make_table

#! /usr/bin/env python3

import subprocess
import time

executor_choices = ['single', 'multi']
method_choices = ['lt', 'wft_callback', 'wft_wait_for', 'wft_get']
send_tf_choices = ['before', 'during', 'after']
request_time_choices = ['current', 'newest']

for executor in executor_choices:
  for method in method_choices:
    for request_time in request_time_choices:
      for send_first_tf in send_tf_choices:
        for send_second_tf in send_tf_choices:
          arguments = [ f'executor:={executor}'
                      , f'method:={method}'
                      , f'request_time:={request_time}'
                      , f'send_first_tf:={send_first_tf}'
                      , f'send_second_tf:={send_second_tf}'
                      ]
          lines = ['ros2 launch wait_for_transform wait_for_transform.launch.xml'] + arguments
          print('\033[92m' + ' \\\n\t'.join(lines) + '\033[0m')
          # Give the user a chance to read the arguments
          time.sleep(1.0)
          args = ['ros2', 'launch', 'wait_for_transform', 'wait_for_transform.launch.xml'] + arguments
          try:
            subprocess.run(args, timeout=8)
          except subprocess.TimeoutExpired as e:
            pass
          finally:
            print("Check that grandchild processes are dead, then press Enter for next combination")
            input()