clearpath_config.system.middleware module

class clearpath_config.system.middleware.MiddlewareConfig(config: dict = {}, rmw_implementation: str | RMWImplementation = 'rmw_fastrtps_cpp', discovery: str | Discovery = 'simple', profile: str = '', override_server_id: bool = False, servers: List[dict] | ServerListConfig = [], hosts: HostListConfig | None = None, localhost: Hostname | None = None)

Bases: BaseConfig

DEFAULTS = {'discovery': 'simple', 'implementation': 'rmw_fastrtps_cpp', 'override_server_id': False, 'profile': '', 'servers': []}

DISCOVERY = 'discovery'

KEYS = {'discovery': 'middleware.discovery', 'implementation': 'middleware.implementation', 'override_server_id': 'middleware.override_server_id', 'profile': 'middleware.profile', 'servers': 'middleware.servers'}

MIDDLEWARE = 'middleware'

OVERRIDE_SERVER_ID = 'override_server_id'

PROFILE = 'profile'

RMW = 'implementation'

SERVERS = 'servers'

TEMPLATE = {'middleware': {'discovery': 'discovery', 'implementation': 'implementation', 'override_server_id': 'override_server_id', 'profile': 'profile', 'servers': 'servers'}}

property discovery: Discovery

get_local_server() → ServerConfig

get_servers_string() → str

property override_server_id: bool

property profile: str

property rmw_implementation: str

property servers: List[dict]