class DependsOnRelationship(object):
"""Models the depends_on relationship between a Capability Provider and a Capability
This relationship consists of:
- capability_name (str): name of the Capability which is depended on
- provider_preference (str): (optional) name of preferred provider for the Capability which is depended on
- remappings (dict): map of ROS Names defined in the Capability to their new names for this provider
"""
valid_remapping_types = ['topics', 'services', 'parameters', 'actions']
def __init__(self, capability_name, preferred_provider):
self.name = capability_name
self.capability_name = capability_name
self.provider = preferred_provider
self.preferred_provider = preferred_provider
self.__remap_collection = RemapCollection()
def __str__(self):
msg = "{0}:\n{1}".format(self.name, str(self.__remap_collection))
if self.provider:
msg += "\npreferred provider: {0}".format(self.provider)
return msg
@property
def remappings(self):
return self.__remap_collection.remappings
def add_remappings_by_dict(self, remappings_dict):
self.__remap_collection.add_remappings_by_dict(remappings_dict)
class SemanticCapabilityInterface(object):
"""Represents a Semantic Capability Interface
A Semantic Capability Interface is defined by:
- name (str): name of the redefined interface
- redefines (str): name of a capability being redefined
- spec_type (str): type of the interface specification (has to be 'semantic_interface')
- spec_version (int): version of the interface specification
- description (str): free form description of the interface
- global_namespace (str or None): (optional) global namespace for all ROS Names, None means no global_namespace
- remappings (dict): (optional) map from ROS Names in redefined interface to Names in this interface
"""
spec_type = 'interface'
def __init__(self, name, redefines, spec_version, description=None, global_namespace=None):
self.name = name
self.redefines = redefines
self.spec_version = spec_version
self.description = description
self.global_namespace = global_namespace
self.__remap_collection = RemapCollection()
@property
def remappings(self):
return self.__remap_collection.remappings
def add_remappings_by_dict(self, remappings_dict):
self.__remap_collection.add_remappings_by_dict(remappings_dict)
def __init__(self, name, redefines, spec_version, description=None, global_namespace=None):
self.name = name
self.redefines = redefines
self.spec_version = spec_version
self.default_provider = 'unknown'
self.description = description
self.global_namespace = global_namespace
self.__remap_collection = RemapCollection()
def __init__(self, name, redefines, spec_version, description=None, global_namespace=None):
self.name = name
self.redefines = redefines
self.spec_version = spec_version
self.description = description
self.global_namespace = global_namespace
self.__remap_collection = RemapCollection()
def __init__(self,
name,
spec_version,
implements,
launch_file=None,
description=None,
remappings=None,
nodelet_manager=None):
self.name = name
self.spec_version = spec_version
self.description = description
self.implements = implements
self.launch_file = launch_file
self.nodelet_manager = nodelet_manager
self.__remap_collection = RemapCollection()
self.add_remappings_by_dict(remappings or {})
self.__depends_on = {}
class SemanticCapabilityInterface(object):
"""Represents a Semantic Capability Interface
A Semantic Capability Interface is defined by:
- name (str): name of the redefined interface
- redefines (str): name of a capability being redefined
- spec_type (str): type of the interface specification (has to be 'semantic_interface')
- spec_version (int): version of the interface specification
- description (str): free form description of the interface
- global_namespace (str or None): (optional) global namespace for all ROS Names, None means no global_namespace
- remappings (dict): (optional) map from ROS Names in redefined interface to Names in this interface
"""
spec_type = 'interface'
def __init__(self, name, redefines, spec_version, description=None, global_namespace=None):
self.name = name
self.redefines = redefines
self.spec_version = spec_version
self.default_provider = 'unknown'
self.description = description
self.global_namespace = global_namespace
self.__remap_collection = RemapCollection()
@property
def remappings(self):
return self.__remap_collection.remappings
def add_remappings_by_dict(self, remappings_dict):
self.__remap_collection.add_remappings_by_dict(remappings_dict)
def __str__(self):
return """Semantic Capability Interface:
{{
name: {name}
spec version: {spec_version}
default provider: {default_provider}
redefines: {redefines}
global namespace: {global_namespace}
description:
{description}
}}""".format(**self.__dict__)
def __init__(self, name, spec_version, implements, launch_file=None,
description=None, remappings=None, nodelet_manager=None):
self.name = name
self.spec_version = spec_version
self.description = description
self.implements = implements
self.launch_file = launch_file
self.nodelet_manager = nodelet_manager
self.__remap_collection = RemapCollection()
self.add_remappings_by_dict(remappings or {})
self.__depends_on = {}
class CapabilityProvider(object):
"""Represents a Capability Provider
A Capability Provider is defined by:
- name (str): name of the provider
- spec_type (str): type of the specification (has to be 'provider')
- spec_version (int): version of the provider specification
- description (str): free form description of the provider
- implements (str): Name of a Capability Interface which this provider implements
- launch_file (str or None): Path to a launch file which runs the provider, None indicates no launch file to run
- depends_on (dict): list of depends on relationships to Capabilities with remappings and provider preference
- remappings (dict): map of ROS Names defined in the Capability to their new names for this provider
- nodelet_manager (str or None): name of the nodelet manager used by the provider, this is an implementation hint
"""
spec_type = 'provider'
def __init__(self,
name,
spec_version,
implements,
launch_file=None,
description=None,
remappings=None,
nodelet_manager=None):
self.name = name
self.spec_version = spec_version
self.description = description
self.implements = implements
self.launch_file = launch_file
self.nodelet_manager = nodelet_manager
self.__remap_collection = RemapCollection()
self.add_remappings_by_dict(remappings or {})
self.__depends_on = {}
@property
def remappings(self):
return self.__remap_collection.remappings
@property
def remappings_by_type(self):
return self.__remap_collection.remappings_by_type
def add_remappings_by_dict(self, remappings_dict):
self.__remap_collection.add_remappings_by_dict(remappings_dict)
@property
def dependencies(self):
return self.__depends_on
def depends_on(self, interface_name):
return interface_name in self.__depends_on
def add_depends_on(self, interface_name, preferred_provider=None):
relationship = DependsOnRelationship(interface_name,
preferred_provider)
# The dict strucutre of YAML should prevent duplicate interface_name keys
self.__depends_on[interface_name] = relationship
def __str__(self):
return """Capability Provider:
{{
name: {name}
spec version: {spec_version}
implements: {implements}{nodelet_manager_str}
description:
{description}
{remappings_str}
depend on relationships:
{depends_on_str}
}}
""".format(depends_on_str="[\n" +
"\n".join([str(v) for v in self.__depends_on.values()]) + "\n]",
remappings_str=str(self.__remap_collection) + "\n",
nodelet_manager_str='' if self.nodelet_manager is None else '\n' +
self.nodelet_manager + '\n',
**self.__dict__)
def __init__(self, capability_name, preferred_provider):
self.name = capability_name
self.capability_name = capability_name
self.provider = preferred_provider
self.preferred_provider = preferred_provider
self.__remap_collection = RemapCollection()
class CapabilityProvider(object):
"""Represents a Capability Provider
A Capability Provider is defined by:
- name (str): name of the provider
- spec_type (str): type of the specification (has to be 'provider')
- spec_version (int): version of the provider specification
- description (str): free form description of the provider
- implements (str): Name of a Capability Interface which this provider implements
- launch_file (str or None): Path to a launch file which runs the provider, None indicates no launch file to run
- depends_on (dict): list of depends on relationships to Capabilities with remappings and provider preference
- remappings (dict): map of ROS Names defined in the Capability to their new names for this provider
- nodelet_manager (str or None): name of the nodelet manager used by the provider, this is an implementation hint
"""
spec_type = 'provider'
def __init__(self, name, spec_version, implements, launch_file=None,
description=None, remappings=None, nodelet_manager=None):
self.name = name
self.spec_version = spec_version
self.description = description
self.implements = implements
self.launch_file = launch_file
self.nodelet_manager = nodelet_manager
self.__remap_collection = RemapCollection()
self.add_remappings_by_dict(remappings or {})
self.__depends_on = {}
@property
def remappings(self):
return self.__remap_collection.remappings
def add_remappings_by_dict(self, remappings_dict):
self.__remap_collection.add_remappings_by_dict(remappings_dict)
@property
def dependencies(self):
return self.__depends_on
def depends_on(self, interface_name):
return interface_name in self.__depends_on
def add_depends_on(self, interface_name, preferred_provider=None):
relationship = DependsOnRelationship(interface_name, preferred_provider)
# The dict strucutre of YAML should prevent duplicate interface_name keys
self.__depends_on[interface_name] = relationship
def __str__(self):
return """Capability Provider:
{{
name: {name}
spec version: {spec_version}
implements: {implements}{nodelet_manager_str}
description:
{description}
{remappings_str}
depend on relationships:
{depends_on_str}
}}
""".format(depends_on_str="[\n" + "\n".join([str(v) for v in self.__depends_on.values()]) + "\n]",
remappings_str=str(self.__remap_collection) + "\n",
nodelet_manager_str='' if self.nodelet_manager is None else '\n' + self.nodelet_manager + '\n',
**self.__dict__)
