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Add 'service type' verb #273

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Jun 7, 2019
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43 changes: 43 additions & 0 deletions ros2service/ros2service/verb/type.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
# Copyright 2019 Canonical Ltd.
#
# 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 NodeStrategy
from ros2service.api import get_service_names_and_types
from ros2service.api import ServiceNameCompleter
from ros2service.verb import VerbExtension


class TypeVerb(VerbExtension):
"""Output a service's type."""

def add_arguments(self, parser, cli_name):
arg = parser.add_argument(
'service_name',
help="Name of the ROS service to get type (e.g. '/talker/list_parameters')")
arg.completer = ServiceNameCompleter(
include_hidden_services_key='include_hidden_services')

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
1 change: 1 addition & 0 deletions ros2service/setup.py
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@
'ros2service.verb': [
'call = ros2service.verb.call:CallVerb',
'list = ros2service.verb.list:ListVerb',
'type = ros2service.verb.type:TypeVerb',
],
}
)