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move import_message_type from ros2topic to rosidl_runtime_py #231

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move import_message_type from ros2topic to rosidl_runtime_py #231

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c289a5b
move import_message_type from ros2topic to rosidl_runtime_py
mikaelarguedas May 2, 2019
ff7e694
update imports of import_message_type
mikaelarguedas May 2, 2019
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21 changes: 1 addition & 20 deletions ros2topic/ros2topic/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,6 @@
# See the License for the specific language governing permissions and
# limitations under the License.

import importlib

from time import sleep

import rclpy
Expand All @@ -23,6 +21,7 @@
from rclpy.validate_full_topic_name import validate_full_topic_name
from ros2cli.node.strategy import NodeStrategy
from ros2msg.api import message_type_completer
from rosidl_runtime_py import import_message_type


def get_topic_names_and_types(*, node, include_hidden_topics=False):
Expand Down Expand Up @@ -54,24 +53,6 @@ def __call__(self, prefix, parsed_args, **kwargs):
parsed_args, self.include_hidden_topics_key))


def import_message_type(topic_name, message_type):
# TODO(dirk-thomas) this logic should come from a rosidl related package
try:
package_name, message_name = message_type.split('/', 2)
if not package_name or not message_name:
raise ValueError()
except ValueError:
raise RuntimeError('The passed message type is invalid')

# TODO(sloretz) node API to get topic types should indicate if action or msg
middle_module = 'msg'
if topic_name.endswith('/_action/feedback'):
middle_module = 'action'

module = importlib.import_module(package_name + '.' + middle_module)
return getattr(module, message_name)


class TopicTypeCompleter:
"""Callable returning an existing topic type or all message types."""

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2 changes: 1 addition & 1 deletion ros2topic/ros2topic/verb/echo.py
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Expand Up @@ -20,9 +20,9 @@
from rclpy.validate_full_topic_name import validate_full_topic_name
from ros2cli.node.direct import DirectNode
from ros2topic.api import get_topic_names_and_types
from ros2topic.api import import_message_type
from ros2topic.api import TopicNameCompleter
from ros2topic.verb import VerbExtension
from rosidl_runtime_py import import_message_type
from rosidl_runtime_py import message_to_csv
from rosidl_runtime_py import message_to_yaml

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2 changes: 1 addition & 1 deletion ros2topic/ros2topic/verb/pub.py
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Expand Up @@ -16,10 +16,10 @@

import rclpy
from ros2cli.node import NODE_NAME_PREFIX
from ros2topic.api import import_message_type
from ros2topic.api import TopicNameCompleter
from ros2topic.api import TopicTypeCompleter
from ros2topic.verb import VerbExtension
from rosidl_runtime_py import import_message_type
from rosidl_runtime_py import set_message_fields

import yaml
Expand Down