# 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 OpaqueFunction action."""
import collections.abc
from typing import Any
from typing import Callable
from typing import Dict
from typing import Iterable
from typing import List
from typing import Optional
from typing import Text
from ..action import Action
from ..launch_context import LaunchContext
from ..launch_description_entity import LaunchDescriptionEntity
from ..utilities import ensure_argument_type
[docs]
class OpaqueFunction(Action):
"""
Action that executes a Python function.
The signature of the function should be:
.. code-block:: python
def function(
context: LaunchContext,
*args,
**kwargs
) -> Optional[List[LaunchDescriptionEntity]]:
...
"""
[docs]
def __init__(
self, *,
function: Callable,
args: Optional[Iterable[Any]] = None,
kwargs: Optional[Dict[Text, Any]] = None,
**left_over_kwargs
) -> None:
"""Create an OpaqueFunction action."""
super().__init__(**left_over_kwargs)
if not callable(function):
raise TypeError("OpaqueFunction expected a callable for 'function', got '{}'".format(
type(function)
))
ensure_argument_type(
args, (collections.abc.Iterable, type(None)), 'args', 'OpaqueFunction')
ensure_argument_type(kwargs, (dict, type(None)), 'kwargs', 'OpaqueFunction')
self.__function = function
self.__args = [] # type: Iterable
if args is not None:
self.__args = args
self.__kwargs = {} # type: Dict[Text, Any]
if kwargs is not None:
self.__kwargs = kwargs
[docs]
def execute(self, context: LaunchContext) -> Optional[List[LaunchDescriptionEntity]]:
"""Execute the action."""
return self.__function(context, *self.__args, **self.__kwargs)