def test_deserializeParamMap(self):
ph = param.ParamHandler()
ph.addParam("MyDict", dict, param.ParamTypes.Required)
d_ph = param.ParamHandler(
utils.deserializeParamMap(utils.serializeParamMap(ph._params)))
self.assertEqual('MyDict:[] ', d_ph.printState())
ph.addParam("MyList", list, param.ParamTypes.Required)
d_ph = param.ParamHandler(
utils.deserializeParamMap(utils.serializeParamMap(ph._params)))
self.assertEqual('MyDict:[] MyList:[] ', d_ph.printState())
def skill2msg(skill):
msg = msgs.ResourceDescription()
msg.type = skill._type
msg.name = skill._label
msg.params = utils.serializeParamMap(
skill._description._params.getParamMap())
return msg
def _on_progress_update(self, *args, **kwargs):
"""
@brief Publish skill progress
"""
log.debug(
"[{}]".format(self.__class__.__name__),
"{}:Task[{task_id}]{type}:{label}[{id}]: Message[{code}]: {msg} ({state})"
.format(self.sm._agent_name[1:], **kwargs))
msg = msgs.SkillProgress()
msg.robot = rospy.get_name()
msg.task_id = kwargs['task_id']
msg.id = kwargs['id']
msg.type = kwargs['type']
msg.label = kwargs['label']
if self.publish_runtime_parameters:
msg.params = utils.serializeParamMap(kwargs['params'])
msg.state = kwargs['state'].value
msg.processor = kwargs['processor']
msg.parent_label = kwargs['parent_label']
msg.parent_id = kwargs['parent_id']
msg.progress_code = kwargs['code']
msg.progress_period = kwargs['period']
msg.progress_time = kwargs['time']
msg.progress_message = kwargs['msg']
self._monitor.publish(msg)
def _on_progress_update(self, *args, **kwargs):
"""
@brief Publish all skill progress
"""
task_id = kwargs['task_id']
tree = kwargs['tree']
messages = msgs.TreeProgress()
for (idd, desc) in tree:
log.debug(
"[{}]".format(self.__class__.__name__),
"{}:Task[{task_id}]{type}:{label}[{id}]: Message[{code}]: {msg} ({state})"
.format(self.sm._agent_name[1:],
task_id=task_id,
id=idd,
**desc))
msg = msgs.SkillProgress()
msg.robot = rospy.get_name()
msg.task_id = task_id
msg.id = idd
msg.type = desc['type']
msg.label = desc['label']
if self.publish_runtime_parameters:
msg.params = utils.serializeParamMap(desc['params'])
msg.state = desc['state'].value
msg.processor = desc['processor']
msg.parent_label = desc['parent_label']
msg.parent_id = desc['parent_id']
msg.progress_code = desc['code']
msg.progress_period = desc['period']
msg.progress_time = desc['time']
msg.progress_message = desc['msg']
messages.progress.append(msg)
self._monitor.publish(messages)
def test_serialize_ParamMap(self):
ph = param.ParamHandler()
ph.addParam("MyDict", dict, param.ParamTypes.Required)
s_param_map = utils.serializeParamMap(ph._params)
self.assertSameItems(s_param_map_strings[0], str(s_param_map))
ph.addParam("MyList", list, param.ParamTypes.Required)
s_param_map = utils.serializeParamMap(ph._params)
self.assertSameItems(s_param_map_strings[1], str(s_param_map))
params = {}
params["MyDict"] = param.Param("MyDict", "", dict,
param.ParamTypes.Required)
s_param_map = utils.serializeParamMap(params)
self.assertSameItems(s_param_map_strings[0], str(s_param_map))
params = {}
params["MyString"] = param.Param("MyString", "", "String",
param.ParamTypes.Required)
s_param_map = utils.serializeParamMap(params)
self.assertSameItems(s_param_map_strings[2], str(s_param_map))
def toMsg(self):
msg = msgs.ResourceDescription()
msg.type = self.type
msg.name = self.name
msg.params = serializeParamMap(self.ph.getParamMap())
return msg