def run_prg(self, filename): self.file_interpreter = Compiler(filename).low_level_file_interpreter compiled = "\n".join(self.file_interpreter.compiled) #print(compiled) interpreter = Interpreter("") interpreter.__init__(compiled) interpreter.run() self.ram = interpreter.ram
def __init__(self): Node.__init__(self, "pgcd_comp", allow_undeclared_parameters = True, automatically_declare_parameters_from_overrides = True) Interpreter.__init__(self, self.get_name()) TFUpdater.__init__(self) # program self.id = self.get_name() self.prog_path = self.get_parameter('program_location')._value + self.id + '.rosl' rclpy.logging._root_logger.log("PGCD creating " + self.id + " running " + self.prog_path, LoggingSeverity.INFO) # hardware module = importlib.import_module(self.get_parameter('object_module_name')._value) class_ = getattr(module, self.get_parameter('object_class_name')._value) self.robot = class_() # runtime self.tfBuffer = tf2_ros.Buffer() self.tf2_listener = tf2_ros.TransformListener(self.tfBuffer, self) self.tf2_setup(self.robot)