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HANDLERS: call raised/cleared handler functions for initial alarm #43

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HANDLERS: call raised/cleared handler functions for initial alarm #43

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20 changes: 7 additions & 13 deletions nodes/alarm_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ def set_alarm(self, alarm):
Updating the alarm triggers all of the alarms callbacks
'''
if alarm.alarm_name in self.handlers:
res = self.handlers[alarm.alarm_name].on_set(alarm)
res = self.handlers[alarm.alarm_name].on_set(Alarm.from_msg(alarm))
if res is False:
return False

Expand Down Expand Up @@ -123,23 +123,17 @@ def _create_alarm_handlers(self):
h = handler()

alarm_name = handler.alarm_name

# Set initial state if necessary (could have already been added while creating metas)
if hasattr(h, 'initial_alarm'):
if alarm_name in self.alarms:
self.alarms[alarm_name].update(h.initial_alarm)
else:
self.alarms[alarm_name] = h.initial_alarm # Update even if already added to server
elif alarm_name not in self.alarms: # Add default initial if not there already
self.alarms[alarm_name] = self.make_tagged_alarm(alarm_name)
else:
pass
self.handlers[alarm_name] = h

# If a handler exists for a meta alarm, we need to save the predicate
if alarm_name in self.meta_alarms:
self.meta_alarms[alarm_name] = h.meta_predicate

self.handlers[alarm_name] = h
# Set initial state if necessary (could have already been added while creating metas)
if hasattr(h, 'initial_alarm'):
self.set_alarm(h.initial_alarm.as_msg())
else:
self.set_alarm(self.make_tagged_alarm(alarm_name).as_msg())

rospy.loginfo("Loaded handler: {}".format(h.alarm_name))

Expand Down