wei.core.interfaces.ros2_interface

Handling execution for steps in the RPL-SDL efforts

pydantic model wei.core.interfaces.ros2_interface.ROS2Interface

Basic Interface for interacting with WEI modules using ROS2

Show JSON schema

{
   "title": "ROS2Interface",
   "description": "Basic Interface for interacting with WEI modules using ROS2",
   "type": "object",
   "properties": {
      "name": {
         "title": "Name",
         "type": "string"
      }
   },
   "required": [
      "name"
   ]
}

Config:

use_enum_values: bool = True

Fields:

Validators:

static config_validator(config: Dict[str, Any]) → bool

Validates the configuration for the interface

Parameters:: config (Dict) – The configuration for the module
Returns:: bool – Whether the configuration is valid or not

static get_state(module: Module, **kwargs: Any) → str: Gets the state of the module and returns it.

static send_action(step: Step, module: Module, **kwargs: Any) → Tuple[str, str, str]

Executes a single step from a workflow using a ZMQ messaging framework with the ZMQ library

Parameters:

step (Step) – A single step from a workflow definition

Returns:

action_response (StepStatus) – A status of the step (in theory provides async support with IDLE, RUNNING, but for now is just SUCCEEDED/FAILED)
action_msg (str) – the data or information returned from running the step.
action_log (str) – A record of the execution of the step