ros2_snapshot.core.ros_model module

A model of ROS system deployment as banks of metamodel instances.

class ros2_snapshot.core.ros_model.BankType(*values)

Bases: Enum

Enumerated type for Bank identifiers.

ACTION = 3

ACTION_SPECIFICATION = 11

MACHINE = 6

MESSAGE_SPECIFICATION = 9

NODE = 1

NODE_SPECIFICATION = 8

PACKAGE_SPECIFICATION = 7

PARAMETER = 5

SERVICE = 4

SERVICE_SPECIFICATION = 10

TOPIC = 2

class ros2_snapshot.core.ros_model.ROSModel(bank_dictionary)

Bases: object

The ROS Model class definition.

BANK_TYPES_TO_BANK_CLASS = {BankType.ACTION: <class 'ros2_snapshot.core.deployments.action.ActionBank'>, BankType.ACTION_SPECIFICATION: <class 'ros2_snapshot.core.specifications.type_specification.TypeSpecification'>, BankType.MACHINE: <class 'ros2_snapshot.core.deployments.machine.MachineBank'>, BankType.MESSAGE_SPECIFICATION: <class 'ros2_snapshot.core.specifications.type_specification.TypeSpecification'>, BankType.NODE: <class 'ros2_snapshot.core.deployments.node.NodeBank'>, BankType.NODE_SPECIFICATION: <class 'ros2_snapshot.core.specifications.node_specification.NodeSpecificationBank'>, BankType.PACKAGE_SPECIFICATION: <class 'ros2_snapshot.core.specifications.package_specification.PackageSpecificationBank'>, BankType.PARAMETER: <class 'ros2_snapshot.core.deployments.parameter.ParameterBank'>, BankType.SERVICE: <class 'ros2_snapshot.core.deployments.service.ServiceBank'>, BankType.SERVICE_SPECIFICATION: <class 'ros2_snapshot.core.specifications.type_specification.TypeSpecification'>, BankType.TOPIC: <class 'ros2_snapshot.core.deployments.topic.TopicBank'>}

BANK_TYPES_TO_OUTPUT_NAMES = {BankType.ACTION: 'action_bank', BankType.ACTION_SPECIFICATION: 'action_specification_bank', BankType.MACHINE: 'machine_bank', BankType.MESSAGE_SPECIFICATION: 'message_specification_bank', BankType.NODE: 'node_bank', BankType.NODE_SPECIFICATION: 'node_specification_bank', BankType.PACKAGE_SPECIFICATION: 'package_specification_bank', BankType.PARAMETER: 'parameter_bank', BankType.SERVICE: 'service_bank', BankType.SERVICE_SPECIFICATION: 'service_specification_bank', BankType.TOPIC: 'topic_bank'}

DEPLOYMENT_TYPES = []

SPECIFICATION_TYPES = [BankType.PACKAGE_SPECIFICATION, BankType.NODE_SPECIFICATION, BankType.MESSAGE_SPECIFICATION, BankType.SERVICE_SPECIFICATION, BankType.ACTION_SPECIFICATION]

property action_bank

Return action bank.

property action_specification_bank

Return action specification bank.

static get_yaml_processors()

Return YAML handler.

property items

Return key, value list of model bank dictionary.

property keys

Return keys to model bank dictionary.

static load_model(input_directory, spec_only=False)

Load model from folder.

Parameters:

input_directory – the input directory pointing to either yaml, json, or pickle files (e.g. output/yaml)

Returns:

ROSModel instance with models stored in dictionary by type

property machine_bank

Return machine bank.

property message_specification_bank

Return message specification bank.

property node_bank

Return node bank.

property node_specification_bank

Return node specification bank.

property package_specification_bank

Return package specification bank.

property parameter_bank

Return parameter bank.

static read_model_from_json(directory_path, base_file_name, spec_only=False)

Read model banks from directory containing JSON files.

Parameters:

• directory_path – file path to JSON files

• base_file_name – base file name used in JSON files

:return : instance of ROSModel

static read_model_from_pickle(directory_path, base_file_name, spec_only=False)

Read model banks from directory containing Pickle files.

Parameters:

• directory_path – file path to Pickle files

• base_file_name – base file name used in Pickle files

:return : instance of ROSModel

static read_model_from_yaml(directory_path, base_file_name, spec_only=False)

Read model banks from directory containing YAML files.

Parameters:

• directory_path – file path to YAML files

• base_file_name – base file name used in YAML files

:return : instance of ROSModel

save_dot_graph_files(directory_path, file_name, show_graph=True)

Save the ROS model computation graph to DOT file format.

:param directory_path : directory to store files :param file_name: file name of the graph data :param show_graph: show output when complete :return: None

save_model_info_files(directory_path, base_file_name)

Save the ROS model to human-readable files.

:param directory_path : directory to store files :param base_file_name: file name string :return:

save_model_json_files(directory_path, base_file_name)

Save the ROS bank metamodel instances to json files (preferred by Pydantic).

:param directory_path : directory to store files :param base_file_name: :return: None

save_model_pickle_files(directory_path, base_file_name)

Save the ROS bank metamodel instances to Pickle files.

:param directory_path : directory to store files :param base_file_name: :return: None

save_model_yaml_files(directory_path, base_file_name)

Save the ROS bank metamodel instances to yaml files.

:param directory_path : directory to store files :param base_file_name: :return: None

property service_bank

Return service bank.

property service_specification_bank

Return service specification bank.

property topic_bank

Return topic bank.

update_bank(bank_type, bank_dictionary)

Add a new bank data to ROS model.

Parameters:

• bank_type – a BankType

• bank_dictionary – dictionary of name to entity instances