... | @@ -200,7 +200,7 @@ tst_registry.loadDirectory(ament_index_python.get_package_prefix("air_tst") + " |
... | @@ -200,7 +200,7 @@ tst_registry.loadDirectory(ament_index_python.get_package_prefix("air_tst") + " |
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```
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```
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Then you can load a TST from a file:
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When you want to load a tree for execution from a file, for instance, from within your service callback, you can do the following:
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```python
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```python
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tst_node = TstML.TSTNode.load(filename, tst_registry)
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tst_node = TstML.TSTNode.load(filename, tst_registry)
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... | @@ -221,7 +221,7 @@ tst_registry->loadDirectory( |
... | @@ -221,7 +221,7 @@ tst_registry->loadDirectory( |
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+ "/share/air_tst/configs"));
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+ "/share/air_tst/configs"));
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```
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```
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Then you can load a TST from a file:
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When you want to load a tree for execution from a file, for instance, from within your service callback, you can do the following:
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```c++
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```c++
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TstML::TSTNode* tst_node = TstML::TSTNode::load(
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TstML::TSTNode* tst_node = TstML::TSTNode::load(
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... | @@ -258,7 +258,8 @@ tst_executor_registry.registerNodeExecutor( |
... | @@ -258,7 +258,8 @@ tst_executor_registry.registerNodeExecutor( |
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TstML.Executor.DefaultNodeExecutor.Concurrent)
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TstML.Executor.DefaultNodeExecutor.Concurrent)
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```
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```
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Now you can do the following to execute nodes
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When you want to execute a tree, for instance, from within your service callback, you can do the following:
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```python
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```python
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# Create an executor using the executors defined
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# Create an executor using the executors defined
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... | @@ -305,7 +306,8 @@ tst_executor_registry->registerNodeExecutor |
... | @@ -305,7 +306,8 @@ tst_executor_registry->registerNodeExecutor |
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(tst_registry->model("conc"));
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(tst_registry->model("conc"));
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```
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```
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Now you can do the following to execute nodes
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When you want to execute a tree, for instance, from within your service callback, you can do the following:
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```c++
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```c++
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// Create an executor using the executors defined
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// Create an executor using the executors defined
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... | | ... | |