ros2_snapshot.snapshot.builders package

Submodules

• ros2_snapshot.snapshot.builders.action_bank_builder module
  • ActionBankBuilder
• ros2_snapshot.snapshot.builders.action_builder module
  • ActionBuilder
    • ActionBuilder.CLIENT_PUBLISHED_TOPIC_SUFFIXES
    • ActionBuilder.CORE_TOPIC_SUFFIXES_TO_TYPE_TOKENS
    • ActionBuilder.NUM_TOPIC_SUFFIXES
    • ActionBuilder.SERVER_PUBLISHED_TOPIC_SUFFIXES
    • ActionBuilder.TOPIC_SUFFIXES
    • ActionBuilder.add_info()
    • ActionBuilder.add_topic_builder()
    • ActionBuilder.client_node_names
    • ActionBuilder.construct_type
    • ActionBuilder.extract_metamodel()
    • ActionBuilder.get_node_info
    • ActionBuilder.prepare()
    • ActionBuilder.server_node_names
    • ActionBuilder.test_potential_action_topic_builder()
    • ActionBuilder.topic_name_suffixes_to_builders
    • ActionBuilder.topic_names_to_builders
    • ActionBuilder.validate_action_topic_builders()
• ros2_snapshot.snapshot.builders.base_builders module
• ros2_snapshot.snapshot.builders.machine_bank_builder module
  • MachineBankBuilder
    • MachineBankBuilder.prepare()
• ros2_snapshot.snapshot.builders.machine_builder module
  • MachineBuilder
    • MachineBuilder.add_node_name()
    • MachineBuilder.extract_metamodel()
    • MachineBuilder.hostname
    • MachineBuilder.ip_address
    • MachineBuilder.node_names
    • MachineBuilder.prepare()
• ros2_snapshot.snapshot.builders.node_bank_builder module
  • NodeBankBuilder
    • NodeBankBuilder.extract_node_bank_metamodel()
    • NodeBankBuilder.get_node_builder()
• ros2_snapshot.snapshot.builders.node_builder module
  • NodeBuilder
    • NodeBuilder.action_clients
    • NodeBuilder.action_servers
    • NodeBuilder.add_action_client()
    • NodeBuilder.add_action_server()
    • NodeBuilder.add_info()
    • NodeBuilder.add_parameter_name()
    • NodeBuilder.add_service_name_and_type()
    • NodeBuilder.add_topic_name()
    • NodeBuilder.all_topic_names
    • NodeBuilder.executable_cmdline
    • NodeBuilder.executable_cpu_percent
    • NodeBuilder.executable_file
    • NodeBuilder.executable_memory_info
    • NodeBuilder.executable_memory_percent
    • NodeBuilder.executable_name
    • NodeBuilder.executable_num_threads
    • NodeBuilder.extract_metamodel()
    • NodeBuilder.get_node_pid()
    • NodeBuilder.get_processes()
    • NodeBuilder.machine
    • NodeBuilder.namespace
    • NodeBuilder.node
    • NodeBuilder.parameter_names
    • NodeBuilder.prepare()
    • NodeBuilder.published_topic_names
    • NodeBuilder.remove_topic_name()
    • NodeBuilder.service_names
    • NodeBuilder.service_names_to_types
    • NodeBuilder.service_names_with_remap
    • NodeBuilder.set_comp_yaml()
    • NodeBuilder.set_component_list()
    • NodeBuilder.set_manager_yaml()
    • NodeBuilder.set_node_name()
    • NodeBuilder.subscribed_topic_names
    • NodeBuilder.topic_names_to_types
• ros2_snapshot.snapshot.builders.parameter_bank_builder module
  • ParameterBankBuilder
• ros2_snapshot.snapshot.builders.parameter_builder module
  • ParameterBuilder
    • ParameterBuilder.add_description()
    • ParameterBuilder.add_info()
    • ParameterBuilder.construct_type
    • ParameterBuilder.description
    • ParameterBuilder.extract_metamodel()
    • ParameterBuilder.node_name
    • ParameterBuilder.value
    • ParameterBuilder.value_type
• ros2_snapshot.snapshot.builders.service_bank_builder module
  • ServiceBankBuilder
• ros2_snapshot.snapshot.builders.service_builder module
  • ServiceBuilder
    • ServiceBuilder.add_service_provider_node_name()
    • ServiceBuilder.construct_type
    • ServiceBuilder.extract_metamodel()
    • ServiceBuilder.service_provider_node_names
• ros2_snapshot.snapshot.builders.topic_bank_builder module
  • TopicBankBuilder
• ros2_snapshot.snapshot.builders.topic_builder module
  • TopicBuilder
    • TopicBuilder.add_node_name()
    • TopicBuilder.construct_type
    • TopicBuilder.endpoint_type
    • TopicBuilder.extract_metamodel()
    • TopicBuilder.get_verbose_info()
    • TopicBuilder.gid_information
    • TopicBuilder.publisher_node_names
    • TopicBuilder.qos_profile
    • TopicBuilder.set_gid_dict()
    • TopicBuilder.subscriber_node_names
    • TopicBuilder.topic_hash

Module contents

Define exports for this sub-package.

class ros2_snapshot.snapshot.builders.ActionBankBuilder

Bases: _BankBuilder

Define an ActionBankBuilder.

ActionBankBuilder is responsible for collecting, maintaining, and populating ActionBuilders for the purpose of extracting metamodel instances

class ros2_snapshot.snapshot.builders.ActionBuilder(name)

Bases: _EntityBuilder

Define an ActionBuilder.

ActionBuilder represents a ROS Action and is responsible for allowing itself to be populated with basic information relevant to an Action and then further populating itself from that information for the purpose of extracting a metamodel instance

CLIENT_PUBLISHED_TOPIC_SUFFIXES = {'/cancel', '/goal'}

CORE_TOPIC_SUFFIXES_TO_TYPE_TOKENS = {'/feedback': 'Feedback', '/goal': 'Goal', '/result': 'Result'}

NUM_TOPIC_SUFFIXES = 5

SERVER_PUBLISHED_TOPIC_SUFFIXES = {'/feedback', '/result', '/status'}

TOPIC_SUFFIXES = {'/cancel', '/feedback', '/goal', '/result', '/status'}

add_info(action_information)

Collect information and sort it into respective attributes.

Action_information:

all known information about an action, including clients and servers

add_topic_builder(topic_builder)

Add a TopicBuilder that represents the Topic.

Parameters:

topic_builder (TopicBuilder) – the TopicBuilder to add to the Action

property client_node_names

Return the names of Client ROS Nodes for this Action.

Returns:

the names of Client ROS Nodes for this Action

Return type:

set{str}

property construct_type

Return this Action’s ROS type.

Returns:

this Action’s ROS type

Return type:

str

extract_metamodel()

Extract metamodel.

Allows the ActionBuilder to create / extract an Action instance from its internal state

Returns:

the created / extracted metamodel instance

Return type:

Action

property get_node_info

Return this Action’s ROS client / server information.

Returns:

clients, servers

Return type:

tuple(set(), set())

prepare(**kwargs)

Prepare ActionBuilder internal state.

for eventual metamodel extraction; internal changes to the state of the class instance occur here

Parameters:

kwargs (dict{param: value}) – keyword arguments used in the preparation process

property server_node_names

Return the names of Server ROS Nodes for this Action.

Returns:

the names of Server ROS Nodes for this Action

Return type:

set{str}

classmethod test_potential_action_topic_builder(action_topic)

Verify whether a potential Action TopicBuilder has a name suffix.

Checks if suffix that falls within the set of expected Action Topic suffixes.

Parameters:

action_topic (TopicBuilder) – the potential Action TopicBuilder to test

Returns:

True if the TopicBuilder’s name suffix falls in the expected Action Topic suffixes; False if not

Return type:

bool

property topic_name_suffixes_to_builders

Return the mapping of Topic name suffixes (last token) to TopicBuilders.

TopicBuilders represent the Topics that are part of the Action

Returns:

the mapping of Topic suffix names to TopicBuilders

Return type:

dict{str: TopicBuilder}

property topic_names_to_builders

Return the mapping of Topic names to TopicBuilders.

TopicBuilders represent the Topics that are part of the Action

Returns:

the mapping of Topic names to TopicBuilders

Return type:

dict{str: TopicBuilder}

validate_action_topic_builders()

Verify if the TopicBuilders are valid.

Verify that make up this Action are, in fact, valid and should actually make up this Action

Returns:

True if the TopicBuilders are valid; False if not

Return type:

bool

class ros2_snapshot.snapshot.builders.MachineBankBuilder

Bases: _BankBuilder

Define a MachineBankBuilder.

which is responsible for collecting,

maintaining, and populating MachineBuilders for the purpose of extracting metamodel instances

prepare(**kwargs)

Prepare the internal MachineBankBuilder based on identified nodes.

Used for eventual metamodel extraction; internal changes to the state of the *EntityBuilders occur for the builders that are stored in the internal bank

Parameters:

kwargs (dict{param: value}) – keyword arguments needed by the underlying *EntityBuilders used in the preparation process

class ros2_snapshot.snapshot.builders.MachineBuilder(name)

Bases: _EntityBuilder

Define a MachineBuilder.

Represents a host machine running ROS nodes

and is responsible for allowing itself to be

populated with basic information relevant to a Machine and then further populating itself from that information for the purpose of extracting a metamodel instance

add_node_name(node_name)

Associate the name of a ROS Node to this machine.

Parameters:

node_name (str) – the name of the ROS Node

extract_metamodel()

Create/extract a MachineBuilder instance.

Machine instance from its internal state

Returns:

the created / extracted metamodel instance

Return type:

Machine

property hostname

Return the hostname of machine on network.

Returns:

hostname on network

Return type:

str

property ip_address

Return the ip address of given machine on network.

Returns:

ip address of machine

Return type:

str

property node_names

Return the collection of names of the ROS Nodes.

Only those that have set a value for this Parameter

Returns:

the collection of names of the ROS Nodes that have set a value for this Parameter

Return type:

set{str}

prepare(**kwargs)

Prepare the internal MachineBuilder.

Based on identified nodes for eventual metamodel extraction; internal changes to the state of the *EntityBuilders occur for the builders that are stored in the internal bank

Parameters:

kwargs (dict{param: value}) – keyword arguments

class ros2_snapshot.snapshot.builders.NodeBankBuilder

Bases: _BankBuilder

Define a NodeBankBuilder.

Responsible for collecting, maintaining, and populating NodeBuilders for the purpose of extracting metamodel instances

extract_node_bank_metamodel()

Extract and return an instance of the NodeBank.

Extracted and populated from this builder (built by this builder); only pure Node instances (no subtypes) are part of this bank

Returns:

an extracted instance of this builder’s NodeBank

Return type:

NodeBank

get_node_builder()

Get node builder.

class ros2_snapshot.snapshot.builders.NodeBuilder(name)

Bases: _EntityBuilder

Define a NodeBuilder.

Represents a ROS Node and is responsible for allowing itself to be populated with basic information relevant to a Node and then further populating itself from that information for the purpose of extracting a metamodel instance

property action_clients

Return the set of Action names for which this ROS Node is a Client.

Returns:

Action names where this ROS Node is a Client

Return type:

set{str}

property action_servers

Return the set of Action names associated to this ROS Node.

Returns:

Action names where this ROS Node is a Server

Return type:

set{str}

add_action_client(action_name)

Add list of action client names to node_bank.

Action_name:

the action name

add_action_server(action_name)

Add list of action server names to node_bank.

Action_name:

the action name

add_info(node)

Set node name of the builder.

Node:

the node name of our builder

add_parameter_name(parameter_name)

Associate parameters with the ROS Node.

Parameters:

parameter_name (str) – the name of the Parameter

add_service_name_and_type(service_name, service_type)

Associate the name of a Service with the ROS Node.

Parameters:

• service_name (str) – the name of the associated Service

• service_type (str) – the ROS Service type

add_topic_name(topic_name, status, topic_type, remap)

Associate a ‘published’ or ‘subscribed’ Topic with a ROS Node.

Parameters:

• topic_name (str) – the name of the Topic

• status (str) – the relationship or status (‘subscribed’ or ‘published’) of the Topic to the ROS Node

• topic_type (str) – the ROS Topic Type

• remap – name used by node specification

“type remap: str”

property all_topic_names

Return the name of all Topics either published or subscribed to by the ROS Node.

Including those that were removed from the basic Published / Subscribed store since they were related to either a Nodelet / Nodelet Manager interaction or an Action

Returns:

all Topic names

Return type:

set{str}

property executable_cmdline

Return the ROS Node executable command line.

Returns:

the ROS Node executable command line

Return type:

str

property executable_cpu_percent

Return the ROS Node executable cpu percent.

Returns:

the ROS Node executable cpu percent

Return type:

str

property executable_file

Return the ROS Node executable.

Returns:

the ROS Node executable

Return type:

str

property executable_memory_info

Return the ROS Node executable memory_info.

Returns:

the ROS Node executable memory_info

Return type:

str

property executable_memory_percent

Return the ROS Node executable memory percent.

Returns:

the ROS Node executable memory percent

Return type:

str

property executable_name

Return the ROS Node executable name.

Returns:

the ROS Node executable

Return type:

str

property executable_num_threads

Return the ROS Node executable number threads.

Returns:

the ROS Node executable number threads

Return type:

str

extract_metamodel()

Extract metamodel.

Allows the NodeBuilder to create / extract either a Node, or Component Manager, instance from its internal state

Returns:

the created / extracted metamodel instance

Return type:

Node or ComponentManager

get_node_pid(namespace, node_name, guess=False)

Return the PID number give node_name.

This is a best effort “fuzzy” process given process names that do not necessarily match node names. It is not based on static code analysis, and needs improvement.

Returns:

the ROS Node process id

Return type:

int

classmethod get_processes()

Return list of processes.

Returns:

dictionary of system processes data

Return type:

dict

property machine

Extract the machine ID from the uri information.

Returns:

machine ID as string

property namespace

Return the namespace of this node.

Returns:

namespace

Return type:

string

property node

Return the package/node name of this node.

Returns:

package/node name

Return type:

string

property parameter_names

Return parameter names for metamodel extraction.

prepare(**kwargs)

Allow this NodeBuilder to prepare its internal state.

Used for eventual metamodel extraction; internal changes to the state of the class instance occur here

Parameters:

• topic_bank_builder (TopicBankBuilder) – the TopicBankBuilder to use for Action-related Topic name removal (from kwargs)

• action_bank_builder (ActionBankBuilder) – the ActionBankBuilder to use for Action-related Topic name removal and Action Server / Client reference

property published_topic_names

Return the names of the Topics published by the ROS Node.

Returns:

published Topic names

Return type:

dict{name:remap}

remove_topic_name(topic_name, status)

Remove either a ‘published’ or ‘subscribed’ association.

Between a Topic name and the ROS Node

Parameters:

• topic_name (str) – the name of the Topic

• status (str) – the relationship or status (‘subscribed’ or ‘published’) of the Topic to the ROS Node

property service_names

Return the name of all Services associated with the ROS Node.

Returns:

associated Service names

Return type:

set{str}

property service_names_to_types

Return the mapping of all Service names to their Service type.

Returns:

all Service names to their mapped ROS Service Type

Return type:

dict{str: str}

property service_names_with_remap

Return the name of all Services associated with the ROS Node.

As dictionary to remapped service id (None at this point)

Returns:

associated Service names

Return type:

dict{str:str}

set_comp_yaml(isTrue, manager_name)

Set Component to true or false.

Used for differentiation later

Parameters:

isTrue – boolean determined if self.name

found in our @TODO

set_component_list(components_list)

Set Component list.

@TODO

set_manager_yaml(isTrue)

Set ComponentManager to true or false.

Used for differentiation later

Parameters:

isTrue – boolean determined if self.name

found in our :param results: component list results @TODO

set_node_name(name)

Set the package/node name for this node.

Parameters:

name – package/node name

property subscribed_topic_names

Return the names of the Topics subscribed to by the ROS Node.

Returns:

subscribed Topic names

Return type:

set{str}

property topic_names_to_types

Return the mapping of all added Topic names to their ROS type.

Returns:

all Topic names to their mapped ROS Topic Type

Return type:

dict{str: str}

class ros2_snapshot.snapshot.builders.ParameterBankBuilder

Bases: _BankBuilder

Define a ParameterBankBuilder.

Responsible for collecting, maintaining, and populating ParameterBuilders for the purpose of extracting metamodel instances

class ros2_snapshot.snapshot.builders.ParameterBuilder(name)

Bases: _EntityBuilder

Define a ParameterBuilder.

Represents a ROS Parameter and is responsible for allowing itself to be populated with basic information relevant to a Parameter and then further populating itself from that information for the purpose of extracting a metamodel instance

add_description(descriptor)

Collect description information associated with the parameter.

add_info(parameter_info)

Collect information and initializes each parameter in the bank.

property construct_type

Return the type of the Parameter’s value.

Returns:

the Python type of the Parameter’s value

Return type:

str

property description

Return the description associated with the parameter.

Returns:

description

Return type:

str

extract_metamodel()

Extract Parameter metamodel.

Allow the ParameterBuilder to create / extract a Parameter instance from its internal state

Returns:

the created / extracted metamodel instance

Return type:

Parameter

property node_name

Return the node name associated with the parameter.

Returns:

node_name

Return type:

str

property value

Return the value of the Parameter.

Returns:

the value of the Parameter

Return type:

str

property value_type

Return the Python type of the Parameter’s value.

Returns:

the Python type of the Parameter’s value

Return type:

str

class ros2_snapshot.snapshot.builders.ServiceBankBuilder

Bases: _BankBuilder

Define a ServiceBankBuilder.

Responsible for collecting, maintaining, and populating ServiceBuilders for the purpose of extracting metamodel instances

class ros2_snapshot.snapshot.builders.ServiceBuilder(name)

Bases: _EntityBuilder

Define a ServiceBuilder.

Represents a ROS Service and is responsible for allowing itself to be populated with basic information relevant to a Service and then further populating itself from that information for the purpose of extracting a metamodel instance

add_service_provider_node_name(service_provider_node_name)

Add service provider node name.

Adds an association between a Service Provider ROS Node’s name and this Action

Parameters:

service_provider_node_name (str) – the Service Provider ROS Node name to associate with this Action

property construct_type

Return the Service’s ROS type.

Returns:

the Service’s ROS type

Return type:

str

extract_metamodel()

Extract metamodel.

Allows the ServiceBuilder to create / extract a Service instance from its internal state

Returns:

the created / extracted metamodel instance

Return type:

Service

property service_provider_node_names

Return the names of the ROS Nodes that act as Providers.

Returns:

the names of the Service Provider ROS Nodes

Return type:

set{str}

class ros2_snapshot.snapshot.builders.TopicBankBuilder(topic_types)

Bases: _BankBuilder

Define a TopicBankBuilder.

Responsible for collecting, maintaining, and populating TopicBuilders for the purpose of extracting metamodel instances

class ros2_snapshot.snapshot.builders.TopicBuilder(name)

Bases: _EntityBuilder

Define a TopicBuilder.

Represents a ROS Topic and is responsible for allowing itself to be populated with basic information relevant to a Topic and then further populating itself from that information for the purpose of extracting a metamodel instance

add_node_name(node_name, status)

Associate this Topic with a ROS Node name.

Based on whether it was Published by or Subscribed to by the ROS Node

Parameters:

• node_name (str) – the name of the associated ROS Node

• status (str) – the status or relationship (‘published’ or ‘subscribed’) between the Topic and the ROS Node

property construct_type

Return this Topic’s ROS type.

Returns:

this Topic’s ROS type

Return type:

str

property endpoint_type

Get endpoint type.

extract_metamodel()

Extract metamodel.

Allows the TopicBuilder to create / extract a Topic instance from its internal state

Returns:

the created / extracted metamodel instance

Return type:

Topic

get_verbose_info(info, gid_dict)

Add verbose information to the topic_bank.

property gid_information

Get GID information.

property publisher_node_names

Return the names of the ROS Nodes that have Published the Topic.

Returns:

the names of Publisher ROS Nodes for this Topic

Return type:

set{str}

property qos_profile

Get QOS profile.

set_gid_dict(gid_dict)

Set GID information.

property subscriber_node_names

Return the names of the subscribed ROS Nodes.

Returns:

the names of Subscriber ROS Nodes for this Topic

Return type:

set{str}

property topic_hash

Get topic hash.