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

asdict_explicit() → Dict

Convert to dict, keeping only what differs from the class defaults.

See explicit_fields, which this defers to.

Returns:

Fields that differ from the defaults

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

asdict_explicit() → Dict

Convert to dict, keeping only what differs from the class defaults.

See explicit_fields, which this defers to.

Returns:

Fields that differ from the defaults

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.