ros_sugar.io.topic

`ros_sugar.io.topic`#

ROS Topic Configuration

Module Contents#

Classes#

`Topic`	Class for ROS topic configuration (name, type and QoS)
`AllowedTopic`	Configure a key name and allowed types to restrict a component Topic
`RestrictedTopicsConfig`	Class used to define a restriction on component inputs/outputs topics

Functions#

`get_all_msg_types`	Gets all message types from supported data_types
`get_msg_type`	Gets a message type from supported data_types given a string name
`msg_type_validator`	Validates that a string message type corresponds to a supported data type

API#

ros_sugar.io.topic.get_all_msg_types(msg_types_module: types.ModuleType = supported_types, additional_types: Optional[List[type[ros_sugar.io.supported_types.SupportedType]]] = None) → List[type[ros_sugar.io.supported_types.SupportedType]]#

Gets all message types from supported data_types

Returns:: Supported data types
Return type:: list[type]

ros_sugar.io.topic.get_msg_type(type_name: Union[type[ros_sugar.io.supported_types.SupportedType], str], msg_types_module: Optional[types.ModuleType] = supported_types, additional_types: Optional[List[type[ros_sugar.io.supported_types.SupportedType]]] = None) → Union[type[ros_sugar.io.supported_types.SupportedType], str]#

Gets a message type from supported data_types given a string name

Parameters:: type_name (str) – Message name
Returns:: Supported data type or None if not found
Return type:: type

ros_sugar.io.topic.msg_type_validator(*_: Any, value)#

Validates that a string message type corresponds to a supported data type

Parameters:: value (type) – description
Raises:: ValueError – description

class ros_sugar.io.topic.Topic#

Bases: ros_sugar.config.BaseAttrs

Class for ROS topic configuration (name, type and QoS)

asdict(filter: Optional[Callable] = None) → dict#

from_dict(dict_obj: Dict) → None#

from_yaml(file_path: str, nested_root_name: str | None = None, get_common: bool = False) → None#

to_json() → Union[str, bytes, bytearray]#

from_json(json_obj: Union[str, bytes, bytearray]) → None#

has_attribute(attr_name: str) → bool#

get_attribute_type(attr_name: str) → Optional[type]#

update_value(attr_name: str, attr_value: Any) → bool#

class ros_sugar.io.topic.AllowedTopic#

Bases: ros_sugar.config.BaseAttrs

Configure a key name and allowed types to restrict a component Topic

asdict(filter: Optional[Callable] = None) → dict#

from_dict(dict_obj: Dict) → None#

from_yaml(file_path: str, nested_root_name: str | None = None, get_common: bool = False) → None#

to_json() → Union[str, bytes, bytearray]#

from_json(json_obj: Union[str, bytes, bytearray]) → None#

has_attribute(attr_name: str) → bool#

get_attribute_type(attr_name: str) → Optional[type]#

update_value(attr_name: str, attr_value: Any) → bool#

class ros_sugar.io.topic.RestrictedTopicsConfig#

Class used to define a restriction on component inputs/outputs topics

classmethod keys() → List[str]#

keys.

Return type:: List[str]

classmethod types(key: str) → List[Union[ros_sugar.io.supported_types.SupportedType, str]]#

types.

Parameters:: key (str)
Return type:: List[Union[supported_types.SupportedType, str]]

classmethod required_number(key: str) → int#

required_number.

Parameters:: key (str)
Return type:: int

classmethod optional_number(key: str) → int#

optional_number.

Parameters:: key (str)
Return type:: int