def test_find_container_node_names():
"""Test find_container_node_names() API function."""
with NodeStrategy([]) as node:
node_names = get_node_names(node=node)
with DirectNode([]) as node:
assert len(find_container_node_names(node=node,
node_names=node_names)) == 0
assert len(find_container_node_names(node=node, node_names=[])) == 0
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names)
if args.container_node_name is not None:
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
if not args.containers_only:
components = get_container_components_info(
node=node,
remote_container_node_name=args.container_node_name)
if any(components):
print(*[
'{} {}'.format(c.uid, c.name) for c in components
],
sep='\n')
else:
for n in container_node_names:
print(n.full_name)
if not args.containers_only:
components = get_container_components_info(
node=node, remote_container_node_name=n.full_name)
if any(components):
print(*[
' ' + '{} {}'.format(c.uid, c.name)
for c in components
],
sep='\n')
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX +
'_component_load_requester')
try:
if args.container_node_name in [
n.full_name for n in container_node_names
]:
return load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
else:
return "Unable to find container node '" + args.container_node_name + "'"
finally:
node.destroy_node()
rclpy.shutdown()
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names
)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX + '_component_list_requester')
try:
if args.container_node_name is not None:
if args.container_node_name not in [n.full_name for n in container_node_names]:
return "Unable to find container node '" + args.container_node_name + "'"
if not args.containers_only:
components = get_container_components_info(
node=node, remote_container_node_name=args.container_node_name
)
if any(components):
print(*['{} {}'.format(c.uid, c.name) for c in components], sep='\n')
else:
for n in container_node_names:
print(n.full_name)
if not args.containers_only:
components = get_container_components_info(
node=node, remote_container_node_name=n.full_name
)
if any(components):
print(*[
2 * ' ' + '{} {}'.format(c.uid, c.name) for c in components
], sep='\n')
finally:
node.destroy_node()
rclpy.shutdown()
def main(self, *, args):
with NodeStrategy(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=get_node_names(node=node))
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
component_uid, component_name = load_component_into_container(
node=node,
remote_container_node_name=args.container_node_name,
package_name=args.package_name,
plugin_name=args.plugin_name,
node_name=args.node_name,
node_namespace=args.node_namespace,
log_level=args.log_level,
remap_rules=args.remap_rules,
parameters=args.parameters,
extra_arguments=args.extra_arguments)
if not args.quiet:
print("Loaded component {} into '{}' container node as '{}'".
format(component_uid, args.container_node_name,
component_name))
else:
print('{} {}'.format(component_uid, component_name))
def main(self, *, args):
with NodeStrategy(args) as node:
node_names = get_node_names(node=node)
with DirectNode(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=node_names)
rclpy.init()
node = rclpy.create_node(NODE_NAME_PREFIX +
'_component_load_requester')
if args.container_node_name in [
n.full_name for n in container_node_names
]:
return unload_component_from_container(
node=node,
remote_container_node_name=args.container_node_name,
component_uids=args.component_uid)
else:
return "Unable to find container node '" + args.container_node_name + "'"
def main(self, *, args):
with NodeStrategy(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=get_node_names(node=node))
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
for uid, error, reason in unload_component_from_container(
node=node,
remote_container_node_name=args.container_node_name,
component_uids=args.component_uid):
if error:
return "Failed to unload component {} from '{}' container node\n {}".format(
uid, args.container_node_name, reason.capitalize())
if not args.quiet:
print("Unloaded component {} from '{}' container node".
format(uid, args.container_node_name))
else:
print(uid)
def main(self, *, args):
with NodeStrategy(args) as node:
container_node_names = find_container_node_names(
node=node, node_names=get_node_names(node=node))
if args.container_node_name is not None:
if args.container_node_name not in [
n.full_name for n in container_node_names
]:
return "Unable to find container node '" + args.container_node_name + "'"
if not args.containers_only:
ok, outcome = get_components_in_container(
node=node,
remote_container_node_name=args.container_node_name)
if not ok:
return f'{outcome} when listing components in {args.container_node_name}'
if any(outcome):
print(*[
f'{component.uid} {component.name}'
for component in outcome
],
sep='\n')
else:
results = get_components_in_containers(
node=node,
remote_containers_node_names=[
n.full_name for n in container_node_names
])
for container_node_name, (ok, outcome) in results.items():
print(container_node_name)
if not args.containers_only:
if not ok:
print(f'{outcome} when listing components')
continue
if any(outcome):
print(*[
f' {component.uid} {component.name}'
for component in outcome
],
sep='\n')
