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# from enum import StrEnum Not available in Python3.10
import abc
import functools
from typing import cast
from typeguard import typechecked
from ros_bt_py_interfaces.msg import NodeState
# TODO Update this once StrEnum is available in all relevant versions (aka Humble is EOL)
[docs]
@typechecked
# class BTNodeState(StrEnum):
class BTNodeState(abc.ABC):
# Lots of duct tape to make type checkers happy.
# All of this casting and registering becomes unnecessary
# once we can switch to StrEnum, which behaves as expected
UNINITIALIZED = cast("BTNodeState", NodeState.UNINITIALIZED)
IDLE = cast("BTNodeState", NodeState.IDLE)
UNASSIGNED = cast("BTNodeState", NodeState.UNASSIGNED)
ASSIGNED = cast("BTNodeState", NodeState.ASSIGNED)
RUNNING = cast("BTNodeState", NodeState.RUNNING)
SUCCEEDED = cast("BTNodeState", NodeState.SUCCEEDED)
FAILED = cast("BTNodeState", NodeState.FAILED)
BROKEN = cast("BTNodeState", NodeState.BROKEN)
PAUSED = cast("BTNodeState", NodeState.PAUSED)
SHUTDOWN = cast("BTNodeState", NodeState.SHUTDOWN)
# These casts are for the purpose of mypy/pylance type checking,
# which ignore abc `register` subclasses
BTNodeState.register(str)
# Register `str` as subclass to `BTNodeState` for the purpose of typeguard
INT_LIMITS = {
"int8": (-(2**7), 2**7 - 1),
"int16": (-(2**15), 2**15 - 1),
"int32": (-(2**31), 2**31 - 1),
"int64": (-(2**63), 2**63 - 1),
"uint8": (0, 2**8 - 1),
"uint16": (0, 2**16 - 1),
"uint32": (0, 2**32 - 1),
"uint64": (0, 2**64 - 1),
}
[docs]
def int_limits_dict(name: str) -> dict[str, int]:
limits = INT_LIMITS[name]
return {"min_value": limits[0], "max_value": limits[1]}
FLOAT_LIMITS = {
"float": (-3.4028235e38, 3.4028235e38),
"double": (-1.7976931348623157e308, 1.7976931348623157e308),
}
[docs]
def float_limits_dict(name: str) -> dict[str, float]:
limits = FLOAT_LIMITS[name]
return {"min_value": limits[0], "max_value": limits[1]}
# Max uint64 value that exactly matches a float64 value
# It is used to prevent precision loss between integers and js numbers
INT_FLOAT_MAX = 2**64 - 1616
# handling nested objects,
# see https://stackoverflow.com/questions/31174295/getattr-and-setattr-on-nested-objects
[docs]
def rgetattr(obj, attr, *args):
def _getattr(obj, attr):
return getattr(obj, attr, *args)
return functools.reduce(_getattr, [obj] + attr.split("."))
[docs]
def rsetattr(obj, attr: str, val):
pre, _, post = attr.rpartition(".")
return setattr(rgetattr(obj, pre) if pre else obj, post, val)