# Copyright 2018 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Module for the SetLaunchConfiguration action."""
from typing import List
from ..action import Action
from ..frontend import Entity
from ..frontend import expose_action
from ..frontend import Parser
from ..launch_context import LaunchContext
from ..some_substitutions_type import SomeSubstitutionsType
from ..substitution import Substitution
from ..utilities import normalize_to_list_of_substitutions
from ..utilities import perform_substitutions
[docs]
@expose_action('let')
class SetLaunchConfiguration(Action):
"""
Action that sets a launch configuration by name.
Launch configurations can be accessed by the LaunchConfiguration
substitution and are accessible after being set, even in included
LaunchDescription's, but can be scoped with groups.
"""
[docs]
def __init__(
self,
name: SomeSubstitutionsType,
value: SomeSubstitutionsType,
**kwargs
) -> None:
"""Create a SetLaunchConfiguration action."""
super().__init__(**kwargs)
self.__name = normalize_to_list_of_substitutions(name)
self.__value = normalize_to_list_of_substitutions(value)
[docs]
@classmethod
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetLaunchConfiguration` action and kwargs for constructing it."""
name = parser.parse_substitution(entity.get_attr('name'))
value = parser.parse_substitution(entity.get_attr('value'))
_, kwargs = super().parse(entity, parser)
kwargs['name'] = name
kwargs['value'] = value
return cls, kwargs
@property
def name(self) -> List[Substitution]:
"""Getter for self.__name."""
return self.__name
@property
def value(self) -> List[Substitution]:
"""Getter for self.__value."""
return self.__value
[docs]
def execute(self, context: LaunchContext):
"""Execute the action."""
context.launch_configurations[perform_substitutions(context, self.name)] = \
perform_substitutions(context, self.value)