topic_dict.py
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00001 # Copyright (c) 2011, Dorian Scholz, TU Darmstadt
00002 # All rights reserved.
00003 #
00004 # Redistribution and use in source and binary forms, with or without
00005 # modification, are permitted provided that the following conditions
00006 # are met:
00007 #
00008 #   * Redistributions of source code must retain the above copyright
00009 #     notice, this list of conditions and the following disclaimer.
00010 #   * Redistributions in binary form must reproduce the above
00011 #     copyright notice, this list of conditions and the following
00012 #     disclaimer in the documentation and/or other materials provided
00013 #     with the distribution.
00014 #   * Neither the name of the TU Darmstadt nor the names of its
00015 #     contributors may be used to endorse or promote products derived
00016 #     from this software without specific prior written permission.
00017 #
00018 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00019 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00020 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00021 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00022 # COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00023 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00024 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00025 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00026 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00027 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00028 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029 # POSSIBILITY OF SUCH DAMAGE.
00030 
00031 import roslib
00032 roslib.load_manifest('rqt_py_common')
00033 import rospy
00034 
00035 
00036 class TopicDict(object):
00037 
00038     def __init__(self):
00039         self.update_topics()
00040 
00041     def get_topics(self):
00042         return self.topic_dict
00043 
00044     def update_topics(self):
00045         self.topic_dict = {}
00046         topic_list = rospy.get_published_topics()
00047         for topic_name, topic_type in topic_list:
00048             message = roslib.message.get_message_class(topic_type)()
00049             self.topic_dict.update(self._recursive_create_field_dict(topic_name, message))
00050 
00051     def _recursive_create_field_dict(self, topic_name, field):
00052         field_dict = {}
00053         field_dict[topic_name] = {
00054             'type': type(field),
00055             'children': {},
00056         }
00057 
00058         if hasattr(field, '__slots__'):
00059             for slot_name in field.__slots__:
00060                 field_dict[topic_name]['children'].update(self._recursive_create_field_dict(slot_name, getattr(field, slot_name)))
00061 
00062         return field_dict
00063 
00064 
00065 if __name__ == '__main__':
00066     import pprint
00067     pprint.pprint(TopicDict().get_topics())


rqt_py_common
Author(s): Dorian Scholz
autogenerated on Fri Jan 3 2014 11:54:45