[ros_bridge][py] Allow passing RTC list from hironx.py client.

hironx_ros_bridge/scripts/hironx.py

@@ -56,12 +56,23 @@
                  ' this script, but can use RTM. To use ROS, do not forget' \
                  ' to run rosbridge. How to do so? --> http://wiki.ros.org/rtmros_nextage/Tutorials/Operating%20Hiro%2C%20NEXTAGE%20OPEN'
 
+RTC_LIST = [
+            ['seq', "SequencePlayer"],
+            ['sh', "StateHolder"],
+            ['fk', "ForwardKinematics"],
+            ['ic', "ImpedanceController"],
+            ['el', "SoftErrorLimiter"],
+            # ['co', "CollisionDetector"],
+            ['sc', "ServoController"],
+            ['log', "DataLogger"],]
+
 if __name__ == '__main__':
     parser = argparse.ArgumentParser(description='hiro command line interpreters')
     parser.add_argument('--host', help='corba name server hostname')
     parser.add_argument('--port', help='corba name server port number')
     parser.add_argument('--modelfile', help='robot model file nmae')
     parser.add_argument('--robot', help='robot modlule name (RobotHardware0 for real robot, Robot()')
+    parser.add_argument('--rtcs', help='RT components to activate. If nothing passed then default value will be used.')
     args, unknown = parser.parse_known_args()
     unknown = [u for u in unknown if u[:2] != '__'] # filter out ros arguments
 
@@ -73,13 +84,15 @@
         args.robot = "RobotHardware0" if args.host else "HiroNX(Robot)0"
     if not args.modelfile:
         args.modelfile = "/opt/jsk/etc/HIRONX/model/main.wrl" if args.host else ""
+    if not args.rtcs:
+        args.rtcs = RTC_LIST
 
     # support old style format
     if len(unknown) >= 2:
         args.robot = unknown[0]
         args.modelfile = unknown[1]
     robot = hiro = hironx_client.HIRONX()
-    robot.init(robotname=args.robot, url=args.modelfile)
+    robot.init(robotname=args.robot, url=args.modelfile, rtcs=args.rtcs)
 
     # ROS Client
     try:

hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py

@@ -328,7 +328,7 @@ class via the link above; nicely formatted api doc web page
                                "the function call was successful, since not " +
                                "all methods internally called return status")
 
-    def init(self, robotname="HiroNX(Robot)0", url=""):
+    def init(self, robotname="HiroNX(Robot)0", url="", rtcs=_RTClist):
         '''
         Calls init from its superclass, which tries to connect RTCManager,
         looks for ModelLoader, and starts necessary RTC components. Also runs
@@ -337,6 +337,11 @@ def init(self, robotname="HiroNX(Robot)0", url=""):
 
         @type robotname: str
         @type url: str
+        @type rtcs: [[str, str]]
+        @param rtcs: List of list of RTC names. Each inner list consists of
+            'SHORTENED' name and the 'FULLNAME'.
+
+            example: [['seq', "SequencePlayer"], ['sh', "StateHolder"],,,]
         '''
         # reload for hrpsys 315.1.8
         print(self.configurator_name + "waiting ModelLoader")
@@ -361,6 +366,8 @@ def init(self, robotname="HiroNX(Robot)0", url=""):
         # HrpsysConfigurator.init(self, robotname=robotname, url=url)
         self.sensors = self.getSensors(url)
 
+        if rtcs:
+            self._RTClist = rtcs
         # all([rtm.findRTC(rn[0], rtm.rootnc) for rn in self.getRTCList()]) # not working somehow...
         if set([rn[0] for rn in self.getRTCList()]).issubset(set([x.name() for x in self.ms.get_components()])) :
             print(self.configurator_name + "hrpsys components are already created and running")

hironx_ros_bridge/test/test_hironx_client.py

@@ -33,15 +33,15 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from hironx_ros_bridge.hironx_client import HIRONX
 from test_hironx import TestHiro
 
 PKG = 'hironx_ros_bridge'
 
 
 class TestHiroClient(TestHiro):
 
-    def test_getRTCList(self):
-        RTC_LIST = [
+    _RTC_LIST = [
             ['seq', "SequencePlayer"],
             ['sh', "StateHolder"],
             ['fk', "ForwardKinematics"],
@@ -50,8 +50,32 @@ def test_getRTCList(self):
             # ['co', "CollisionDetector"],
             ['sc', "ServoController"],
             ['log', "DataLogger"],
-            ]
-        self.assertListEqual(self.robot.getRTCList(), RTC_LIST)
+        ]
+
+    _RTC_LIST_CUSTOM = [
+            ['seq', "SequencePlayer"],
+            ['sh', "StateHolder"],
+            ['fk', "ForwardKinematics"],
+            ['el', "SoftErrorLimiter"],
+            ['co', "CollisionDetector"],
+            ['log', "DataLogger"],
+        ]
+
+    def test_getRTCList(self):
+        self.assertListEqual(self.robot.getRTCList(), self._RTC_LIST)
+
+    def test_getRTCList_customrtcs(self):
+        '''
+        Test when the RTC list was passed from the client.
+
+        Because this uses HIRONX.init(), which is already done in the
+        superclass, HIRONX class instance is re-generated within this method,
+        which is not elegant but as of now I can't think of a better way.
+        '''
+        self.robot = HIRONX()
+        self.robot.init(rtcs=self._RTC_LIST_CUSTOM)
+
+        self.assertListEqual(self.robot.getRTCList(), self._RTC_LIST_CUSTOM)
 
 if __name__ == '__main__':
     import rostest