Provides topic conditions evaluation. More...
Classes | |
| class | Empty |
| Placeholder falsy object that raises NoMessageException on attribute access. More... | |
| class | Message |
| Object for current topic message in condition expressions. More... | |
| class | NoMessageException |
| class | Topic |
| Object for <topic x> replacements in condition expressions. More... | |
Public Member Functions | |
| __init__ (self, args=None, **kwargs) | |
| close_batch (self) | |
| Clears cached messages. | |
| conditions_get_topics (self) | |
| Returns a list of all topics used in conditions (may contain wildcards). | |
| conditions_register_message (self, topic, msg) | |
| Retains message for condition evaluation if in condition topic. | |
| conditions_set_topic_state (self, topic, pure) | |
| Sets whether topic is purely used for conditions not matching. | |
| has_conditions (self) | |
| Returns whether there are any conditions configured. | |
| is_conditions_topic (self, topic, pure=True) | |
| Returns whether topic is used for checking condition. | |
| is_processable (self, topic, msg, stamp, index=None) | |
| Returns whether message passes passes current state conditions, if any. | |
| validate (self) | |
| Returns whether conditions have valid syntax, sets options, prints errors. | |
Public Attributes | |
| args | |
Static Public Attributes | |
| DEFAULT_ARGS = dict(CONDITION=()) | |
| Constructor argument defaults. | |
| TOPIC_RGX = re.compile(r"<topic\s+([^\s><]+)\s*>") | |
Detailed Description
Provides topic conditions evaluation.
Evaluates a set of Python expressions, with a namespace of:
- msg: current message being checked
- topic: current topic being read
- <topic /any/name> messages in named or wildcarded topic
<topic ..> gets replaced with an object with the following behavior:
- len(obj) -> number of messages processed in topic
- bool(obj) -> whether there are any messages in topic
- obj[pos] -> topic message at position (from latest if negative, first if positive)
- obj.x -> attribute x of last message
All conditions need to evaluate as true for a message to be processable. If a condition tries to access attributes of a message not yet present, condition evaluates as false.
If a condition topic matches more than one real topic (by wildcard or by different types in one topic), evaluation is done for each set of topics separately, condition passing if any set passes.
Example <topic */control_enable>.data and <topic */cmd_vel>.linear.x > 0 and <topic */cmd_vel>.angular.z < 0.02.
Constructor & Destructor Documentation
◆ __init__()
| __init__ | ( | self, | |
args = None, |
|||
| ** | kwargs | ||
| ) |
- Parameters
-
args arguments as namespace or dictionary, case-insensitive args.condition Python expressions that must evaluate as true for message to be processable, see ConditionMixin kwargs any and all arguments as keyword overrides, case-insensitive
Reimplemented in BagSource, LiveSource, and AppSource.
Member Function Documentation
◆ close_batch()
| close_batch | ( | self | ) |
◆ conditions_get_topics()
| conditions_get_topics | ( | self | ) |
◆ conditions_register_message()
| conditions_register_message | ( | self, | |
| topic, | |||
| msg | |||
| ) |
◆ conditions_set_topic_state()
| conditions_set_topic_state | ( | self, | |
| topic, | |||
| pure | |||
| ) |
◆ has_conditions()
| has_conditions | ( | self | ) |
◆ is_conditions_topic()
| is_conditions_topic | ( | self, | |
| topic, | |||
pure = True |
|||
| ) |
◆ is_processable()
| is_processable | ( | self, | |
| topic, | |||
| msg, | |||
| stamp, | |||
index = None |
|||
| ) |
Returns whether message passes passes current state conditions, if any.
Reimplemented in BagSource, LiveSource, and AppSource.
◆ validate()
| validate | ( | self | ) |
Returns whether conditions have valid syntax, sets options, prints errors.
Reimplemented in BagSource, LiveSource, and AppSource.
Member Data Documentation
◆ args
◆ DEFAULT_ARGS
|
static |
◆ TOPIC_RGX
The documentation for this class was generated from the following file:
- grepros/inputs.py
