="categories">io</member>
142 <member id="implementation">
143 <clone prototype="orocos">
144 <member id="package">cppitasc_ros_components</member>
145 <member id="component">ScriptRosServiceSetBool</member>
146 </clone>
147 </member>
148 </meta>
149 <data>
150 <type id="value" prototype="bool_parameter">
151 <meta>
152 <member id="description">Boolean value to set.</member>
153 <member id="visibility">required</member>
154 </meta>
155 </type>
156 <type id="retries" prototype="int_parameter">
157 <meta>
158 <member id="description">Number of retries in case of a failure.</member>
159 <member id="visibility">basic</member>
160 </meta>
161 <data>0</data>
162 </type>
163 </data>
164 </type>
165 </models>
166</pitasc>