How to use haros - 10 common examples

To help you get started, we’ve selected a few haros examples, based on popular ways it is used in public projects.

Secure your code as it's written. Use Snyk Code to scan source code in minutes - no build needed - and fix issues immediately.

git-afsantos / haros / haros / hpl / test_generator.py View on Github

},
        "kobuki_msgs/BumperEvent": {
            "bumper": TypeToken("uint8"),
            "state": TypeToken("uint8")
        },
        "pkg/Msg": {
            "int": TypeToken("int32"),
            "float": TypeToken("float64"),
            "string": TypeToken("string"),
            "twist": TypeToken("geometry_msgs/Twist"),
            "int_list": ArrayTypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "float_list": ArrayTypeToken("float64"),
            "float_array": ArrayTypeToken("float64", length=3),
            "string_list": ArrayTypeToken("string"),
            "string_array": ArrayTypeToken("string", length=3),
            "twist_list": ArrayTypeToken("geometry_msgs/Twist"),
            "twist_array": ArrayTypeToken("geometry_msgs/Twist", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested", length=3)
        },
        "pkg/Nested": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested2", length=3)
        },
        "pkg/Nested2": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3)
        }
    }

    fields = (

git-afsantos / haros / haros / hpl / test_generator.py View on Github

"state": TypeToken("uint8")
        },
        "pkg/Msg": {
            "int": TypeToken("int32"),
            "float": TypeToken("float64"),
            "string": TypeToken("string"),
            "twist": TypeToken("geometry_msgs/Twist"),
            "int_list": ArrayTypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "float_list": ArrayTypeToken("float64"),
            "float_array": ArrayTypeToken("float64", length=3),
            "string_list": ArrayTypeToken("string"),
            "string_array": ArrayTypeToken("string", length=3),
            "twist_list": ArrayTypeToken("geometry_msgs/Twist"),
            "twist_array": ArrayTypeToken("geometry_msgs/Twist", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested", length=3)
        },
        "pkg/Nested": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested2", length=3)
        },
        "pkg/Nested2": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3)
        }
    }

    fields = (
        HplFieldReference("nested_array[all]",
            TEST_DATA["pkg/Nested"]["nested_array"], "pkg/Nested"),
        HplFieldReference("int", TEST_DATA["pkg/Nested2"]["int"], "pkg/Nested2")

git-afsantos / haros / haros / hpl / test_generator.py View on Github

"x": TypeToken("float64"),
            "y": TypeToken("float64"),
            "z": TypeToken("float64")
        },
        "kobuki_msgs/BumperEvent": {
            "bumper": TypeToken("uint8"),
            "state": TypeToken("uint8")
        },
        "pkg/Msg": {
            "int": TypeToken("int32"),
            "float": TypeToken("float64"),
            "string": TypeToken("string"),
            "twist": TypeToken("geometry_msgs/Twist"),
            "int_list": ArrayTypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "float_list": ArrayTypeToken("float64"),
            "float_array": ArrayTypeToken("float64", length=3),
            "string_list": ArrayTypeToken("string"),
            "string_array": ArrayTypeToken("string", length=3),
            "twist_list": ArrayTypeToken("geometry_msgs/Twist"),
            "twist_array": ArrayTypeToken("geometry_msgs/Twist", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested", length=3)
        },
        "pkg/Nested": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested2", length=3)
        },
        "pkg/Nested2": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3)
        }

git-afsantos / haros / haros / gen_tests.py View on Github

def _get_class_fields(self, msg_class, msg_queue):
        self.log.debug("extracting msg fields")
        fields = {}
        for i in xrange(len(msg_class.__slots__)):
            field_name = msg_class.__slots__[i]
            field_type = msg_class._slot_types[i]
            base_type, is_array, length = parse_type(field_type)
            if is_array:
                type_token = ArrayTypeToken(base_type, length=length)
            else:
                type_token = TypeToken(base_type)
            fields[field_name] = type_token
            if "/" in base_type and base_type != "std_msgs/Header":
                msg_queue.append(base_type)
        return fields

git-afsantos / haros / haros / hpl / test_generator.py View on Github

################################################################################
# Test Code
################################################################################

if __name__ == "__main__":
    from .hpl_ast import (HplReceiveStatement, HplMsgFilter, HplProperty,
        HplMsgFieldCondition, HplFieldReference, HplPublishStatement,
        HplTimeBound, HplLiteral)
    from .ros_types import (TypeToken, ArrayTypeToken)

    TEST_DATA = {
        "geometry_msgs/Twist": {
            "linear": TypeToken("geometry_msgs/Vector3"),
            "angular": TypeToken("geometry_msgs/Vector3")
        },
        "geometry_msgs/Vector3": {
            "x": TypeToken("float64"),
            "y": TypeToken("float64"),
            "z": TypeToken("float64")
        },
        "kobuki_msgs/BumperEvent": {
            "bumper": TypeToken("uint8"),
            "state": TypeToken("uint8")
        },
        "pkg/Msg": {
            "int": TypeToken("int32"),
            "float": TypeToken("float64"),
            "string": TypeToken("string"),
            "twist": TypeToken("geometry_msgs/Twist"),
            "int_list": ArrayTypeToken("int32"),

git-afsantos / haros / haros / hpl / test_generator.py View on Github

"angular": TypeToken("geometry_msgs/Vector3")
        },
        "geometry_msgs/Vector3": {
            "x": TypeToken("float64"),
            "y": TypeToken("float64"),
            "z": TypeToken("float64")
        },
        "kobuki_msgs/BumperEvent": {
            "bumper": TypeToken("uint8"),
            "state": TypeToken("uint8")
        },
        "pkg/Msg": {
            "int": TypeToken("int32"),
            "float": TypeToken("float64"),
            "string": TypeToken("string"),
            "twist": TypeToken("geometry_msgs/Twist"),
            "int_list": ArrayTypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "float_list": ArrayTypeToken("float64"),
            "float_array": ArrayTypeToken("float64", length=3),
            "string_list": ArrayTypeToken("string"),
            "string_array": ArrayTypeToken("string", length=3),
            "twist_list": ArrayTypeToken("geometry_msgs/Twist"),
            "twist_array": ArrayTypeToken("geometry_msgs/Twist", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested", length=3)
        },
        "pkg/Nested": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested2", length=3)
        },
        "pkg/Nested2": {

git-afsantos / haros / haros / hpl / test_generator.py View on Github

"linear": TypeToken("geometry_msgs/Vector3"),
            "angular": TypeToken("geometry_msgs/Vector3")
        },
        "geometry_msgs/Vector3": {
            "x": TypeToken("float64"),
            "y": TypeToken("float64"),
            "z": TypeToken("float64")
        },
        "kobuki_msgs/BumperEvent": {
            "bumper": TypeToken("uint8"),
            "state": TypeToken("uint8")
        },
        "pkg/Msg": {
            "int": TypeToken("int32"),
            "float": TypeToken("float64"),
            "string": TypeToken("string"),
            "twist": TypeToken("geometry_msgs/Twist"),
            "int_list": ArrayTypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "float_list": ArrayTypeToken("float64"),
            "float_array": ArrayTypeToken("float64", length=3),
            "string_list": ArrayTypeToken("string"),
            "string_array": ArrayTypeToken("string", length=3),
            "twist_list": ArrayTypeToken("geometry_msgs/Twist"),
            "twist_array": ArrayTypeToken("geometry_msgs/Twist", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested", length=3)
        },
        "pkg/Nested": {
            "int": TypeToken("int32"),
            "int_array": ArrayTypeToken("int32", length=3),
            "nested_array": ArrayTypeToken("pkg/Nested2", length=3)
        },

git-afsantos / haros / haros / hpl / test_generator.py View on Github

)
    left = HplFieldExpression("nested_array[all].int", fields, "m", "pkg/Nested")

    fields = (
        HplFieldReference("int", TEST_DATA["pkg/Nested"]["int"], "pkg/Nested"),
    )
    right = HplFieldExpression("int", fields, "m", "pkg/Nested")

    cond1 = HplMsgFieldCondition(left, OPERATOR_EQ, right)
    msg_filter = HplMsgFilter((cond1,))

    hpl_receive = HplReceiveStatement("m", "/topic",
        msg_filter=msg_filter, msg_type="pkg/Nested")

    hpl_publish = HplPublishStatement("out", "/topic2",
        time_bound=HplTimeBound("&lt;", HplLiteral("100", int, ()), "ms"),
        msg_filter=None, mult=None, msg_type="pkg/Nested")

    hpl_property = HplProperty(hpl_publish, receive_stmt=hpl_receive)

    publishers = {"/topic2": "pkg/Nested"}
    subscribers = {"/topic": "pkg/Nested"}
    test_gen = HplTestGenerator(
        ["pkg/launch/minimal.launch"],
        ["/node1", "/node2"],
        publishers, subscribers, TEST_DATA)
    print test_gen.gen(hpl_property)

git-afsantos / haros / haros / hpl / test_generator.py View on Github

def _python(self, value):
        if isinstance(value, self.Reference):
            # this must come before check for tuple
            name = value.expr.last_name
            return value.root + "." + name if name else value.root
        if isinstance(value, HplLiteral):
            return repr(value.value)
        if isinstance(value, tuple):
            return "({})".format(", ".join(self._python(v) for v in value))
        assert isinstance(value, HplFieldExpression), "found: " + repr(value)
        return self._var_prefix + value.full_name

git-afsantos / haros / haros / config_builder.py View on Github

def _add_node(self, config, futures, name, datum):
        if config.nodes.get(name) is not None:
            self.log.warning(self._W_EXISTS, config.name, "node", name)
            return False
        pkg, exe = datum["node_type"].split("/", 1)
        args = datum.get("args", "")
        remaps = datum.get("remaps", {})
        node = self.find_node(pkg, exe, args)
        rosname = RosName(name)
        self.log.debug("[hints] Creating NodeInstance %s for Node %s.",
                       rosname.full, node.name)
        instance = NodeInstance(self.configuration, rosname, node,
                                argv=args, remaps=remaps)
        instance.location2 = JSON_to_loc2(datum.get("traceability"))
        node.instances.append(instance)
        previous = self.configuration.nodes.add(instance)
        fnl = FutureNodeLinks(instance)
        fnl.advertise.extend(datum.get("publishers", ()))
        fnl.subscribe.extend(datum.get("subscribers", ()))
        fnl.service.extend(datum.get("servers", ()))
        fnl.client.extend(datum.get("clients", ()))
        fnl.read_param.extend(datum.get("getters", ()))
        fnl.write_param.extend(datum.get("setters", ()))
        futures.append(fnl)
        return True

How to use haros - 10 common examples

To help you get started, we’ve selected a few haros examples, based on popular ways it is used in public projects.

haros

Package Health Score

Popular haros functions

Similar packages