using confg method to avoid initialization deadlocks

Author: sWintermoor

src/bitbots_rl_walk/confg/confg_obj.py

@@ -0,0 +1,3 @@
+class ConfgObject:
+    def __init__():
+        pass

src/bitbots_rl_walk/nodes/rl_node.py

@@ -59,50 +59,60 @@ def __init__(self, path_to_model):
         for out in self._onnx_model.graph.output:
             self._onnx_output_name.append(out)
 
-        # TODO: Move timer to child class
-        self._timer = self.create_timer(CONTROL_DT, self._timer_callback)
+        self._timer_phase_confg = None  # Should be implemented in the subclass
 
-        self.load_phase()
-
-        self._subs = []
-
-        for key, value in self.__dict__.values():
-            if type(value) is Subscription:
-                self._subs.append(key)
+        self._config = False
 
         self._obs = None  # should be defined in subclass
         self._timer_phase_confg = None  # Should be defined in subclass
 
     # TODO: fix
     def _timer_callback(self):
-        for subscription in self._subs:
-            if subscription is None:
-                self.get_logger().warning("Waiting for all sensors to be available", throttle_duration_sec=1.0)
-
-                for subscription in self._subs:
-                    if subscription is None:
-                        self.get_logger().warning(f"Waiting for: {subscription} to be available", throttle_duration=1.0)
-
-                return
-
-        # TODO consider IMU mounting offset
-
-        self._timer_phase_confg.set_obs_phase(
-            np.array(
-                [np.cos(self._timer_phase_confg.get_phase()), np.sin(self._timer_phase_confg.get_phase())],
-                dtype=np.float32,
-            ).flatten()
-        )
+        if self._config:
+            for subscription in self._subs:
+                if subscription is None:
+                    self.get_logger().warning("Waiting for all sensors to be available", throttle_duration_sec=1.0)
+
+                    for subscription in self._subs:
+                        if subscription is None:
+                            self.get_logger().warning(
+                                f"Waiting for: {subscription} to be available", throttle_duration=1.0
+                            )
+
+                    return
+
+            # TODO consider IMU mounting offset
+
+            self._timer_phase_confg.set_obs_phase(
+                np.array(
+                    [np.cos(self._timer_phase_confg.get_phase()), np.sin(self._timer_phase_confg.get_phase())],
+                    dtype=np.float32,
+                ).flatten()
+            )
+
+            # Run the ONNX model
+            onnx_input = {self._onnx_input_name[0]: self._obs.reshape(1, -1)}  # TODO: Improve input
+            onnx_pred = self._onnx_session.run(self._onnx_output_name, onnx_input)[0][0]
+            self._previous_action = onnx_pred
+
+            self.publisher(onnx_pred)
+
+            phase_tp1 = self._timer_phase_confg.get_phase() + self._timer_phase_confg.get_phase_dt()
+            self._timer_phase_confg.set_phase(np.fmod(phase_tp1 + np.pi, 2 * np.pi) - np.pi)
+        else:
+            raise ConfigError("Configuration is missing! Try to run self.config() in init.")
+
+    def config(self):
+        self._timer = self.create_timer(self._timer_phase_confg.get_control_dt(), self._timer_callback)
+        self.load_phase()
 
-        # Run the ONNX model
-        onnx_input = {self._onnx_input_name[0]: self._obs.reshape(1, -1)}  # TODO: Improve input
-        onnx_pred = self._onnx_session.run(self._onnx_output_name, onnx_input)[0][0]
-        self._previous_action = onnx_pred
+        self._subs = []
 
-        self.publisher(onnx_pred)
+        for key, value in self.__dict__.values():
+            if type(value) is Subscription:
+                self._subs.append(key)
 
-        phase_tp1 = self._timer_phase_confg.get_phase() + self._timer_phase_confg.get_phase_dt()
-        self._timer_phase_confg.set_phase(np.fmod(phase_tp1 + np.pi, 2 * np.pi) - np.pi)
+        self._config = True
 
     def obs(self):
         # Should be defined in subclass
@@ -115,3 +125,7 @@ def publisher(self):
     def load_phase(self):
         # Should be defined in subclass
         pass
+
+
+class ConfigError(Exception):
+    pass

src/bitbots_rl_walk/nodes/walk_node.py

@@ -33,7 +33,7 @@ def __init__(self, walk_policy_path):
 
         self._timer_phase_confg = TimerPhaseConfg()
 
-        # TODO: timer is missing
+        self.confg()
 
         self._obs = np.hstack(
             [