class NameManager(object):
"""Creates a NameManager class object which is used to standardize
the names for a node or a process, and is linked to other
Viper toolkit modules, such as the logger. It includes rules for
automatically setting the name if a name isn't provided in order
to standardize log messages, parameters, etc.
Keyword arguments:
abv -- the abreviated name for the object
name -- the full name for the object
"""
def __init__(self, name: str = None, abv: str = None):
# Sets the name of this module for the sake of logging.
self._code = "NMG"
# Retrieves the name of the module and sets to self._pkg_name
self._name = name
self._abv = abv
@property
def name(self):
return self._name
@name.setter
def name(self, name: str = None):
if name == None:
try:
self._name = f'{rospy.get_name()}'[1:]
except:
self._name = "ERROR"
else:
self._name = name
rospy.logdebug(f'[{self._code}] Name set to %s', self.name)
#setattr(self, name, self._name)
@property
def abv(self):
return self._abv
@abv.setter
def abv(self, code = None):
if code == None:
self._abv = self._autoabv()
else:
self._abv = self.codeformatter(code)
rospy.set_param(f'/{self.name}/abv', self.abv)
rospy.logdebug(f'[{self._code}] ABV set')
@classmethod
def codeformatter(self, code: str):
abv = code[:3].upper()
abv = abv.ljust(3)
return abv
@classmethod
def _autoabv(self):
if rospy.has_param(f'{self.name}/abv'):
abv = rospy.get_param(f'/{self.name}/abv')
return self.codeformatter(abv)
else:
return self.codeformatter(f'{self.name}')
