From a153d4fbd5569af71b5cec4cbe3035cf2fdba602 Mon Sep 17 00:00:00 2001 From: dcconner Date: Tue, 21 May 2024 14:53:19 -0400 Subject: [PATCH] Merge pull request #19 from AravindaDP/iron Add qos parameter to SubscriberState --- flexbe_states/flexbe_states/subscriber_state.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/flexbe_states/flexbe_states/subscriber_state.py b/flexbe_states/flexbe_states/subscriber_state.py index 796e9b4..71c093d 100644 --- a/flexbe_states/flexbe_states/subscriber_state.py +++ b/flexbe_states/flexbe_states/subscriber_state.py @@ -32,6 +32,7 @@ from flexbe_core import EventState, Logger from flexbe_core.proxy import ProxySubscriberCached +from flexbe_core.proxy.qos import QOS_DEFAULT class SubscriberState(EventState): @@ -39,9 +40,11 @@ class SubscriberState(EventState): Gets the latest message on the given topic and stores it to userdata. -- topic string The topic on which should be listened. + -- msg_type type The type of messages of this topic. -- blocking bool Blocks until a message is received. -- clear bool Drops last message on this topic on enter in order to only handle message received since this state is active. + -- qos QoSProfile A QoSProfile to apply to the subscription. #> message object Latest message on the given topic of the respective type. @@ -49,13 +52,14 @@ class SubscriberState(EventState): <= unavailable The topic is not available when this state becomes actives. """ - def __init__(self, topic, msg_type="", blocking=True, clear=False): + def __init__(self, topic, msg_type="", blocking=True, clear=False, qos=QOS_DEFAULT): super(SubscriberState, self).__init__(outcomes=['received', 'unavailable'], output_keys=['message']) self._topic = topic self._msg_type = msg_type self._blocking = blocking self._clear = clear + self._qos = qos self._connected = False if not self._connect(): @@ -86,7 +90,7 @@ def on_enter(self, userdata): def _connect(self): try: - self._sub = ProxySubscriberCached({self._topic: self._msg_type}, inst_id=id(self)) + self._sub = ProxySubscriberCached({self._topic: self._msg_type}, qos=self._qos, inst_id=id(self)) self._connected = True return True except Exception: # pylint: disable=W0703