topic_dict.py

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# Copyright (c) 2011, Dorian Scholz, TU Darmstadt
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#   * Redistributions of source code must retain the above copyright
#     notice, this list of conditions and the following disclaimer.
#   * Redistributions in binary form must reproduce the above
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#     with the distribution.
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#     contributors may be used to endorse or promote products derived
#     from this software without specific prior written permission.
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import roslib
import rospy
 
 
class TopicDict(object):
 
    def __init__(self):
        self.update_topics()
 
    def get_topics(self):
        return self.topic_dict
 
    def update_topics(self):
        self.topic_dict = {}
        topic_list = rospy.get_published_topics()
        for topic_name, topic_type in topic_list:
            message = roslib.message.get_message_class(topic_type)()
            self.topic_dict.update(self._recursive_create_field_dict(topic_name, message))
 
    def _recursive_create_field_dict(self, topic_name, field):
        field_dict = {}
        field_dict[topic_name] = {
            'type': type(field),
            'children': {},
        }
 
        if hasattr(field, '__slots__'):
            for slot_name in field.__slots__:
                field_dict[topic_name]['children'].update(
                    self._recursive_create_field_dict(slot_name, getattr(field, slot_name)))
 
        return field_dict
 
 
if __name__ == '__main__':
    import pprint
    pprint.pprint(TopicDict().get_topics())