class Orocos::ROS::NodeGraph

A representation of the overall ROS node graph. This is used as it is a lot cheaper to query the ROS master directly using getSystemState than calling getPublishers / getSubscribers on each individual slaves

Attributes

node_graph[R]

Hash<String,Array(Set<String>,Set<String>)> mapping from a node name to the set of input topics and output topics. The set of known node names is nodes.keys

topic_types[R]

Set<Array(String,String)> The set of known topics, as pairs of

topic_names, topic_msg_name

Public Class Methods

from_system_state(state, topics) click to toggle source

# File lib/orocos/ros/name_service.rb, line 7
def self.from_system_state(state, topics)
    graph = new
    graph.initialize_from_system_state(state, topics)
    graph
end

new() click to toggle source

# File lib/orocos/ros/name_service.rb, line 21
def initialize
    @topic_types = Hash.new
    @node_graph = Hash.new
end

Public Instance Methods

has_node?(name) click to toggle source

Returns true if the given name is a known name for a node

# File lib/orocos/ros/name_service.rb, line 88
def has_node?(name)
    node_graph.has_key?(name)
end

has_topic?(name) click to toggle source

Returns true if the given name is a known name for a topic

# File lib/orocos/ros/name_service.rb, line 78
def has_topic?(name)
    topic_types.has_key?(name)
end

initialize_from_system_state(state, topics) click to toggle source

# File lib/orocos/ros/name_service.rb, line 26
def initialize_from_system_state(state, topics)
    @topic_types = Hash[*topics.flatten]
    state[0].each do |topic_name, publishers|
        publishers.each do |node_name|
            node_graph[node_name] ||= [Set.new, Set.new]
            node_graph[node_name][1] << topic_name
        end
    end
    state[1].each do |topic_name, subscribers|
        subscribers.each do |node_name|
            node_graph[node_name] ||= [Set.new, Set.new]
            node_graph[node_name][0] << topic_name
        end
    end
    state[2].each do |service_name, providers|
        providers.each do |node_name|
            node_graph[node_name] ||= [Set.new, Set.new]
        end
    end
end

input_topics_for(node_name) click to toggle source

Returns the set of topic names that are subscribed by the given node

# File lib/orocos/ros/name_service.rb, line 58
def input_topics_for(node_name)
    if !node_graph[node_name]
        raise ArgumentError, "#{node_name} is not a known node"
    end
    node_graph[node_name][0] || Set.new
end

nodes() click to toggle source

Returns the set of known node names

# File lib/orocos/ros/name_service.rb, line 83
def nodes
    node_graph.keys
end

output_topics_for(node_name) click to toggle source

Returns the set of topic names that are published by the given node

# File lib/orocos/ros/name_service.rb, line 49
def output_topics_for(node_name)
    if !node_graph[node_name]
        raise ArgumentError, "#{node_name} is not a known node"
    end
    node_graph[node_name][1] || Set.new
end

topic_message_type(topic_name) click to toggle source

Returns the message type name for this topic

@return nil if the topic name is not known to us

# File lib/orocos/ros/name_service.rb, line 73
def topic_message_type(topic_name)
    topic_types[topic_name]
end

topics() click to toggle source

Returns the set of known topic names

# File lib/orocos/ros/name_service.rb, line 66
def topics
    topic_types.keys
end