hbp_nrp_cleserver.server.ROSCLEServer module¶
ROS wrapper around the CLE
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class
ROSCLEServer(sim_id, timeout, timeout_type, gzserver, notificator)[source]¶ Bases:
hbp_nrp_cleserver.server.SimulationServer.SimulationServerA ROS server wrapper around the Closed Loop Engine.
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static
change_transfer_function_for_population(change_population_mode, old_population_name, new_population_name, transfer_functions)[source]¶ Modifies a single population name. Returns a value if needs user input.
- Parameters
change_population_mode – The change population mode (as defined in SetPopulationsRequest)
old_population_name – The old name of the population
new_population_name – The new name of the population
transfer_functions – The transfer functions to which the population change should be applied to.
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change_transfer_functions(change_population, old_changed, new_added, transfer_functions)[source]¶ Modifies population names. Returns a value if needs user input.
- Parameters
change_population – The change population mode (as defined in SetPopulationsRequest)
old_changed – A list of old population names
new_added – A list of new population names
transfer_functions – The transfer functions to which the changes should be applied
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property
cle¶ Gets the Closed Loop Engine referenced by this server
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static
get_tf_name(source)[source]¶ Check whether the function has a single definition name
- Parameters
source – Transfer function source code
- Returns
True and Function name if found, False and error message if none or multiple found
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prepare_simulation(except_hook=None)[source]¶ The CLE will be initialized within this method and ROS services for starting, pausing, stopping and resetting are setup here.
- Parameters
cle – the closed loop engine
except_hook – A handler method for critical exceptions
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publish_error(source_type, error_type, message, severity=1, function_name='', line_number=- 1, offset=- 1, line_text='', file_name='', do_log=True)[source]¶ Publishes an error and takes appropriate action if necessary
- Parameters
source_type – The module the error message comes from, e.g. “Transfer Function”
error_type – The error type, e.g. “Compile”
message – The error message description, e.g. unexpected indent
severity – The severity of the error
function_name – The function name, if available
line_number – The line number where the error occurred
offset – The offset
line_text – The text of the line causing the error
file_name –
do_log – log the error on the default logger, do not log otherwise
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reset_simulation(request)[source]¶ Handler for the CLE reset() call.
- Parameters
request – the ROS service request message (cle_ros_msgs.srv.ResetSimulation).
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setup_handlers(assembly)[source]¶ Sets up different call handlers for the current assembly.
- Parameters
assembly – CLE assembly of the current simulation
- Returns
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property
simulation_time¶ Gets the simulation time
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static