def __init__(self, node: Node, node_name: ros2node.api.NodeName):
self.name = node_name
# Count publish topics
publish_topics = ros2node.api.get_publisher_info(
node=node, remote_node_name=self.name.full_name)
self.publish_topic_count = len(publish_topics)
self.connected_publish_topic_count = len([
publish_topic for publish_topic in publish_topics
if node.count_subscribers(publish_topic.name) > 0
])
# Count subscribe topics
subscribe_topics = ros2node.api.get_subscriber_info(
node=node, remote_node_name=self.name.full_name)
self.subscribe_topic_count = len(subscribe_topics)
self.connected_subscribe_topic_count = len([
subscribe_topic for subscribe_topic in subscribe_topics
if node.count_publishers(subscribe_topic.name) > 0
])
# Check lifecycle
services = node.get_service_names_and_types_by_node(
self.name.name, self.name.namespace)
self.has_lifecycle = ros2lifecycle.api._has_lifecycle(
self.name.full_name, services)
if (self.has_lifecycle):
state = ros2lifecycle.api.call_get_states(node,
self.name.full_name)
self.state = state[self.name.full_name]
def __init__(self, node: Node):
self.list = []
names_and_types = ros2topic.api.get_topic_names_and_types(node=node)
for (name, types) in names_and_types:
self.list.append(TopicSummary(
name,
types,
node.count_publishers(name),
node.count_subscribers(name)
))
