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[subscribers] stricter arg handling
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Require users to provide, especially, ros comms arguments given that
there are more things that can go wrong in ros2 by blindly setting
best effort guesses.
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@stonier
stonier committed Sep 18, 2019
1 parent ec2be7b commit e32abbf
Showing 1 changed file with 60 additions and 58 deletions.
118 changes: 60 additions & 58 deletions py_trees_ros/subscribers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,10 +27,12 @@

import copy
import operator
import threading
import typing

import py_trees
import rclpy.qos
import std_msgs.msg as std_msgs
import threading

from . import utilities

Expand Down Expand Up @@ -73,18 +75,18 @@ class Handler(py_trees.behaviour.Behaviour):
some data (e.g. CameraInfo).

Args:
name (:obj:`str`): name of the behaviour
topic_name (:obj:`str`): name of the topic to connect to
topic_type (:obj:`any`): class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile (:obj:`bool`): qos profile for the subscriber
clearing_policy (:class:`~py_trees.common.ClearingPolicy`): when to clear the data
topic_name: name of the topic to connect to
topic_type: class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile: qos profile for the subscriber
name: name of the behaviour
clearing_policy: when to clear the data
"""
def __init__(self,
name="Subscriber Handler",
topic_name="/foo",
topic_type=None,
qos_profile=rclpy.qos.qos_profile_system_default,
clearing_policy=py_trees.common.ClearingPolicy.ON_INITIALISE
topic_name: str,
topic_type: typing.Any,
qos_profile: rclpy.qos.QoSProfile,
name: str=py_trees.common.Name.AUTO_GENERATED,
clearing_policy: py_trees.common.ClearingPolicy=py_trees.common.ClearingPolicy.ON_INITIALISE
):
super(Handler, self).__init__(name)
self.topic_name = topic_name
Expand Down Expand Up @@ -160,16 +162,16 @@ class CheckData(Handler):
- fail_if_bad_comparison=True

Args:
name (:obj:`str`): name of the behaviour
topic_name (:obj:`str`): name of the topic to connect to
topic_type (:obj:`any`): class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile (:obj:`bool`): qos profile for the subscriber
variable_name (:obj:`str`): name of the variable to check
expected_value (:obj:`any`): expected value of the variable
fail_if_no_data (:obj:`bool`): :attr:`~py_trees.common.Status.FAILURE` instead of :attr:`~py_trees.common.Status.RUNNING` if there is no data yet
fail_if_bad_comparison (:obj:`bool`): :attr:`~py_trees.common.Status.FAILURE` instead of :attr:`~py_trees.common.Status.RUNNING` if comparison failed
comparison_operator (:obj:`func`): one from the python `operator module`_
clearing_policy (:class:`~py_trees.common.ClearingPolicy`): when to clear the data
topic_name: name of the topic to connect to
topic_type: class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile: qos profile for the subscriber
variable_name: name of the variable to check
expected_value: expected value of the variable
comparison_operator: one from the python `operator module`_
fail_if_no_data: :attr:`~py_trees.common.Status.FAILURE` instead of :attr:`~py_trees.common.Status.RUNNING` if there is no data yet
fail_if_bad_comparison: :attr:`~py_trees.common.Status.FAILURE` instead of :attr:`~py_trees.common.Status.RUNNING` if comparison failed
name: name of the behaviour
clearing_policy: when to clear the data

.. tip::

Expand All @@ -180,15 +182,15 @@ class CheckData(Handler):

"""
def __init__(self,
name="Check Data",
topic_name="/foo",
topic_type=None,
qos_profile=utilities.qos_profile_latched_topic(),
variable_name="bar",
expected_value=None,
topic_name: str,
topic_type: typing.Any,
qos_profile: rclpy.qos.QoSProfile,
variable_name: str,
expected_value: typing.Any,
comparison_operator=operator.eq,
fail_if_no_data=False,
fail_if_bad_comparison=False,
comparison_operator=operator.eq,
name=py_trees.common.Name.AUTO_GENERATED,
clearing_policy=py_trees.common.ClearingPolicy.ON_INITIALISE
):
super(CheckData, self).__init__(
Expand Down Expand Up @@ -276,17 +278,17 @@ class WaitForData(Handler):
which we do with to reset (and subsequently look for the next event). e.g. button events.

Args:
name (:obj:`str`): name of the behaviour
topic_name (:obj:`str`): name of the topic to connect to
topic_type (:obj:`any`): class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile (:obj:`bool`): qos profile for the subscriber
clearing_policy (:class:`~py_trees.common.ClearingPolicy`): when to clear the data
topic_name: name of the topic to connect to
topic_type: class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile: qos profile for the subscriber
name: name of the behaviour
clearing_policy: when to clear the data
"""
def __init__(self,
name="Wait For Data",
topic_name="chatter",
topic_type=None,
qos_profile=utilities.qos_profile_latched_topic(),
topic_name: str,
topic_type: typing.Any,
qos_profile: rclpy.qos.QoSProfile,
name=py_trees.common.Name.AUTO_GENERATED,
clearing_policy=py_trees.common.ClearingPolicy.ON_INITIALISE
):
super().__init__(
Expand Down Expand Up @@ -324,13 +326,13 @@ class ToBlackboard(Handler):
designated, in which case they will write to the specified keys.

Args:
name (:obj:`str`): name of the behaviour
topic_name (:obj:`str`): name of the topic to connect to
topic_type (:obj:`any`): class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile (:obj:`bool`): qos profile for the subscriber
blackboard_variables (:obj:`dict`): blackboard variable string or dict {names (keys) - message subfields (values)}, use a value of None to indicate the entire message
initialise_variables (:obj:`bool`): initialise the blackboard variables to some defaults
clearing_policy (:class:`~py_trees.common.ClearingPolicy`): when to clear the data
topic_name: name of the topic to connect to
topic_type: class of the message type (e.g. :obj:`std_msgs.msg.String`)
qos_profile: qos profile for the subscriber
blackboard_variables: blackboard variable string or dict {names (keys) - message subfields (values)}, use a value of None to indicate the entire message
initialise_variables: initialise the blackboard variables to some defaults
name: name of the behaviour
clearing_policy: when to clear the data

Examples:

Expand Down Expand Up @@ -359,12 +361,12 @@ class ToBlackboard(Handler):
blackboard_variables={"pose_with_covariance_stamped": None, "pose": "pose.pose"}
"""
def __init__(self,
name="ToBlackboard",
topic_name="chatter",
topic_type=None,
qos_profile=utilities.qos_profile_latched_topic(),
blackboard_variables={"chatter": None},
initialise_variables={},
topic_name: str,
topic_type: typing.Any,
qos_profile: rclpy.qos.QoSProfile,
blackboard_variables: typing.Dict[str, typing.Any]={}, # e.g. {"chatter": None}
initialise_variables: typing.Dict[str, typing.Any]={},
name=py_trees.common.Name.AUTO_GENERATED,
clearing_policy=py_trees.common.ClearingPolicy.ON_INITIALISE
):
super().__init__(
Expand Down Expand Up @@ -439,16 +441,16 @@ class EventToBlackboard(Handler):
tree can utilise the variables.

Args:
name (:obj:`str`): name of the behaviour
topic_name (:obj:`str`): name of the topic to connect to
qos_profile (:obj:`bool`): qos profile for the subscriber
variable_name (:obj:`str`): name to write the boolean result on the blackboard
topic_name: name of the topic to connect to
qos_profile: qos profile for the subscriber
variable_name: name to write the boolean result on the blackboard
name: name of the behaviour
"""
def __init__(self,
name="Event to Blackboard",
topic_name="/event",
qos_profile=utilities.qos_profile_latched_topic(),
variable_name="event"
topic_name: str,
qos_profile: rclpy.qos.QoSProfile,
variable_name: str,
name=py_trees.common.Name.AUTO_GENERATED,
):
super().__init__(
name=name,
Expand Down

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