Creates Arch.yml using rosnode list

src/rosdiscover/Issue74.py

@@ -0,0 +1,102 @@
+import time
+import collections
+import sys
+
+sys.path.append("/interpreter")
+from summary import NodeSummary
+
+
+from loguru import logger
+
+import roswire
+
+f = open("Arch.yml", "w")
+
+# enable logging
+logger.enable('roswire')
+
+
+# first, we create a new ROSWire session
+rsw = roswire.ROSWire()
+
+def toString(l): 
+    s = ''
+    l1 = list(l)
+    if len(l1) == 0: 
+        return '[]'
+    for i in l1:
+        (fmt, topic) = i
+        s = s + "\n  - format: " + fmt + "\n    name: " + topic + "\n" 
+    return s
+
+# we then launch a container for a given robot.
+# once the end of the given context is reached, including the event where an
+# exception occurs, the container will be automatically destroyed.
+image = 'therobotcooperative/turtlebot3'
+sources = ['/opt/ros/kinetic/setup.bash', '/ros_ws/devel/setup.bash']
+environment = {'TURTLEBOT3_MODEL': 'burger'}
+with rsw.launch(image, sources, environment=environment) as system:
+
+    # we then launch ROS inside the container
+    # again, once the end of the context is reached, ROS is killed.
+    with system.roscore() as ros:
+
+        # let's bring up the application
+        ros.roslaunch('turtlebot3_house.launch',
+                      package='turtlebot3_gazebo',
+                      args={'gui': 'false'})
+
+        # we need to wait for the nodes to finish their initialisation
+        time.sleep(30)
+
+        node_names = list(ros.nodes)
+
+        # get an overview of the system state
+        state = ros.state
+
+        # get topic types
+        topic_to_type = ros.topic_to_type
+
+        # get service formats
+
+        service_to_format = {}
+        for service_name in state.services:
+            service = ros.services[service_name]
+            service_to_format[service_name] = service.format.name
+
+
+nodeSummaryDict = {}
+for n in node_names: #create the dictionary of NodeSummary objects
+
+    p = []
+    for key in state.publishers:
+        pubs = state.publishers[key]
+        for i in pubs:
+            if i == n: 
+                p.append((topic_to_type[key], key))
+
+    s = []
+
+    for key in state.subscribers:
+        subs = state.subscribers[key]
+        for i in subs:
+            if i == n:
+                s.append((topic_to_type[key], key))
+
+    serv = []
+
+    for key in service_to_format: 
+        path = n + '/'
+        if path in key:
+            serv.append((service_to_format[key], key))
+
+    obj = NodeSummary('', n, '/', '', '', False, '', False, p, s, [], [], [], serv, [], [])
+    nodeSummaryDict.update( {n : obj} )
+
+
+for i in nodeSummaryDict: #add to Arch.yml file
+    obj = nodeSummaryDict[i] 
+    f.write(f"- action-clients: {toString(obj.action_clients)}\n  action-servers: {toString(obj.action_servers)}\n  filename: {obj.filename}\n  fullname: {obj.fullname}\n  kind: {obj.kind}\n  name: {obj.name}\n  namespace: {obj.namespace}\n  nodelet: {obj.nodelet}\n  package: {obj.package}\n  placeholder: {obj.placeholder}\n  provides: {toString(obj.provides)}\n  pubs: {toString(obj.pubs)}\n  reads: {toString(obj.reads)}\n  subs: {toString(obj.subs)}\n  uses: {toString(obj.uses)}\n  writes: {toString(obj.writes)}\n\n")
+
+
+f.close()