Architecture

Architecture

Bases: Summarizable

callback_group_names: tuple[str, ...] property

Get callback group names.

Returns:

Type	Description
tuple[str, ...]	CallbackGroup names.

callback_groups: tuple[CallbackGroupStructValue, ...] property

Get callback groups.

Returns:

Type	Description
tuple[CallbackGroupStructValue, ...]	CallbackGroup struct value.

callbacks: tuple[CallbackStructValue, ...] property

Get callbacks.

Returns:

Type	Description
tuple[CallbackStructValue, ...]	Callbacks.

communications: tuple[CommunicationStructValue, ...] property

Get communications.

Returns:

Type	Description
tuple[CommunicationStructValue, ...]	Communication struct value.

executor_names: tuple[str, ...] property

Get executor names.

Returns:

Type	Description
tuple[str, ...]	Executor names.

executors: tuple[ExecutorStructValue, ...] property

Get executors.

Returns:

Type	Description
tuple[ExecutorStructValue, ...]	Executors.

node_names: tuple[str, ...] property

Get node names.

Returns:

Type	Description
tuple[str, ...]	Node names.

nodes: tuple[NodeStructValue, ...] property

Get nodes.

Returns:

Type	Description
tuple[NodeStructValue, ...]	Node struct value.

path_names: tuple[str, ...] property

Get path names.

Returns:

Type	Description
tuple[str, ...]	Path names.

paths: tuple[PathStructValue, ...] property

Get paths.

Returns:

Type	Description
tuple[PathStructValue, ...]	Path struct value.

publishers: tuple[PublisherStructValue, ...] property

Get publishers.

Returns:

Type	Description
tuple[PublisherStructValue, ...]	Publisher struct value.

services: tuple[ServiceStructValue, ...] property

Get services.

Returns:

Type	Description
tuple[ServiceStructValue, ...]	Service struct value.

subscriptions: tuple[SubscriptionStructValue, ...] property

Get subscriptions.

Returns:

Type	Description
tuple[SubscriptionStructValue, ...]	Subscription struct value.

summary: Summary property

Get summary.

Returns:

Type	Description
Summary	Summary about value objects and runtime data objects.

topic_names: tuple[str, ...] property

Get topic names.

Returns:

Type	Description
tuple[str, ...]	Topic names.

add_path(path_name, path_info)

Add path.

Parameters:

Name	Type	Description	Default
path_name	str	Path name.	required
path_info	PathStructValue	path information.	required

Raises:

Type	Description
InvalidArgumentError	Occurs when path name were duplicate.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

combine_path(path_left, path_right)

Combine path.

Parameters:

Name	Type	Description	Default
path_left	PathStructValue	Path left.	required
path_right	PathStructValue	Path right.	required

Returns:

Name	Type	Description
PathStructValue	PathStructValue	Path struct value of combined results.

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.

export(file_path, force=False)

Architecture export.

Parameters:

Name	Type	Description	Default
file_path	str	File path.	required
force	bool	Forced specification, by default False. If True, a file with the same name will be overwritten if it exists.	False

get_callback(callback_name)

Get callback.

Returns:

Type	Description
CallbackStructValue	Callback struct value.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_callback_group(callback_group_name)

Get callback group.

Returns:

Type	Description
CallbackGroupStructValue	CallbackGroup struct value.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_communication(publisher_node_name, subscription_node_name, topic_name, *, publisher_construction_order=0, subscription_construction_order=0)

Get communication.

Parameters:

Name	Type	Description	Default
publisher_node_name	str	Publisher node name.	required
subscription_node_name	str	Subscription node name.	required
topic_name	str	Topic name.	required
publisher_construction_order	int	Publisher construction order.	0
subscription_construction_order	int	Subscription construction order.	0

Returns:

Type	Description
CommunicationStructValue	Communication struct value.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_executor(executor_name)

Get executor.

Returns:

Type	Description
ExecutorStructValue	Executor struct value.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_node(node_name)

Get node.

Returns:

Type	Description
NodeStructValue	Node struct value.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

get_path(path_name)

Get path name.

Parameters:

Name	Type	Description	Default
path_name	str	Path name.	required

Returns:

Type	Description
PathStructValue	Path struct value.

Raises:

Type	Description
InvalidArgumentError	Occurs when path name were not exist.
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

remove_path(path_name)

Remove path.

Parameters:

Name	Type	Description	Default
path_name	str	Path name.	required

Raises:

Type	Description
InvalidArgumentError	Occurs when path name were not exist.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.

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

search_paths(*node_names, max_node_depth=None, node_filter=None, communication_filter=None)

Search for paths between specified nodes.

Parameters:

Name	Type	Description	Default
node_names	str	Specifies the name of the node included in the path to search.	()
max_node_depth	int | None	Max node depth.	None
node_filter	Callable[[str], bool] | None	Node filter.	None
communication_filter	Callable[[str], bool] | None	Communication filter.	None

Returns:

Type	Description
list[PathStructValue]	Search result path struct value.

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

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.
MultipleItemFoundError	Occurs when several items were found.

update_path(path_name, path)

Update path.

Parameters:

Name	Type	Description	Default
path_name	str	Path name.	required
path	PathStructValue	Path struct value.	required

Raises:

Type	Description
InvalidArgumentError	Occurs when path name were not exist.

ArchitectureReader

Architecture reader base class.

get_callback_groups(node) abstractmethod

Get callback group values.

Parameters:

Name	Type	Description	Default
node	NodeValue	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]	message contexts

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[NodeValueWithId]	node values.

get_paths() abstractmethod

Get path value.

Returns:

Type	Description
Sequence[PathValue]	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[ServiceCallbackValue]	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	NodeValue	target node	required

Returns:

Type	Description
Sequence[SubscriptionCallbackValue]	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[TimerCallbackValue]	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	NodeValue	target node	required

Returns:

Type	Description
Sequence[VariablePassingvalue]	variable passing values