Updated Expected Python Files

Author: CatLiSantos

.DS_Store

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
-from queue import Queue
+from collections import deque
 from building_control_py_pkg.user_code.tcp_fan_src import *
 from rclpy.callback_groups import ReentrantCallbackGroup
 from building_control_py_pkg_interfaces.msg import FanCmd
@@ -30,15 +30,15 @@ def __init__(self):
             "tcp_tempControl_fanAck",
             1)
 
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
     #=================================================
     #  C o m m u n i c a t i o n
     #=================================================
 
     def put_fanAck(self, msg):
-        typedMsg = FanAck()
-        typedMsg.data = msg
-        self.tcp_fan_fanAck_publisher_.publish(typedMsg)
-
+        self.tcp_fan_fanAck_publisher_.publish(msg)
 
     #=================================================
     #  C o m p u t e    E n t r y    P o i n t

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_base_src.py

@@ -2,20 +2,10 @@
 import rclpy
 from rclpy.node import Node
 from rclpy.executors import MultiThreadedExecutor
-from building_control_py_pkg.user_code.tcp_fan_src import initialize
-from building_control_py_pkg.base_code.tcp_fan_base_src import tcp_fan_base
+from building_control_py_pkg.user_code.tcp_fan_src import tcp_fan
 #========================================================
 # Re-running Codegen will overwrite changes to this file
 #========================================================
-
-class tcp_fan(tcp_fan_base):
-    def __init__(self):
-        super().__init__()
-        # invoke initialize entry point
-        initialize(self)
-
-        self.get_logger().info("tcp_fan infrastructure set up")
-
 def main(args=None):
     rclpy.init(args=args)
     node = tcp_fan()

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_fan_runner.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
-from queue import Queue
+from collections import deque
 from building_control_py_pkg.user_code.tcp_tempControl_src import *
 from rclpy.callback_groups import ReentrantCallbackGroup
 from building_control_py_pkg_interfaces.msg import Temperatureimpl
@@ -54,26 +54,27 @@ def __init__(self):
             "tcp_fan_fanCmd",
             1)
 
+    def init_currentTemp(self, val):
+        self.currentTemp_msg_holder = val
+
+    def timeTriggered(self):
+        raise NotImplementedError("Subclasses must implement this method")
+
     #=================================================
     #  C o m m u n i c a t i o n
     #=================================================
 
     def handle_currentTemp(self, msg):
-        typedMsg = Temperatureimpl()
-        typedMsg.data = msg
-        self.currentTemp_msg_holder = typedMsg
+        self.currentTemp_msg_holder = msg
 
     def get_currentTemp(self):
         return self.currentTemp_msg_holder
 
     def event_handle_tempChanged(self, msg):
-         handle_tempChanged()
+        self.handle_tempChanged()
 
     def put_fanCmd(self, msg):
-        typedMsg = FanCmd()
-        typedMsg.data = msg
-        self.tcp_tempControl_fanCmd_publisher_.publish(typedMsg)
-
+        self.tcp_tempControl_fanCmd_publisher_.publish(msg)
 
     #=================================================
     #  C o m p u t e    E n t r y    P o i n t

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_base_src.py

@@ -2,20 +2,10 @@
 import rclpy
 from rclpy.node import Node
 from rclpy.executors import MultiThreadedExecutor
-from building_control_py_pkg.user_code.tcp_tempControl_src import initialize
-from building_control_py_pkg.base_code.tcp_tempControl_base_src import tcp_tempControl_base
+from building_control_py_pkg.user_code.tcp_tempControl_src import tcp_tempControl
 #========================================================
 # Re-running Codegen will overwrite changes to this file
 #========================================================
-
-class tcp_tempControl(tcp_tempControl_base):
-    def __init__(self):
-        super().__init__()
-        # invoke initialize entry point
-        initialize(self)
-
-        self.get_logger().info("tcp_tempControl infrastructure set up")
-
 def main(args=None):
     rclpy.init(args=args)
     node = tcp_tempControl()

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempControl_runner.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
-from queue import Queue
+from collections import deque
 from rclpy.callback_groups import ReentrantCallbackGroup
 from building_control_py_pkg_interfaces.msg import Temperatureimpl
 from building_control_py_pkg_interfaces.msg import Empty
@@ -28,22 +28,17 @@ def __init__(self):
             1)
 
         # timeTriggered callback timer
-        self.periodTimer_ = self.create_timer(1000, self.timeTriggered, callback_group=self.cb_group_)
+        self.periodTimer_ = self.create_timer(1, self.timeTriggered, callback_group=self.cb_group_)
 
     def timeTriggered(self):
-        pass
+        raise NotImplementedError("Subclasses must implement this method")
 
     #=================================================
     #  C o m m u n i c a t i o n
     #=================================================
 
     def put_currentTemp(self, msg):
-        typedMsg = Temperatureimpl()
-        typedMsg.data = msg
-        self.tcp_tempSensor_currentTemp_publisher_.publish(typedMsg)
-
+        self.tcp_tempSensor_currentTemp_publisher_.publish(msg)
     def put_tempChanged(self):
-        typedMsg = Empty()
-
-        self.tcp_tempSensor_tempChanged_publisher_.publish(typedMsg)
-
+        msg = Empty()
+        self.tcp_tempSensor_tempChanged_publisher_.publish(msg)

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_base_src.py

@@ -2,20 +2,10 @@
 import rclpy
 from rclpy.node import Node
 from rclpy.executors import MultiThreadedExecutor
-from building_control_py_pkg.user_code.tcp_tempSensor_src import initialize
-from building_control_py_pkg.base_code.tcp_tempSensor_base_src import tcp_tempSensor_base
+from building_control_py_pkg.user_code.tcp_tempSensor_src import tcp_tempSensor
 #========================================================
 # Re-running Codegen will overwrite changes to this file
 #========================================================
-
-class tcp_tempSensor(tcp_tempSensor_base):
-    def __init__(self):
-        super().__init__()
-        # invoke initialize entry point
-        initialize(self)
-
-        self.get_logger().info("tcp_tempSensor infrastructure set up")
-
 def main(args=None):
     rclpy.init(args=args)
     node = tcp_tempSensor()

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/base_code/tcp_tempSensor_runner.py

@@ -1,27 +1,43 @@
 #!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_fan_base_src import tcp_fan_base
+from building_control_py_pkg_interfaces.msg import FanAck
 from building_control_py_pkg.base_code.enum_converter import *
 
 #===========================================================
 # This file will not be overwritten when re-running Codegen
 #===========================================================
+class tcp_fan(tcp_fan_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_fan infrastructure set up")
 
 #=================================================
 #  I n i t i a l i z e    E n t r y    P o i n t
 #=================================================
-def initialize(node):
-    node.get_logger().info("Initialize Entry Point invoked")
+    def initialize(node):
+        node.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
 
-    # Initialize the node
-    node.handle_fanCmd = handle_fanCmd
 
 #=================================================
 #  C o m p u t e    E n t r y    P o i n t
 #=================================================
-def handle_fanCmd(msg):
-    pass # Handle fanCmd msg
+    def message_to_string(msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
 
+    def handle_fanCmd(self, msg):
+        # Handle fanCmd msg
+        self.get_logger().info("Received fanCmd: %s", message_to_string(msg))
 
 #=================================================
 #  Include any additional declarations here

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_fan_src.py

@@ -1,34 +1,54 @@
 #!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempControl_base_src import tcp_tempControl_base
+from building_control_py_pkg_interfaces.msg import FanCmd
 from building_control_py_pkg.base_code.enum_converter import *
 
 #===========================================================
 # This file will not be overwritten when re-running Codegen
 #===========================================================
+class tcp_tempControl(tcp_tempControl_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempControl infrastructure set up")
 
 #=================================================
 #  I n i t i a l i z e    E n t r y    P o i n t
 #=================================================
-def initialize(node):
-    node.get_logger().info("Initialize Entry Point invoked")
+    def initialize(node):
+        node.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
 
-    # Initialize the node
-    node.handle_fanAck = handle_fanAck
-    node.handle_setPoint = handle_setPoint
-    node.handle_tempChanged = handle_tempChanged
 
 #=================================================
 #  C o m p u t e    E n t r y    P o i n t
 #=================================================
-def handle_fanAck(msg):
-    pass # Handle fanAck msg
-
-def handle_setPoint(msg):
-    pass # Handle setPoint msg
-
-def handle_tempChanged():
-    pass # Handle tempChanged event
+    def message_to_string(msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def handle_fanAck(self, msg):
+        # Handle fanAck msg
+        self.get_logger().info("Received fanAck: %s", message_to_string(msg))
+
+        # Example receiving messages on data ports
+        currentTemp = get_currentTemp()
+        self.get_logger().info("Received currentTemp: %s", message_to_string(currentTemp))
+    def handle_setPoint(self, msg):
+        # Handle setPoint msg
+        self.get_logger().info("Received setPoint: %s", message_to_string(msg))
+
+    def handle_tempChanged(self):
+        # Handle tempChanged event
+        self.get_logger().info("Received tempChanged")
 
 
 #=================================================

resources/expected/ros2/python-building_control_gen_mixed/lax/src/building_control_py_pkg/building_control_py_pkg/user_code/tcp_tempControl_src.py

@@ -1,27 +1,47 @@
 #!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
+from rosidl_runtime_py.convert import message_to_yaml
+from building_control_py_pkg.base_code.tcp_tempSensor_base_src import tcp_tempSensor_base
+from building_control_py_pkg_interfaces.msg import Temperatureimpl
 from building_control_py_pkg.base_code.enum_converter import *
 
 #===========================================================
 # This file will not be overwritten when re-running Codegen
 #===========================================================
+class tcp_tempSensor(tcp_tempSensor_base):
+    def __init__(self):
+        super().__init__()
+        # invoke initialize entry point
+        self.initialize()
+
+        self.get_logger().info("tcp_tempSensor infrastructure set up")
 
 #=================================================
 #  I n i t i a l i z e    E n t r y    P o i n t
 #=================================================
-def initialize(node):
-    node.get_logger().info("Initialize Entry Point invoked")
+    def initialize(node):
+        node.get_logger().info("Initialize Entry Point invoked")
+
+        # Initialize the node
+
+        # Initialize the node's incoming data port values here
 
-    # Initialize the node
-    node.timeTriggered = timeTriggered
 
 #=================================================
 #  C o m p u t e    E n t r y    P o i n t
 #=================================================
-def timeTriggered():
-    pass # Handle communication
+    def message_to_string(msg):
+        yaml_str = message_to_yaml(msg)
+        return yaml_str
+
+    def timeTriggered(self):
+        # Handle communication
 
+        # Example publishing messages
+        currentTemp = Temperatureimpl()
+        self.put_currentTemp(currentTemp)
+        self.put_tempChanged()
 
 #=================================================
 #  Include any additional declarations here