From 34e630d03777345580cfff199758c651efda5736 Mon Sep 17 00:00:00 2001 From: artivis Date: Fri, 7 Jun 2019 14:11:38 -0400 Subject: [PATCH 1/2] add 'service type' verb Signed-off-by: artivis --- ros2service/ros2service/verb/type.py | 42 ++++++++++++++++++++++++++++ ros2service/setup.py | 1 + 2 files changed, 43 insertions(+) create mode 100644 ros2service/ros2service/verb/type.py diff --git a/ros2service/ros2service/verb/type.py b/ros2service/ros2service/verb/type.py new file mode 100644 index 000000000..550f64487 --- /dev/null +++ b/ros2service/ros2service/verb/type.py @@ -0,0 +1,42 @@ +# 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: + print(service_types[0]) + return 0 + + return 1 diff --git a/ros2service/setup.py b/ros2service/setup.py index 35bb2aeeb..f05e5c733 100644 --- a/ros2service/setup.py +++ b/ros2service/setup.py @@ -35,6 +35,7 @@ 'ros2service.verb': [ 'call = ros2service.verb.call:CallVerb', 'list = ros2service.verb.list:ListVerb', + 'type = ros2service.verb.type:TypeVerb', ], } ) From 337ea64cb7366471bacb0452d6318889391e2e45 Mon Sep 17 00:00:00 2001 From: artivis Date: Fri, 7 Jun 2019 17:48:30 -0400 Subject: [PATCH 2/2] print all types Signed-off-by: artivis --- ros2service/ros2service/verb/type.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros2service/ros2service/verb/type.py b/ros2service/ros2service/verb/type.py index 550f64487..538d3fc46 100644 --- a/ros2service/ros2service/verb/type.py +++ b/ros2service/ros2service/verb/type.py @@ -36,7 +36,8 @@ def main(self, *, args): for (service_name, service_types) in service_names_and_types: if args.service_name == service_name: - print(service_types[0]) + for service_type in service_types: + print(service_type) return 0 return 1