initial command line interface

ros2bag/.gitignore

@@ -0,0 +1 @@
+*__pycache__*

ros2bag/package.xml

@@ -3,18 +3,23 @@
 <package format="2">
   <name>ros2bag</name>
   <version>0.0.0</version>
-  <description>ROSBag2 verb for ros2cli</description>
-  <maintainer email="[email protected]">Karsten Knese</maintainer>
+  <description>
+    Entry point for rosbag in ROS 2
+  </description>
+  <maintainer email="[email protected]">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
+  <depend>rclpy</depend>
   <depend>ros2cli</depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <exec_depend>python3-yaml</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

ros2bag/ros2bag/api/__init__.py

@@ -0,0 +1,17 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import rclpy
+
+

ros2bag/ros2bag/command/bag.py

@@ -0,0 +1,40 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.command import add_subparsers
+from ros2cli.command import CommandExtension
+from ros2cli.verb import get_verb_extensions
+
+
+class BagCommand(CommandExtension):
+    """Various rosbag related sub-commands."""
+
+    def add_arguments(self, parser, cli_name):
+        self._subparser = parser
+
+        # get verb extensions and let them add their arguments
+        verb_extensions = get_verb_extensions('ros2bag.verb')
+        add_subparsers(
+            parser, cli_name, '_verb', verb_extensions, required=False)
+
+    def main(self, *, parser, args):
+        if not hasattr(args, '_verb'):
+            # in case no verb was passed
+            self._subparser.print_help()
+            return 0
+
+        extension = getattr(args, '_verb')
+
+        # call the verb's main method
+        return extension.main(args=args)

ros2bag/ros2bag/verb/__init__.py

@@ -0,0 +1,44 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
+from ros2cli.plugin_system import satisfies_version
+
+
+class VerbExtension:
+    """
+    The extension point for 'bag' verb extensions.
+
+    The following properties must be defined:
+    * `NAME` (will be set to the entry point name)
+
+    The following methods must be defined:
+    * `main`
+
+    The following methods can be defined:
+    * `add_arguments`
+    """
+
+    NAME = None
+    EXTENSION_POINT_VERSION = '0.1'
+
+    def __init__(self):
+        super(VerbExtension, self).__init__()
+        satisfies_version(PLUGIN_SYSTEM_VERSION, '^0.1')
+
+    def add_arguments(self, parser, cli_name):
+        pass
+
+    def main(self, *, args):
+        raise NotImplementedError()

ros2bag/ros2bag/verb/info.py

@@ -0,0 +1,29 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+
+from ros2bag.verb import VerbExtension
+
+
+class InfoVerb(VerbExtension):
+    """ros2 bag info."""
+
+    def add_arguments(self, parser, cli_name):  # noqa: D102
+        arg = parser.add_argument(
+            'bag_file', help='bag file to introspect')
+
+    def main(self, *, args):  # noqa: D102
+        bag_file = args.bag_file
+        print('calling ros2 bag info on', bag_file)

ros2bag/ros2bag/verb/play.py

@@ -0,0 +1,27 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2bag.verb import VerbExtension
+
+
+class PlayVerb(VerbExtension):
+    """ros2 bag play."""
+
+    def add_arguments(self, parser, cli_name):  # noqa: D102
+        parser.add_argument(
+            'bag_file', help='bag file to replay')
+
+    def main(self, *, args):  # noqa: D102
+        bag_file = args.bag_file
+        print('calling ros2 bag play on', bag_file)

ros2bag/ros2bag/verb/record.py

@@ -0,0 +1,46 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+import time
+
+from ros2cli.node.strategy import add_arguments
+from ros2cli.node.strategy import NodeStrategy
+
+from ros2bag.verb import VerbExtension
+
+
+class RecordVerb(VerbExtension):
+    """ros2 bag record."""
+
+    def add_arguments(self, parser, cli_name):  # noqa: D102
+        add_arguments(parser)
+        parser.add_argument(
+            '-a', '--all', action='store_true', help='recording all topics')
+        parser.add_argument(
+            'topics', nargs='*', help='topics to be recorded')
+
+    def main(self, *, args):  # noqa: D102
+        if args.all and args.topics:
+            print('invalid choice: Can not specify topics and -a at the same time')
+            return
+
+        with NodeStrategy(args) as node:
+            if args.all:
+                t_and_n = node.get_topic_names_and_types()
+                print(t_and_n)
+                topics = [t for t,n in node.get_topic_names_and_types()]
+            if args.topics:
+                topics = args.topics
+            print('topics to be recorded:', topics)

ros2bag/setup.py

@@ -0,0 +1,39 @@
+from setuptools import find_packages
+from setuptools import setup
+
+setup(
+    name='ros2bag',
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    install_requires=['ros2cli'],
+    zip_safe=True,
+    author='Karsten Knese',
+    author_email='[email protected]',
+    maintainer='Karsten Knese',
+    maintainer_email='[email protected]',
+    keywords=[],
+    classifiers=[
+        'Environment :: Console',
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+    ],
+    description='Entry point for rosbag in ROS 2',
+    long_description="""\
+The package provides the rosbag command for the ROS 2 command line tools.""",
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'ros2cli.command': [
+            'bag = ros2bag.command.bag:BagCommand',
+        ],
+        'ros2cli.extension_point': [
+            'ros2bag.verb = ros2bag.verb:VerbExtension',
+        ],
+        'ros2bag.verb': [
+            'info = ros2bag.verb.info:InfoVerb',
+            'play = ros2bag.verb.play:PlayVerb',
+            'record = ros2bag.verb.record:RecordVerb',
+        ],
+    }
+)