def declare_cells(_p):
"""
Implement the virtual function from the base class
Only cells from which something is forwarded have to be declared
"""
cells = {}
cells['throttle'] = ecto.TrueEveryN("Throttle", n=1)
cells['mat2image'] = ecto_ros.Mat2Image("Mat2Image")
cells['subscribed_mat2image'] = ecto.If(
"Subscribed Mat2Image",
input_tendril_name="has_subscribers",
cell=cells['mat2image'])
cells['throttled_mat2image'] = ecto.If(
"Throttled Mat2Image",
input_tendril_name="throttle",
cell=cells['subscribed_mat2image'])
cells['publisher'] = ecto_sensor_msgs.Publisher_Image(
"Publisher",
topic_name="/images/candidate_beans",
queue_size=2,
latched=True)
cells['throttled_publisher'] = ecto.If("Throttled Publisher",
input_tendril_name="throttle",
cell=cells['publisher'])
subscribers_input, subscribers_output = \
ecto.EntangledPair(value=cells['throttled_mat2image'].inputs.at('has_subscribers'), source_name="Has Subscribers Input", sink_name="Has Subscribers Output")
cells['subscribers_input'] = subscribers_input
cells['subscribers_output'] = subscribers_output
return cells
def test_If():
plasm = ecto.Plasm()
g = ecto_test.Generate("Generator", step=1.0, start=1.0)
If = ecto.If(cell=g)
truer = ecto.TrueEveryN(n=3, count=3)
plasm.connect(truer['flag'] >> If['__test__'])
plasm.execute(niter=27)
assert g.outputs.out == 9 #should have only called execute 9 times.
def test_nested_if():
plasm = ecto.Plasm()
g = ecto_test.Generate("Generator", step=1.0, start=1.0)
inside_if = ecto.If(input_tendril_name="on_threes", cell=g)
outside_if = ecto.If(input_tendril_name="on_twos", cell=inside_if)
truer_on_threes = ecto.TrueEveryN(n=3,count=0)
truer_on_twos = ecto.TrueEveryN(n=2,count=0)
plasm.connect([
truer_on_threes['flag'] >> outside_if['on_threes'],
truer_on_twos['flag'] >> outside_if['on_twos']
])
#for x in range(0,18):
# plasm.execute(niter=1)
# print("No of times executed: %s of %s" % (g.outputs.out, x))
# executes on the very first iteration (count = 0) and once every 3*2 iterations thereafter
plasm.execute(niter=18)
assert g.outputs.out == 3 # should have only called execute 3 times.
plasm.execute(niter=1)
assert g.outputs.out == 4 # should have executed once more