File size: 4,337 Bytes
0c3dd1d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 | """Stand-ins for the rclpy *executor* layer only (new code, 2026).
The released controller (path_follower.py) subclasses rclpy.node.Node and uses
it for parameters, subscriptions, a publisher, a wall-clock timer and a logger.
For lock-step execution we replace exactly that layer:
* parameters: declare_parameters/get_parameter return the configured values
(controller, ref_path, exp_index) with the released defaults otherwise;
* create_subscription/create_timer: recorded but never driven by an executor
(the episode loop calls state_callback/vel_callback/pub_callback itself, in
simulation time);
* create_publisher(...).publish(msg): appends msg to node._published, so the
published DriverInputs message is intercepted unchanged;
* get_logger(): a no-op logger (log text has no numerical effect).
Message classes (geometry_msgs, chrono_ros_interfaces, ...) are NOT stubbed:
the real ROS 2 Humble Python message types from the image are used, so field
type checks/assertions behave exactly as in the released node.
"""
import sys
import types
_INSTALLED = False
class _ParameterValue:
def __init__(self, value):
self.string_value = value if isinstance(value, str) else ''
self.integer_value = value if (isinstance(value, int) and not isinstance(value, bool)) else 0
self.double_value = float(value) if isinstance(value, float) else 0.0
self.bool_value = value if isinstance(value, bool) else False
class _Parameter:
def __init__(self, name, value):
self.name = name
self.value = value
def get_parameter_value(self):
return _ParameterValue(self.value)
class _Logger:
def __init__(self):
self.n_messages = 0
def _log(self, *args, **kwargs):
self.n_messages += 1
info = warn = warning = error = debug = fatal = _log
class _Publisher:
def __init__(self, sink, topic):
self._sink = sink
self.topic = topic
def publish(self, msg):
self._sink.append(msg)
class Node:
"""Minimal replacement for rclpy.node.Node (see module docstring)."""
# Parameter overrides for the next constructed node; set by the bridge.
parameter_overrides = {}
def __init__(self, node_name, *args, **kwargs):
self._node_name = node_name
self._parameters = {}
self._published = []
self._subscriptions = []
self._timers = []
self._publishers = []
self._logger = _Logger()
def declare_parameters(self, namespace, parameters):
for p in parameters:
name, default = p[0], p[1]
self._parameters[name] = Node.parameter_overrides.get(name, default)
def get_parameter(self, name):
return _Parameter(name, self._parameters[name])
def create_subscription(self, msg_type, topic, callback, qos_profile, **kwargs):
self._subscriptions.append((msg_type, topic, callback, qos_profile))
return object()
def create_publisher(self, msg_type, topic, qos_profile, **kwargs):
pub = _Publisher(self._published, topic)
self._publishers.append((msg_type, topic, qos_profile))
return pub
def create_timer(self, period, callback, **kwargs):
self._timers.append((period, callback))
return object()
def get_logger(self):
return self._logger
def destroy_node(self):
pass
class QoSHistoryPolicy:
KEEP_LAST = 1
KEEP_ALL = 2
class QoSProfile:
def __init__(self, depth=10, **kwargs):
self.depth = depth
self.history = QoSHistoryPolicy.KEEP_LAST
def install():
"""Install the stub rclpy modules into sys.modules (idempotent)."""
global _INSTALLED
if _INSTALLED:
return
rclpy = types.ModuleType('rclpy')
rclpy.__file__ = __file__
rclpy.init = lambda *a, **k: None
rclpy.spin = lambda *a, **k: None
rclpy.shutdown = lambda *a, **k: None
rclpy.ok = lambda *a, **k: True
node_mod = types.ModuleType('rclpy.node')
node_mod.Node = Node
qos_mod = types.ModuleType('rclpy.qos')
qos_mod.QoSHistoryPolicy = QoSHistoryPolicy
qos_mod.QoSProfile = QoSProfile
rclpy.node = node_mod
rclpy.qos = qos_mod
sys.modules['rclpy'] = rclpy
sys.modules['rclpy.node'] = node_mod
sys.modules['rclpy.qos'] = qos_mod
_INSTALLED = True
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