Add Action CLI (#214)

* Add ros2action package Contains ros2cli command 'action' with verbs: list and show. The list verb lists action names for any running action servers and action clients. The show verb prints the definition for a given action type. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add 'info' verb to action command Prints a list of node names that have an action client or server for a given action name. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use None as argument to test node Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add TODOs to move action query functions to rclpy (and rcl_action) The tool shouldn't need to know details about the implementation of actions. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add dependency to rclpy Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add 'send_goal' verb to action command Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Migrate message utility functions to rosidl_runtime_py Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Make use of rclpy functions Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix lint Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix tests Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix test Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Add autocompletion to verbs Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Update year Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Expand and validate action name This also has the side-effect of making the forward slash optional for the action name. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Print goal ID when sendind a goal Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Cancel goal on SIGINT Wrapped send goal logic in try-finally clause. This ensures that any active goal will be canceled before the CLI command terminates and also ensure that the ROS node is shutdown. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Fix typos Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Change maintainer Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Move try-except to verb Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Catch expected exceptions only Signed-off-by: Jacob Perron <jacob@openrobotics.org>
ros2 · Apr 14, 2019 · a463030 · a463030
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diff --git a/ros2action/package.xml b/ros2action/package.xml
@@ -0,0 +1,30 @@
+<?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>ros2action</name>
+  <version>0.6.3</version>
+  <description>
+    The action command for ROS 2 command line tools.
+  </description>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <license>Apache License 2.0</license>
+
+  <author email="jacob@openrobotics.org">Jacob Perron</author>
+
+  <depend>rclpy</depend>
+  <depend>ros2cli</depend>
+
+  <exec_depend>action_msgs</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>rosidl_runtime_py</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>test_msgs</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/ros2action/ros2action/__init__.py b/ros2action/ros2action/__init__.py
diff --git a/ros2action/ros2action/api/__init__.py b/ros2action/ros2action/api/__init__.py
@@ -0,0 +1,141 @@
+# Copyright 2019 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 os
+
+from ament_index_python import get_resource
+from ament_index_python import get_resources
+from ament_index_python import has_resource
+
+import rclpy.action
+from rclpy.expand_topic_name import expand_topic_name
+from rclpy.validate_full_topic_name import validate_full_topic_name
+from ros2cli.node.direct import DirectNode
+
+
+def _is_action_status_topic(topic_name, action_name):
+    return action_name + '/_action/status' == topic_name
+
+
+def get_action_clients_and_servers(*, node, action_name):
+    action_clients = []
+    action_servers = []
+
+    expanded_name = expand_topic_name(action_name, node.get_name(), node.get_namespace())
+    validate_full_topic_name(expanded_name)
+
+    node_names_and_ns = node.get_node_names_and_namespaces()
+    for node_name, node_ns in node_names_and_ns:
+        # Construct fully qualified name
+        node_fqn = '/'.join(node_ns) + node_name
+
+        # Get any action clients associated with the node
+        client_names_and_types = rclpy.action.get_action_client_names_and_types_by_node(
+            node,
+            node_name,
+            node_ns,
+        )
+        for client_name, client_types in client_names_and_types:
+            if client_name == expanded_name:
+                action_clients.append((node_fqn, client_types))
+
+        # Get any action servers associated with the node
+        server_names_and_types = rclpy.action.get_action_server_names_and_types_by_node(
+            node,
+            node_name,
+            node_ns,
+        )
+        for server_name, server_types in server_names_and_types:
+            if server_name == expanded_name:
+                action_servers.append((node_fqn, server_types))
+
+    return (action_clients, action_servers)
+
+
+def get_action_names_and_types(*, node):
+    return rclpy.action.get_action_names_and_types(node)
+
+
+def get_action_names(*, node):
+    action_names_and_types = get_action_names_and_types(node=node)
+    return [n for (n, t) in action_names_and_types]
+
+
+def get_action_types(package_name):
+    if not has_resource('packages', package_name):
+        raise LookupError('Unknown package name')
+    try:
+        content, _ = get_resource('rosidl_interfaces', package_name)
+    except LookupError:
+        return []
+    interface_names = content.splitlines()
+    # TODO(jacobperron) this logic should come from a rosidl related package
+    # Only return actions in action folder
+    return list(sorted({
+        n[7:-7]
+        for n in interface_names
+        if n.startswith('action/') and n[-7:] in ('.idl', '.action')}))
+
+
+def get_all_action_types():
+    all_action_types = {}
+    for package_name in get_resources('rosidl_interfaces'):
+        action_types = get_action_types(package_name)
+        if action_types:
+            all_action_types[package_name] = action_types
+    return all_action_types
+
+
+def get_action_path(package_name, action_name):
+    action_types = get_action_types(package_name)
+    if action_name not in action_types:
+        raise LookupError('Unknown action type')
+    prefix_path = has_resource('packages', package_name)
+    # TODO(jacobperron) this logic should come from a rosidl related package
+    return os.path.join(prefix_path, 'share', package_name, 'action', action_name + '.action')
+
+
+def action_name_completer(prefix, parsed_args, **kwargs):
+    """Callable returning a list of action names."""
+    with DirectNode(parsed_args) as node:
+        return get_action_names(node=node)
+
+
+def action_type_completer(**kwargs):
+    """Callable returning a list of action types."""
+    action_types = []
+    for package_name, action_names in get_all_action_types().items():
+        for action_name in action_names:
+            action_types.append(
+                '{package_name}/{action_name}'.format_map(locals()))
+    return action_types
+
+
+class ActionTypeCompleter:
+    """Callable returning a list of action types."""
+
+    def __init__(self, *, action_name_key=None):
+        self.action_name_key = action_name_key
+
+    def __call__(self, prefix, parsed_args, **kwargs):
+        if self.action_name_key is None:
+            return action_type_completer()
+
+        action_name = getattr(parsed_args, self.action_name_key)
+        with DirectNode(parsed_args) as node:
+            names_and_types = get_action_names_and_types(node=node)
+            for n, t in names_and_types:
+                if n == action_name:
+                    return t
+        return []
diff --git a/ros2action/ros2action/command/__init__.py b/ros2action/ros2action/command/__init__.py
diff --git a/ros2action/ros2action/command/action.py b/ros2action/ros2action/command/action.py
@@ -0,0 +1,38 @@
+# Copyright 2019 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 ActionCommand(CommandExtension):
+    """Various action related sub-commands."""
+
+    def add_arguments(self, parser, cli_name):
+        self._subparser = parser
+        # Get verb extensions and let them add their arguments and sub-commands
+        verb_extensions = get_verb_extensions('ros2action.verb')
+        add_subparsers(parser, cli_name, '_verb', verb_extensions, required=False)
+
+    def main(self, *, parser, args):
+        if not hasattr(args, '_verb'):
+            # In case no verb was passed
+            self._subparser.print_help()
+            return 0
+
+        extension = getattr(args, '_verb')
+
+        # Call the verb's main method
+        return extension.main(args=args)
diff --git a/ros2action/ros2action/verb/__init__.py b/ros2action/ros2action/verb/__init__.py
@@ -0,0 +1,44 @@
+# Copyright 2019 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:
+    """
+    The extension point for 'action' 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()
diff --git a/ros2action/ros2action/verb/info.py b/ros2action/ros2action/verb/info.py
@@ -0,0 +1,63 @@
+# Copyright 2019 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 rclpy
+from ros2action.api import action_name_completer
+from ros2action.api import get_action_clients_and_servers
+from ros2action.verb import VerbExtension
+from ros2cli.node.direct import DirectNode
+
+
+class InfoVerb(VerbExtension):
+    """Print information about an action."""
+
+    def add_arguments(self, parser, cli_name):
+        arg = parser.add_argument(
+            'action_name',
+            help="Name of the ROS action to get info (e.g. '/fibonacci')")
+        arg.completer = action_name_completer
+        parser.add_argument(
+            '-t', '--show-types', action='store_true',
+            help='Additionally show the action type')
+        parser.add_argument(
+            '-c', '--count', action='store_true',
+            help='Only display the number of action clients and action servers')
+
+    def main(self, *, args):
+        with DirectNode(args) as node:
+            try:
+                action_clients, action_servers = get_action_clients_and_servers(
+                    node=node,
+                    action_name=args.action_name,
+                )
+            except (ValueError, rclpy.exceptions.InvalidTopicNameException) as e:
+                raise RuntimeError(e)
+
+        print('Action: {}'.format(args.action_name))
+        print('Action clients: {}'.format(len(action_clients)))
+        if not args.count:
+            for client_name, client_types in action_clients:
+                if args.show_types:
+                    types_formatted = ', '.join(client_types)
+                    print('    {client_name} [{types_formatted}]'.format_map(locals()))
+                else:
+                    print('    {client_name}'.format_map(locals()))
+        print('Action servers: {}'.format(len(action_servers)))
+        if not args.count:
+            for server_name, server_types in action_servers:
+                if args.show_types:
+                    types_formatted = ', '.join(server_types)
+                    print('    {server_name} [{types_formatted}]'.format_map(locals()))
+                else:
+                    print('    {server_name}'.format_map(locals()))
diff --git a/ros2action/ros2action/verb/list.py b/ros2action/ros2action/verb/list.py
@@ -0,0 +1,44 @@
+# Copyright 2019 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 ros2action.api import get_action_names_and_types
+from ros2action.verb import VerbExtension
+from ros2cli.node.strategy import DirectNode
+
+
+class ListVerb(VerbExtension):
+    """Output a list of action names."""
+
+    def add_arguments(self, parser, cli_name):
+        parser.add_argument(
+            '-t', '--show-types', action='store_true',
+            help='Additionally show the action type')
+        parser.add_argument(
+            '-c', '--count-actions', action='store_true',
+            help='Only display the number of actions discovered')
+
+    def main(self, *, args):
+        with DirectNode(args) as node:
+            action_names_and_types = get_action_names_and_types(node=node)
+
+        if args.count_actions:
+            print(len(action_names_and_types))
+            return
+
+        for name, types in action_names_and_types:
+            if args.show_types:
+                types_formatted = ', '.join(types)
+                print('{name} [{types_formatted}]'.format_map(locals()))
+            else:
+                print('{name}'.format_map(locals()))