Merge pull request #33 from adambinch/sentor_devel

Custom Lambda Expressions.

config/example.yaml

@@ -9,9 +9,12 @@
     repeat_exec: True
     tags: ["expression 1 is not published"]
   signal_lambdas:
-  - expression: "lambda msg : msg.data == True"
+#  - expression: "lambda msg : msg.data == True"
+  - expression: CustomLambda
+    file: CustomLambdaExample
+    package: sentor
     timeout: 0.1
-    safety_critical: True
+    safety_critical: False
     default_notifications: True
     when_published: False
     process_indices: [0,1]

src/sentor/CustomLambdaExample.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+"""
+Created on Fri Nov 20 11:35:22 2020
+
+@author: Adam Binch ([email protected])
+"""
+#########################################################################################################
+def CustomLambda(msg):
+    return msg.data == True
+#########################################################################################################

src/sentor/ROSTopicFilter.py

@@ -1,22 +1,27 @@
 #!/usr/bin/env python
 """
 @author: Francesco Del Duchetto ([email protected])
-
+@author: Adam Binch ([email protected])
 """
 #####################################################################################
 from __future__ import division
 import rospy, math, numpy
-# imported the package `math` so that it can be used in the lambda expressions
+# imported the packages math and numpy so that they can be used in the lambda expressions
 
 class ROSTopicFilter(object):
 
     def __init__(self, topic_name, lambda_fn_str, config):
         self.topic_name = topic_name
         self.lambda_fn_str = lambda_fn_str
         self.config = config
+
         self.lambda_fn = None
         try:
-            self.lambda_fn = eval(self.lambda_fn_str)
+            if config["file"] is not None and config["package"] is not None:
+                exec("from {}.{} import {} as lambda_fn".format(config["package"], config["file"], self.lambda_fn_str))
+                self.lambda_fn = lambda_fn
+            else:
+                self.lambda_fn = eval(self.lambda_fn_str)
         except Exception as e:
             rospy.logerr("Error evaluating lambda function %s : %s" % (self.lambda_fn_str, e))
 
@@ -73,4 +78,4 @@ def register_satisfied_cb(self, func):
     def register_unsatisfied_cb(self, func):
 
         self.unsat_callbacks.append(func)
-#####################################################################################
+#####################################################################################

src/sentor/TopicMonitor.py

@@ -210,6 +210,8 @@ def process_lambda_config(self, signal_lambda):
 
         lambda_config = {}
         lambda_config["expr"] = ""
+        lambda_config["file"] = None
+        lambda_config["package"] = None
         lambda_config["timeout"] = self.timeout
         lambda_config["safety_critical"] = False
         lambda_config["default_notifications"] = self.default_notifications
@@ -220,6 +222,10 @@ def process_lambda_config(self, signal_lambda):
 
         if "expression" in signal_lambda:
             lambda_config["expr"] = signal_lambda["expression"]
+        if "file" in signal_lambda:
+            lambda_config["file"] = signal_lambda["file"]
+        if "package" in signal_lambda:
+            lambda_config["package"] = signal_lambda["package"]
         if "timeout" in signal_lambda:
             lambda_config["timeout"] = signal_lambda["timeout"]
         if "safety_critical" in signal_lambda: