Value objects

Package defining the value object class.

Defined classes are used as an interface across multiple packages: architecture, infra, and runtime. CARET uses value objects to avoid unexpectedly overwritten.

CallbackChain

Bases: MessageContext

TYPE_NAME = 'callback_chain' class-attribute instance-attribute

Callback chain.

Latency is calculated from callback durations in the node path. When a path within a node passes through multiple callbacks, it is assumed that messages are passed between callbacks by a buffer of queue size 1 (ex. a member variable that stores a single message). If the queue size is larger than 1, the node latency may be calculated to be small.

CallbackGroupStructValue

Bases: ValueObject, Summarizable

Callback group value object.

callback_group_name: str property

Get callback group name.

Returns:

Type	Description
str	Callback group name.

callback_group_type: CallbackGroupType property

Get callback_group_type.

Returns:

Type	Description
CallbackGroupType

callback_group_type_name: str property

Get callback_group_type name.

Returns:

Type	Description
CallbackGroupType name

callback_names: tuple[str, ...] property

Get callback names.

Returns:

Type	Description
tuple[str, ...]	Callback names which are added to the callback group.

callbacks: tuple[CallbackStructValue, ...] property

Get callbacks.

Returns:

Type	Description
tuple[CallbackStructValue, ...]	Callbacks which are added to the callback group.

node_name: str property

Get node name.

Returns:

Type	Description
str	node name

__init__(callback_group_type, node_name, callback_values, callback_group_name)

Construct callback group value object.

Parameters:

Name	Type	Description	Default
callback_group_type	CallbackGroupType	callback group type	required
node_name	str	node name	required
callback_values	tuple[CallbackStructValue, ...]	callback values	required
callback_group_name	str	callback group name	required

CallbackGroupType

Bases: ValueObject

Callback group type class.

The types of callback groups are as follows:

• MUTUALLY_EXCLUSIVE
• REENTRANT

type_name: str property

Return callback group type name.

Returns:

Type	Description
str	type name.

__init__(name)

Construct CallbackGroupType.

Parameters:

Name	Type	Description	Default
name	str	type name ['mutually_exclusive', 'reentrant', 'UNDEFINED']	required

CallbackGroupValue

Bases: ValueObject

Callback group value object.

callback_group_id: str property

Get callback group id.

Returns:

Type	Description
str	Callback group id.

callback_group_name: str | None property

Get callback group name.

Returns:

Type	Description
str | None	Callback group name.

callback_group_type: CallbackGroupType property

Get callback_group_type.

Returns:

Type	Description
CallbackGroupType

callback_ids: tuple[str, ...] property

Get callback ids.

Returns:

Type	Description
tuple[str, ...]	callback ids added to the callback group.

node_id: str property

Get node id.

Returns:

Type	Description
str	Node id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name which includes the callback group.

__init__(callback_group_type_name, node_name, node_id, callback_ids, callback_group_id, *, callback_group_name=None)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback_group_type_name	str	callback group type name: ['mutually_exclusive' / 'reentrant' / 'UNDEFINED']	required
node_name	str	node name.	required
node_id	str	Identification of the node, a value that can be identified when retrieved from the Architecture reader.	required
callback_ids	tuple[str, ...]	Identification of the callback, a value that can be identified when retrieved from the Architecture reader.	required
callback_group_id	str	Identification of the callback group, a value that can be identified when retrieved from the Architecture reader.	required
callback_group_name	str | None	callback group name, by default None. If None, it is generated automatically.	None

CallbackStructValue

Bases: Summarizable

Callback value base class.

callback_name: str property

Get callback name.

Returns:

Type	Description
str	Callback name.

callback_type: CallbackType abstractmethod property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

callback_type_name: str property

Get callback type name.

Returns:

Type	Description
str	Callback type name.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

publish_topics: tuple[PublishTopicInfoValue, ...] | None property

Get publisher topic info.

Returns:

Type	Description
tuple[PublishTopicInfoValue, ...] | None	publish topics

service_name: str | None property

Get service name.

Returns:

Type	Description
str | None	Service name.

subscribe_topic_name: str | None property

Get subscribe topic name.

Returns:

Type	Description
str | None	Subscribe topic name.

summary: Summary abstractmethod property

Get summary.

Returns:

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

symbol: str property

Get callback symbol name.

Returns:

Type	Description
str	Callback symbol name.

__init__(node_name, symbol, subscribe_topic_name, service_name, publish_topics, construction_order, callback_name)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
symbol	str	Symbol name of the callback.	required
subscribe_topic_name	str | None	Topic name which the callback subscribes.	required
service_name	str | None	Service name which the service callback service.	required
publish_topics	tuple[PublishTopicInfoValue, ...] | None	Topic information which the callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str	Callback name.	required

CallbackType

Bases: ValueObject

callback group type class.

type_name: str property

Return callback type name.

Returns:

Type	Description
str	Type name.

__init__(name)

Construct callback type.

Parameters:

Name	Type	Description	Default
name	str	Callback type name ['timer_callback', 'subscription_callback', 'service_callback'].	required

__str__()

Convert to string.

Returns:

Type	Description
str	Type name.

CallbackValue

Bases: ValueObject

Value object class for representing a callback.

This class has minimal information and no structure. It's used as the return value of ArchitectureReader.

callback_id: str property

Get callback id.

Callback id is is used to bind. Callback id should be the same if the node name and other properties are the same. If any properties is different, it should be a different callback id.

Returns:

Type	Description
str	Callback unique id.

callback_name: str | None property

Get callback name.

Returns:

Type	Description
str	Callback name.

Note:

Different architecture_readers may return different values.

callback_type: CallbackType abstractmethod property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_id: str property

Get node id.

Returns:

Type	Description
str	Node id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

publish_topics: tuple[PublishTopicInfoValue, ...] | None property

Get publisher topic info.

Returns:

Type	Description
tuple[PublishTopicInfoValue, ...]] | None	publish topics

Note:

Since callback publishes multiple topics, there are multiple publish topic names & construction_order.

service_name: str | None property

Get service name.

Returns:

Type	Description
str	Service name.

subscribe_topic_name: str | None property

Get subscription topic name.

Returns:

Type	Description
str | None	Topic name which the callback subscribes.

Note:

Only one subscription callback have a single subscribe topic name.

symbol: str property

Get callback symbol name.

Returns:

Type	Description
str	Callback symbol name.

__init__(callback_id, node_name, node_id, symbol, subscribe_topic_name, service_name, publish_topics, construction_order, *, callback_name=None)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback_id	str	Callback unique id, a value that can be identified when retrieved from the Architecture reader.	required
node_name	str	Node name.	required
node_id	str	Node unique id, a value that can be identified when retrieved from the Architecture reader.	required
symbol	str	Symbol name of the callback.	required
subscribe_topic_name	str | None	Topic name which the callback subscribes.	required
service_name	str | None	Service name which the callback service.	required
publish_topics	tuple[PublishTopicInfoValue] | None	publishes information which the callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str | None	Callback name, by default None. This argument is used by ArchitectureReaderYaml.	None

DiffNode

__init__(left_node, right_node)

Construct an instance.

Parameters:

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

diff_node_pubs()

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

Returns:

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

diff_node_subs()

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

Returns:

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

ExecutorStructValue

Bases: ValueObject, Summarizable

Executor info for architecture.

callback_group_names: tuple[str, ...] property

Get callback group names.

Returns:

Type	Description
tuple[str, ...]	Callback group names.

callback_groups: tuple[CallbackGroupStructValue, ...] property

Get callback groups.

Returns:

Type	Description
tuple[CallbackGroupStructValue, ...]	Construct callback group value object.

callback_names: tuple[str, ...] property

Get callback name list.

Returns:

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

callbacks: tuple[CallbackStructValue, ...] property

Get Callbacks.

Returns:

Type	Description
tuple[CallbackStructValue, ...]	Callback value base.

executor_name: str property

Get executor name.

Returns:

Type	Description
str	Executor name.

executor_type: ExecutorType property

Get executor type.

Returns:

Type	Description
ExecutorType	Executor type.

executor_type_name: str property

Get executor type name.

Returns:

Type	Description
str	Executor type name.

summary: Summary property

Get summary.

Returns:

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

__init__(executor_type, callback_group_values, executor_name)

Construct an instance.

Parameters:

Name	Type	Description	Default
executor_type	ExecutorType	Executor type.	required
callback_group_values	tuple[CallbackGroupStructValue, ...]	Callback group values.	required
executor_name	str	Executor name.	required

ExecutorType

Bases: ValueObject

executor type class.

type_name: str property

Get executor type name.

Returns:

Type	Description
str	Type name.

__init__(type_name)

Construct an instance.

Parameters:

Name	Type	Description	Default
type_name	str	Type name.	required

__str__()

Convert to string.

Returns:

Type	Description
str	Type name.

ExecutorValue

Bases: ValueObject

Executor value class.

callback_group_ids: tuple[str, ...] property

Get callback group ids.

Returns:

Type	Description
tuple[str, ...]	Callback group id list.

executor_name: str | None property

Get executor name.

Returns:

Type	Description
str | None	Executor name.

executor_type: ExecutorType property

Get executor type.

Returns:

Type	Description
ExecutorType	Executor type.

__init__(executor_type_name, callback_group_ids, *, executor_name=None)

Get executor type name.

Parameters:

Name	Type	Description	Default
executor_type_name	str	Executor type name.	required
callback_group_ids	tuple[str, ...]	Callback group ids.	required
executor_name	str | None	Executor name.	None

InheritUniqueStamp

Bases: MessageContext

TYPE_NAME = 'inherit_unique_stamp' class-attribute instance-attribute

Inherit header timestamp.

Latency is calculated for pub/sub messages with the same timestamp value. If the input timestamp is not unique, it may calculate an incorrect value.

context_type: MessageContextType property

Get context type.

Returns:

Type	Description
MessageContextType	Message context type.

verify()

Get verify.

Returns:

Type	Description
bool	Same or difference.

MessageContext

Bases: ValueObject, Summarizable

Structured message context value.

callbacks: tuple[CallbackStructValue, ...] | None property

Get callbacks.

Returns:

Type	Description
tuple[CallbackStructValue, ...] | None	Callback struct values.

context_type: MessageContextType abstractmethod property

Get context type.

Returns:

Type	Description
MessageContextType	Message context type.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

publisher_construction_order: int | None property

Get publisher topic name.

Returns:

Type	Description
int | None	Publisher construction order.

publisher_topic_name: str | None property

Get publisher topic name.

Returns:

Type	Description
str | None	Publisher topic name.

subscription_construction_order: int | None property

Get subscription construction order.

Returns:

Type	Description
int | None	Subscription construction order.

subscription_topic_name: str | None property

Get subscription topic name.

Returns:

Type	Description
str | None	Subscription topic name.

summary: Summary property

Get summary.

Returns:

Type	Description
Summary	Summary.

type_name: str property

Get type name.

Returns:

Type	Description
str	Type name.

__init__(node_name, message_context_dict, subscription, publisher, child)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
message_context_dict	dict	Message context dict.	required
subscription	SubscriptionStructValue | None	Target subscription value.	required
publisher	PublisherStructValue | None	Target publisher.	required
child	tuple[CallbackStructValue, ...] | None	Child elements.	required

create_instance(context_type_name, context_dict, node_name, subscription, publisher, child) staticmethod

Get create instance.

Parameters:

Name	Type	Description	Default
context_type_name	str	Context type name.	required
context_dict	dict	Context dict.	required
node_name	str	Node name.	required
subscription	SubscriptionStructValue | None	Target subscription value.	required
publisher	PublisherStructValue | None	Target publisher.	required
child	tuple[CallbackStructValue, ...] | None	Child elements.	required

Returns:

Type	Description
MessageContext	Message context.

is_applicable_path(subscription, publisher, callbacks)

Get applicable path.

Parameters:

Name	Type	Description	Default
subscription	SubscriptionStructValue | None	Target subscription value.	required
publisher	PublisherStructValue | None	Target publisher value.	required
callbacks	tuple[CallbackStructValue, ...] | None	Target callbacks.	required

Returns:

Type	Description
bool	True if applicable path, false otherwise.

to_dict()

Get to dict.

Returns:

Type	Description
dict	Dict.

verify() abstractmethod

Get verify.

Returns:

Type	Description
bool	Verify or not.

MessageContextType

Bases: ValueObject

Message context type.

type_name: str property

Get type name.

Parameters:

Name	Type	Description	Default
str		Type name.	required

__init__(type_name)

Construct an instance.

Parameters:

Name	Type	Description	Default
type_name	str	Type name.	required

__str__()

Get type name.

Parameters:

Name	Type	Description	Default
str		Type name.	required

NodePathStructValue

Bases: ValueObject, Summarizable

StructValue object class for representing a node path.

This class is a structure that includes other related StructValue classes, such as callbacks, and used as the return value of Architecture object. In CARET, the node path is defined as from subscribe to publish.

callback_names: tuple[str, ...] | None property

Get callback names.

Returns:

Type	Description
tuple[str, ...] | None	Callback names of all child elements that comprise the node path.

callbacks: tuple[CallbackStructValue, ...] | None property

Get callbacks.

Returns:

Type	Description
tuple[CallbackStructValue, ...] | None	Callbacks in all child elements that comprise the node path.

child: tuple[CallbackStructValue | VariablePassingStructValue, ...] | None property

Get child elements.

Returns:

Type	Description
tuple[CallbackStructValue | VariablePassingStructValue, ...] | None	Child elements for this node path.

message_context: MessageContext | None property

Get message context.

Returns:

Type	Description
MessageContext | None	Message context for this node path.

message_context_type: MessageContextType | None property

Get message context type.

Returns:

Type	Description
MessageContextType | None	Message context type for this node path.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

publish_topic_name: str | None property

Get a topic name to publish.

Returns:

Type	Description
str | None	Topic name to publish.

publisher: PublisherStructValue | None property

Get publisher.

Returns:

Type	Description
PublisherStructValue | None	Node path publisher.

publisher_construction_order: int | None property

Get a construction order of publisher.

Returns:

Type	Description
int | None	Construction order of publisher.

subscribe_topic_name: str | None property

Get a topic name to subscribe to.

Returns:

Type	Description
str | None	Topic name to subscribe to.

subscription: SubscriptionStructValue | None property

Get subscription.

Returns:

Type	Description
SubscriptionStructValue | None	Subscription to subscribe to.

subscription_callback: SubscriptionCallbackStructValue | None property

Get subscription callback.

Returns:

Type	Description
SubscriptionCallbackStructValue | None	Subscription callback for this node path.

subscription_construction_order: int | None property

Get a construction order of subscription.

Returns:

Type	Description
int | None	Construction order of subscription.

summary: Summary property

Get summary.

Returns:

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

variable_passings: tuple[VariablePassingStructValue, ...] | None property

Get variable passings.

Returns:

Type	Description
tuple[VariablePassingStructValue, ...] | None	Variable passings in all child elements that comprise the node path.

__init__(node_name, subscription, publisher, child, message_context)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
subscription	SubscriptionStructValue | None	Subscription which the node path subscribes.	required
publisher	PublisherStructValue | None	Publisher which the node path publishes.	required
child	tuple[CallbackStructValue | VariablePassingStructValue, ...] | None	Child elements of a node path. Required only when message_context is callback_chain.	required
message_context	MessageContext | None	Message Context. Used to define node latency.	required

NodePathValue

Bases: ValueObject

Value object class for representing a node path.

This class has minimal information and no structure, and used as the return value of ArchitectureReader. In CARET, the node path is defined as from subscribe to publish.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

publish_topic_name: str | None property

Get a topic name to publish.

Returns:

Type	Description
str | None	Topic name to publish.

publisher_construction_order: int | None property

Get a construction order of publisher.

Returns:

Type	Description
int | None	Construction order of publisher.

subscribe_topic_name: str | None property

Get a topic name to subscribe to.

Returns:

Type	Description
str | None	Topic name to subscribe to.

subscription_construction_order: int | None property

Get a construction order of subscription.

Returns:

Type	Description
int | None	Construction order of subscription.

__init__(node_name, subscribe_topic_name, publish_topic_name, publisher_construction_order, subscription_construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
subscribe_topic_name	str | None	Topic name which the node-path subscribes.	required
publish_topic_name	str | None	Topic name which the node-path publishes.	required
publisher_construction_order	int | None	construction order of publisher.	required
subscription_construction_order	int | None	construction order of subscription.	required

NodeStructValue

Bases: ValueObject, Summarizable

StructValue object class for representing a node.

This class is a structure that includes other related StructValue classes, such as callbacks, and used as the return value of Architecture object.

callback_group_names: tuple[str, ...] | None property

Get callback group names.

Returns:

Type	Description
tuple[str, ...] | None	Callback group names that the node contains.

callback_groups: tuple[CallbackGroupStructValue, ...] | None property

Get callback groups.

Returns:

Type	Description
tuple[CallbackGroupStructValue, ...] | None	Callback groups that the node contains.

callback_names: tuple[str, ...] | None property

Get callback names.

Returns:

Type	Description
tuple[str, ...] | None	Callback names that the node contains.

callbacks: tuple[CallbackStructValue, ...] | None property

Get callbacks.

Returns:

Type	Description
tuple[CallbackStructValue, ...] | None	Callbacks that the node contains.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

paths: tuple[NodePathStructValue, ...] property

Get node paths.

Node paths are defined by subscription and publisher pair.

Returns:

Type	Description
tuple[NodePathStructValue, ...]	Node paths that the node contains.

publish_topic_names: tuple[str, ...] property

Get topic names to publish.

Returns:

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

publishers: tuple[PublisherStructValue, ...] property

Get publishers.

Returns:

Type	Description
tuple[PublisherStructValue, ...]	Node path publishers.

service_names: tuple[str, ...] property

Get service names.

Returns:

Type	Description
tuple[str, ...]	Service names that the node contains.

services: tuple[ServiceStructValue, ...] property

Get services.

Returns:

Type	Description
tuple[ServiceStructValue, ...]	Services that the node contains.

subscribe_topic_names: tuple[str, ...] property

Get topic names to subscribe to.

Returns:

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

subscriptions: tuple[SubscriptionStructValue, ...] property

Get subscriptions.

Returns:

Type	Description
tuple[SubscriptionStructValue, ...]	Subscriptions to subscribe to.

summary: Summary property

Get summary.

Returns:

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

timers: tuple[TimerStructValue, ...] property

Get timers.

Returns:

Type	Description
tuple[TimerStructValue, ...]	Timers that the node contains.

variable_passings: tuple[VariablePassingStructValue, ...] | None property

Get variable passings.

Returns:

Type	Description
tuple[VariablePassingStructValue, ...] | None	Variable passings in all child elements that the node contains.

__init__(node_name, publishers, subscriptions_info, services_info, timers, node_paths, callback_groups, variable_passings)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
publishers	tuple[PublisherStructValue, ...]	Publishers in the node.	required
subscriptions_info	tuple[SubscriptionStructValue, ...]	Subscriptions info in the node.	required
services_info	tuple[ServiceStructValue, ...]	Services info in the node.	required
timers	tuple[TimerStructValue, ...]	Timers in the node.	required
node_paths	tuple[NodePathStructValue, ...]	Node paths in the node.	required
callback_groups	tuple[CallbackGroupStructValue, ...] | None	Callback groups in the node.	required
variable_passings	tuple[VariablePassingStructValue, ...] | None	Variable passings in the node.	required

get_path(subscribe_topic_name, subscription_construction_order, publish_topic_name, publisher_construction_order)

Get node path.

Parameters:

Name	Type	Description	Default
subscribe_topic_name	str | None	Topic name to which the node subscribes.	required
subscription_construction_order	int | None	Construction order to which the node subscribes.	required
publish_topic_name	str | None	Topic name to which the node publishes.	required
publisher_construction_order	int | None	Construction order to which the node publishes.	required

Returns:

Type	Description
NodePathStructValue	Node path that matches the condition.

Raises:

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

get_publisher(publish_topic_name, construction_order)

Get publisher.

Parameters:

Name	Type	Description	Default
publish_topic_name	str	Publisher topic name to get.	required
construction_order	int | None	Construction order to get.	required

Returns:

Type	Description
PublisherStructValue	A publisher that matches the condition.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.

get_service(service_name, construction_order)

Get service.

Parameters:

Name	Type	Description	Default
service_name	str	Service name to get.	required
construction_order	int | None	Construction order to get.	required

Returns:

Type	Description
ServiceStructValue	Service instance that matches the condition.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.

get_subscription(subscribe_topic_name, construction_order)

Get subscription.

Parameters:

Name	Type	Description	Default
subscribe_topic_name	str	Topic name to get.	required
construction_order	int | None	Construction order to get.	required

Returns:

Type	Description
SubscriptionStructValue	Subscription instance that matches the condition.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.

get_timer(timer_period, construction_order)

Get timer.

Parameters:

Name	Type	Description	Default
timer_period	int	Timer period to get.	required
construction_order	int | None	Construction order to get.	required

Returns:

Type	Description
TimerStructValue	A timer that matches the condition.

Raises:

Type	Description
ItemNotFoundError	Occurs when no items were found.

NodeValue

Bases: ValueObject

Value object class for representing a node.

This class has minimal information and no structure, and used as the return value of ArchitectureReader.

node_id: str | None property

Get node id.

Returns:

Type	Description
str | None	Node id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

__init__(node_name, node_id)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
node_id	str | None	Identification of the node, a value that can be identified when retrieved from the Architecture reader.	required

NodeValueWithId

Bases: NodeValue

Value object class for representing a node path.

This class has minimal information and no structure, and used as the return value of ArchitectureReader.

node_id: str property

Get node id.

Returns:

Type	Description
str	Node id.

__init__(node_name, node_id)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
node_id	str | None	Identification of the node, a value that can be identified when retrieved from the Architecture reader.	required

PathValue

Bases: ValueObject

Path name alias.

node_path_values: tuple[NodePathValue, ...] property

Get node path value.

Returns:

Type	Description
tuple[NodePathValue, ...]	Node path values.

path_name: str property

Get path name.

Returns:

Type	Description
str	Path name.

__init__(alias, node_path_values)

Construct an instance.

Returns:

Name	Type	Description
alias	str	Alias.
node_path_values	tuple[NodePathValue, ...]	Node path values.

PublishTopicInfoValue

Bases: ValueObject

PublishTopic info.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

topic_name: str property

Get topic name.

Returns:

Type	Description
str	Topic name.

__init__(topic_name, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
topic_name	str	Topic name.	required
construction_order	int	Construction order of the publisher.	required

PublisherStructValue

Bases: ValueObject, Summarizable

Structured publisher value.

callback_names: tuple[str, ...] | None property

Get callback names.

Returns:

Type	Description
tuple[str, ...] | None	Callback names.

callbacks: tuple[CallbackStructValue, ...] | None property

Get callbacks.

Returns:

Type	Description
tuple[CallbackStructValue, ...] | None	Callbacks.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

summary: Summary property

Get summary.

Returns:

Type	Description
Summary	Summary.

topic_name: str property

Get topic name.

Returns:

Type	Description
str	Topic name.

__init__(node_name, topic_name, callback_values, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
topic_name	str	Topic name.	required
callback_values	tuple[CallbackStructValue, ...] | None	Callback values.	required
construction_order	int	Construction order.	required

PublisherValue

Bases: ValueObject

Publisher value.

callback_ids: tuple[str, ...] | None property

Get callback ids.

Returns:

Type	Description
tuple[str, ...]	Callback ids.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_id: str property

Get node id.

Returns:

Type	Description
str	Node id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node id.

topic_name: str property

Get topic name.

Returns:

Type	Description
str	Topic name.

__init__(topic_name, node_name, node_id, callback_ids, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
topic_name	str	Topic name.	required
node_name	str	Node name.	required
node_id	str	Node id.	required
callback_ids	tuple[str, ...] | None	Callback id.	required
construction_order	int	Construction order.	required

__str__()

Get message.

Returns:

Type	Description
str	Message.

Qos

Bases: ValueObject, Summarizable

Qos info.

Note:

Currently, only DEPTH is supported, but it is desirable to support other QoS by adding trace points.

depth: int property

Get depth.

Returns:

Type	Description
int	Depth.

summary: Summary property

Get summary.

Returns:

Type	Description
Summary	Summary.

__init__(depth)

Construct an instance.

Parameters:

Name	Type	Description	Default
depth	int	Depth.	required

ServiceCallbackStructValue

Bases: CallbackStructValue, ValueObject

Structured service callback value.

callback_type: CallbackType property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

summary: Summary property

Get summary.

Returns:

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

__init__(node_name, symbol, service_name, publish_topics, construction_order, callback_name)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
symbol	str	Symbol name of the service callback.	required
service_name	str	Service name which the service callback service.	required
publish_topics	tuple[PublishTopicInfoValue, ...] | None	Topic information which the service callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str	Service callback name. This argument is used by ArchitectureReaderYaml.	required

ServiceCallbackValue

Bases: CallbackValue

Value object class for representing a service.

callback_type: CallbackType property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

service_name: str property

Get service name.

Returns:

Type	Description
str	Service name.

__init__(callback_id, node_name, node_id, symbol, service_name, publish_topics, construction_order, *, callback_name=None)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback_id	str	Callback unique id, a value that can be identified when retrieved from the Architecture reader.	required
node_name	str	Node name.	required
node_id	str	Node unique id, a value that can be identified when retrieved from the Architecture reader.	required
symbol	str	Symbol name of the service callback.	required
service_name	str	Service name which the service callback service.	required
publish_topics	tuple[PublishTopicInfoValue, ...] | None	Topic information which the service callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str | None	Service callback name, by default None. This argument is used by ArchitectureReaderYaml.	None

ServiceStructValue

Bases: ValueObject, Summarizable

Service info.

callback: ServiceCallbackStructValue | None property

Get callback.

Returns:

Type	Description
ServiceCallbackStructValue | None	Callback.

callback_name: str | None property

Get callback name.

Returns:

Type	Description
str | None	Callback name.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

service_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

summary: Summary property

Get summary.

Returns:

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

__init__(node_name, service_name, callback_info, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
service_name	str	Service name.	required
callback_info	ServiceCallbackStructValue | None	Static info of callback.	required
construction_order	int	Order of instance creation within the identical node.	required

ServiceValue

Bases: ValueObject

Service info.

callback_id: str | None property

Get callback id.

Returns:

Type	Description
str | None	Callback unique id.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_id: str | None property

Get node id.

Returns:

Type	Description
str | None	Node id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

service_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

__init__(service_name, node_name, node_id, callback_id, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
service_name	str	Service name.	required
node_name	str	Node name.	required
node_id	str | None	Node unique id, a value that can be identified when retrieved from the Architecture reader.	required
callback_id	str | None	Callback unique id, a value that can be identified when retrieved from the Architecture reader.	required
construction_order	int	Order of instance creation within the identical node.	required

SubscriptionCallbackStructValue

Bases: CallbackStructValue, ValueObject

Structured subscription callback value.

callback_type: CallbackType property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

subscribe_topic_name: str property

Get subscription topic name.

Returns:

Type	Description
str	Topic name which the callback subscribes.

summary: Summary property

Get summary.

Returns:

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

__init__(node_name, symbol, subscribe_topic_name, publish_topics, construction_order, callback_name)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
symbol	str	Symbol name of the callback.	required
subscribe_topic_name	str	Topic name which the callback subscribes.	required
publish_topics	tuple[PublishTopicInfoValue, ...] | None	Topic information which the callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str	Callback name.	required

SubscriptionCallbackValue

Bases: CallbackValue

Subscription callback value.

callback_type: CallbackType property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

subscribe_topic_name: str property

Get subscription topic name.

Returns:

Type	Description
str	Topic name which the callback subscribes.

__init__(callback_id, node_name, node_id, symbol, subscribe_topic_name, publish_topics, construction_order, *, callback_name=None)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback_id	str	Callback unique id, a value that can be identified when retrieved from the Architecture reader.	required
node_name	str	Node name.	required
node_id	str	Node unique id, a value that can be identified when retrieved from the Architecture reader.	required
symbol	str	Symbol name of the callback.	required
subscribe_topic_name	str	Topic name which the callback subscribes.	required
publish_topics	tuple[PublishTopicInfoValue, ...] | None	Topic information which the callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str | None	Callback name, by default None. This argument is used by ArchitectureReaderYaml.	None

SubscriptionStructValue

Bases: ValueObject, Summarizable

Subscription info.

callback: SubscriptionCallbackStructValue | None property

Get callback.

Returns:

Type	Description
SubscriptionCallbackStructValue | None	Callback.

callback_name: str | None property

Get callback name.

Returns:

Type	Description
str | None	Callback name

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

summary: Summary property

Get summary.

Returns:

Type	Description
Summary	Summary info.

topic_name: str property

Get a topic name.

Returns:

Type	Description
str	Topic name of this subscription.

__eq__(other)

Check whether self object equals to given instance.

Parameters:

Name	Type	Description	Default
other	Any	Comparison target.	required

Returns:

Type	Description
bool	Compares the values of the published properties and returns True only if they all match. False otherwise.

__hash__()

Calculate hash value.

Returns:

Type	Description
int	A hash value calculated from all of the publicly available property values by recursively referencing them.

References

https://www.baeldung.com/java-hashcode

__init__(node_name, topic_name, callback_info, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
topic_name	str	Topic name.	required
callback_info	SubscriptionCallbackStructValue | None	Static info of callback.	required
construction_order	int	Order of instance creation within the identical node.	required

SubscriptionValue

Bases: ValueObject

Subscription info.

callback_id: str | None property

Get callback id.

Returns:

Type	Description
str | None	Callback unique id.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_id: str | None property

Get node id.

Returns:

Type	Description
str | None	Node id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

topic_name: str property

Get a topic name.

Returns:

Type	Description
str	Topic name of this communication.

__init__(topic_name, node_name, node_id, callback_id, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
topic_name	str	Topic name.	required
node_name	str	Node name.	required
node_id	str | None	Node unique id, a value that can be identified when retrieved from the Architecture reader.	required
callback_id	str | None	Callback unique id, a value that can be identified when retrieved from the Architecture reader.	required
construction_order	int	Order of instance creation within the identical node.	required

Tilde

Bases: MessageContext

TYPE_NAME = 'tilde' class-attribute instance-attribute

Tilde.

Latency is calculated from tilde.

context_type: MessageContextType property

Get context type.

Returns:

Type	Description
MessageContextType	Message context type.

__init__(node_name, message_context_dict, subscription, publisher, callbacks)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
message_context_dict	dict	Message context dict.	required
subscription	SubscriptionStructValue | None	Target subscription value.	required
publisher	PublisherStructValue | None	Target publisher.	required
callbacks	tuple[CallbackStructValue, ...] | None	Callbacks.	required

is_applicable_path(subscription, publisher, callbacks)

Get applicable path.

Parameters:

Name	Type	Description	Default
subscription	SubscriptionStructValue | None	Target subscription value.	required
publisher	PublisherStructValue | None	Target publisher value.	required
callbacks	tuple[CallbackStructValue, ...] | None	Target callbacks.	required

Returns:

Type	Description
bool	True if applicable path, false otherwise.

verify()

Get verify.

Returns:

Type	Description
bool	Verify or not.

TimerCallbackStructValue

Bases: CallbackStructValue, ValueObject

Structured timer callback value.

callback_type: CallbackType property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

period_ns: int property

Get period.

Returns:

Type	Description
int	Period of the timer.

summary: Summary property

Get summary.

Returns:

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

__init__(node_name, symbol, period_ns, publish_topics, construction_order, callback_name)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
symbol	str	Symbol name of the callback.	required
period_ns	int	Period of the timer.	required
publish_topics	tuple[PublishTopicInfoValue, ...] | None	Topic information which the callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str	Callback name, by default None. This argument is used by ArchitectureReaderYaml.	required

TimerCallbackValue

Bases: CallbackValue

Value object class for representing a timer.

This class has minimal information and no structure, and used as the return value of ArchitectureReader.

callback_type: CallbackType property

Get callback type name.

Returns:

Type	Description
CallbackType	Callback type.

period_ns: int property

Get period.

Returns:

Type	Description
int	Period of the timer.

__init__(callback_id, node_name, node_id, symbol, period_ns, publish_topics, construction_order, *, callback_name=None)

Construct an instance.

Parameters:

Name	Type	Description	Default
callback_id	str	Callback unique id, a value that can be identified when retrieved from the Architecture reader.	required
node_name	str	Node name.	required
node_id	str	Node unique id, a value that can be identified when retrieved from the Architecture reader.	required
symbol	str	Symbol name of the callback.	required
period_ns	int	Period of the timer.	required
publish_topics	tuple[PublishTopicInfoValue, ...] | None	Topic information which the callback publishes.	required
construction_order	int	Order of instance creation within the identical node.	required
callback_name	str | None	Callback name, by default None. This argument is used by ArchitectureReaderYaml.	None

TimerStructValue

Bases: ValueObject, Summarizable

Timer info.

callback: TimerCallbackStructValue | None property

Get callback.

Returns:

Type	Description
TimerCallbackStructValue | None	Callback.

callback_name: str | None property

Get callback name.

Returns:

Type	Description
str | None	Callback name.

construction_order: int | None property

Get construction order.

Returns:

Type	Description
int | None	Construction order.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

period_ns: int property

Get period.

Returns:

Type	Description
int	Period of the timer.

summary: Summary property

Get summary.

Returns:

Type	Description
Summary	Summary info.

__init__(node_name, period_ns, callback_info, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
period_ns	int	Period of the timer.	required
callback_info	TimerCallbackStructValue | None	Static info of callback.	required
construction_order	int	Order of instance creation within the identical node.	required

TimerValue

Bases: ValueObject

Timer info.

callback_id: str | None property

Get callback id.

Returns:

Type	Description
str | None	Callback unique id.

construction_order: int property

Get construction order.

Returns:

Type	Description
int	Construction order.

node_id: str | None property

Get node id.

Returns:

Type	Description
str | None	Node id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

period: int property

Get period.

Returns:

Type	Description
int	Period of the timer.

__init__(period, node_name, node_id, callback_id, construction_order)

Construct an instance.

Parameters:

Name	Type	Description	Default
period	int	Period of the timer.	required
node_name	str	Node name.	required
node_id	str | None	Node unique id, a value that can be identified when retrieved from the Architecture reader.	required
callback_id	str | None	Callback unique id, a value that can be identified when retrieved from the Architecture reader.	required
construction_order	int	Order of instance creation within the identical node.	required

UseLatestMessage

Bases: MessageContext

TYPE_NAME = 'use_latest_message' class-attribute instance-attribute

Use message context

context_type: MessageContextType property

Get context type.

Returns:

Type	Description
MessageContextType	Message context type.

verify()

Get verify.

Returns:

Type	Description
bool	Verify or not.

ValueObject

Value object base class.

Classes that inherit from this class will become immutable ValueObjects, and eq and hash will be calculated based on public properties.

Note:

Since the hash value is immutable, inherited classes can be used as a dictionary type key. It is also suitable for cache use and does not unintentionally change properties.

__eq__(right)

Check whether self object equals to given instance [override].

Parameters:

Name	Type	Description	Default
right	Any	Comparison target.	required

Returns:

Type	Description
bool	Recursively compares the values of the published properties and returns True only if they all match. False otherwise.

__hash__()

Calculate hash value.

Returns:

Type	Description
int	A hash value calculated from all of the publicly available property values by recursively referencing them.

References

https://www.baeldung.com/java-hashcode

__str__()

Convert to string.

Returns:

Type	Description
str	Yaml format strings created by recursively access properties.

VariablePassingStructValue

Bases: ValueObject, Summarizable

variable passing info.

callback_name_read property

Get read-side callback name.

Returns:

Type	Description
str	Read-side callback name.

callback_name_write: str property

Get write-side callback name.

Returns:

Type	Description
str	Write-side callback name.

callback_read: CallbackStructValue property

Get read-side callback.

Returns:

Type	Description
str	Read-side callback.

callback_write: CallbackStructValue property

Get write-side callback.

Returns:

Type	Description
str	Write-side callback.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

summary: Summary property

Get summary.

Returns:

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

__init__(node_name, callback_write, callback_read)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
callback_write	CallbackStructValue	Write callback.	required
callback_read	CallbackStructValue	Read callback.	required

VariablePassingValue

Bases: ValueObject

variable passing info.

callback_id_read: str property

Get read-side callback id.

Returns:

Type	Description
str	Read-side callback id.

callback_id_write: str property

Get write-side callback id.

Returns:

Type	Description
str	Write-side callback id.

node_name: str property

Get node name.

Returns:

Type	Description
str	Node name.

__init__(node_name, callback_id_write, callback_id_read)

Construct an instance.

Parameters:

Name	Type	Description	Default
node_name	str	Node name.	required
callback_id_write	str	Unique id of write callback, a value that can be identified when retrieved from the Architecture reader.	required
callback_id_read	str	Unique id of read callback, a value that can be identified when retrieved from the Architecture reader.	required