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support multiple fields in ros2topic echo #964

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merged 4 commits into from
Jan 24, 2025
Merged

support multiple fields in ros2topic echo #964

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8955194
support multiple fields in ros2topic echo
sangteak601 Jan 17, 2025
08cffa2
add tests for echo multi fields
sangteak601 Jan 24, 2025
17cb712
fix line too long
sangteak601 Jan 24, 2025
ce30f4a
update line end
sangteak601 Jan 24, 2025
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100 changes: 59 additions & 41 deletions ros2topic/ros2topic/verb/echo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ def add_arguments(self, parser, cli_name):
)
)
parser.add_argument(
'--field', type=str, default=None,
'--field', action='append', type=str, default=None,
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help='Echo a selected field of a message. '
"Use '.' to select sub-fields. "
'For example, to echo the position field of a nav_msgs/msg/Odometry message: '
Expand Down Expand Up @@ -180,11 +180,14 @@ def main(self, *, args):
self.csv = args.csv

# Validate field selection
self.field = args.field
if self.field is not None:
self.field = list(filter(None, self.field.split('.')))
if not self.field:
raise RuntimeError(f"Invalid field value '{args.field}'")
self.fields_list = []
if args.field:
for field in args.field:
if field is not None:
field_filtered = list(filter(None, field.split('.')))
self.fields_list.append(field_filtered)
if not field_filtered:
raise RuntimeError(f"Invalid field value '{field}'")

self.truncate_length = args.truncate_length if not args.full_length else None
self.no_arr = args.no_arr
Expand Down Expand Up @@ -272,17 +275,26 @@ def _timed_out(self):
self.future.set_result(True)

def _subscriber_callback(self, msg, info):
submsg = msg
if self.field is not None:
for field in self.field:
try:
submsg = getattr(submsg, field)
except AttributeError as ex:
raise RuntimeError(f"Invalid field '{'.'.join(self.field)}': {ex}")
submsgs = []
if self.fields_list:
for fields in self.fields_list:
submsg = msg
for field in fields:
try:
submsg = getattr(submsg, field)
except AttributeError as ex:
raise RuntimeError(f"Invalid field '{'.'.join(fields)}': {ex}")
submsgs.append(submsg)
else:
submsgs.append(msg)

# Evaluate the current msg against the supplied expression
if self.filter_fn is not None and not self.filter_fn(submsg):
return
if self.filter_fn is not None:
for submsg in submsgs:
if not self.filter_fn(submsg):
submsgs.remove(submsg)
if not submsgs:
return

if self.future is not None and self.once:
self.future.set_result(True)
Expand All @@ -291,33 +303,39 @@ def _subscriber_callback(self, msg, info):
if self.clear_screen:
clear_terminal()

if not hasattr(submsg, '__slots__'):
# raw
if self.include_message_info:
print('---Got new message, message info:---')
print(info)
print('---Message data:---')
print(submsg, end='\n---\n')
return

if self.csv:
to_print = message_to_csv(
submsg,
truncate_length=self.truncate_length,
no_arr=self.no_arr,
no_str=self.no_str)
for i, submsg in enumerate(submsgs):
if i == len(submsgs)-1:
line_end = '---\n'
else:
line_end = ''
if not hasattr(submsg, '__slots__'):
# raw
if self.include_message_info:
print('---Got new message, message info:---')
print(info)
print('---Message data:---')
line_end = '\n' + line_end
print(submsg, end=line_end)
continue

if self.csv:
to_print = message_to_csv(
submsg,
truncate_length=self.truncate_length,
no_arr=self.no_arr,
no_str=self.no_str)
if self.include_message_info:
to_print = f'{",".join(str(x) for x in info.values())},{to_print}'
print(to_print)
continue
# yaml
if self.include_message_info:
to_print = f'{",".join(str(x) for x in info.values())},{to_print}'
print(to_print)
return
# yaml
if self.include_message_info:
print(yaml.dump(info), end='---\n')
print(
message_to_yaml(
submsg, truncate_length=self.truncate_length,
no_arr=self.no_arr, no_str=self.no_str, flow_style=self.flow_style),
end='---\n')
print(yaml.dump(info), end=line_end)
print(
message_to_yaml(
submsg, truncate_length=self.truncate_length,
no_arr=self.no_arr, no_str=self.no_str, flow_style=self.flow_style),
end=line_end)


def _expr_eval(expr):
Expand Down
72 changes: 72 additions & 0 deletions ros2topic/test/test_cli.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -589,6 +589,20 @@ def test_topic_echo_field(self):
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_topic_echo_multi_fields(self):
with self.launch_topic_command(
arguments=['echo', '/defaults', '--field', 'int8_value', '--field', 'uint8_value'],
) as topic_command:
assert topic_command.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
'-50',
'200',
'---',
], strict=True
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_topic_echo_field_nested(self):
with self.launch_topic_command(
Expand All @@ -604,6 +618,21 @@ def test_topic_echo_field_nested(self):
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_topic_echo_multi_fields_nested(self):
with self.launch_topic_command(
arguments=['echo', '/cmd_vel', '--field', 'twist.linear.x',
'--field', 'twist.linear.y'],
) as topic_command:
assert topic_command.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
'1.0',
'0.0',
'---',
], strict=True
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_topic_echo_field_not_a_member(self):
with self.launch_topic_command(
Expand All @@ -616,6 +645,28 @@ def test_topic_echo_field_not_a_member(self):
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

@launch_testing.markers.retry_on_failure(times=5, delay=1)
def test_topic_echo_multi_fields_not_a_member(self):
with self.launch_topic_command(
arguments=['echo', '/arrays', '--field', 'not_member', '--field', 'alignment_check'],
) as topic_command:
assert topic_command.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
"Invalid field 'not_member': 'Arrays' object has no attribute 'not_member'",
], strict=True
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

with self.launch_topic_command(
arguments=['echo', '/arrays', '--field', 'alignment_check', '--field', 'not_member'],
) as topic_command:
assert topic_command.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
"Invalid field 'not_member': 'Arrays' object has no attribute 'not_member'",
], strict=True
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

def test_topic_echo_field_invalid(self):
with self.launch_topic_command(
arguments=['echo', '/arrays', '--field', '/'],
Expand All @@ -637,6 +688,27 @@ def test_topic_echo_field_invalid(self):
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

def test_topic_echo_multi_fields_invalid(self):
with self.launch_topic_command(
arguments=['echo', '/arrays', '--field', '/', '--field', 'alignment_check'],
) as topic_command:
assert topic_command.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
"Invalid field '/': 'Arrays' object has no attribute '/'",
], strict=True
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

with self.launch_topic_command(
arguments=['echo', '/arrays', '--field', 'alignment_check', '--field', '.'],
) as topic_command:
assert topic_command.wait_for_output(functools.partial(
launch_testing.tools.expect_output, expected_lines=[
"Invalid field value '.'",
], strict=True
), timeout=10)
assert topic_command.wait_for_shutdown(timeout=10)

def test_topic_echo_no_publisher(self):
with self.launch_topic_command(
arguments=['echo', '/this_topic_has_no_pub'],
Expand Down