Remove defaults from subscribers, publishers, and serviceServers

ros2model/api/__init__.py

@@ -219,9 +219,9 @@ def fix_topic_types(node_name: str, topics: Iterable[TopicInfo]):
     for topic in topics:
         if "/" not in topic.types[0]:
             topic.types[0] = '"' + topic.types[0] + '"'
-        topic.types[0] = topic.types[0].replace("/msg/", ".")
-        topic.types[0] = topic.types[0].replace("/srv/", ".")
-        topic.types[0] = topic.types[0].replace("/action/", ".")
+        # topic.types[0] = topic.types[0].replace("/msg/", ".")
+        # topic.types[0] = topic.types[0].replace("/srv/", ".")
+        # topic.types[0] = topic.types[0].replace("/action/", ".")
         # topic.name = topic.name.replace("node_name", "")
         # topic.name = topic.name.replace("/", "")
 

ros2model/verb/running_node.py

@@ -1,6 +1,7 @@
 import re
 import sys
 from collections import namedtuple
+from itertools import filterfalse
 from pathlib import Path
 from typing import List
 
@@ -25,6 +26,38 @@
 
 ParamInfo = namedtuple("Topic", ("name", "types", "default"))
 
+BlackList_Subscribers = [
+    TopicInfo("/parameter_events", ["rcl_interfaces/msg/ParameterEvent"])
+]
+BlackList_Publishers = [
+    TopicInfo("~/transition_event", ["lifecycle_msgs/msg/TransitionEvent"]),
+    TopicInfo("/parameter_events", ["rcl_interfaces/msg/ParameterEvent"]),
+    TopicInfo("/rosout", ["rcl_interfaces/msg/Log"]),
+]
+BlackList_ServiceServers = [
+    TopicInfo("~/change_state", ["lifecycle_msgs/srv/ChangeState"]),
+    TopicInfo("~/describe_parameters",
+              ["rcl_interfaces/srv/DescribeParameters"]),
+    TopicInfo("~/get_available_states",
+              ["lifecycle_msgs/srv/GetAvailableStates"]),
+    TopicInfo(
+        "~/get_available_transitions", [
+            "lifecycle_msgs/srv/GetAvailableTransitions"]
+    ),
+    TopicInfo("~/get_parameter_types",
+              ["rcl_interfaces/srv/GetParameterTypes"]),
+    TopicInfo("~/get_parameters", ["rcl_interfaces/srv/GetParameters"]),
+    TopicInfo("~/get_state", ["lifecycle_msgs/srv/GetState"]),
+    TopicInfo("~/get_transition_graph",
+              ["lifecycle_msgs/srv/GetAvailableTransitions"]),
+    TopicInfo("~/list_parameters", ["rcl_interfaces/srv/ListParameters"]),
+    TopicInfo("~/set_parameters", ["rcl_interfaces/srv/SetParameters"]),
+    TopicInfo(
+        "~/set_parameters_atomically", [
+            "rcl_interfaces/srv/SetParametersAtomically"]
+    ),
+]
+
 
 def call_list_parameters(*, node, node_name, timeout=None):
     # create client
@@ -104,8 +137,8 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
         publishers: List[TopicInfo] = []
         service_clients: List[TopicInfo] = []
         service_servers: List[TopicInfo] = []
-        actions_clients: List[TopicInfo] = []
-        actions_servers: List[TopicInfo] = []
+        action_clients: List[TopicInfo] = []
+        action_servers: List[TopicInfo] = []
         parameters: List[ParamInfo] = []
 
         with NodeStrategy(args) as node:
@@ -130,6 +163,10 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
                 )
                 fix_topic_types(node_name, subscribers)
                 subscribers = fix_topic_names(node_name, subscribers)
+                subscribers = list(
+                    filterfalse(
+                        BlackList_Subscribers.__contains__, subscribers)
+                )
 
                 publishers = get_publisher_info(
                     node=node,
@@ -138,6 +175,9 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
                 )
                 fix_topic_types(node_name, publishers)
                 publishers = fix_topic_names(node_name, publishers)
+                publishers = list(
+                    filterfalse(BlackList_Publishers.__contains__, publishers)
+                )
 
                 service_servers = get_service_server_info(
                     node=node,
@@ -146,6 +186,10 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
                 )
                 fix_topic_types(node_name, service_servers)
                 service_servers = fix_topic_names(node_name, service_servers)
+                service_servers = list(
+                    filterfalse(
+                        BlackList_ServiceServers.__contains__, service_servers)
+                )
 
                 service_clients = get_service_client_info(
                     node=node,
@@ -155,27 +199,27 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
                 fix_topic_types(node_name, service_clients)
                 service_clients = fix_topic_names(node_name, service_clients)
 
-                actions_servers = get_action_server_info(
+                action_servers = get_action_server_info(
                     node=node,
                     remote_node_name=target_node_name,
                     include_hidden=args.include_hidden,
                 )
-                fix_topic_types(node_name, actions_servers)
-                actions_servers = fix_topic_names(node_name, actions_servers)
+                fix_topic_types(node_name, action_servers)
+                action_servers = fix_topic_names(node_name, action_servers)
 
-                actions_clients = get_action_client_info(
+                action_clients = get_action_client_info(
                     node=node,
                     remote_node_name=target_node_name,
                     include_hidden=args.include_hidden,
                 )
-                fix_topic_types(node_name, actions_clients)
-                actions_clients = fix_topic_names(node_name, actions_clients)
+                fix_topic_types(node_name, action_clients)
+                action_clients = fix_topic_names(node_name, action_clients)
             else:
                 return "Unable to find node '" + target_node_name + "'"
 
         with DirectNode(args) as node:
             response = call_list_parameters(
-                node=node, node_name=node_name, timeout=5.0)
+                node=node, node_name=node_name, timeout=1.0)
 
             if response is not None:
                 sorted_names = sorted(response)
@@ -210,15 +254,15 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
             publishers=publishers,
             service_clients=service_clients,
             service_servers=service_servers,
-            actions_clients=actions_clients,
-            actions_servers=actions_servers,
+            action_clients=action_clients,
+            action_servers=action_servers,
             parameters=parameters,
             has_subscribers=len(subscribers) > 0,
             has_publishers=len(publishers) > 0,
             has_service_clients=len(service_clients) > 0,
             has_service_servers=len(service_servers) > 0,
-            has_actions_clients=len(actions_clients) > 0,
-            has_actions_servers=len(actions_servers) > 0,
+            has_action_clients=len(action_clients) > 0,
+            has_action_servers=len(action_servers) > 0,
             has_parameters=len(parameters) > 0,
             if_parameter_value=if_param_value,
         )

templates/node_model.jinja

@@ -17,28 +17,28 @@
         {%- endfor %}
       {%- endif %}
       {%- if has_service_clients %}
-      serviceClients:
+      serviceclients:
         {%- for service in service_clients %}
         "{{ service.name.strip('/') }}":
           type: "{{ service.types[0] }}"
         {%- endfor %}
       {%- endif %}
       {%- if has_service_servers %}
-      serviceServers:
+      serviceservers:
         {%- for service in service_servers %}
         "{{ service.name.strip('/') }}":
           type: "{{ service.types[0] }}"
         {%- endfor %}
       {%- endif %}
       {%- if has_action_clients %}
-      actionClients:
+      actionclients:
         {%- for action in action_clients %}
         "{{ action.name.strip('/') }}":
           type: "{{ action.types[0] }}"
         {%- endfor %}
       {%- endif %}
       {%- if has_action_servers %}
-      actionServers:
+      actionservers:
         {%- for action in action_servers %}
         "{{ action.name.strip('/') }}":
           type: "{{ action.types[0] }}"
@@ -54,6 +54,10 @@
         {%- else %}
           type: {{ parameter.types }}
         {%- endif %}
-          default: {{ parameter.default |safe }}
+        {%- if 'String' in parameter.types %}
+          value: "{{ parameter.default |safe }}"
+        {%- else %}
+          value: {{ parameter.default |safe }}
+        {%- endif %}
         {%- endfor %}
       {%- endif %}