Using GD Node

Callback builtins

The GD Node callbacks have access to the following builtins:

  • Callback: Callback class

  • Configuration: Configuration class - used to get Configuration files

  • Container: Container class

  • FleetRobot: FleetRobot class

  • gd: Node shared object - used to get param and interact with oports

    # Get the value of a param
param_value = gd.params('param_name')

# Set the value of an oport
gd.oport('port_name').send(msg)

  • Lock: UserLock class - used to interact with locks

    # Acquire a lock
Lock(Robot.RobotName, persistent=True).acquire()

  • logger: LogAdapter instance - logger that should be used in callbacks

  • Message: Message class

  • NodeInst: NodeInst class

  • Package: Package class

  • PortName: Name of the port that triggered the callback

    # Log the name of the port that triggered the callback
logger.info("The callback was triggered by port: %s", PortName)

  • Ports: Ports class

  • print: Debug log function

  • Robot: Robot class instance

  • run: Function to run another callback (from the callback itself)

  • Scene: Active scene instance, None if active_scene is not specified

  • scopes: A ScopesTree instance

  • SM: UserSM class

  • StateMachine: StateMachine class

  • Var: UserVar class - used to set, get and delete node scoped variables

If you are using the enterprise version of MOV.AI the following are also available:

  • Alerts: Alerts class

  • Annotation: Annotation class

  • GraphicAsset: GraphicAsset class

  • GraphicScene: GraphicScene class

  • Layout: Layout class

  • metrics: Metrics class instance - used to send metrics

  • Task: Task class

  • TaskEntry: TaskEntry class

  • TaskTemplate: TaskTemplate class