def createNewROSTwist(self, wherex, wherey, screenCoordinates = 1):
self.fromClass = None
self.toClass = None
# try the global constraints...
res = self.ASGroot.preCondition(ASG.CREATE)
if res:
self.constraintViolation(res)
self.mode=self.IDLEMODE
return
new_semantic_obj = ROSTwist(self)
res = new_semantic_obj.preCondition ( ASGNode.CREATE )
if res: return self.constraintViolation(res)
new_semantic_obj.preAction ( ASGNode.CREATE )
ne = len(self.ASGroot.listNodes["ROSTwist"])
if new_semantic_obj.keyword_:
new_semantic_obj.keyword_.setValue(new_semantic_obj.keyword_.toString()+str(ne))
if screenCoordinates:
new_obj = graph_ROSTwist(self.UMLmodel.canvasx(wherex), self.UMLmodel.canvasy(wherey), new_semantic_obj)
else: # already in canvas coordinates
new_obj = graph_ROSTwist(wherex, wherey, new_semantic_obj)
new_obj.DrawObject(self.UMLmodel, self.editGGLabel)
self.UMLmodel.addtag_withtag("ROSTwist", new_obj.tag)
new_semantic_obj.graphObject_ = new_obj
self.ASGroot.addNode(new_semantic_obj)
res = self.ASGroot.postCondition(ASG.CREATE)
if res:
self.constraintViolation(res)
self.mode=self.IDLEMODE
return
res = new_semantic_obj.postCondition(ASGNode.CREATE)
if res:
self.constraintViolation(res)
self.mode=self.IDLEMODE
return
new_semantic_obj.postAction(ASGNode.CREATE)
self.mode=self.IDLEMODE
if self.editGGLabel :
self.statusbar.event(StatusBar.TRANSFORMATION, StatusBar.CREATE)
else:
self.statusbar.event(StatusBar.MODEL, StatusBar.CREATE)
return new_semantic_obj
def __init__(self, parent):
GGrule.__init__(self, 1)
self.TimeDelay = ATOM3Integer(2)
self.exactMatch = 1
self.LHS = ASG_RDIS(parent)
self.LHS.merge(ASG_ROSApp(parent))
self.obj194=DifferentialSpeedAdapter(parent)
self.obj194.preAction( self.LHS.CREATE )
self.obj194.isGraphObjectVisual = True
if(hasattr(self.obj194, '_setHierarchicalLink')):
self.obj194._setHierarchicalLink(False)
# angular
self.obj194.angular.setValue('')
self.obj194.angular.setNone()
# linear
self.obj194.linear.setValue('')
self.obj194.linear.setNone()
self.obj194.GGLabel.setValue(7)
self.obj194.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(360.0,20.0,self.obj194)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj194.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj194)
self.obj194.postAction( self.LHS.CREATE )
self.obj195=DomainOutput(parent)
self.obj195.preAction( self.LHS.CREATE )
self.obj195.isGraphObjectVisual = True
if(hasattr(self.obj195, '_setHierarchicalLink')):
self.obj195._setHierarchicalLink(False)
# name
self.obj195.name.setValue('')
self.obj195.name.setNone()
self.obj195.GGLabel.setValue(6)
self.obj195.graphClass_= graph_DomainOutput
if parent.genGraphics:
new_obj = graph_DomainOutput(340.0,140.0,self.obj195)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj195.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj195)
self.obj195.postAction( self.LHS.CREATE )
self.obj196=domainAdapter2domainOutput(parent)
self.obj196.preAction( self.LHS.CREATE )
self.obj196.isGraphObjectVisual = True
if(hasattr(self.obj196, '_setHierarchicalLink')):
self.obj196._setHierarchicalLink(False)
self.obj196.GGLabel.setValue(8)
self.obj196.graphClass_= graph_domainAdapter2domainOutput
if parent.genGraphics:
new_obj = graph_domainAdapter2domainOutput(446.0,158.0,self.obj196)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj196.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj196)
self.obj196.postAction( self.LHS.CREATE )
self.obj197=ROSTwist(parent)
self.obj197.preAction( self.LHS.CREATE )
self.obj197.isGraphObjectVisual = True
if(hasattr(self.obj197, '_setHierarchicalLink')):
self.obj197._setHierarchicalLink(False)
# angular
self.obj197.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj197.angular.setValue(lcobj2)
self.obj197.angular.setNone()
# linear
self.obj197.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj197.linear.setValue(lcobj2)
self.obj197.linear.setNone()
self.obj197.GGLabel.setValue(4)
self.obj197.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(100.0,260.0,self.obj197)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj197.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj197)
self.obj197.postAction( self.LHS.CREATE )
self.obj198=ROSType(parent)
self.obj198.preAction( self.LHS.CREATE )
self.obj198.isGraphObjectVisual = True
if(hasattr(self.obj198, '_setHierarchicalLink')):
self.obj198._setHierarchicalLink(False)
self.obj198.GGLabel.setValue(5)
self.obj198.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(154.5,256.0,self.obj198)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj198.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj198)
self.obj198.postAction( self.LHS.CREATE )
self.obj199=ROSTopic(parent)
self.obj199.preAction( self.LHS.CREATE )
self.obj199.isGraphObjectVisual = True
if(hasattr(self.obj199, '_setHierarchicalLink')):
self.obj199._setHierarchicalLink(False)
# name
self.obj199.name.setValue('')
self.obj199.name.setNone()
self.obj199.GGLabel.setValue(2)
self.obj199.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(80.0,160.0,self.obj199)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj199.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj199)
self.obj199.postAction( self.LHS.CREATE )
self.obj200=ROSNode(parent)
self.obj200.preAction( self.LHS.CREATE )
self.obj200.isGraphObjectVisual = True
if(hasattr(self.obj200, '_setHierarchicalLink')):
self.obj200._setHierarchicalLink(False)
# name
self.obj200.name.setValue('')
self.obj200.name.setNone()
self.obj200.GGLabel.setValue(1)
self.obj200.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(80.0,40.0,self.obj200)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj200.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj200)
self.obj200.postAction( self.LHS.CREATE )
self.obj201=ROSSubscribe(parent)
self.obj201.preAction( self.LHS.CREATE )
self.obj201.isGraphObjectVisual = True
if(hasattr(self.obj201, '_setHierarchicalLink')):
self.obj201._setHierarchicalLink(False)
self.obj201.GGLabel.setValue(3)
self.obj201.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,147.0,self.obj201)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj201.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj201)
self.obj201.postAction( self.LHS.CREATE )
self.obj194.out_connections_.append(self.obj196)
self.obj196.in_connections_.append(self.obj194)
self.obj194.graphObject_.pendingConnections.append((self.obj194.graphObject_.tag, self.obj196.graphObject_.tag, [433.0, 121.0, 446.0, 158.0], 0, True))
self.obj196.out_connections_.append(self.obj195)
self.obj195.in_connections_.append(self.obj196)
self.obj196.graphObject_.pendingConnections.append((self.obj196.graphObject_.tag, self.obj195.graphObject_.tag, [459.0, 195.0, 446.0, 158.0], 0, True))
self.obj198.out_connections_.append(self.obj197)
self.obj197.in_connections_.append(self.obj198)
self.obj198.graphObject_.pendingConnections.append((self.obj198.graphObject_.tag, self.obj197.graphObject_.tag, [152.0, 265.0, 154.5, 256.0], 0, True))
self.obj199.out_connections_.append(self.obj201)
self.obj201.in_connections_.append(self.obj199)
self.obj199.graphObject_.pendingConnections.append((self.obj199.graphObject_.tag, self.obj201.graphObject_.tag, [163.0, 164.0, 157.5, 147.0], 0, True))
self.obj199.out_connections_.append(self.obj198)
self.obj198.in_connections_.append(self.obj199)
self.obj199.graphObject_.pendingConnections.append((self.obj199.graphObject_.tag, self.obj198.graphObject_.tag, [157.0, 247.0, 154.5, 256.0], 0, True))
self.obj201.out_connections_.append(self.obj200)
self.obj200.in_connections_.append(self.obj201)
self.obj201.graphObject_.pendingConnections.append((self.obj201.graphObject_.tag, self.obj200.graphObject_.tag, [152.0, 130.0, 157.5, 147.0], 0, True))
self.RHS = ASG_RDIS(parent)
self.RHS.merge(ASG_ROSApp(parent))
self.RHS.merge(ASG_GenericGraph(parent))
self.obj205=DifferentialSpeedAdapter(parent)
self.obj205.preAction( self.RHS.CREATE )
self.obj205.isGraphObjectVisual = True
if(hasattr(self.obj205, '_setHierarchicalLink')):
self.obj205._setHierarchicalLink(False)
# angular
self.obj205.angular.setValue('')
self.obj205.angular.setNone()
# linear
self.obj205.linear.setValue('')
self.obj205.linear.setNone()
self.obj205.GGLabel.setValue(7)
self.obj205.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(400.0,20.0,self.obj205)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj205.graphObject_ = new_obj
self.obj2050= AttrCalc()
self.obj2050.Copy=ATOM3Boolean()
self.obj2050.Copy.setValue(('Copy from LHS', 1))
self.obj2050.Copy.config = 0
self.obj2050.Specify=ATOM3Constraint()
self.obj2050.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj205.GGset2Any['angular']= self.obj2050
self.obj2051= AttrCalc()
self.obj2051.Copy=ATOM3Boolean()
self.obj2051.Copy.setValue(('Copy from LHS', 1))
self.obj2051.Copy.config = 0
self.obj2051.Specify=ATOM3Constraint()
self.obj2051.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj205.GGset2Any['linear']= self.obj2051
# Add node to the root: self.RHS
self.RHS.addNode(self.obj205)
self.obj205.postAction( self.RHS.CREATE )
self.obj206=DomainOutput(parent)
self.obj206.preAction( self.RHS.CREATE )
self.obj206.isGraphObjectVisual = True
if(hasattr(self.obj206, '_setHierarchicalLink')):
self.obj206._setHierarchicalLink(False)
# name
self.obj206.name.setValue('')
self.obj206.name.setNone()
self.obj206.GGLabel.setValue(6)
self.obj206.graphClass_= graph_DomainOutput
if parent.genGraphics:
new_obj = graph_DomainOutput(200.0,140.0,self.obj206)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj206.graphObject_ = new_obj
self.obj2060= AttrCalc()
self.obj2060.Copy=ATOM3Boolean()
self.obj2060.Copy.setValue(('Copy from LHS', 1))
self.obj2060.Copy.config = 0
self.obj2060.Specify=ATOM3Constraint()
self.obj2060.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj206.GGset2Any['name']= self.obj2060
# Add node to the root: self.RHS
self.RHS.addNode(self.obj206)
self.obj206.postAction( self.RHS.CREATE )
self.obj207=domainAdapter2domainOutput(parent)
self.obj207.preAction( self.RHS.CREATE )
self.obj207.isGraphObjectVisual = True
if(hasattr(self.obj207, '_setHierarchicalLink')):
self.obj207._setHierarchicalLink(False)
self.obj207.GGLabel.setValue(8)
self.obj207.graphClass_= graph_domainAdapter2domainOutput
if parent.genGraphics:
new_obj = graph_domainAdapter2domainOutput(446.0,158.0,self.obj207)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj207.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj207)
self.obj207.postAction( self.RHS.CREATE )
self.obj208=ROSTwist(parent)
self.obj208.preAction( self.RHS.CREATE )
self.obj208.isGraphObjectVisual = True
if(hasattr(self.obj208, '_setHierarchicalLink')):
self.obj208._setHierarchicalLink(False)
# angular
self.obj208.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('<angular>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
self.obj208.angular.setValue(lcobj2)
self.obj208.angular.setNone()
# linear
self.obj208.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('<linear>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
self.obj208.linear.setValue(lcobj2)
self.obj208.linear.setNone()
self.obj208.GGLabel.setValue(4)
self.obj208.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(-100.0,180.0,self.obj208)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj208.graphObject_ = new_obj
self.obj2080= AttrCalc()
self.obj2080.Copy=ATOM3Boolean()
self.obj2080.Copy.setValue(('Copy from LHS', 0))
self.obj2080.Copy.config = 0
self.obj2080.Specify=ATOM3Constraint()
self.obj2080.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj208.GGset2Any['angular']= self.obj2080
self.obj2081= AttrCalc()
self.obj2081.Copy=ATOM3Boolean()
self.obj2081.Copy.setValue(('Copy from LHS', 0))
self.obj2081.Copy.config = 0
self.obj2081.Specify=ATOM3Constraint()
self.obj2081.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj208.GGset2Any['linear']= self.obj2081
# Add node to the root: self.RHS
self.RHS.addNode(self.obj208)
self.obj208.postAction( self.RHS.CREATE )
self.obj209=ROSType(parent)
self.obj209.preAction( self.RHS.CREATE )
self.obj209.isGraphObjectVisual = True
if(hasattr(self.obj209, '_setHierarchicalLink')):
self.obj209._setHierarchicalLink(False)
self.obj209.GGLabel.setValue(5)
self.obj209.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(154.5,256.0,self.obj209)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj209.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj209)
self.obj209.postAction( self.RHS.CREATE )
self.obj210=ROSTopic(parent)
self.obj210.preAction( self.RHS.CREATE )
self.obj210.isGraphObjectVisual = True
if(hasattr(self.obj210, '_setHierarchicalLink')):
self.obj210._setHierarchicalLink(False)
# name
self.obj210.name.setValue('')
self.obj210.name.setNone()
self.obj210.GGLabel.setValue(2)
self.obj210.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(-140.0,60.0,self.obj210)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj210.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj210)
self.obj210.postAction( self.RHS.CREATE )
self.obj211=ROSNode(parent)
self.obj211.preAction( self.RHS.CREATE )
self.obj211.isGraphObjectVisual = True
if(hasattr(self.obj211, '_setHierarchicalLink')):
self.obj211._setHierarchicalLink(False)
# name
self.obj211.name.setValue('')
self.obj211.name.setNone()
self.obj211.GGLabel.setValue(1)
self.obj211.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(-120.0,-100.0,self.obj211)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj211.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj211)
self.obj211.postAction( self.RHS.CREATE )
self.obj212=ROSSubscribe(parent)
self.obj212.preAction( self.RHS.CREATE )
self.obj212.isGraphObjectVisual = True
if(hasattr(self.obj212, '_setHierarchicalLink')):
self.obj212._setHierarchicalLink(False)
self.obj212.GGLabel.setValue(3)
self.obj212.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,147.0,self.obj212)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj212.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj212)
self.obj212.postAction( self.RHS.CREATE )
self.obj213=GenericGraphEdge(parent)
self.obj213.preAction( self.RHS.CREATE )
self.obj213.isGraphObjectVisual = True
if(hasattr(self.obj213, '_setHierarchicalLink')):
self.obj213._setHierarchicalLink(False)
self.obj213.GGLabel.setValue(10)
self.obj213.graphClass_= graph_GenericGraphEdge
if parent.genGraphics:
new_obj = graph_GenericGraphEdge(368.0,264.0,self.obj213)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj213.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj213)
self.obj213.postAction( self.RHS.CREATE )
self.obj205.out_connections_.append(self.obj207)
self.obj207.in_connections_.append(self.obj205)
self.obj205.graphObject_.pendingConnections.append((self.obj205.graphObject_.tag, self.obj207.graphObject_.tag, [603.0, 164.0, 446.0, 158.0], 2, 0))
self.obj206.out_connections_.append(self.obj213)
self.obj213.in_connections_.append(self.obj206)
self.obj206.graphObject_.pendingConnections.append((self.obj206.graphObject_.tag, self.obj213.graphObject_.tag, [486.0, 293.0, 368.0, 264.0], 0, True))
self.obj207.out_connections_.append(self.obj206)
self.obj206.in_connections_.append(self.obj207)
self.obj207.graphObject_.pendingConnections.append((self.obj207.graphObject_.tag, self.obj206.graphObject_.tag, [486.0, 293.0, 446.0, 158.0], 2, 0))
self.obj209.out_connections_.append(self.obj208)
self.obj208.in_connections_.append(self.obj209)
self.obj209.graphObject_.pendingConnections.append((self.obj209.graphObject_.tag, self.obj208.graphObject_.tag, [101.0, 285.0, 154.5, 256.0], 2, 0))
self.obj210.out_connections_.append(self.obj212)
self.obj212.in_connections_.append(self.obj210)
self.obj210.graphObject_.pendingConnections.append((self.obj210.graphObject_.tag, self.obj212.graphObject_.tag, [124.0, 211.0, 157.5, 147.0], 2, 0))
self.obj210.out_connections_.append(self.obj209)
self.obj209.in_connections_.append(self.obj210)
self.obj210.graphObject_.pendingConnections.append((self.obj210.graphObject_.tag, self.obj209.graphObject_.tag, [124.0, 211.0, 154.5, 256.0], 2, 0))
self.obj212.out_connections_.append(self.obj211)
self.obj211.in_connections_.append(self.obj212)
self.obj212.graphObject_.pendingConnections.append((self.obj212.graphObject_.tag, self.obj211.graphObject_.tag, [157.0, 104.0, 157.5, 147.0], 2, 0))
self.obj213.out_connections_.append(self.obj210)
self.obj210.in_connections_.append(self.obj213)
self.obj213.graphObject_.pendingConnections.append((self.obj213.graphObject_.tag, self.obj210.graphObject_.tag, [250.0, 235.0, 368.0, 264.0], 0, True))
class publishTwist2outputDiffSpeedee_GG_rule (GGrule):
def __init__(self, parent):
GGrule.__init__(self, 1)
self.TimeDelay = ATOM3Integer(2)
self.exactMatch = 1
self.LHS = ASG_RDIS(parent)
self.LHS.merge(ASG_ROSApp(parent))
self.obj194=DifferentialSpeedAdapter(parent)
self.obj194.preAction( self.LHS.CREATE )
self.obj194.isGraphObjectVisual = True
if(hasattr(self.obj194, '_setHierarchicalLink')):
self.obj194._setHierarchicalLink(False)
# angular
self.obj194.angular.setValue('')
self.obj194.angular.setNone()
# linear
self.obj194.linear.setValue('')
self.obj194.linear.setNone()
self.obj194.GGLabel.setValue(7)
self.obj194.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(360.0,20.0,self.obj194)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj194.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj194)
self.obj194.postAction( self.LHS.CREATE )
self.obj195=DomainOutput(parent)
self.obj195.preAction( self.LHS.CREATE )
self.obj195.isGraphObjectVisual = True
if(hasattr(self.obj195, '_setHierarchicalLink')):
self.obj195._setHierarchicalLink(False)
# name
self.obj195.name.setValue('')
self.obj195.name.setNone()
self.obj195.GGLabel.setValue(6)
self.obj195.graphClass_= graph_DomainOutput
if parent.genGraphics:
new_obj = graph_DomainOutput(340.0,140.0,self.obj195)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj195.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj195)
self.obj195.postAction( self.LHS.CREATE )
self.obj196=domainAdapter2domainOutput(parent)
self.obj196.preAction( self.LHS.CREATE )
self.obj196.isGraphObjectVisual = True
if(hasattr(self.obj196, '_setHierarchicalLink')):
self.obj196._setHierarchicalLink(False)
self.obj196.GGLabel.setValue(8)
self.obj196.graphClass_= graph_domainAdapter2domainOutput
if parent.genGraphics:
new_obj = graph_domainAdapter2domainOutput(446.0,158.0,self.obj196)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj196.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj196)
self.obj196.postAction( self.LHS.CREATE )
self.obj197=ROSTwist(parent)
self.obj197.preAction( self.LHS.CREATE )
self.obj197.isGraphObjectVisual = True
if(hasattr(self.obj197, '_setHierarchicalLink')):
self.obj197._setHierarchicalLink(False)
# angular
self.obj197.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj197.angular.setValue(lcobj2)
self.obj197.angular.setNone()
# linear
self.obj197.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj197.linear.setValue(lcobj2)
self.obj197.linear.setNone()
self.obj197.GGLabel.setValue(4)
self.obj197.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(100.0,260.0,self.obj197)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj197.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj197)
self.obj197.postAction( self.LHS.CREATE )
self.obj198=ROSType(parent)
self.obj198.preAction( self.LHS.CREATE )
self.obj198.isGraphObjectVisual = True
if(hasattr(self.obj198, '_setHierarchicalLink')):
self.obj198._setHierarchicalLink(False)
self.obj198.GGLabel.setValue(5)
self.obj198.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(154.5,256.0,self.obj198)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj198.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj198)
self.obj198.postAction( self.LHS.CREATE )
self.obj199=ROSTopic(parent)
self.obj199.preAction( self.LHS.CREATE )
self.obj199.isGraphObjectVisual = True
if(hasattr(self.obj199, '_setHierarchicalLink')):
self.obj199._setHierarchicalLink(False)
# name
self.obj199.name.setValue('')
self.obj199.name.setNone()
self.obj199.GGLabel.setValue(2)
self.obj199.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(80.0,160.0,self.obj199)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj199.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj199)
self.obj199.postAction( self.LHS.CREATE )
self.obj200=ROSNode(parent)
self.obj200.preAction( self.LHS.CREATE )
self.obj200.isGraphObjectVisual = True
if(hasattr(self.obj200, '_setHierarchicalLink')):
self.obj200._setHierarchicalLink(False)
# name
self.obj200.name.setValue('')
self.obj200.name.setNone()
self.obj200.GGLabel.setValue(1)
self.obj200.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(80.0,40.0,self.obj200)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj200.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj200)
self.obj200.postAction( self.LHS.CREATE )
self.obj201=ROSSubscribe(parent)
self.obj201.preAction( self.LHS.CREATE )
self.obj201.isGraphObjectVisual = True
if(hasattr(self.obj201, '_setHierarchicalLink')):
self.obj201._setHierarchicalLink(False)
self.obj201.GGLabel.setValue(3)
self.obj201.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,147.0,self.obj201)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj201.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj201)
self.obj201.postAction( self.LHS.CREATE )
self.obj194.out_connections_.append(self.obj196)
self.obj196.in_connections_.append(self.obj194)
self.obj194.graphObject_.pendingConnections.append((self.obj194.graphObject_.tag, self.obj196.graphObject_.tag, [433.0, 121.0, 446.0, 158.0], 0, True))
self.obj196.out_connections_.append(self.obj195)
self.obj195.in_connections_.append(self.obj196)
self.obj196.graphObject_.pendingConnections.append((self.obj196.graphObject_.tag, self.obj195.graphObject_.tag, [459.0, 195.0, 446.0, 158.0], 0, True))
self.obj198.out_connections_.append(self.obj197)
self.obj197.in_connections_.append(self.obj198)
self.obj198.graphObject_.pendingConnections.append((self.obj198.graphObject_.tag, self.obj197.graphObject_.tag, [152.0, 265.0, 154.5, 256.0], 0, True))
self.obj199.out_connections_.append(self.obj201)
self.obj201.in_connections_.append(self.obj199)
self.obj199.graphObject_.pendingConnections.append((self.obj199.graphObject_.tag, self.obj201.graphObject_.tag, [163.0, 164.0, 157.5, 147.0], 0, True))
self.obj199.out_connections_.append(self.obj198)
self.obj198.in_connections_.append(self.obj199)
self.obj199.graphObject_.pendingConnections.append((self.obj199.graphObject_.tag, self.obj198.graphObject_.tag, [157.0, 247.0, 154.5, 256.0], 0, True))
self.obj201.out_connections_.append(self.obj200)
self.obj200.in_connections_.append(self.obj201)
self.obj201.graphObject_.pendingConnections.append((self.obj201.graphObject_.tag, self.obj200.graphObject_.tag, [152.0, 130.0, 157.5, 147.0], 0, True))
self.RHS = ASG_RDIS(parent)
self.RHS.merge(ASG_ROSApp(parent))
self.RHS.merge(ASG_GenericGraph(parent))
self.obj205=DifferentialSpeedAdapter(parent)
self.obj205.preAction( self.RHS.CREATE )
self.obj205.isGraphObjectVisual = True
if(hasattr(self.obj205, '_setHierarchicalLink')):
self.obj205._setHierarchicalLink(False)
# angular
self.obj205.angular.setValue('')
self.obj205.angular.setNone()
# linear
self.obj205.linear.setValue('')
self.obj205.linear.setNone()
self.obj205.GGLabel.setValue(7)
self.obj205.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(400.0,20.0,self.obj205)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj205.graphObject_ = new_obj
self.obj2050= AttrCalc()
self.obj2050.Copy=ATOM3Boolean()
self.obj2050.Copy.setValue(('Copy from LHS', 1))
self.obj2050.Copy.config = 0
self.obj2050.Specify=ATOM3Constraint()
self.obj2050.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj205.GGset2Any['angular']= self.obj2050
self.obj2051= AttrCalc()
self.obj2051.Copy=ATOM3Boolean()
self.obj2051.Copy.setValue(('Copy from LHS', 1))
self.obj2051.Copy.config = 0
self.obj2051.Specify=ATOM3Constraint()
self.obj2051.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj205.GGset2Any['linear']= self.obj2051
# Add node to the root: self.RHS
self.RHS.addNode(self.obj205)
self.obj205.postAction( self.RHS.CREATE )
self.obj206=DomainOutput(parent)
self.obj206.preAction( self.RHS.CREATE )
self.obj206.isGraphObjectVisual = True
if(hasattr(self.obj206, '_setHierarchicalLink')):
self.obj206._setHierarchicalLink(False)
# name
self.obj206.name.setValue('')
self.obj206.name.setNone()
self.obj206.GGLabel.setValue(6)
self.obj206.graphClass_= graph_DomainOutput
if parent.genGraphics:
new_obj = graph_DomainOutput(200.0,140.0,self.obj206)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj206.graphObject_ = new_obj
self.obj2060= AttrCalc()
self.obj2060.Copy=ATOM3Boolean()
self.obj2060.Copy.setValue(('Copy from LHS', 1))
self.obj2060.Copy.config = 0
self.obj2060.Specify=ATOM3Constraint()
self.obj2060.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj206.GGset2Any['name']= self.obj2060
# Add node to the root: self.RHS
self.RHS.addNode(self.obj206)
self.obj206.postAction( self.RHS.CREATE )
self.obj207=domainAdapter2domainOutput(parent)
self.obj207.preAction( self.RHS.CREATE )
self.obj207.isGraphObjectVisual = True
if(hasattr(self.obj207, '_setHierarchicalLink')):
self.obj207._setHierarchicalLink(False)
self.obj207.GGLabel.setValue(8)
self.obj207.graphClass_= graph_domainAdapter2domainOutput
if parent.genGraphics:
new_obj = graph_domainAdapter2domainOutput(446.0,158.0,self.obj207)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj207.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj207)
self.obj207.postAction( self.RHS.CREATE )
self.obj208=ROSTwist(parent)
self.obj208.preAction( self.RHS.CREATE )
self.obj208.isGraphObjectVisual = True
if(hasattr(self.obj208, '_setHierarchicalLink')):
self.obj208._setHierarchicalLink(False)
# angular
self.obj208.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('<angular>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
self.obj208.angular.setValue(lcobj2)
self.obj208.angular.setNone()
# linear
self.obj208.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('<linear>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('<0.0>', 20)
lcobj2.append(cobj2)
self.obj208.linear.setValue(lcobj2)
self.obj208.linear.setNone()
self.obj208.GGLabel.setValue(4)
self.obj208.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(-100.0,180.0,self.obj208)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj208.graphObject_ = new_obj
self.obj2080= AttrCalc()
self.obj2080.Copy=ATOM3Boolean()
self.obj2080.Copy.setValue(('Copy from LHS', 0))
self.obj2080.Copy.config = 0
self.obj2080.Specify=ATOM3Constraint()
self.obj2080.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj208.GGset2Any['angular']= self.obj2080
self.obj2081= AttrCalc()
self.obj2081.Copy=ATOM3Boolean()
self.obj2081.Copy.setValue(('Copy from LHS', 0))
self.obj2081.Copy.config = 0
self.obj2081.Specify=ATOM3Constraint()
self.obj2081.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj208.GGset2Any['linear']= self.obj2081
# Add node to the root: self.RHS
self.RHS.addNode(self.obj208)
self.obj208.postAction( self.RHS.CREATE )
self.obj209=ROSType(parent)
self.obj209.preAction( self.RHS.CREATE )
self.obj209.isGraphObjectVisual = True
if(hasattr(self.obj209, '_setHierarchicalLink')):
self.obj209._setHierarchicalLink(False)
self.obj209.GGLabel.setValue(5)
self.obj209.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(154.5,256.0,self.obj209)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj209.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj209)
self.obj209.postAction( self.RHS.CREATE )
self.obj210=ROSTopic(parent)
self.obj210.preAction( self.RHS.CREATE )
self.obj210.isGraphObjectVisual = True
if(hasattr(self.obj210, '_setHierarchicalLink')):
self.obj210._setHierarchicalLink(False)
# name
self.obj210.name.setValue('')
self.obj210.name.setNone()
self.obj210.GGLabel.setValue(2)
self.obj210.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(-140.0,60.0,self.obj210)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj210.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj210)
self.obj210.postAction( self.RHS.CREATE )
self.obj211=ROSNode(parent)
self.obj211.preAction( self.RHS.CREATE )
self.obj211.isGraphObjectVisual = True
if(hasattr(self.obj211, '_setHierarchicalLink')):
self.obj211._setHierarchicalLink(False)
# name
self.obj211.name.setValue('')
self.obj211.name.setNone()
self.obj211.GGLabel.setValue(1)
self.obj211.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(-120.0,-100.0,self.obj211)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj211.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj211)
self.obj211.postAction( self.RHS.CREATE )
self.obj212=ROSSubscribe(parent)
self.obj212.preAction( self.RHS.CREATE )
self.obj212.isGraphObjectVisual = True
if(hasattr(self.obj212, '_setHierarchicalLink')):
self.obj212._setHierarchicalLink(False)
self.obj212.GGLabel.setValue(3)
self.obj212.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,147.0,self.obj212)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj212.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj212)
self.obj212.postAction( self.RHS.CREATE )
self.obj213=GenericGraphEdge(parent)
self.obj213.preAction( self.RHS.CREATE )
self.obj213.isGraphObjectVisual = True
if(hasattr(self.obj213, '_setHierarchicalLink')):
self.obj213._setHierarchicalLink(False)
self.obj213.GGLabel.setValue(10)
self.obj213.graphClass_= graph_GenericGraphEdge
if parent.genGraphics:
new_obj = graph_GenericGraphEdge(368.0,264.0,self.obj213)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj213.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj213)
self.obj213.postAction( self.RHS.CREATE )
self.obj205.out_connections_.append(self.obj207)
self.obj207.in_connections_.append(self.obj205)
self.obj205.graphObject_.pendingConnections.append((self.obj205.graphObject_.tag, self.obj207.graphObject_.tag, [603.0, 164.0, 446.0, 158.0], 2, 0))
self.obj206.out_connections_.append(self.obj213)
self.obj213.in_connections_.append(self.obj206)
self.obj206.graphObject_.pendingConnections.append((self.obj206.graphObject_.tag, self.obj213.graphObject_.tag, [486.0, 293.0, 368.0, 264.0], 0, True))
self.obj207.out_connections_.append(self.obj206)
self.obj206.in_connections_.append(self.obj207)
self.obj207.graphObject_.pendingConnections.append((self.obj207.graphObject_.tag, self.obj206.graphObject_.tag, [486.0, 293.0, 446.0, 158.0], 2, 0))
self.obj209.out_connections_.append(self.obj208)
self.obj208.in_connections_.append(self.obj209)
self.obj209.graphObject_.pendingConnections.append((self.obj209.graphObject_.tag, self.obj208.graphObject_.tag, [101.0, 285.0, 154.5, 256.0], 2, 0))
self.obj210.out_connections_.append(self.obj212)
self.obj212.in_connections_.append(self.obj210)
self.obj210.graphObject_.pendingConnections.append((self.obj210.graphObject_.tag, self.obj212.graphObject_.tag, [124.0, 211.0, 157.5, 147.0], 2, 0))
self.obj210.out_connections_.append(self.obj209)
self.obj209.in_connections_.append(self.obj210)
self.obj210.graphObject_.pendingConnections.append((self.obj210.graphObject_.tag, self.obj209.graphObject_.tag, [124.0, 211.0, 154.5, 256.0], 2, 0))
self.obj212.out_connections_.append(self.obj211)
self.obj211.in_connections_.append(self.obj212)
self.obj212.graphObject_.pendingConnections.append((self.obj212.graphObject_.tag, self.obj211.graphObject_.tag, [157.0, 104.0, 157.5, 147.0], 2, 0))
self.obj213.out_connections_.append(self.obj210)
self.obj210.in_connections_.append(self.obj213)
self.obj213.graphObject_.pendingConnections.append((self.obj213.graphObject_.tag, self.obj210.graphObject_.tag, [250.0, 235.0, 368.0, 264.0], 0, True))
def condition(self, graphID, isograph, atom3i):
# If you want to apply this rule at most once on asingle host graph node,
# then uncomment the next two lines. Change the default GG label (1) if needed.
# Make sure to enable the ACTION code as well
# And to use the same label & unique name in the ACTION
# WARNING: _uniqueName27 is not guaranteed to be unique (so change it, be safe!)
node2 = self.getMatched(graphID, self.LHS.nodeWithLabel(2))
node6 = self.getMatched(graphID, self.LHS.nodeWithLabel(6))
return not hasattr(node2, "_uniqueName27") and not hasattr(node6, "_uniqueName27")
def action(self, graphID, isograph, atom3i):
# If you want to apply this rule at most once on asingle host graph node,
# then uncomment the next two lines. Change the default GG label (1) if needed.
# Make sure to enable the CONDITION code as well
# And to use the same label & unique name in the ACTION
# WARNING: _uniqueName27 is not guaranteed to be unique (so change it, be safe!)
node2 = self.getMatched(graphID, self.LHS.nodeWithLabel(2))
node6 = self.getMatched(graphID, self.LHS.nodeWithLabel(6))
node2._uniqueName27 = True
node6._uniqueName27 = True
def __init__(self, parent):
GGrule.__init__(self, 1)
self.TimeDelay = ATOM3Integer(2)
self.exactMatch = 1
self.LHS = ASG_RDIS(parent)
self.LHS.merge(ASG_ROSApp(parent))
self.obj503=DifferentialSpeedAdapter(parent)
self.obj503.preAction( self.LHS.CREATE )
self.obj503.isGraphObjectVisual = True
if(hasattr(self.obj503, '_setHierarchicalLink')):
self.obj503._setHierarchicalLink(False)
# angular
self.obj503.angular.setValue('')
self.obj503.angular.setNone()
# linear
self.obj503.linear.setValue('')
self.obj503.linear.setNone()
self.obj503.GGLabel.setValue(7)
self.obj503.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(320.0,0.0,self.obj503)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj503.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj503)
self.obj503.postAction( self.LHS.CREATE )
self.obj500=DomainInterface(parent)
self.obj500.preAction( self.LHS.CREATE )
self.obj500.isGraphObjectVisual = True
if(hasattr(self.obj500, '_setHierarchicalLink')):
self.obj500._setHierarchicalLink(False)
# name
self.obj500.name.setValue('')
self.obj500.name.setNone()
self.obj500.GGLabel.setValue(6)
self.obj500.graphClass_= graph_DomainInterface
if parent.genGraphics:
new_obj = graph_DomainInterface(300.0,180.0,self.obj500)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj500.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj500)
self.obj500.postAction( self.LHS.CREATE )
self.obj504=domainAdapter2domainInterface(parent)
self.obj504.preAction( self.LHS.CREATE )
self.obj504.isGraphObjectVisual = True
if(hasattr(self.obj504, '_setHierarchicalLink')):
self.obj504._setHierarchicalLink(False)
self.obj504.GGLabel.setValue(8)
self.obj504.graphClass_= graph_domainAdapter2domainInterface
if parent.genGraphics:
new_obj = graph_domainAdapter2domainInterface(452.5,155.0,self.obj504)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj504.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj504)
self.obj504.postAction( self.LHS.CREATE )
self.obj492=ROSTwist(parent)
self.obj492.preAction( self.LHS.CREATE )
self.obj492.isGraphObjectVisual = True
if(hasattr(self.obj492, '_setHierarchicalLink')):
self.obj492._setHierarchicalLink(False)
# angular
self.obj492.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.angular.setValue(lcobj2)
self.obj492.angular.setNone()
# linear
self.obj492.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.linear.setValue(lcobj2)
self.obj492.linear.setNone()
self.obj492.GGLabel.setValue(4)
self.obj492.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(80.0,320.0,self.obj492)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj492.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj492)
self.obj492.postAction( self.LHS.CREATE )
self.obj493=ROSType(parent)
self.obj493.preAction( self.LHS.CREATE )
self.obj493.isGraphObjectVisual = True
if(hasattr(self.obj493, '_setHierarchicalLink')):
self.obj493._setHierarchicalLink(False)
self.obj493.GGLabel.setValue(5)
self.obj493.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(87.0,301.0,self.obj493)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj493.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj493)
self.obj493.postAction( self.LHS.CREATE )
self.obj490=ROSTopic(parent)
self.obj490.preAction( self.LHS.CREATE )
self.obj490.isGraphObjectVisual = True
if(hasattr(self.obj490, '_setHierarchicalLink')):
self.obj490._setHierarchicalLink(False)
# name
self.obj490.name.setValue('')
self.obj490.name.setNone()
self.obj490.GGLabel.setValue(2)
self.obj490.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(80.0,180.0,self.obj490)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj490.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj490)
self.obj490.postAction( self.LHS.CREATE )
self.obj489=ROSNode(parent)
self.obj489.preAction( self.LHS.CREATE )
self.obj489.isGraphObjectVisual = True
if(hasattr(self.obj489, '_setHierarchicalLink')):
self.obj489._setHierarchicalLink(False)
# name
self.obj489.name.setValue('')
self.obj489.name.setNone()
self.obj489.GGLabel.setValue(1)
self.obj489.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(80.0,40.0,self.obj489)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj489.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj489)
self.obj489.postAction( self.LHS.CREATE )
self.obj491=ROSSubscribe(parent)
self.obj491.preAction( self.LHS.CREATE )
self.obj491.isGraphObjectVisual = True
if(hasattr(self.obj491, '_setHierarchicalLink')):
self.obj491._setHierarchicalLink(False)
self.obj491.GGLabel.setValue(3)
self.obj491.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,157.0,self.obj491)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj491.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj491)
self.obj491.postAction( self.LHS.CREATE )
self.obj503.out_connections_.append(self.obj504)
self.obj504.in_connections_.append(self.obj503)
self.obj503.graphObject_.pendingConnections.append((self.obj503.graphObject_.tag, self.obj504.graphObject_.tag, [422.0, 91.0, 452.5, 155.0], 0, True))
self.obj504.out_connections_.append(self.obj500)
self.obj500.in_connections_.append(self.obj504)
self.obj504.graphObject_.pendingConnections.append((self.obj504.graphObject_.tag, self.obj500.graphObject_.tag, [443.0, 239.0, 452.5, 155.0], 0, True))
self.obj493.out_connections_.append(self.obj492)
self.obj492.in_connections_.append(self.obj493)
self.obj493.graphObject_.pendingConnections.append((self.obj493.graphObject_.tag, self.obj492.graphObject_.tag, [83.0, 324.0, 87.0, 301.0], 0, True))
self.obj490.out_connections_.append(self.obj491)
self.obj491.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj491.graphObject_.tag, [163.0, 184.0, 157.5, 157.0], 0, True))
self.obj490.out_connections_.append(self.obj493)
self.obj493.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj493.graphObject_.tag, [91.0, 278.0, 87.0, 301.0], 0, True))
self.obj491.out_connections_.append(self.obj489)
self.obj489.in_connections_.append(self.obj491)
self.obj491.graphObject_.pendingConnections.append((self.obj491.graphObject_.tag, self.obj489.graphObject_.tag, [152.0, 130.0, 157.5, 157.0], 0, True))
self.RHS = ASG_RDIS(parent)
self.RHS.merge(ASG_ROSApp(parent))
self.RHS.merge(ASG_GenericGraph(parent))
self.obj503=DifferentialSpeedAdapter(parent)
self.obj503.preAction( self.RHS.CREATE )
self.obj503.isGraphObjectVisual = True
if(hasattr(self.obj503, '_setHierarchicalLink')):
self.obj503._setHierarchicalLink(False)
# angular
self.obj503.angular.setValue('<angular[0]>')
# linear
self.obj503.linear.setValue('<linear[0]>')
self.obj503.GGLabel.setValue(7)
self.obj503.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(320.0,0.0,self.obj503)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj503.graphObject_ = new_obj
self.obj5030= AttrCalc()
self.obj5030.Copy=ATOM3Boolean()
self.obj5030.Copy.setValue(('Copy from LHS', 0))
self.obj5030.Copy.config = 0
self.obj5030.Specify=ATOM3Constraint()
self.obj5030.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj503.GGset2Any['angular']= self.obj5030
self.obj5031= AttrCalc()
self.obj5031.Copy=ATOM3Boolean()
self.obj5031.Copy.setValue(('Copy from LHS', 0))
self.obj5031.Copy.config = 0
self.obj5031.Specify=ATOM3Constraint()
self.obj5031.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj503.GGset2Any['linear']= self.obj5031
# Add node to the root: self.RHS
self.RHS.addNode(self.obj503)
self.obj503.postAction( self.RHS.CREATE )
self.obj500=DomainInterface(parent)
self.obj500.preAction( self.RHS.CREATE )
self.obj500.isGraphObjectVisual = True
if(hasattr(self.obj500, '_setHierarchicalLink')):
self.obj500._setHierarchicalLink(False)
# name
self.obj500.name.setValue('')
self.obj500.name.setNone()
self.obj500.GGLabel.setValue(6)
self.obj500.graphClass_= graph_DomainInterface
if parent.genGraphics:
new_obj = graph_DomainInterface(300.0,80.0,self.obj500)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj500.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj500)
self.obj500.postAction( self.RHS.CREATE )
self.obj504=domainAdapter2domainInterface(parent)
self.obj504.preAction( self.RHS.CREATE )
self.obj504.isGraphObjectVisual = True
if(hasattr(self.obj504, '_setHierarchicalLink')):
self.obj504._setHierarchicalLink(False)
self.obj504.GGLabel.setValue(8)
self.obj504.graphClass_= graph_domainAdapter2domainInterface
if parent.genGraphics:
new_obj = graph_domainAdapter2domainInterface(452.5,155.0,self.obj504)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj504.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj504)
self.obj504.postAction( self.RHS.CREATE )
self.obj492=ROSTwist(parent)
self.obj492.preAction( self.RHS.CREATE )
self.obj492.isGraphObjectVisual = True
if(hasattr(self.obj492, '_setHierarchicalLink')):
self.obj492._setHierarchicalLink(False)
# angular
self.obj492.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.angular.setValue(lcobj2)
self.obj492.angular.setNone()
# linear
self.obj492.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.linear.setValue(lcobj2)
self.obj492.linear.setNone()
self.obj492.GGLabel.setValue(4)
self.obj492.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(80.0,260.0,self.obj492)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj492.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj492)
self.obj492.postAction( self.RHS.CREATE )
self.obj493=ROSType(parent)
self.obj493.preAction( self.RHS.CREATE )
self.obj493.isGraphObjectVisual = True
if(hasattr(self.obj493, '_setHierarchicalLink')):
self.obj493._setHierarchicalLink(False)
self.obj493.GGLabel.setValue(5)
self.obj493.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(87.0,301.0,self.obj493)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj493.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj493)
self.obj493.postAction( self.RHS.CREATE )
self.obj490=ROSTopic(parent)
self.obj490.preAction( self.RHS.CREATE )
self.obj490.isGraphObjectVisual = True
if(hasattr(self.obj490, '_setHierarchicalLink')):
self.obj490._setHierarchicalLink(False)
# name
self.obj490.name.setValue('')
self.obj490.name.setNone()
self.obj490.GGLabel.setValue(2)
self.obj490.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(80.0,80.0,self.obj490)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj490.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj490)
self.obj490.postAction( self.RHS.CREATE )
self.obj489=ROSNode(parent)
self.obj489.preAction( self.RHS.CREATE )
self.obj489.isGraphObjectVisual = True
if(hasattr(self.obj489, '_setHierarchicalLink')):
self.obj489._setHierarchicalLink(False)
# name
self.obj489.name.setValue('')
self.obj489.name.setNone()
self.obj489.GGLabel.setValue(1)
self.obj489.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(80.0,-140.0,self.obj489)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj489.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj489)
self.obj489.postAction( self.RHS.CREATE )
self.obj491=ROSSubscribe(parent)
self.obj491.preAction( self.RHS.CREATE )
self.obj491.isGraphObjectVisual = True
if(hasattr(self.obj491, '_setHierarchicalLink')):
self.obj491._setHierarchicalLink(False)
self.obj491.GGLabel.setValue(3)
self.obj491.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,157.0,self.obj491)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj491.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj491)
self.obj491.postAction( self.RHS.CREATE )
self.obj517=GenericGraphEdge(parent)
self.obj517.preAction( self.RHS.CREATE )
self.obj517.isGraphObjectVisual = True
if(hasattr(self.obj517, '_setHierarchicalLink')):
self.obj517._setHierarchicalLink(False)
self.obj517.GGLabel.setValue(10)
self.obj517.graphClass_= graph_GenericGraphEdge
if parent.genGraphics:
new_obj = graph_GenericGraphEdge(261.0,226.5,self.obj517)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj517.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj517)
self.obj517.postAction( self.RHS.CREATE )
self.obj503.out_connections_.append(self.obj504)
self.obj504.in_connections_.append(self.obj503)
self.obj503.graphObject_.pendingConnections.append((self.obj503.graphObject_.tag, self.obj504.graphObject_.tag, [523.0, 164.0, 452.5, 155.0], 2, 0))
self.obj504.out_connections_.append(self.obj500)
self.obj500.in_connections_.append(self.obj504)
self.obj504.graphObject_.pendingConnections.append((self.obj504.graphObject_.tag, self.obj500.graphObject_.tag, [305.0, 234.0, 452.5, 155.0], 2, 0))
self.obj493.out_connections_.append(self.obj492)
self.obj492.in_connections_.append(self.obj493)
self.obj493.graphObject_.pendingConnections.append((self.obj493.graphObject_.tag, self.obj492.graphObject_.tag, [101.0, 365.0, 87.0, 301.0], 2, 0))
self.obj490.out_connections_.append(self.obj491)
self.obj491.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj491.graphObject_.tag, [84.0, 231.0, 157.5, 157.0], 2, 0))
self.obj490.out_connections_.append(self.obj493)
self.obj493.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj493.graphObject_.tag, [84.0, 231.0, 87.0, 301.0], 2, 0))
self.obj490.out_connections_.append(self.obj517)
self.obj517.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj517.graphObject_.tag, [217.0, 219.0, 261.0, 226.5], 0, True))
self.obj491.out_connections_.append(self.obj489)
self.obj489.in_connections_.append(self.obj491)
self.obj491.graphObject_.pendingConnections.append((self.obj491.graphObject_.tag, self.obj489.graphObject_.tag, [97.0, 64.0, 157.5, 157.0], 2, 0))
self.obj517.out_connections_.append(self.obj500)
self.obj500.in_connections_.append(self.obj517)
self.obj517.graphObject_.pendingConnections.append((self.obj517.graphObject_.tag, self.obj500.graphObject_.tag, [305.0, 234.0, 261.0, 226.5], 0, True))
class subscribeTwist2interfaceDiffSpeede_GG_rule (GGrule):
def __init__(self, parent):
GGrule.__init__(self, 1)
self.TimeDelay = ATOM3Integer(2)
self.exactMatch = 1
self.LHS = ASG_RDIS(parent)
self.LHS.merge(ASG_ROSApp(parent))
self.obj503=DifferentialSpeedAdapter(parent)
self.obj503.preAction( self.LHS.CREATE )
self.obj503.isGraphObjectVisual = True
if(hasattr(self.obj503, '_setHierarchicalLink')):
self.obj503._setHierarchicalLink(False)
# angular
self.obj503.angular.setValue('')
self.obj503.angular.setNone()
# linear
self.obj503.linear.setValue('')
self.obj503.linear.setNone()
self.obj503.GGLabel.setValue(7)
self.obj503.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(320.0,0.0,self.obj503)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj503.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj503)
self.obj503.postAction( self.LHS.CREATE )
self.obj500=DomainInterface(parent)
self.obj500.preAction( self.LHS.CREATE )
self.obj500.isGraphObjectVisual = True
if(hasattr(self.obj500, '_setHierarchicalLink')):
self.obj500._setHierarchicalLink(False)
# name
self.obj500.name.setValue('')
self.obj500.name.setNone()
self.obj500.GGLabel.setValue(6)
self.obj500.graphClass_= graph_DomainInterface
if parent.genGraphics:
new_obj = graph_DomainInterface(300.0,180.0,self.obj500)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj500.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj500)
self.obj500.postAction( self.LHS.CREATE )
self.obj504=domainAdapter2domainInterface(parent)
self.obj504.preAction( self.LHS.CREATE )
self.obj504.isGraphObjectVisual = True
if(hasattr(self.obj504, '_setHierarchicalLink')):
self.obj504._setHierarchicalLink(False)
self.obj504.GGLabel.setValue(8)
self.obj504.graphClass_= graph_domainAdapter2domainInterface
if parent.genGraphics:
new_obj = graph_domainAdapter2domainInterface(452.5,155.0,self.obj504)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj504.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj504)
self.obj504.postAction( self.LHS.CREATE )
self.obj492=ROSTwist(parent)
self.obj492.preAction( self.LHS.CREATE )
self.obj492.isGraphObjectVisual = True
if(hasattr(self.obj492, '_setHierarchicalLink')):
self.obj492._setHierarchicalLink(False)
# angular
self.obj492.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.angular.setValue(lcobj2)
self.obj492.angular.setNone()
# linear
self.obj492.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.linear.setValue(lcobj2)
self.obj492.linear.setNone()
self.obj492.GGLabel.setValue(4)
self.obj492.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(80.0,320.0,self.obj492)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj492.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj492)
self.obj492.postAction( self.LHS.CREATE )
self.obj493=ROSType(parent)
self.obj493.preAction( self.LHS.CREATE )
self.obj493.isGraphObjectVisual = True
if(hasattr(self.obj493, '_setHierarchicalLink')):
self.obj493._setHierarchicalLink(False)
self.obj493.GGLabel.setValue(5)
self.obj493.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(87.0,301.0,self.obj493)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj493.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj493)
self.obj493.postAction( self.LHS.CREATE )
self.obj490=ROSTopic(parent)
self.obj490.preAction( self.LHS.CREATE )
self.obj490.isGraphObjectVisual = True
if(hasattr(self.obj490, '_setHierarchicalLink')):
self.obj490._setHierarchicalLink(False)
# name
self.obj490.name.setValue('')
self.obj490.name.setNone()
self.obj490.GGLabel.setValue(2)
self.obj490.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(80.0,180.0,self.obj490)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj490.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj490)
self.obj490.postAction( self.LHS.CREATE )
self.obj489=ROSNode(parent)
self.obj489.preAction( self.LHS.CREATE )
self.obj489.isGraphObjectVisual = True
if(hasattr(self.obj489, '_setHierarchicalLink')):
self.obj489._setHierarchicalLink(False)
# name
self.obj489.name.setValue('')
self.obj489.name.setNone()
self.obj489.GGLabel.setValue(1)
self.obj489.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(80.0,40.0,self.obj489)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj489.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj489)
self.obj489.postAction( self.LHS.CREATE )
self.obj491=ROSSubscribe(parent)
self.obj491.preAction( self.LHS.CREATE )
self.obj491.isGraphObjectVisual = True
if(hasattr(self.obj491, '_setHierarchicalLink')):
self.obj491._setHierarchicalLink(False)
self.obj491.GGLabel.setValue(3)
self.obj491.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,157.0,self.obj491)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj491.graphObject_ = new_obj
# Add node to the root: self.LHS
self.LHS.addNode(self.obj491)
self.obj491.postAction( self.LHS.CREATE )
self.obj503.out_connections_.append(self.obj504)
self.obj504.in_connections_.append(self.obj503)
self.obj503.graphObject_.pendingConnections.append((self.obj503.graphObject_.tag, self.obj504.graphObject_.tag, [422.0, 91.0, 452.5, 155.0], 0, True))
self.obj504.out_connections_.append(self.obj500)
self.obj500.in_connections_.append(self.obj504)
self.obj504.graphObject_.pendingConnections.append((self.obj504.graphObject_.tag, self.obj500.graphObject_.tag, [443.0, 239.0, 452.5, 155.0], 0, True))
self.obj493.out_connections_.append(self.obj492)
self.obj492.in_connections_.append(self.obj493)
self.obj493.graphObject_.pendingConnections.append((self.obj493.graphObject_.tag, self.obj492.graphObject_.tag, [83.0, 324.0, 87.0, 301.0], 0, True))
self.obj490.out_connections_.append(self.obj491)
self.obj491.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj491.graphObject_.tag, [163.0, 184.0, 157.5, 157.0], 0, True))
self.obj490.out_connections_.append(self.obj493)
self.obj493.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj493.graphObject_.tag, [91.0, 278.0, 87.0, 301.0], 0, True))
self.obj491.out_connections_.append(self.obj489)
self.obj489.in_connections_.append(self.obj491)
self.obj491.graphObject_.pendingConnections.append((self.obj491.graphObject_.tag, self.obj489.graphObject_.tag, [152.0, 130.0, 157.5, 157.0], 0, True))
self.RHS = ASG_RDIS(parent)
self.RHS.merge(ASG_ROSApp(parent))
self.RHS.merge(ASG_GenericGraph(parent))
self.obj503=DifferentialSpeedAdapter(parent)
self.obj503.preAction( self.RHS.CREATE )
self.obj503.isGraphObjectVisual = True
if(hasattr(self.obj503, '_setHierarchicalLink')):
self.obj503._setHierarchicalLink(False)
# angular
self.obj503.angular.setValue('<angular[0]>')
# linear
self.obj503.linear.setValue('<linear[0]>')
self.obj503.GGLabel.setValue(7)
self.obj503.graphClass_= graph_DifferentialSpeedAdapter
if parent.genGraphics:
new_obj = graph_DifferentialSpeedAdapter(320.0,0.0,self.obj503)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj503.graphObject_ = new_obj
self.obj5030= AttrCalc()
self.obj5030.Copy=ATOM3Boolean()
self.obj5030.Copy.setValue(('Copy from LHS', 0))
self.obj5030.Copy.config = 0
self.obj5030.Specify=ATOM3Constraint()
self.obj5030.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj503.GGset2Any['angular']= self.obj5030
self.obj5031= AttrCalc()
self.obj5031.Copy=ATOM3Boolean()
self.obj5031.Copy.setValue(('Copy from LHS', 0))
self.obj5031.Copy.config = 0
self.obj5031.Specify=ATOM3Constraint()
self.obj5031.Specify.setValue(('AttrSpecify', (['Python', 'OCL'], 0), (['PREcondition', 'POSTcondition'], 1), (['EDIT', 'SAVE', 'CREATE', 'CONNECT', 'DELETE', 'DISCONNECT', 'TRANSFORM', 'SELECT', 'DRAG', 'DROP', 'MOVE'], [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]), None))
self.obj503.GGset2Any['linear']= self.obj5031
# Add node to the root: self.RHS
self.RHS.addNode(self.obj503)
self.obj503.postAction( self.RHS.CREATE )
self.obj500=DomainInterface(parent)
self.obj500.preAction( self.RHS.CREATE )
self.obj500.isGraphObjectVisual = True
if(hasattr(self.obj500, '_setHierarchicalLink')):
self.obj500._setHierarchicalLink(False)
# name
self.obj500.name.setValue('')
self.obj500.name.setNone()
self.obj500.GGLabel.setValue(6)
self.obj500.graphClass_= graph_DomainInterface
if parent.genGraphics:
new_obj = graph_DomainInterface(300.0,80.0,self.obj500)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj500.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj500)
self.obj500.postAction( self.RHS.CREATE )
self.obj504=domainAdapter2domainInterface(parent)
self.obj504.preAction( self.RHS.CREATE )
self.obj504.isGraphObjectVisual = True
if(hasattr(self.obj504, '_setHierarchicalLink')):
self.obj504._setHierarchicalLink(False)
self.obj504.GGLabel.setValue(8)
self.obj504.graphClass_= graph_domainAdapter2domainInterface
if parent.genGraphics:
new_obj = graph_domainAdapter2domainInterface(452.5,155.0,self.obj504)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj504.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj504)
self.obj504.postAction( self.RHS.CREATE )
self.obj492=ROSTwist(parent)
self.obj492.preAction( self.RHS.CREATE )
self.obj492.isGraphObjectVisual = True
if(hasattr(self.obj492, '_setHierarchicalLink')):
self.obj492._setHierarchicalLink(False)
# angular
self.obj492.angular.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.angular.setValue(lcobj2)
self.obj492.angular.setNone()
# linear
self.obj492.linear.setActionFlags([ 0, 0, 0, 0])
lcobj2 =[]
cobj2=ATOM3String('x', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('y', 20)
lcobj2.append(cobj2)
cobj2=ATOM3String('z', 20)
lcobj2.append(cobj2)
self.obj492.linear.setValue(lcobj2)
self.obj492.linear.setNone()
self.obj492.GGLabel.setValue(4)
self.obj492.graphClass_= graph_ROSTwist
if parent.genGraphics:
new_obj = graph_ROSTwist(80.0,260.0,self.obj492)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj492.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj492)
self.obj492.postAction( self.RHS.CREATE )
self.obj493=ROSType(parent)
self.obj493.preAction( self.RHS.CREATE )
self.obj493.isGraphObjectVisual = True
if(hasattr(self.obj493, '_setHierarchicalLink')):
self.obj493._setHierarchicalLink(False)
self.obj493.GGLabel.setValue(5)
self.obj493.graphClass_= graph_ROSType
if parent.genGraphics:
new_obj = graph_ROSType(87.0,301.0,self.obj493)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj493.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj493)
self.obj493.postAction( self.RHS.CREATE )
self.obj490=ROSTopic(parent)
self.obj490.preAction( self.RHS.CREATE )
self.obj490.isGraphObjectVisual = True
if(hasattr(self.obj490, '_setHierarchicalLink')):
self.obj490._setHierarchicalLink(False)
# name
self.obj490.name.setValue('')
self.obj490.name.setNone()
self.obj490.GGLabel.setValue(2)
self.obj490.graphClass_= graph_ROSTopic
if parent.genGraphics:
new_obj = graph_ROSTopic(80.0,80.0,self.obj490)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj490.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj490)
self.obj490.postAction( self.RHS.CREATE )
self.obj489=ROSNode(parent)
self.obj489.preAction( self.RHS.CREATE )
self.obj489.isGraphObjectVisual = True
if(hasattr(self.obj489, '_setHierarchicalLink')):
self.obj489._setHierarchicalLink(False)
# name
self.obj489.name.setValue('')
self.obj489.name.setNone()
self.obj489.GGLabel.setValue(1)
self.obj489.graphClass_= graph_ROSNode
if parent.genGraphics:
new_obj = graph_ROSNode(80.0,-140.0,self.obj489)
new_obj.layConstraints = dict() # Graphical Layout Constraints
new_obj.layConstraints['scale'] = [1.0, 1.0]
else: new_obj = None
self.obj489.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj489)
self.obj489.postAction( self.RHS.CREATE )
self.obj491=ROSSubscribe(parent)
self.obj491.preAction( self.RHS.CREATE )
self.obj491.isGraphObjectVisual = True
if(hasattr(self.obj491, '_setHierarchicalLink')):
self.obj491._setHierarchicalLink(False)
self.obj491.GGLabel.setValue(3)
self.obj491.graphClass_= graph_ROSSubscribe
if parent.genGraphics:
new_obj = graph_ROSSubscribe(157.5,157.0,self.obj491)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj491.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj491)
self.obj491.postAction( self.RHS.CREATE )
self.obj517=GenericGraphEdge(parent)
self.obj517.preAction( self.RHS.CREATE )
self.obj517.isGraphObjectVisual = True
if(hasattr(self.obj517, '_setHierarchicalLink')):
self.obj517._setHierarchicalLink(False)
self.obj517.GGLabel.setValue(10)
self.obj517.graphClass_= graph_GenericGraphEdge
if parent.genGraphics:
new_obj = graph_GenericGraphEdge(261.0,226.5,self.obj517)
new_obj.layConstraints = dict() # Graphical Layout Constraints
else: new_obj = None
self.obj517.graphObject_ = new_obj
# Add node to the root: self.RHS
self.RHS.addNode(self.obj517)
self.obj517.postAction( self.RHS.CREATE )
self.obj503.out_connections_.append(self.obj504)
self.obj504.in_connections_.append(self.obj503)
self.obj503.graphObject_.pendingConnections.append((self.obj503.graphObject_.tag, self.obj504.graphObject_.tag, [523.0, 164.0, 452.5, 155.0], 2, 0))
self.obj504.out_connections_.append(self.obj500)
self.obj500.in_connections_.append(self.obj504)
self.obj504.graphObject_.pendingConnections.append((self.obj504.graphObject_.tag, self.obj500.graphObject_.tag, [305.0, 234.0, 452.5, 155.0], 2, 0))
self.obj493.out_connections_.append(self.obj492)
self.obj492.in_connections_.append(self.obj493)
self.obj493.graphObject_.pendingConnections.append((self.obj493.graphObject_.tag, self.obj492.graphObject_.tag, [101.0, 365.0, 87.0, 301.0], 2, 0))
self.obj490.out_connections_.append(self.obj491)
self.obj491.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj491.graphObject_.tag, [84.0, 231.0, 157.5, 157.0], 2, 0))
self.obj490.out_connections_.append(self.obj493)
self.obj493.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj493.graphObject_.tag, [84.0, 231.0, 87.0, 301.0], 2, 0))
self.obj490.out_connections_.append(self.obj517)
self.obj517.in_connections_.append(self.obj490)
self.obj490.graphObject_.pendingConnections.append((self.obj490.graphObject_.tag, self.obj517.graphObject_.tag, [217.0, 219.0, 261.0, 226.5], 0, True))
self.obj491.out_connections_.append(self.obj489)
self.obj489.in_connections_.append(self.obj491)
self.obj491.graphObject_.pendingConnections.append((self.obj491.graphObject_.tag, self.obj489.graphObject_.tag, [97.0, 64.0, 157.5, 157.0], 2, 0))
self.obj517.out_connections_.append(self.obj500)
self.obj500.in_connections_.append(self.obj517)
self.obj517.graphObject_.pendingConnections.append((self.obj517.graphObject_.tag, self.obj500.graphObject_.tag, [305.0, 234.0, 261.0, 226.5], 0, True))
def condition(self, graphID, isograph, atom3i):
# If you want to apply this rule at most once on asingle host graph node,
# then uncomment the next two lines. Change the default GG label (1) if needed.
# Make sure to enable the ACTION code as well
# And to use the same label & unique name in the ACTION
# WARNING: _uniqueName20 is not guaranteed to be unique (so change it, be safe!)
node2 = self.getMatched(graphID, self.LHS.nodeWithLabel(2))
node6 = self.getMatched(graphID, self.LHS.nodeWithLabel(6))
return not hasattr(node2, "_uniqueName20") and not hasattr(node6, "_uniqueName20")
def action(self, graphID, isograph, atom3i):
# If you want to apply this rule at most once on asingle host graph node,
# then uncomment the next two lines. Change the default GG label (1) if needed.
# Make sure to enable the CONDITION code as well
# And to use the same label & unique name in the ACTION
# WARNING: _uniqueName20 is not guaranteed to be unique (so change it, be safe!)
node2 = self.getMatched(graphID, self.LHS.nodeWithLabel(2))
node6 = self.getMatched(graphID, self.LHS.nodeWithLabel(6))
node2._uniqueName20 = True
node6._uniqueName20 = True