def __init__()

in tools/rossim/rosigen.py [0:0]

• 22 lines of code
• 3 McCabe index (conditional complexity)

    def __init__(self, config_filename, values_filename=None):
        rclpy.init()
        self._node = Node("Rosigen")
        self._publishers = {}  # Dict of publishers, indexed by ROS2 topic name
        self._timers = {}  # Dict of timers used to trigger publishing, index by ROS2 topic name
        # Dict of ROS2 message values, indexed by ROS2 topic name. Each message is of a ROS2 message
        # type, structured according to the corresponding interface definition.
        self._vals = {}
        config = self._load_json(config_filename)
        for topic in config["topics"]:
            module = importlib.import_module(topic["module"])
            topic_type = getattr(module, topic["type"])
            self._publishers[topic["name"]] = self._node.create_publisher(
                topic_type, topic["name"], self.PUBLISH_HISTORY_DEPTH
            )
            self._vals[topic["name"]] = topic_type()
            self._timers[topic["name"]] = self._node.create_timer(
                topic["period_sec"],
                lambda name=topic["name"]: self.publish_single_message(name),
            )
        if values_filename is not None:
            self.load_values(values_filename)
        self._thread = Thread(target=self._publish_thread)
        self._thread.start()