Architecture

Architecture

Bases: Summarizable

diff_node_names(left_arch, right_arch) staticmethod

Compare two architecture objects and return the difference of nodes name.

Parameters:

Name	Type	Description	Default
left_arch	Architecture	Architecture object	required
right_arch	Architecture	Architecture object	required

Returns:

Type	Description
tuple[tuple[str, ...], tuple[str, ...]]	Returns node names that exist only in the respective architectures.

diff_node_pubs(left_node, right_node) staticmethod

Compare two nodes of architecture objects and return the difference of publish topic names.

Parameters:

Name	Type	Description	Default
left_node	NodeStructValue	Node in architecture	required
right_node	NodeStructValue	Node in architecture	required

Returns:

Type	Description
tuple[tuple[str, ...], tuple[str, ...]]	Returns publish topic names that exist only in the respective nodes.

diff_node_subs(left_node, right_node) staticmethod

Compare two nodes of architecture objects and return the difference of subscribe topic names.

Parameters:

Name	Type	Description	Default
left_node	NodeStructValue	Node in architecture	required
right_node	NodeStructValue	Node in architecture	required

Returns:

Type	Description
tuple[tuple[str, ...], tuple[str, ...]]	Returns subscribe topic names that exist only in the respective nodes.

diff_topic_names(left_arch, right_arch) staticmethod

Compare two architecture objects and return the difference of pub/sub topic names.

Parameters:

Name	Type	Description	Default
left_arch	Architecture	Architecture object	required
right_arch	Architecture	Architecture object	required

Returns:

Type	Description
tuple[tuple[str, ...], tuple[str, ...]]	Returns pub/sub topic names that exist only in the respective architectures.

insert_publisher_callback(node_name, publish_topic_name, callback_name, publisher_construction_order)

Insert association of callback with publisher in "node_name" node.

Parameters:

Name	Type	Description	Default
node_name	str	name of target node	required
publish_topic_name	str	topic name of target publisher into which callback is inserted	required
callback_name	str	name of callback to be inserted for publisher	required
publisher_construction_order	int	construction order of target publisher	required

insert_variable_passing(node_name, callback_name_write, callback_name_read)

Insert variable_passing in "node_name" node.

Parameters:

Name	Type	Description	Default
node_name	str	name of target node	required
callback_name_write	str	name of write callback to be inserted in variable_passing	required
callback_name_read	str	name of read callback to be inserted in variable_passing	required

remove_publisher_callback(node_name, publish_topic_name, callback_name, publisher_construction_order)

Remove association of callback with publisher in "node_name" node.

Parameters:

Name	Type	Description	Default
node_name	str	name of target node	required
publish_topic_name	str	topic name of target publisher from which callback is removed	required
callback_name	str	name of callback to be removed for publisher	required
publisher_construction_order	int	construction order of target publisher	required

remove_variable_passing(node_name, callback_name_write, callback_name_read)

Remove variable_passing in "node_name" node.

Parameters:

Name	Type	Description	Default
node_name	str	name of target node	required
callback_name_write	str	name of write callback to be removed from variable_passing	required
callback_name_read	str	name of read callback to be removed from variable_passing	required

rename_callback(src, dst)

Update callback name from "src" to "dst" in architecture.

Parameters:

Name	Type	Description	Default
src	str	current callback name	required
dst	str	updated callback name	required

rename_executor(src, dst)

Update executor name from "src" to "dst" in architecture.

Parameters:

Name	Type	Description	Default
src	str	current executor name	required
dst	str	updated executor name	required

rename_node(src, dst)

Update node name from "src" to "dst" in architecture.

Parameters:

Name	Type	Description	Default
src	str	current node name	required
dst	str	updated node name	required

rename_path(src, dst)

Update path name from "src" to "dst" in architecture.

Parameters:

Name	Type	Description	Default
src	str	current path name	required
dst	str	updated path name	required

rename_topic(src, dst)

Update topic name from "src" to "dst" in architecture.

Parameters:

Name	Type	Description	Default
src	str	current topic name	required
dst	str	updated topic name	required

update_message_context(node_name, context_type, subscribe_topic_name, publish_topic_name)

Update message_context of node_path in "node_name" node.

Parameters:

Name	Type	Description	Default
node_name	str	name of target node	required
context_type	str	type name of message_context to be added	required
subscribe_topic_name	str	name of subscribe topic of target node_path	required
publish_topic_name	str	name of publish topic of target node_path	required

ArchitectureReader

Architecture reader base class.

get_callback_groups(node) abstractmethod

Get callback group values.

Parameters:

Name	Type	Description	Default
node	NodeInfo	target node	required

Returns:

Type	Description
Sequence[CallbackGroupValue]	callback group values

get_executors() abstractmethod

Get executor values.

Returns:

Type	Description
Sequence[ExecutorValue]	executor values

get_message_contexts(node) abstractmethod

Get message contexts.

Parameters:

Name	Type	Description	Default
node	NodeValue	target node	required

Returns:

Type	Description
Sequence[dict]

get_node_names_and_cb_symbols(callback_group_id) abstractmethod

Get node names and callback symbols from callback group id.

Returns:

Type	Description
Sequence[tuple[str | None, str | None]]	node names and callback symbols. tuple structure: (node_name, callback_symbol)

get_nodes() abstractmethod

Get nodes.

Returns:

Type	Description
Sequence[NodeValue]	node values.

get_paths() abstractmethod

Get path value.

Returns:

Type	Description
Sequence[PathInfo]	path values

get_publishers(node_info) abstractmethod

Get publishers info.

Parameters:

Name	Type	Description	Default
node_info	NodeValue	target node	required

Returns:

Type	Description
Sequence[PublisherValue]	publisher values

get_service_callbacks(node) abstractmethod

Get service callback values.

Parameters:

Name	Type	Description	Default
node	NodeInfo	target node	required

Returns:

Type	Description
Sequence[ServiceCallbackInfo]	service callback values

get_services(node) abstractmethod

Get service values.

Parameters:

Name	Type	Description	Default
node	NodeInfo	target node	required

Returns:

Type	Description
Sequence[ServiceValue]	service values

get_subscription_callbacks(node) abstractmethod

Get subscription callback values.

Parameters:

Name	Type	Description	Default
node	NodeInfo	target node	required

Returns:

Type	Description
Sequence[SubscriptionCallbackInfo]	subscription callback values

get_subscriptions(node) abstractmethod

Get subscription values.

Parameters:

Name	Type	Description	Default
node	NodeInfo	target node	required

Returns:

Type	Description
Sequence[SubscriptionValue]	subscription values

get_timer_callbacks(node) abstractmethod

Get timer callback values.

Parameters:

Name	Type	Description	Default
node	NodeValue	target node	required

Returns:

Type	Description
Sequence[TimerCallbackStructInfo]	timer callback values

get_timers(node) abstractmethod

Get timers info.

Parameters:

Name	Type	Description	Default
node	NodeValue	target node	required

Returns:

Type	Description
Sequence[TimerValue]	timers values

get_variable_passings(node) abstractmethod

Get variable passing values.

Parameters:

Name	Type	Description	Default
node	NodeInfo	target node	required

Returns:

Type	Description
Sequence[VariablePassingvalue]	variable passing values