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comply with new node representation #149

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merged 3 commits into from
Sep 12, 2018
Merged

comply with new node representation #149

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a17abe3
comply with new node representation
Karsten1987 Sep 12, 2018
a46b654
python oneliner
Karsten1987 Sep 12, 2018
5be0212
get_node_names return full struct
Karsten1987 Sep 12, 2018
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12 changes: 6 additions & 6 deletions ros2lifecycle/ros2lifecycle/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,14 +27,14 @@ def get_node_names(*, node, include_hidden_nodes=False):
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)]
n.full_name for n in node_names
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Would it be more consistent with the same function make in ros2node to return the "full" n here and let the callers pick thefull_name from it?

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@Karsten1987 Karsten1987 Sep 12, 2018 •
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I can change it if you want. But given that this function anyway only really serves for the lifecycle implementation i didn't do it at first.
Also I feel that get_node_names is then a bit misleading, because it really is a struct with more than just the name of the node.

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I found it already confusing that within this patch the usage is different, e.g. ros2lifecycle/verb/set.py uses the API from ros2node.

if _has_lifecycle(n.full_name, service_names_and_types)]


def _has_lifecycle(node_name, service_names_and_types):
for (service_name, service_types) in service_names_and_types:
if (
service_name == '/{node_name}/get_state'.format_map(locals()) and
service_name == '{node_name}/get_state'.format_map(locals()) and
'lifecycle_msgs/GetState' in service_types
):
return True
Expand All @@ -48,7 +48,7 @@ def call_get_states(*, node, node_names):
for node_name in node_names:
client = node.create_client(
GetState,
'/{node_name}/get_state'.format_map(locals()))
'{node_name}/get_state'.format_map(locals()))
clients[node_name] = client

# wait until all clients have been called
Expand Down Expand Up @@ -88,7 +88,7 @@ def call_get_available_transitions(*, node, states):
for node_name in states.keys():
client = node.create_client(
GetAvailableTransitions,
'/{node_name}/get_available_transitions'.format_map(locals()))
'{node_name}/get_available_transitions'.format_map(locals()))
clients[node_name] = client

# wait until all clients have been called
Expand Down Expand Up @@ -135,7 +135,7 @@ def call_change_states(*, node, transitions):
for node_name in transitions.keys():
client = node.create_client(
ChangeState,
'/{node_name}/change_state'.format_map(locals()))
'{node_name}/change_state'.format_map(locals()))
clients[node_name] = client

# wait until all clients have been called
Expand Down
7 changes: 6 additions & 1 deletion ros2lifecycle/ros2lifecycle/verb/set.py
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Expand Up @@ -44,7 +44,12 @@ def main(self, *, args): # noqa: D102
node_names = get_node_names(
node=node, include_hidden_nodes=args.include_hidden_nodes)

if args.node_name not in node_names:
node_found = False
for node_name in node_names:
if args.node_name in node_name.full_name:
node_found = True
break
if not node_found:
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This could be much shorter: if args.node_name not in {n.full_name for n in node_names}:

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of course there is a one-liner for python :) thanks!

return 'Node not found'

with DirectNode(args) as node:
Expand Down