Refactor get topic names and types (#4)

* ros2topic: use rclpy utility

* ros2topic: fixup

* ros2topic: support multiple types

* ros2service: initial commit

* ros2topic: support no_demangle

* fix include order

* missed a commit

* ros2service: add pep257 tests

* fix echo to support multiple types

* improve shutdown behavior of call, add loop option

* address comments

ros2service/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>ros2service</name>
+  <version>0.0.0</version>
+  <description>
+    The service command for ROS 2 command line tools.
+  </description>
+  <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
+  <license>Apache License 2.0</license>
+
+  <depend>rclpy</depend>
+  <depend>ros2cli</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2service/ros2service/api/__init__.py

@@ -0,0 +1,45 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from rclpy.topic_or_service_is_hidden import topic_or_service_is_hidden
+from ros2cli.node.strategy import NodeStrategy
+
+
+def get_service_names_and_types(*, node, include_hidden_services=False):
+    service_names_and_types = node.get_service_names_and_types()
+    if not include_hidden_services:
+        service_names_and_types = [
+            (n, t) for (n, t) in service_names_and_types
+            if not topic_or_service_is_hidden(n)]
+    return service_names_and_types
+
+
+def get_service_names(*, node, include_hidden_services=False):
+    service_names_and_types = get_service_names_and_types(
+        node=node, include_hidden_services=include_hidden_services)
+    return [n for (n, t) in service_names_and_types]
+
+
+class ServiceNameCompleter(object):
+    """Callable returning a list of service names."""
+
+    def __init__(self, *, include_hidden_services_key=None):
+        self.include_hidden_services_key = include_hidden_services_key
+
+    def __call__(self, prefix, parsed_args, **kwargs):
+        with NodeStrategy(parsed_args) as node:
+            return get_service_names(
+                node=node,
+                include_hidden_services=getattr(
+                    parsed_args, self.include_hidden_services_key))

ros2service/ros2service/command/service.py

@@ -0,0 +1,38 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.command import add_subparsers
+from ros2cli.command import CommandExtension
+from ros2cli.verb import get_verb_extensions
+
+
+class ServiceCommand(CommandExtension):
+    """Various service related sub-commands."""
+
+    def add_arguments(self, parser, cli_name):
+        parser.add_argument(
+            '--include-hidden-services', action='store_true',
+            help='Consider hidden services as well')
+
+        # get verb extensions and let them add their arguments
+        verb_extensions = get_verb_extensions('ros2service.verb')
+        add_subparsers(parser, cli_name, '_verb', verb_extensions)
+
+    def main(self, *, parser, args):
+        # the attribute should always exist
+        # otherwise argparse should have exited
+        extension = getattr(args, '_verb')
+
+        # call the verb's main method
+        return extension.main(args=args)

ros2service/ros2service/verb/__init__.py

@@ -0,0 +1,44 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
+from ros2cli.plugin_system import satisfies_version
+
+
+class VerbExtension(object):
+    """
+    The extension point for 'service' verb extensions.
+
+    The following properties must be defined:
+    * `NAME` (will be set to the entry point name)
+
+    The following methods must be defined:
+    * `main`
+
+    The following methods can be defined:
+    * `add_arguments`
+    """
+
+    NAME = None
+    EXTENSION_POINT_VERSION = '0.1'
+
+    def __init__(self):
+        super(VerbExtension, self).__init__()
+        satisfies_version(PLUGIN_SYSTEM_VERSION, '^0.1')
+
+    def add_arguments(self, parser, cli_name):
+        pass
+
+    def main(self, *, args):
+        raise NotImplementedError()

ros2service/ros2service/verb/call.py

@@ -0,0 +1,93 @@
+# Copyright 2016-2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import argparse
+import importlib
+import json
+import time
+
+import rclpy
+from ros2service.api import ServiceNameCompleter
+from ros2service.verb import VerbExtension
+
+
+class CallVerb(VerbExtension):
+    """Call a service."""
+
+    def add_arguments(self, parser, cli_name):
+        arg = parser.add_argument(
+            'service_name',
+            help="Name of the ROS service to call to (e.g. '/add_two_ints')")
+        arg.completer = ServiceNameCompleter(
+            include_hidden_services_key='include_hidden_services')
+        parser.add_argument(
+            'service_type',
+            help="Type of the ROS service (e.g. 'std_srvs/Empty')")
+        parser.add_argument(
+            'values', nargs='?', default='{}',
+            help='Values to fill the service request with in JSON format ' +
+                 '(e.g. {"a": 1, "b": 2}), ' +
+                 'otherwise the service request will be published with default values')
+
+        def float_or_int(input_string):
+            try:
+                value = float(input_string)
+            except ValueError:
+                raise argparse.ArgumentTypeError("'%s' is not an integer or float" % input_string)
+            return value
+
+        parser.add_argument(
+            '-r', '--repeat', metavar='N', type=float_or_int,
+            help='Repeat the call every N seconds')
+
+    def main(self, *, args):
+        return requester(args.service_type, args.service_name, args.values, args.repeat)
+
+
+def requester(service_type, service_name, values, repeat):
+    # TODO(wjwwood) this logic should come from a rosidl related package
+    try:
+        package_name, srv_name = service_type.split('/', 2)
+    except ValueError:
+        raise RuntimeError('The passed service type is invalid')
+    module = importlib.import_module(package_name + '.srv')
+    srv_module = getattr(module, srv_name)
+    values_dictionary = json.loads(values)
+
+    rclpy.init()
+
+    node = rclpy.create_node('requester_%s_%s' % (package_name, srv_name))
+
+    cli = node.create_client(srv_module, service_name)
+
+    request = srv_module.Request()
+    for field_name, field_value in values_dictionary.items():
+        field_type = type(getattr(request, field_name))
+        setattr(request, field_name, field_type(field_value))
+
+    while True:
+        print('requester: making request: %r\n' % request)
+        last_call = time.time()
+        cli.call(request)
+        cli.wait_for_future()
+        if cli.response is not None:
+            print('response:\n%r\n' % cli.response)
+        if repeat is None or not rclpy.ok():
+            break
+        time_until_next_period = (last_call + repeat) - time.time()
+        if time_until_next_period > 0:
+            time.sleep(time_until_next_period)
+
+    node.destroy_node()
+    rclpy.try_shutdown()  # avoid duplicate shutdown from shutdown within cli.wait_for_future()

ros2service/ros2service/verb/list.py

@@ -0,0 +1,46 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.node.strategy import add_arguments
+from ros2cli.node.strategy import NodeStrategy
+from ros2service.api import get_service_names_and_types
+from ros2service.verb import VerbExtension
+
+
+class ListVerb(VerbExtension):
+    """Output a list of available services."""
+
+    def add_arguments(self, parser, cli_name):
+        add_arguments(parser)
+        parser.add_argument(
+            '-t', '--show-types', action='store_true',
+            help='Additionally show the service type')
+        parser.add_argument(
+            '-c', '--count-services', action='store_true',
+            help='Only display the number of services discovered')
+
+    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()))

ros2service/setup.py

@@ -0,0 +1,39 @@
+from setuptools import find_packages
+from setuptools import setup
+
+setup(
+    name='ros2service',
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    install_requires=['ros2cli'],
+    author='William Woodall',
+    author_email='william@osrfoundation.org',
+    maintainer='William Woodall',
+    maintainer_email='william@osrfoundation.org',
+    url='https://github.com/ros2/ros2cli/tree/master/ros2service',
+    download_url='https://github.com/ros2/ros2cli/releases',
+    keywords=[],
+    classifiers=[
+        'Environment :: Console',
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+    ],
+    description='The service command for ROS 2 command line tools.',
+    long_description="""\
+The package provides the service command for the ROS 2 command line tools.""",
+    license='Apache License, Version 2.0',
+    test_suite='test',
+    entry_points={
+        'ros2cli.command': [
+            'service = ros2service.command.service:ServiceCommand',
+        ],
+        'ros2cli.extension_point': [
+            'ros2service.verb = ros2service.verb:VerbExtension',
+        ],
+        'ros2service.verb': [
+            'call = ros2service.verb.call:CallVerb',
+            'list = ros2service.verb.list:ListVerb',
+        ],
+    }
+)

ros2service/test/test_copyright.py

@@ -0,0 +1,20 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+
+
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

ros2service/test/test_flake8.py

@@ -0,0 +1,20 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main
+
+
+def test_flake8():
+    rc = main(argv=[])
+    assert rc == 0, 'Found errors'

ros2service/test/test_pep257.py

@@ -0,0 +1,20 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+
+
+def test_pep257():
+    rc = main(argv=[])
+    assert rc == 0, 'Found code style errors / warnings'