def responder():
result = rospy.wait_for_message(
topic['feedback']['topic'],
dynamic_import(topic['feedback']['type']))
result = get_attribute(result, topic['feedback']['field'])
return topic['feedback'].get(
'success', result) == result or re.match(
str(topic['feedback']['success']), str(result)) is not None
def load_loader(name, locations):
"""
Load a specific loader searching locations (a dictionary) in order.
locations - list of paths to search, using "." as path separator
Returns None if the lookup fails.
"""
for location in locations:
try:
full = location + "." + name
return dynamic_import(full)
except ImportError, e:
pass
def __init__(self, robot_move_strategy, topics):
# type: (ExploreMoveStrategy, List[dict]) -> None
self.robot_move_strategy = robot_move_strategy
self.topic_identifiers = lmap(lambda topic: topic['identifier'],
topics)
self.topics_values = lmap(lambda topic: topic['explore'], topics)
self.continue_enabled = all(
map(lambda topic: topic['explore'].get('continue', False), topics))
self.publishers_types = lmap(
lambda topic: dynamic_import(topic['type']), topics)
self.publishers = lmap(
lambda topic: rospy.Publisher(topic[1]['identifier'],
self.publishers_types[topic[0]],
queue_size=1), enumerate(topics))
self.responders = lmap(lambda topic: self.get_responder(topic), topics)
def find(locations):
"""
Returns a list of (location, path, loaders) for each location in
locations. locations is expected to be in PYTHONPATH and be in
module-name form (eg. "a.b.c").
"""
loaders = []
for location in locations:
files = []
path = "NOT FOUND: make sure location contains __init__.py"
try:
mod = dynamic_import(location)
path = mod.__path__[0]
except (ImportError, AttributeError, IndexError), e:
pass
else:
# Only select "simple looking" python files
regex = re.compile("^([A-Za-z]\\w+)\\.py$")
files = [m.group(1) for m in
(regex.match(f) for f in os.listdir(path))
if m]
loaders.append((location, path, files))
