| """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 = {} |
|
|
| 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 |
|
|
