robokudo.scripts.query_test_client
==================================

.. py:module:: robokudo.scripts.query_test_client


Classes
-------

.. autoapisummary::

   robokudo.scripts.query_test_client.PrettyResultPrinter
   robokudo.scripts.query_test_client.RoboKudoActionClient


Functions
---------

.. autoapisummary::

   robokudo.scripts.query_test_client.main_cli
   robokudo.scripts.query_test_client.main


Module Contents
---------------

.. py:class:: PrettyResultPrinter

   .. py:method:: pretty_print_result(result: robokudo_msgs.action._query.Query_Result) -> str


.. py:class:: RoboKudoActionClient(preempt_timer: typing_extensions.Optional[float] = None)

   Bases: :py:obj:`rclpy.node.Node`


   Debug Action Client for the Query Action Server.
   Allows sending dynamic goals and handles feedback, result, and cancellation.


   .. py:attribute:: rk_logger
      :value: None



   .. py:attribute:: _action_client
      :type:  rclpy.action.ActionClient


   .. py:attribute:: _preempt_timer
      :type:  float
      :value: None



   .. py:attribute:: _cancel_timer
      :type:  typing_extensions.Optional[rclpy.timer.Timer]
      :value: None



   .. py:attribute:: _goal_handle
      :type:  typing_extensions.Optional[rclpy.action.client.ClientGoalHandle]
      :value: None



   .. py:attribute:: done
      :type:  bool
      :value: False



   .. py:attribute:: last_feedback
      :type:  typing_extensions.Optional[robokudo_msgs.action._query.Query_FeedbackMessage]
      :value: None



   .. py:attribute:: goal_status
      :type:  typing_extensions.Optional[action_msgs.msg.GoalStatus]
      :value: None



   .. py:attribute:: goal_result
      :type:  typing_extensions.Optional[robokudo_msgs.action._query.Query_Result]
      :value: None



   .. py:attribute:: cancel_response
      :type:  typing_extensions.Optional[rclpy.task.Future]
      :value: None



   .. py:method:: send_goal(goal_type: str) -> None

      Waits for the action server and sends a dynamic goal.

      :param goal_type: Content of the type field in the goal sent to the action server.



   .. py:method:: goal_response_callback(future: rclpy.task.Future) -> None

      Handles the response from the action server regarding goal acceptance.

      :param future: The future of the async goal task returned by the action client upon sending a goal.



   .. py:method:: feedback_callback(feedback_msg: robokudo_msgs.action._query.Query_FeedbackMessage) -> None

      Processes feedback messages from the action server.

      :param feedback_msg: The feedback message returned by the action client.



   .. py:method:: cancel_goal() -> None

      Sends a cancel request for the active goal.



   .. py:method:: cancel_done_callback(future: rclpy.task.Future) -> None

      Handles the response from the action server regarding goal cancellation.

      :param future: The future of the async goal task returned by the action client upon cancelling a goal.



   .. py:method:: result_callback(future: rclpy.task.Future) -> None

      Processes the result from the action server.

      :param future: The future of the async goal task returned by the action client upon getting the goal result.



   .. py:method:: destroy_node() -> None

      Cancel the goal and destroys the ROS node.



.. py:function:: main_cli(args: typing_extensions.Optional[typing_extensions.List[str]] = None) -> None

.. py:function:: main(timeout_seconds: float = 20.0, result: queue.Queue = Queue()) -> None