def _on_controller_state(self, msg):
self._controller_state = deepcopy(ControllerStateInfo(msg))
self._assert_one_active_controller()
if self._current_controller and self._current_controller not in self._param_config_clients:
self._param_config_clients[self._current_controller] = ControllerParamConfigClient(self._current_controller)
self._param_config_clients[self._current_controller].start()
def _on_controller_state(self, msg):
"""
Callback function. The controller state is updated here, as well as the current active controller detected.
"""
self._controller_state = deepcopy(ControllerStateInfo(msg))
self._assert_one_active_controller()
if self._current_controller and self._current_controller not in self._param_config_clients:
self._param_config_clients[self._current_controller] = ControllerParamConfigClient(self._current_controller, self._ns)
self._param_config_clients[self._current_controller].start()