def get_node_names(*, node, include_hidden_nodes=False):
node_names = get_all_node_names(node=node,
include_hidden_nodes=include_hidden_nodes)
service_names_and_types = get_service_names_and_types(node=node)
return [
n for n in node_names if _has_lifecycle(n, service_names_and_types)
]
def get_services_for_type(service_type, services_glob, include_hidden=False):
""" Returns a list of services as specific service type """
# Filter the list of services by whether they are public before returning.
services_names_and_types = get_service_names_and_types(
node=_node, include_hidden_services=include_hidden)
# service[0] has the topic name and service[1] has the type wrapped in a list.
services_for_type = [
service[0] for service in services_names_and_types
if service[1][0] == service_type
]
return filter_globs(services_glob, services_for_type)
def main(self, *, args):
with NodeStrategy(args) as node:
service_names_and_types = get_service_names_and_types(
node=node,
include_hidden_services=args.include_hidden_services)
for (service_name, service_types) in service_names_and_types:
if args.service_name == service_name:
for service_type in service_types:
print(service_type)
return 0
return 1
def main(self, *, args):
with NodeStrategy(args) as node:
service_names_and_types = get_service_names_and_types(
node=node,
include_hidden_services=args.include_hidden_services)
if args.count_services:
print(len(service_names_and_types))
elif service_names_and_types:
for (service_name, service_types) in service_names_and_types:
msg = '{service_name}'
service_types_formatted = ', '.join(service_types)
if args.show_types:
msg += ' [{service_types_formatted}]'
print(msg.format_map(locals()))
def main(self, *, args):
with NodeStrategy(args) as node:
service_names_and_types = get_service_names_and_types(
node=node,
include_hidden_services=args.include_hidden_services)
filtered_services = []
for (service_name, service_type) in service_names_and_types:
if args.service_type in service_type:
filtered_services.append(service_name)
if args.count_services:
print(len(filtered_services))
else:
for filtered_service in filtered_services:
print(filtered_service)
def ros2service(self, domain_id):
print('Exploring ROS_DOMAIN_ID: ' + str(domain_id) + ' for services')
os.environ['ROS_DOMAIN_ID'] = str(domain_id)
with NodeStrategy('-t') as node:
service_names_and_types = get_service_names_and_types(node=node)
output_service = {}
if service_names_and_types:
for (service_name, service_types) in service_names_and_types:
output_service[service_name] = {
'domain': domain_id,
'type': str(service_types).replace('[',
'').replace(']', '')
}
self.processed_services.append(output_service)
