Source code for ros_bt_py.ros_helpers

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import inspect

import rclpy.logging
from rclpy import action
from rclpy.node import Node, Publisher

from ros_bt_py.exceptions import BehaviorTreeException
from ros_bt_py_interfaces.msg import MessageChannel, MessageChannels




class LoggerLevel(object):
    """Data class containing a logging level."""

    def __init__(self, logger_level=rclpy.logging.LoggingSeverity.INFO):
        """Initialize a new LoggerLevel class."""
        self.logger_level = logger_level





class EnumValue(object):
    """Data class containing an enum value."""

    def __init__(self, enum_value=""):
        """Initialize a new EnumValue class."""
        self.enum_value = enum_value





def get_interface_name(msg_metaclass: type) -> str:
    """
    Extract the interface name from a ROS2 message metaclass.

    :param msg_metaclass: The ROS2 message metaclass.

    :returns: The interface name in the format 'package_name/message_type/message_name'.
    """
    module_parts = msg_metaclass.__module__.split(".")
    package_name = module_parts[0]
    message_type = module_parts[-2]  # Extract 'msg', 'srv', or 'action'
    message_name = msg_metaclass.__name__
    return f"{package_name}/{message_type}/{message_name}"





def get_message_constant_fields(message_class):
    """Return all constant fields of a message as a list."""
    if inspect.isclass(message_class):
        # This is highly dependend on the ROS message class generation.
        members = [
            attr
            for attr in dir(message_class.__class__)
            if not attr.startswith("_")
            and not callable(getattr(message_class.__class__, attr))
        ]

        return members
    else:
        raise BehaviorTreeException(f"{message_class} is not a ROS Message")





def publish_message_channels(node: Node, publisher: Publisher):
    """Return all known topic-, service-, and action-names."""
    msg = MessageChannels()
    # Types are returned as 1?-element lists, so we need to unpack them
    for name, [interface, *_] in node.get_topic_names_and_types():
        msg.topics.append(MessageChannel(name=name, type=interface))
    for name, [interface, *_] in node.get_service_names_and_types():
        msg.services.append(MessageChannel(name=name, type=interface))
    for name, [interface, *_] in action.get_action_names_and_types(node):
        msg.actions.append(MessageChannel(name=name, type=interface))
    publisher.publish(msg)