`ros_sugar.io.topic`¶

ROS Topic Configuration

Module Contents¶

Classes¶

`Topic`	Class for ROS topic configuration (name, type and QoS)
`AllowedTopics`	Configure allowed types to restrict a component Topic

Functions¶

`get_all_msg_types`	Gets all message types from supported data_types
`get_msg_type`	Gets a message type from supported data_types given a string name

API¶

ros_sugar.io.topic.get_all_msg_types(msg_types_module: types.ModuleType = supported_types) → List[Type[ros_sugar.io.supported_types.SupportedType]]¶

Gets all message types from supported data_types

Returns:: Supported data types
Return type:: list[type]

ros_sugar.io.topic.get_msg_type(type_name: Union[Type[ros_sugar.io.supported_types.SupportedType], str], msg_types_module: Optional[types.ModuleType] = supported_types) → Union[Type[ros_sugar.io.supported_types.SupportedType], str]¶

Gets a message type from supported data_types given a string name

Parameters:: type_name (str) – Message name
Returns:: Supported data type or None if not found
Return type:: type

class ros_sugar.io.topic.Topic¶

Bases: ros_sugar.config.BaseAttrs, typing.Generic[ros_sugar.utils.MsgT]

Class for ROS topic configuration (name, type and QoS)

Name	Type, Default	Description
name	`str`	Topic name
msg_type	`type \| str`	Topic message type, can be provided as a ‘type’ or the type name as a string
qos_profile	`QoSConfig`, `QoSConfig()`	QoS (Quality of Service) configuration
data_timeout	`float`, `1.0`	Used in event management. Time to hold the topic data for processing before considered “stale” (seconds)

property msg: ros_sugar.condition.MsgConditionBuilder¶

Get the ROS message object path builder associated with this Topic Used for parsing topic message attributes for Actions and Event parsers

Returns:: ROS message type
Return type:: MsgT

asdict(filter: Optional[Callable] = None) → Dict¶

Convert class to dict.

Return type:: dict

to_dict() → Dict¶

Convert class to dict.

Return type:: dict

from_dict(dict_obj: Dict) → None¶

Gets attributes values from given dictionary

Parameters:

dict_obj (Dict) – Dictionary {attribute_name: attribute_value}

Raises:

ValueError – If attribute_name in dictionary does not exists in class attributes
TypeError – If attribute_value type in dictionary does not correspond to class attribute type

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool¶

Update class attributes from yaml, json, or toml

Parameters:

file_path – Path to config file (.yaml, .json, .toml)
nested_root_name – Nested root name for the config, defaults to None
get_common – Whether to get extra config root (for merging), defaults to False

to_json() → Union[str, bytes, bytearray]¶

Dump to json

Returns:: description
Return type:: str | bytes | bytearray

from_json(json_obj: Union[str, bytes, bytearray]) → None¶

Gets attributes values from given json

Parameters:: json_obj (str | bytes | bytearray) – Json object

has_attribute(attr_name: str) → bool¶

Checks if class object has attribute with given name

Parameters:: attr_name (str) – description
Returns:: If object has attribute with given name
Return type:: bool

get_attribute_type(attr_name: str) → Optional[type]¶

Gets type of given attribute name

Parameters:: attr_name (str) – description
Raises:: AttributeError – If class does not have attribute with given name
Returns:: Attribute type
Return type:: type

update_value(attr_name: str, attr_value: Any) → bool¶

Updates the value of an attribute in the class

Parameters:

attr_name (str) – Attribute name - can be nested name
attr_value (Any) – Attribute value

Raises:

AttributeError – If class does not contain attribute with given name
TypeError – If class attribute with given name if of different type

Returns:

If attribute value is updated

Return type:

bool

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]¶

Returns a dictionary with metadata about each field in the class.

This includes the field’s name, type annotation, and parsed validator info.

Returns:: A dictionary where keys are field names and values are dicts of metadata.

class ros_sugar.io.topic.AllowedTopics¶

Bases: ros_sugar.config.BaseAttrs

Configure allowed types to restrict a component Topic

asdict(filter: Optional[Callable] = None) → Dict¶

Convert class to dict.

Return type:: dict

to_dict() → Dict¶

Convert class to dict.

Return type:: dict

from_dict(dict_obj: Dict) → None¶

Gets attributes values from given dictionary

Parameters:

dict_obj (Dict) – Dictionary {attribute_name: attribute_value}

Raises:

ValueError – If attribute_name in dictionary does not exists in class attributes
TypeError – If attribute_value type in dictionary does not correspond to class attribute type

from_file(file_path: str, nested_root_name: Union[str, None] = None, get_common: bool = False) → bool¶

Update class attributes from yaml, json, or toml

Parameters:

file_path – Path to config file (.yaml, .json, .toml)
nested_root_name – Nested root name for the config, defaults to None
get_common – Whether to get extra config root (for merging), defaults to False

to_json() → Union[str, bytes, bytearray]¶

Dump to json

Returns:: description
Return type:: str | bytes | bytearray

from_json(json_obj: Union[str, bytes, bytearray]) → None¶

Gets attributes values from given json

Parameters:: json_obj (str | bytes | bytearray) – Json object

has_attribute(attr_name: str) → bool¶

Checks if class object has attribute with given name

Parameters:: attr_name (str) – description
Returns:: If object has attribute with given name
Return type:: bool

get_attribute_type(attr_name: str) → Optional[type]¶

Gets type of given attribute name

Parameters:: attr_name (str) – description
Raises:: AttributeError – If class does not have attribute with given name
Returns:: Attribute type
Return type:: type

update_value(attr_name: str, attr_value: Any) → bool¶

Updates the value of an attribute in the class

Parameters:

attr_name (str) – Attribute name - can be nested name
attr_value (Any) – Attribute value

Raises:

AttributeError – If class does not contain attribute with given name
TypeError – If class attribute with given name if of different type

Returns:

If attribute value is updated

Return type:

bool

classmethod get_fields_info(class_object) → Dict[str, Dict[str, Any]]¶

Returns a dictionary with metadata about each field in the class.

This includes the field’s name, type annotation, and parsed validator info.

Returns:: A dictionary where keys are field names and values are dicts of metadata.

ros_sugar.io.topic¶

Module Contents¶

Classes¶

Functions¶

API¶

`ros_sugar.io.topic`¶