harmoni_common_lib.helper_functions

Module Contents

Functions

get_child(child_name)	Get children name without ids from config file
get_child_list(child_name[, resources])	Get children from config file
get_service_list_of_repo(repository)	Get children from config file of a specific repo
get_child_id(service_name)	Get id of the child from service name
get_service_name(repo_service_id)	Get name of the child from service
get_all_repos()
get_service_server_instance_id(service_name, input_id)	Get the service server name
check_if_detector(service_name)	Check if detector. It returns true if it is a detector
check_if_sensor(service_name)	Check if sensor. It returns true if it is a sensor
topic_active(topic, msg_type)	Determines if a topic has been published recently
msg_type_to_str(msg_type)	Converts a message type to ROS topic type string
_check_if_resources(service)	Check if the service contains many resources

Attributes

PATH_CONFIG

harmoni_common_lib.helper_functions.PATH_CONFIG = 'HARMONI/harmoni_core/harmoni_decision/config/configuration.yaml'

harmoni_common_lib.helper_functions.get_child(child_name)

Get children name without ids from config file

harmoni_common_lib.helper_functions.get_child_list(child_name, resources=True)

Get children from config file

harmoni_common_lib.helper_functions.get_service_list_of_repo(repository)

Get children from config file of a specific repo

harmoni_common_lib.helper_functions.get_child_id(service_name)

Get id of the child from service name

harmoni_common_lib.helper_functions.get_service_name(repo_service_id)

Get name of the child from service

harmoni_common_lib.helper_functions.get_all_repos()

harmoni_common_lib.helper_functions.get_service_server_instance_id(service_name, input_id)

Get the service server name

harmoni_common_lib.helper_functions.check_if_detector(service_name)

Check if detector. It returns true if it is a detector

harmoni_common_lib.helper_functions.check_if_sensor(service_name)

Check if sensor. It returns true if it is a sensor

harmoni_common_lib.helper_functions.topic_active(topic, msg_type)

Determines if a topic has been published recently

Parameters:

• topic (str) – The topic path

• msg_type (type) – A message type, such as sensor_msgs.msg.Image

Returns:

True if topic found with correct type

Return type:

bool

harmoni_common_lib.helper_functions.msg_type_to_str(msg_type)

Converts a message type to ROS topic type string

Parameters:

msg_type (type) – A message type, such as sensor_msgs.msg.Image

Returns:

The message type string in ROS format: ‘msg_set/TypeName’

Return type:

str

harmoni_common_lib.helper_functions._check_if_resources(service)

Check if the service contains many resources