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  • improvement/grasping
  • feature/simulated_robot
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  • Forked from CeTI / ROS / panda_gazebo_workspace
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    writeDefinition.mustache 795 B
      private String {{parentTypeName}}.{{writeTopic}} = null;
      private byte[] {{parentTypeName}}.{{lastValue}} = null;
    
      public void {{parentTypeName}}.{{connectMethod}}(String topic, boolean writeCurrentValue) {
        {{writeTopic}} = topic;
        {{updateMethod}}();
        if (writeCurrentValue) {
          {{writeMethod}}();
        }
      }
    
      protected boolean {{parentTypeName}}.{{updateMethod}}() {
        {{tokenResetMethod}}();
        {{> mappingApplication}}
        {{lastValue}} = {{lastResult}};
        return true;
      }
    
      protected void {{parentTypeName}}.{{writeMethod}}() {
        {{#loggingEnabledForWrites}}
        System.out.println("[Write] {{TokenName}} = " + get{{TokenName}}() + " -> {{writeTopic}});
        {{/loggingEnabledForWrites}}
        {{mqttUpdateAttribute}}().publish({{writeTopic}}, {{lastValue}});
      }