def getInitializationSection(rosNode):
"""
Generates statements which initialize ROS publishers and subscribers.
"""
global gSubscribeInit
global gPublisherInit
linesBuffer = []
subscribeTopics = a3t.filterInEntities(rosNode, "ROSSubscribe")
publishTopics = a3t.filterOutEntities(rosNode, "ROSPublish")
pushBuf()
for topic in subscribeTopics:
name = nameOf(topic)
ttype = rosType(getType(topic))
tcallback = makeCallbackName(name)
write(gSubscribeInit.format(topicName=name, topicType=ttype,
topicCallback=tcallback))
for topic in publishTopics:
name = nameOf(topic)
ttype = rosType(getType(topic))
outputName = nameOf(getOutput(topic))
write(
gPublisherInit.format(
topicName=name,
topicType=ttype,
outputName=outputName,
callback = makePublishActionName(name)
)
)
return flush(2)
def getCallbackSection(rosNode):
"""
Returns textblob with generated callbacks and publish actions.
"""
global gTwistCallbackTemplate
subscribed = a3t.filterInEntities(rosNode, "ROSSubscribe")
publishers = a3t.filterOutEntities(rosNode, "ROSPublish")
blob = ""
blob += "## ============ GENERATED SUBSCRIPTION CALLBACKS ==================\n\n"
for topic in subscribed:
blob += getCallback(topic)
blob += "## ================= GENERATED PUBLISH ACTIONS ==================\n\n"
for topic in publishers:
blob += getPublishAction(topic)
return blob
def getPrimitiveConnection(primitive):
cxs = a3t.filterOutEntities(primitive, "primitive2connection")
return cxs[0] if cxs != None and len(cxs) > 0 else None
