fix(components): make all possible attributes private

aica-technology · Oct 28, 2024 · b5c3fa8 · b5c3fa8
1 parent 731e8e2
commit b5c3fa8
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Showing 3 changed files with 148 additions and 119 deletions.
diff --git a/source/modulo_components/modulo_components/component.py b/source/modulo_components/modulo_components/component.py
@@ -30,10 +30,10 @@ def _step(self):
         Step function that is called periodically.
         """
         try:
-            self._evaluate_periodic_callbacks()
+            self._evaluate_periodic_component_callbacks()
             self.on_step_callback()
-            self._publish_outputs()
-            self._publish_predicates()
+            self._publish_component_outputs()
+            self._publish_component_predicates()
         except Exception as e:
             self.get_logger().error(f"Failed to execute step function: {e}", throttle_duration_sec=1.0)
             self.raise_error()
@@ -88,12 +88,12 @@ def add_output(self, signal_name: str, data: str, message_type: MsgT,
         :param publish_on_step: If true, the output is published periodically on step
         """
         try:
-            parsed_signal_name = self._create_output(signal_name, data, message_type, clproto_message_type,
-                                                     default_topic, fixed_topic, publish_on_step)
+            parsed_signal_name = self._create_component_output(signal_name, data, message_type, clproto_message_type,
+                                                               default_topic, fixed_topic, publish_on_step)
             topic_name = self.get_parameter_value(parsed_signal_name + "_topic")
             self.get_logger().debug(f"Adding output '{parsed_signal_name}' with topic name '{topic_name}'.")
-            publisher = self.create_publisher(message_type, topic_name, self._qos)
-            self._outputs[parsed_signal_name]["publisher"] = publisher
+            publisher = self.create_publisher(message_type, topic_name, self.get_qos())
+            self._set_output_publisher(parsed_signal_name, publisher)
         except Exception as e:
             self.get_logger().error(f"Failed to add output '{signal_name}': {e}")
 
@@ -103,4 +103,4 @@ def raise_error(self):
         """
         super().raise_error()
         self.set_predicate("in_error_state", True)
-        self._finalize_interfaces()
+        self._finalize_component_interfaces()