ros_sugar.robot.feedback#

Robot feedback descriptor.

A Feedback declares one telemetry stream a plugin exposes: which standard message type it stands in for, which transport carries it, and how to decode a raw inbound payload into a ROS message.

Module Contents#

Classes#

Feedback

A robot telemetry stream.

FeedbackSpec

Introspection record for a Feedback (see plugin.list_feedbacks).

API#

class ros_sugar.robot.feedback.Feedback#

Bases: ros_sugar.config.BaseAttrs

A robot telemetry stream.

Parameters:

  • key – Registry key on plugin.feedbacks. A recipe binds a topic to this feedback with Topic(..., use_plugin=True); resolution matches the topic’s name against this key first, then falls back to a unique message-type match. For plugins that expose exactly one feedback per message type, conventionally the message-type name ("Odometry", "Imu"). For plugins with multiple feedbacks of the same type (e.g. a humanoid’s "left_arm" / "right_arm" JointStates), choose a descriptive role name and name the recipe’s topic to match it.

  • msg_type – SupportedType subclass wrapping the robot’s message, typically built with :func:ros_sugar.robot.create_supported_type.

  • transport – Transport carrying this stream.

  • decoder – decoder(raw_payload) -> ros_msg | None — turns a raw inbound payload (bytes for UDP, response body for HTTP, SDK object for SDK) into a ROS message instance, or None to ignore this packet. Required for non-ROS transports; ignored for RosTopicTransport.

  • rate_hz – Nominal stream rate, for introspection/documentation.

  • description – Human-readable description.

property channel: str#

Feedback bus channel / synthetic topic name for this stream.

as_topic() → ros_sugar.io.topic.Topic#

Return the io.topic.Topic that Events, Conditions and MsgConditionBuilder reference for this feedback.

For a ROS-topic-backed feedback this is the ROS topic the robot publishes on; for any other transport it is a synthetic topic whose name is the feedback bus channel and whose use_plugin names the owning plugin.

property is_ros_topic: bool#

Whether this feedback is carried on a plain ROS topic (and therefore consumed via a native ROS subscription rather than the feedback bus).

spec() → ros_sugar.robot.feedback.FeedbackSpec#

Return the introspection spec for this feedback.

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.robot.feedback.FeedbackSpec#

Bases: ros_sugar.config.BaseAttrs

Introspection record for a Feedback (see plugin.list_feedbacks).

key is the registry key on plugin.feedbacks. To wire a topic to this feedback, set Topic(use_plugin=True) and name the topic after this key – needed when the plugin exposes multiple feedbacks of the same message type and a recipe must disambiguate. For plugins with exactly one feedback per type, use_plugin=True resolves by message type and the name need not match the key.

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.