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Merged
jacobperron merged 1 commit into from
Apr 1, 2019
Merged

Use migrated message utility functions #209

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2 changes: 1 addition & 1 deletion ros2service/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@

<exec_depend>python3-yaml</exec_depend>
<exec_depend>ros2srv</exec_depend>
<exec_depend>ros2topic</exec_depend>
<exec_depend>rosidl_runtime_py</exec_depend>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
Expand Down
10 changes: 4 additions & 6 deletions ros2service/ros2service/verb/call.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,7 @@
from ros2service.api import ServiceNameCompleter
from ros2service.api import ServiceTypeCompleter
from ros2service.verb import VerbExtension
from ros2topic.api import set_msg_fields
from ros2topic.api import SetFieldError
from rosidl_runtime_py import set_message_fields
import yaml


Expand Down Expand Up @@ -84,10 +83,9 @@ def requester(service_type, service_name, values, period):
request = srv_module.Request()

try:
set_msg_fields(request, values_dictionary)
except SetFieldError as e: # noqa: F841
return "Failed to populate field '{e.field_name}': {e.exception}" \
.format_map(locals())
set_message_fields(request, values_dictionary)
except Exception as e:
return 'Failed to populate field: {0}'.format(e)

if not cli.service_is_ready():
print('waiting for service to become available...')
Expand Down
1 change: 1 addition & 0 deletions ros2topic/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@
<exec_depend>python3-yaml</exec_depend>
<exec_depend>rclpy</exec_depend>
<exec_depend>ros2msg</exec_depend>
<exec_depend>rosidl_runtime_py</exec_depend>

<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
Expand Down
29 changes: 0 additions & 29 deletions ros2topic/ros2topic/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -90,35 +90,6 @@ def __call__(self, prefix, parsed_args, **kwargs):
return message_type_completer()


class SetFieldError(Exception):

def __init__(self, field_name, exception):
super(SetFieldError, self).__init__()
self.field_name = field_name
self.exception = exception


def set_msg_fields(msg, values):
for field_name, field_value in values.items():
field_type = type(getattr(msg, field_name))
try:
value = field_type(field_value)
except TypeError:
value = field_type()
try:
set_msg_fields(value, field_value)
except SetFieldError as e:
raise SetFieldError(
'{field_name}.{e.field_name}'.format_map(locals()),
e.exception)
except ValueError as e:
raise SetFieldError(field_name, e)
try:
setattr(msg, field_name, value)
except Exception as e:
raise SetFieldError(field_name, e)


def get_msg_class(node, topic, blocking=False, include_hidden_topics=False):
msg_class = _get_msg_class(node, topic, include_hidden_topics)
if msg_class:
Expand Down
142 changes: 10 additions & 132 deletions ros2topic/ros2topic/verb/echo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,7 @@
# limitations under the License.

from argparse import ArgumentTypeError
import array
from collections import OrderedDict
import sys

import numpy
import rclpy
from rclpy.expand_topic_name import expand_topic_name
from rclpy.qos import qos_profile_sensor_data
Expand All @@ -27,7 +23,8 @@
from ros2topic.api import import_message_type
from ros2topic.api import TopicNameCompleter
from ros2topic.verb import VerbExtension
import yaml
from rosidl_runtime_py import message_to_csv
from rosidl_runtime_py import message_to_yaml

DEFAULT_TRUNCATE_LENGTH = 128

Expand Down Expand Up @@ -74,31 +71,14 @@ def main(self, *, args):

def main(args):
if not args.csv:
register_yaml_representer()
callback = subscriber_cb(args)
callback = subscriber_cb(args.truncate_length if not args.full_length else None)
else:
callback = subscriber_cb_csv(args)
callback = subscriber_cb_csv(args.truncate_length if not args.full_length else None)
with DirectNode(args) as node:
subscriber(
node.node, args.topic_name, args.message_type, callback)


def register_yaml_representer():
# Register our custom representer for YAML output
yaml.add_representer(OrderedDict, represent_ordereddict)


# Custom representer for getting clean YAML output that preserves the order in
# an OrderedDict.
# Inspired by:
# http://stackoverflow.com/a/16782282/7169408
def represent_ordereddict(dumper, data):
items = []
for k, v in data.items():
items.append((dumper.represent_data(k), dumper.represent_data(v)))
return yaml.nodes.MappingNode(u'tag:yaml.org,2002:map', items)


def subscriber(node, topic_name, message_type, callback):
if message_type is None:
topic_names_and_types = get_topic_names_and_types(node=node, include_hidden_topics=True)
Expand Down Expand Up @@ -132,117 +112,15 @@ def subscriber(node, topic_name, message_type, callback):
rclpy.spin_once(node)


def subscriber_cb(args):
def subscriber_cb(truncate_length):
def cb(msg):
nonlocal args
print(msg_to_yaml(args, msg))
nonlocal truncate_length
print(message_to_yaml(msg, truncate_length))
return cb


def msg_to_yaml(args, msg):
return yaml.dump(
msg_to_ordereddict(
msg,
truncate_length=args.truncate_length if not args.full_length else None
), width=sys.maxsize)


def subscriber_cb_csv(args):
def subscriber_cb_csv(truncate_length):
def cb(msg):
nonlocal args
print(msg_to_csv(args, msg))
nonlocal truncate_length
print(message_to_csv(msg, truncate_length))
return cb


def msg_to_csv(args, msg):
def to_string(val):
nonlocal args
r = ''
if (any(
isinstance(val, t)
for t in [list, tuple, array.array, numpy.ndarray]
)):
for i, v in enumerate(val):
if r:
r += ','
if not args.full_length and i >= args.truncate_length:
r += '...'
break
r += to_string(v)
elif (any(
isinstance(val, t)
for t in [bool, bytes, float, int, str, numpy.number]
)):
if any(isinstance(val, t) for t in [bytes, str]):
if not args.full_length and len(val) > args.truncate_length:
val = val[:args.truncate_length]
if isinstance(val, bytes):
val += b'...'
else:
val += '...'
r = str(val)
else:
r = msg_to_csv(args, val)
return r
result = ''
# We rely on __slots__ retaining the order of the fields in the .msg file.
for field_name in msg.__slots__:
value = getattr(msg, field_name, None)
if result:
result += ','
result += to_string(value)
return result


# Convert a msg to an OrderedDict. We do this instead of implementing a generic
# __dict__() method in the msg because we want to preserve order of fields from
# the .msg file(s).
def msg_to_ordereddict(msg, truncate_length=None):
d = OrderedDict()
# We rely on __slots__ retaining the order of the fields in the .msg file.
for field_name in msg.__slots__:
value = getattr(msg, field_name, None)
value = _convert_value(value, truncate_length=truncate_length)
# remove leading underscore from field name
d[field_name[1:]] = value
return d


def _convert_value(value, truncate_length=None):
if isinstance(value, bytes):
if truncate_length is not None and len(value) > truncate_length:
value = ''.join([chr(c) for c in value[:truncate_length]]) + '...'
else:
value = ''.join([chr(c) for c in value])
elif isinstance(value, str):
if truncate_length is not None and len(value) > truncate_length:
value = value[:truncate_length] + '...'
elif (any(
isinstance(value, t) for t in [list, tuple, array.array, numpy.ndarray]
)):
# since arrays and ndarrays can't contain mixed types convert to list
typename = tuple if isinstance(value, tuple) else list
if truncate_length is not None and len(value) > truncate_length:
# Truncate the sequence
value = value[:truncate_length]
# Truncate every item in the sequence
value = typename(
[_convert_value(v, truncate_length) for v in value] + ['...'])
else:
# Truncate every item in the list
value = typename(
[_convert_value(v, truncate_length) for v in value])
elif isinstance(value, dict) or isinstance(value, OrderedDict):
# convert each key and value in the mapping
new_value = {} if isinstance(value, dict) else OrderedDict()
for k, v in value.items():
# don't truncate keys because that could result in key collisions and data loss
new_value[_convert_value(k)] = _convert_value(v, truncate_length=truncate_length)
value = new_value
elif (
not any(isinstance(value, t) for t in (bool, float, int, numpy.number))
):
# assuming value is a message
# since it is neither a collection nor a primitive type
value = msg_to_ordereddict(value, truncate_length=truncate_length)
return value
11 changes: 5 additions & 6 deletions ros2topic/ros2topic/verb/pub.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,11 @@
import rclpy
from ros2cli.node import NODE_NAME_PREFIX
from ros2topic.api import import_message_type
from ros2topic.api import set_msg_fields
from ros2topic.api import SetFieldError
from ros2topic.api import TopicNameCompleter
from ros2topic.api import TopicTypeCompleter
from ros2topic.verb import VerbExtension
from rosidl_runtime_py import set_message_fields

import yaml


Expand Down Expand Up @@ -87,10 +87,9 @@ def publisher(

msg = msg_module()
try:
set_msg_fields(msg, values_dictionary)
except SetFieldError as e: # noqa: F841
return "Failed to populate field '{e.field_name}': {e.exception}" \
.format_map(locals())
set_message_fields(msg, values_dictionary)
except Exception as e:
return 'Failed to populate field: {0}'.format(e)

print('publisher: beginning loop')
count = 0
Expand Down
85 changes: 0 additions & 85 deletions ros2topic/test/test_echo.py
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