def run_prg(self, filename):
self.file_interpreter = Compiler(filename).low_level_file_interpreter
compiled = "\n".join(self.file_interpreter.compiled)
#print(compiled)
interpreter = Interpreter("")
interpreter.__init__(compiled)
interpreter.run()
self.ram = interpreter.ram
def __init__(self):
Node.__init__(self, "pgcd_comp",
allow_undeclared_parameters = True,
automatically_declare_parameters_from_overrides = True)
Interpreter.__init__(self, self.get_name())
TFUpdater.__init__(self)
# program
self.id = self.get_name()
self.prog_path = self.get_parameter('program_location')._value + self.id + '.rosl'
rclpy.logging._root_logger.log("PGCD creating " + self.id + " running " + self.prog_path, LoggingSeverity.INFO)
# hardware
module = importlib.import_module(self.get_parameter('object_module_name')._value)
class_ = getattr(module, self.get_parameter('object_class_name')._value)
self.robot = class_()
# runtime
self.tfBuffer = tf2_ros.Buffer()
self.tf2_listener = tf2_ros.TransformListener(self.tfBuffer, self)
self.tf2_setup(self.robot)
