def __init__(self, name=DEFAULT_NAME, topic=None, message_type=None, sub_topic=None, sub_message_type=None,
queue_size=10, **kwargs):
Adapter.__init__(self, name, **kwargs)
msg_type_class = utils.attempt_import(message_type, _myvars=vars())
self._js_publisher = ROSPublisher(name=name, topic=topic, message_type=msg_type_class, queue_size=queue_size,
**kwargs)
if sub_topic is not None and sub_message_type is not None:
sub_msg_type_class = utils.attempt_import(sub_message_type, _myvars=vars())
self._js_subscriber = rospy.Subscriber(sub_topic, sub_msg_type_class,
self.callback) if sub_topic is not None else None
self._js = None
self._new_js = JointState()
def _setup_board_config(self, serial=None, controls=None, **kwargs):# pylint: disable=unused-argument
self._serial = serial
LOGGER.info('Configuring VirtualMIDI: %s', serial)
for control_type in controls.get('types', []):
control_params = control_type.copy()
control_type_class = utils.attempt_import(control_params['type'], _myvars=vars())
del control_params['type']
for control in controls.get(control_type['name']):
this_control_params = control_params.copy()
this_control_params.update(control)
ctrl = Control.create_control(control_type_class, **this_control_params)
self.add_control(ctrl)
def _setup_config(self, config=None, name=None, adapters=None, controls=None, **kwargs):# pylint: disable=unused-argument
self._user_config_description = name
if isinstance(config, str):
config = utils.load_from_file(config)
if not isinstance(config, dict):
raise TypeError('MIDI board config file not specified.')
self._setup_board_config(**config)
for adapter_type in adapters:
adapter_params = adapter_type.copy()
adapter_type_class = utils.attempt_import(adapter_params['type'], _myvars=vars())
del adapter_params['type']
adapter = Adapter.create_adapter(adapter_type_class, **adapter_params)
self.add_adapter(adapter)
for control_type in controls:
for control in controls.get(control_type):
try:
self._configure_control(control)
except KeyError as key_err:
LOGGER.warning('VirtualMIDI::_setup_user_config() -- Malformed control; requires key: %s', key_err)
except AttributeError as att_err:
LOGGER.warning('VirtualMIDI::_setup_user_config() -- Unknown callback: %s', att_err)
def _configure_control(self, control_data):
control = self._controls.get(control_data['identifier'], None)
if not control:
control_type = control_data['type']
control_type_class = utils.attempt_import(control_type, _myvars=vars())
control = Control.create_control(control_type_class, **control_data)
self.add_control(control)
LOGGER.warning('VirtualMIDI::_configure_control() -- Control.identifier %s not found. '
'This control is created virtually..', control_data['identifier'])
for key in control.properties:
try:
old_key = getattr(control, key)
setattr(control, key, control_data[key])
if old_key in self._control_map[key]:
del self._control_map[key][old_key]
self._control_map[key][control_data[key]] = control
except KeyError:
pass
for signal_name in control_data['signals']:
signal = control_data['signals'][signal_name]
self._configure_control_signal(control, signal_name, signal)
return True
def create_adapter(adapter_type, **kwargs):
"""Create an adapter from kwargs."""
adapter_type = attempt_import(adapter_type)
adapter = adapter_type(**kwargs)
return adapter
def create_control(control_type, **kwargs):
"""Create a control from a dict of kwargs."""
control_type = attempt_import(control_type)
return control_type(**kwargs)