ConfigurationPlanner

class rosa_plan.configuration_planner.ConfigurationPlanner(node_name, **kwargs)

Configuration planner.

Create a lifecycle node.

See rclpy.lifecycle.LifecycleNodeMixin.__init__() and rclpy.node.Node() for the documentation of each parameter.

Methods

__init__(node_name, **kwargs)	Create a lifecycle node.
call_service(cli, request)
event_cb(**kwargs)
on_activate(state)	Handle an activating transition.
on_cleanup(state)	Handle a cleaning up transition.
on_configure(state)	Handle a configuring transition.
on_deactivate(state)	Handle a deactivating transition.
plan_adaptation()
plan_component_adaptation([...])
plan_function_adaptation()

Attributes

__init__(node_name, **kwargs)

Create a lifecycle node.

See rclpy.lifecycle.LifecycleNodeMixin.__init__() and rclpy.node.Node() for the documentation of each parameter.

call_service(cli, request)

event_cb(**kwargs)

on_activate(state)

Handle an activating transition.

This is the default on_activate() callback. It will call all on_activate() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_activate() in derived classes.

Return type:

TransitionCallbackReturnType

on_cleanup(state)

Handle a cleaning up transition.

This is the default on_cleanup() callback. It will call all on_cleanup() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_cleanup() in derived classes.

Return type:

TransitionCallbackReturnType

on_configure(state)

Handle a configuring transition.

This is the default on_configure() callback. It will call all on_configure() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_configure() in derived classes.

Return type:

TransitionCallbackReturnType

on_deactivate(state)

Handle a deactivating transition.

This is the default on_deactivate() callback. It will call all on_deactivate() callbacks of managed entities, giving up at the first entity that returns TransitionCallbackReturn.FAILURE or TransitionCallbackReturn.ERROR.

It’s possible to override this callback if the default behavior is not desired. If you only want to extend what this callback does, make sure to call super().on_deactivate() in derived classes.

Return type:

TransitionCallbackReturnType

plan_adaptation()

plan_component_adaptation(selected_functions_fds=[])

plan_function_adaptation()