added rvr led status

minibot_vision/scripts/SignDetector.py

@@ -16,6 +16,7 @@ from vision_msgs.msg import Detection2D, ObjectHypothesisWithPose
 from minibot_msgs.srv import set_url
 import time
 from threading import Thread
+from sphero_rvr_msgs.srv import TriggerLedEvent, TriggerLedEventRequest
 
 
 # *** CONSTANTS ***
@@ -168,9 +169,34 @@ def detect_sign(img_rgb_stream, image_timestamp):
         pub_result_img.publish(cmprsmsg)
 
 
+def call_rvr_color_event(event_id: TriggerLedEventRequest, stop_current_event: bool):
+    # start rvr color event
+    service = "rvr/trigger_led_event"
+
+    try:
+        rospy.wait_for_service(service, timeout=0.5)
+
+        call = rospy.ServiceProxy(service, TriggerLedEvent)
+        response = call.call(TriggerLedEventRequest(stop_current_event=stop_current_event, event_id=event_id))
+        if not response.success:
+            raise rospy.ServiceException("Failed to set rvr status lights")
+    except rospy.ROSException as e:
+        # if the service is not available we just ignore this
+        pass
+    except rospy.ServiceException as e:
+        rospy.logerr("Service call failed: %s" % e)
+
+
 def set_model_callback(req):
+    call_rvr_color_event(event_id=TriggerLedEventRequest.DOWNLOAD_MODEL, stop_current_event=False)
+
     success = sign_classifier.setNewModel(req.url)
 
+    call_rvr_color_event(stop_current_event=True, event_id=-1)
+
+    if not success:
+        call_rvr_color_event(stop_current_event=False, event_id=TriggerLedEventRequest.ERROR)
+
     return success